Compensation resistance determination method, optical power compensation circuit, device and storage medium

Abstract

The embodiment of the application provides a kind of compensation circuit determination method, optical power compensation circuit, equipment and storage medium, it is related to laser radar technical field, the method comprises: obtaining the corresponding relationship of current variation value and temperature of laser emission tube under preset condition, and the preset condition is that the optical power of laser emission tube is kept as target power in full temperature range;According to the reference current under the target operating temperature and the corresponding relationship of current variation value and temperature, the current compensation amount under each temperature is determined, and the current compensation amount is the difference between the reference current and the current variation value;Based on current compensation amount, determine the resistance compensation amount under each temperature, to determine the temperature characteristic of compensation resistance;According to the temperature characteristic of compensation resistance, device selection is carried out to compensation resistance.This scheme can determine compensation resistance to carry out optical power compensation to laser emission tube, effectively reduce signal instability, signal distortion and so on.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of laser radar, and particularly relate to a compensation resistor determination method, an optical power compensation circuit, a device and a storage medium. BACKGROUND

[0002] The laser radar system includes a rotating part (i.e., an upper platform) and a fixed base part, and the fixed base part is provided with a bottom single board computer. In the working process of the laser radar system, the laser radar needs to perform 360° scanning, so that the upper platform of the laser radar is required to rotate continuously to obtain point cloud data, and the single board computer receives detection data, and the single board computer cannot rotate with the rotation of the upper platform. Therefore, in the related art, an optical communication mode is usually used to realize information transmission between the upper platform and the single board computer.

[0003] The optical communication mode between the conventional upper platform and the single board computer mostly uses an infrared sensor assembly, but the infrared sensor can transmit a very low amount of data per unit time, which cannot meet the demand of large-scale real-time mapping of the laser radar. Therefore, the laser is used to replace the infrared ray to perform optical communication, but the laser emitting tube used for optical communication is easily affected by temperature, and the optical power thereof changes at different temperatures, thereby causing unstable signals, signal distortion and the like to occur, and further causing data loss. SUMMARY

[0004] Embodiments of the present application provide a compensation resistor determination method, an optical power compensation circuit, a device and a storage medium, which solve the problem that the laser emitting tube is easily affected by temperature, so that the compensation resistor can be determined to perform optical power compensation on the laser emitting tube, and effectively reduce the occurrence of unstable signals, signal distortion and the like.

[0005] In a first aspect, embodiments of the present application provide a compensation resistor determination method for selecting a compensation resistor for performing optical power compensation on a laser emitting tube of a laser radar, and the method comprises:

[0006] obtaining a corresponding relationship between a current change value of the laser emitting tube and temperature under a preset condition, and the preset condition is that the optical power of the laser emitting tube remains as a target power in a full temperature range;

[0007] determining a current compensation amount at each temperature according to a reference current at a target working temperature and the corresponding relationship between the current change value and the temperature, and the current compensation amount is a difference between the reference current and the current change value;

[0008] determining a resistance compensation amount at each temperature based on the current compensation amount, so as to determine a temperature characteristic of the compensation resistor;

[0009] performing device selection on the compensation resistor according to the temperature characteristic of the compensation resistor.

[0010] In a second aspect, the embodiments of the present application further provide an optical power compensation circuit, comprising a laser emitting tube, a resistance module and a field effect tube, an anode end of the laser emitting tube being connected to a power supply, the laser emitting tube being configured to emit laser to a receiving end; a first end of the resistance module being connected to a cathode end of the laser emitting tube, and a device selection of the resistance module being determined according to the compensation resistance determination method in the above embodiment; a drain end of the field effect tube being connected to a second end of the resistance module, and a source end of the field effect tube being grounded, and a gate end of the field effect tube being configured to input a signal to be transmitted.

[0011] In a third aspect, the embodiments of the present application further provide an electronic device, which comprises:

[0012] one or more processors;

[0013] a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the compensation resistance determination method in any of the above embodiments.

[0014] In a fourth aspect, the embodiments of the present application further provide a storage medium storing computer executable instructions, when the computer executable instructions are executed by a processor, the computer executable instructions are configured to execute the compensation resistance determination method in any of the above embodiments.

[0015] The scheme of the present application can determine the current compensation amount required for the laser emitting tube at a target power based on the relationship between the current change and the temperature of the laser emitting tube, to determine the compensation resistance for providing power compensation in the case of temperature change, to realize the device selection of the compensation resistance; and further provides an optical power compensation circuit, which performs optical power compensation on the laser emitting tube through the compensation resistance determined by the above device selection, thereby effectively reducing the occurrence of signal instability, signal distortion and the like. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 a step flowchart of the compensation resistance determination method provided by an embodiment of the present application;

[0017] Figure 2 a step flowchart of the compensation resistance temperature coefficient determination method provided by an embodiment of the present application;

[0018] Figure 3 a circuit schematic diagram of the optical power compensation circuit provided by an embodiment of the present application;

[0019] Figure 4 a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0020] The application examples are further described in detail below with reference to the drawings and examples. It can be understood that the specific examples described herein are merely intended to explain the application examples, but not to limit the application examples. In addition, it should be noted that, for the convenience of description, only the parts related to the application examples are shown in the drawings, rather than all the structures.

[0021] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not intended to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the application examples can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents a "or" relationship between the front and rear associated objects. In the description of the present application, "a plurality of" means two or more, and "several" means one or more.

[0022] For laser radar, the laser emitting tube is affected by temperature change, so that the power changes, and then easily leads to unstable signal, distortion and other situations in the optical communication process. Therefore, the present application provides a compensation resistance determination method, an optical power compensation circuit, a device and a storage medium.

[0023] Figure 1 The step flow chart of the compensation resistance determination method provided by an embodiment of the present application is shown in Figure 1 The compensation resistance determination method comprises the following steps:

[0024] In step S110, the corresponding relationship between the current change value and the temperature of the laser emitting tube under a preset condition is obtained.

[0025] The preset condition is that the optical power of the laser emitting tube remains the target power in the full temperature range. Therefore, in the case where the optical power remains the target power, the corresponding relationship between the current change value and the temperature of each type of laser emitting tube in the full temperature range can be measured by experiment. For example, by setting different temperatures and measuring the current change value of the laser emitting tube when the optical power reaches the target power under different temperatures, the corresponding relationship between the current change value and the temperature can be determined according to the measurement data, such as constructing a corresponding function relationship.

[0026] It is conceivable that the above-mentioned corresponding relationship between the current change value and the temperature can be stored in a storage device, and the device can select the corresponding relationship between the current change value and the temperature of the laser emitting tube of the selected type from the storage device.

[0027] Step S120, determining the current compensation amount at each temperature according to the reference current at the target working temperature and the corresponding relationship between the current variation value and the temperature, the current compensation amount being the difference between the reference current and the current variation value.

[0028] It can be understood that the target working temperature is the temperature corresponding to the normal working of the laser emitting tube, of course, the target working temperature can also be the rated temperature provided by the manufacturer of the laser emitting tube. At the target working temperature, the current of the laser emitting tube when reaching the target power is the reference current. The current compensation amount is the difference between the reference current and the current variation value, therefore, corresponding to the current compensation amount at each temperature, the reference current can be subtracted by the corresponding current variation value.

[0029] Step S130, determining the resistance compensation amount at each temperature based on the current compensation amount, to determine the temperature characteristic of the compensation resistance.

[0030] After determining the current compensation amount at each temperature, the corresponding compensation amount can be determined according to Ohm's law. In an embodiment, for the resistance compensation amount at each temperature, the current compensation amount, the reference current and the current variation value can be combined to determine. As shown in the following formula: Figure 2 Figure 2 The step flow chart provided by an embodiment of the present application for determining the temperature coefficient of the compensation resistance, the compensation resistance determination method of the present application further includes the following steps:

[0031] Step S210, combining the current compensation amount, the reference current and the current variation value, determining the resistance compensation amount, and calculating the resistance value of the corresponding compensation resistance, to determine the resistance variation value of the compensation resistance at different temperatures.

[0032] Step S220, determining the temperature coefficient of the compensation resistance based on the resistance variation value.

[0033] It can be conceived that under the condition that the total voltage of the circuit is unchanged, the current variation caused by the temperature variation is compared with the difference of the reference current, that is, the current compensation amount, which can be compensated by the change of the resistance, so that the resistance value changes at different temperatures to compensate the current. For example, the following formula is used for calculation:

[0034]

[0035] Wherein, R Δ is the resistance compensation amount, I Δ is the current compensation amount, I1 is the reference current, I2 is the current variation value at the current temperature, and U is the total voltage of the circuit. Therefore, after determining the resistance compensation amount at each temperature, the resistance variation value of the compensation resistance can be further determined.

[0036] ​It should be noted that the determination scheme of the resistance change value can be specifically calculated according to a corresponding formula according to circuit design. Of course, by fitting the resistance change value of the compensation resistance at each temperature, the resistance change curve of the compensation resistance and the temperature can be obtained, that is, the relationship between the resistance value of the compensation resistance and the temperature can be determined, that is, the temperature characteristic of the compensation resistance.

[0037] In the fitting process, in some embodiments, the temperature coefficient of the compensation resistance can be determined by fitting each resistance change value by combining the expression of the temperature characteristic of the thermistor.

[0038] It can be understood that according to the resistance change value and the temperature change, the type of the compensation resistance can be determined, for example, if the resistance change value decreases as the temperature increases, the compensation resistance is a negative temperature coefficient thermistor, therefore, the expression of the temperature characteristic of the negative temperature coefficient thermistor is selected, and the change curve after fitting the resistance change value is obtained, and then the temperature coefficient of the compensation resistance is calculated, which is helpful to determine the device type of the compensation resistance.

[0039] Step S140, according to the temperature characteristic of the compensation resistance, the device type of the compensation resistance is selected.

[0040] Of course, after the temperature characteristic of the compensation resistance is determined, the device type of the compensation resistance can be selected according to the corresponding temperature characteristic. In an embodiment, the resistance type and the temperature coefficient of the resistance of the type are stored in the resistance information, therefore, when the temperature characteristic of the compensation resistance, that is, the temperature coefficient is determined, the device can compare the temperature coefficient of the compensation resistance with the temperature coefficient recorded in the resistance information, so as to select the resistance with matching temperature coefficient as the compensation resistance. It can be understood that the selected is the type of the resistance, and the designer can select the corresponding resistance according to the output resistance type.

[0041] It can be understood that the above scheme can determine the current compensation amount required for the laser emitting tube at the target power based on the relationship between the current change of the laser emitting tube and the temperature, so as to determine the compensation resistance for providing power compensation in the case of temperature change, realize the device selection of the compensation resistance, and further provide the optical power compensation circuit. The compensation resistance determined by the above device selection is used for optical power compensation of the laser emitting tube, so as to effectively reduce the occurrence of signal instability, signal distortion and the like.

[0042] In an embodiment, after determining the resistance through device selection, it can also be verified whether the resistance can compensate the optical power of the laser emitting tube. For example, according to the temperature characteristic of the resistance, the resistance value at a preset temperature is determined. It is conceivable that the preset temperature is the temperature selected for verification. Then the first current compensation amount brought by the resistance can be determined, and the second current compensation amount required by the laser emitting tube at the preset temperature is determinable. Therefore, by comparing the first current compensation amount and the second current compensation amount, the device can realize verification of the optical power compensation, which helps to improve the accuracy of device selection and better provide optical power compensation for the laser emitting tube.

[0043] Figure 3 The circuit schematic diagram of the optical power compensation circuit provided by an embodiment of the present application is shown in the figure. The optical power compensation circuit can be applied to a laser radar to perform optical power compensation and reduce the occurrence of signal instability, signal distortion and other situations of the laser radar. Figure 3 As shown in the figure, the optical power compensation circuit includes a laser emitting tube D1, a matching resistance R1, a compensation resistance R2 and a field effect tube Q1.

[0044] Specifically, the anode end of the laser emitting tube D1 is connected to a power supply, that is, the anode end of the laser emitting tube D1 is connected to a power supply voltage VCC, and the cathode end of the laser emitting tube D1 is connected to the first end of the matching resistance R1, and the second end of the matching resistance R1 is connected to the drain end of the field effect tube Q1. The compensation resistance R2 is connected in parallel with the matching resistance R1. It is conceivable that the first end and the second end of the matching resistance R1 are used to distinguish the two different ends of the matching resistance R1. In addition, the source end of the field effect tube Q1 is grounded, and the gate end of the field effect tube Q1 is used to input the to-be-transmitted signal.

[0045] It can be understood that the matching resistance R1 and the compensation resistance R2 are connected in parallel, and both are connected in series with the laser emitting tube D1. Therefore, when the temperature changes, the working current of the laser emitting tube D1 changes, and the resistance value of the compensation resistance R2 also changes with the temperature. Since the matching resistance R1 is connected in parallel with the compensation resistance R2, the change of the resistance value of the compensation resistance R2 will change the total current of the entire circuit, thereby compensating for the current change caused by the laser emitting tube D1, and achieving the purpose of stabilizing the optical power of the laser emitting tube.

[0046] It should be noted that in some embodiments, the compensation resistance is a thermistor, and the selection of the thermistor can be selected according to the compensation resistance determination method provided in the above embodiment, so that the temperature characteristic of the thermistor can adapt to the change of the working current of the laser emitting tube D1, thereby stabilizing the optical power of the laser emitting tube.

[0047] It should also be noted that in some embodiments, the laser emitter D1 is a VCSEL laser diode, and the laser diode is connected to the matching resistor R1, such as the cathode of the laser diode being connected to the matching resistor R1.

[0048] Figure 4 This is a schematic diagram of an electronic device according to an embodiment of this application. The device is used to execute the compensation resistor determination method provided in the above embodiment, and has corresponding functional modules and beneficial effects for executing the method. Figure 4 As shown, the device includes a processor 401, a memory 402, an input device 403, and an output device 404. The number of processors 401 in the device can be one or more; the figure shows one processor 401 as an example. The processor 401, memory 402, input device 403, and output device 404 in the device can be connected via a bus or other means; the figure shows a connection via a bus as an example. The memory 402, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the compensation resistance determination method in this embodiment. The processor 401 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 402, thereby implementing the aforementioned compensation resistance determination method.

[0049] The memory 402 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data recorded or created during the use of the electronic device. Furthermore, the memory 402 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 402 may further include memory remotely located relative to the processor 401, which can be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0050] Input device 403 can be used to input corresponding numerical or character information to processor 401, and to generate key signal inputs related to user settings and function control of the device. Output device 404 can be used to send or display key signal outputs related to user settings and function control of the device.

[0051] This application also provides a storage medium storing computer-executable instructions, which, when executed by a processor, are used to perform relevant operations in the compensation resistance determination method provided in any embodiment of this application.

[0052] Computer-readable storage media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device.

[0053] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0054] Note that the above are only the preferred embodiments of the present application and the principles of technology used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for determining compensation resistance, characterized in that, The method for selecting a compensation resistor for optical power compensation of the laser emitter of a lidar includes: The relationship between the current change value of the laser emitting tube and the temperature under preset conditions is obtained. The preset conditions are that the optical power of the laser emitting tube is maintained at the target power throughout the entire temperature range. The current change value is used to represent the current change when the optical power of the laser emitting tube is at the target power at each temperature. Based on the reference current at the target operating temperature and the correspondence between the current change value and the temperature, the current compensation amount at each temperature is determined, where the current compensation amount is the difference between the reference current and the current change value. Based on the current compensation amount, the resistance compensation amount at each temperature is determined to determine the temperature characteristics of the compensation resistor. Based on the temperature characteristics of the compensation resistor, the device selection of the compensation resistor is performed; Specifically, determining the resistance compensation amount at various temperatures based on the current compensation amount, in order to determine the temperature characteristics of the compensation resistor, includes: By combining the current compensation amount, the reference current, and the current change value, the resistance compensation amount is determined, and the resistance value of the corresponding compensation resistor is calculated to determine the resistance change value of the compensation resistor at different temperatures; The temperature coefficient of the compensation resistor is determined based on the resistance change value.

2. The method for determining the compensation resistance according to claim 1, characterized in that, Determining the temperature coefficient of the compensation resistor based on the resistance change includes: By combining the expression for the temperature characteristics of the thermistor, the change values ​​of each resistance are fitted to determine the temperature coefficient of the compensation resistor.

3. The method for determining the compensation resistance according to claim 1, characterized in that, The step of selecting the compensation resistor based on its temperature characteristics includes: Based on the temperature coefficient of the compensation resistor, a resistor that matches the temperature coefficient is selected from the recorded resistance information as the compensation resistor.

4. The method for determining the compensation resistance according to claim 1, characterized in that, Also includes: The optical power compensation of the laser emitting tube was verified based on the compensation resistor determined after the device selection.

5. An optical power compensation circuit, characterized in that, include: A laser emitting tube, wherein the anode end of the laser emitting tube is connected to a power supply, and the laser emitting tube is used to emit laser light to a receiving end; A matching resistor, the first end of which is connected to the cathode end of the laser emitting tube; A compensation resistor, wherein the compensation resistor is connected in parallel with the matching resistor, and the selection of the compensation resistor is determined by the compensation resistor determination method according to any one of claims 1-4; A field-effect transistor (FET) is provided, wherein the drain terminal of the FET is connected to the second terminal of the matching resistor, the source terminal of the FET is grounded, and the gate terminal of the FET is used to receive the signal to be transmitted.

6. The optical power compensation circuit according to claim 5, characterized in that, The compensation resistor is a thermistor.

7. The optical power compensation circuit according to claim 5, characterized in that, The laser emitter is a VCSEL laser diode.

8. An electronic device, the device comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, implement the compensation resistance determination method as described in any one of claims 1-4.

9. A storage medium storing computer-executable instructions, which, when executed by a processor, are used to perform the compensation resistor determination method as described in any one of claims 1-4.

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