Small-caliber three-quadrant circumferential laser detection device

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By adopting a small-diameter three-quadrant design and an integrated transceiver detection module in the circumferential laser detection device, combined with optimized optical and electronic control technology, the existing device has solved the problems of large size, high power consumption and blind spots, and achieved high efficiency and low 360° circumferential detection of cost.

CN119414358APending Publication Date: 2025-02-11NANJING UNIV OF SCI & TECH

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Patent Information

Application Number: CN202411573280.5
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2024-11-06
Publication Date: 2025-02-11

AI Technical Summary

Technical Problem

When the existing circumferential laser detection device realizes 360° blind spotless detection, it has problems such as large size, complex structure, high power consumption, and difficulty in miniaturization and low cost. The use of high-speed rotating motors can easily lead to blind spots and mechanical wear. .

Method used

Using a small-diameter three-quadrant circumferential laser detection device, through optimizing optical design and electronic control technology, an integrated transceiver detection module and main control circuit are designed, and efficient detection is achieved through the array cylindrical lens and arch combined reception lens. The pulse laser receiving circuit performs echo pulse width measurement.

Benefits of technology

Achieves a small size, low power consumption and cost-effective circumferential detection scheme, reduces the number of detection units, improves integration and anti-electromagnetic interference capabilities, ensures 360° leak-free detection, and reduces the weight and manufacturing of the device Maintenance cost.

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Abstract

The invention discloses a small-caliber three-quadrant circumferential laser detection device, which is characterized by comprising a base shell, three receiving and transmitting integrated detection modules and a main control circuit, the base shell is of a hollow cylinder structure, three cavities are evenly distributed in the circumferential direction, each cavity is divided into an upper part and a lower part, and a groove is formed in each cavity and used for fixing the receiving and transmitting integrated detection module. An annular circular truncated cone is arranged in the base shell and is used for fixing the main control circuit; the receiving and transmitting integrated detection module is provided with an upper cavity and a lower cavity, the upper cavity is a laser transmitting cavity, and the lower cavity is a laser receiving cavity; common-ground processing is carried out on shells of all the receiving and transmitting integrated detection modules. The number of detection units is reduced, the detection field angle of each unit is enlarged, 360-degree circumferential detection is ensured, meanwhile, the cost is effectively reduced, and the miniaturization requirement of the laser fuze is met.

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Description

Technical Field

[0001] The invention belongs to the field of laser detection, and in particular relates to a small-aperture three-quadrant circumferential laser detection device. Background Art

[0002] Laser circumferential detection technology is widely used in military reconnaissance, missile guidance, security monitoring and other fields due to its excellent directionality, rapid response capability and anti-electromagnetic interference performance. Applying this technology to the laser fuze of interception ammunition can quickly and accurately detect the target when the ammunition approaches the target, and provide accurate distance and azimuth information for the weapon system, thereby improving the detonation accuracy and combat efficiency of the fuze. In the modern combat environment, the enemy's combat means are becoming more and more diversified, and the large-scale use of suicide reconnaissance and strike drones has brought greater technical challenges and combat pressure to interception ammunition. In order to effectively respond to the threat of low-cost drones and improve the cost-effectiveness of interception ammunition, higher requirements are put forward for circumferential laser detection devices. The detection device needs a higher detection sensitivity in order to timely detect and lock small and concealed targets. At the same time, the volume and mass of the detection device need to be reduced to improve the maneuverability of interception ammunition.

[0003] When existing circumferential laser detection devices realize 360° blind-spot-free detection of small targets, they usually use multiple sets of laser transceiver components (for example, four or six sets) to cover all-round detection needs. Although this design can achieve a certain detection effect, it has significant limitations. The application of multiple sets of transceiver components increases the volume and structural complexity of the system, making it difficult to miniaturize the device and leading to higher manufacturing and maintenance costs. As the number of components increases, the power consumption of the system will also increase significantly, which will limit the deployment and use of the system in a battlefield environment. Another circumferential laser detection device using a synchronous scanning scheme relies on a high-speed rotating motor to achieve all-round scanning of the laser beam. Although this design can achieve relatively accurate circumferential detection, the blind spots that are difficult to avoid during its operation are a significant defect. For fast-moving small targets, this blind spot can easily lead to detection failure, thereby affecting the timing of the fuze detonation and reducing combat effectiveness. The integration of high-speed rotating motors and precision control systems not only increases the complexity and cost of the device, but also causes additional mechanical wear and failure risks due to high-speed operation. Summary of the invention

[0004] The purpose of the present invention is to provide a small-aperture three-quadrant circumferential laser detection device, which realizes a circumferential detection solution with small size, low power consumption and high cost-effectiveness by optimizing optical design and electronic control technology.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A small-aperture three-quadrant circumferential laser detection device, comprising a base housing 1, three integrated transceiver detection modules and a main control circuit;

[0007] The base shell is a hollow cylindrical structure with three cavities evenly distributed along the circumference. Each cavity is divided into two parts, and a groove is provided for fixing the integrated transceiver detection module. An annular truncated cone is provided inside the base shell for fixing the main control circuit.

[0008] The transceiver integrated detection module is provided with two upper and lower cavities, the upper cavity is a laser emitting cavity, and the lower cavity is a laser receiving cavity; the shells of each transceiver integrated detection module are grounded;

[0009] The integrated transceiver detection module includes an array cylindrical lens, a laser collimation unit, a pulse laser driving circuit, a transmitting part end cover, an arched combined receiving lens, a narrow-band filter, a pulse laser receiving circuit, and a receiving part end cover; the array cylindrical lens is installed on the circular groove inside the upper cavity, the laser collimation unit and the pulse laser driving circuit are installed in the upper cavity in sequence, and are closed by the transmitting part end cover; the arched combined receiving lens is fixed in the installation groove of the lower cavity, the narrow-band filter and the pulse laser receiving circuit are installed in the lower cavity in sequence, and are closed by the receiving part end cover.

[0010] Compared with the prior art, the present invention has the following significant advantages:

[0011] (1) The number of detection units is reduced and the detection field of view of each unit is expanded. While ensuring 360° circumferential detection, the present invention effectively reduces the cost and meets the miniaturization requirements of the laser fuze. The radial diameter of the entire device is only 57 mm.

[0012] (2) The housing of the integrated transceiver detection module of the present invention adopts an aluminum structure and undergoes a common ground treatment, which not only effectively reduces the weight of the device, but also provides an excellent electromagnetic shielding effect and improves the device's ability to resist electromagnetic interference.

[0013] (3) This detection system adopts a modular design that combines transmission and reception, which greatly improves the integration level and makes the assembly and calibration process simpler and more efficient.

[0014] (4) The arched combined focusing lens has the characteristics of short focal length and large detection field of view. The field of view of a single lens can reach 108°, which significantly improves the space utilization rate. The lens material is polycarbonate, which has excellent impact resistance and high light transmittance, ensuring the stability and reliability of the device in harsh environments.

[0015] (5) The pulse laser receiving circuit of the present invention has the function of measuring the echo pulse width, which can assist in distinguishing the incoming target.

[0016] (6) The integrated transceiver detection module of the present invention can be driven synchronously to form a large conical detection field of view, or it can be driven asynchronously to achieve partitioned detection in turn. When the pulse laser repetition frequency meets the requirements, this design can ensure that the target is accurately detected while significantly reducing the power consumption of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the small-aperture three-quadrant circumferential laser detection device of the present invention.

[0018] Figure 2 It is a schematic diagram of the base shell structure.

[0019] Figure 3 This is a schematic diagram of the shell structure of the integrated transceiver detection module.

[0020] Figure 4 This is a schematic diagram of the integrated transceiver detection module assembly.

[0021] Figure 5 Schematic diagram of array cylindrical lens.

[0022] Figure 6 Schematic diagram of the cross section of the laser collimation unit.

[0023] Figure 7 Schematic diagram of an arched combined receiving lens.

[0024] Figure 8 This is the schematic diagram of the pulse laser echo receiving circuit.

[0025] Fig. 9 This is the installation diagram of the integrated transceiver detection module.

[0026] Fig.10 This is a schematic diagram of the detection field of view of a small-aperture three-quadrant circumferential laser detection device. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Combination Figure 1 The present invention provides a small-aperture three-quadrant circumferential laser detection device, comprising a base housing 1, three integrated transceiver detection modules 2 and a main control circuit 3. Figure 2The base shell 1 is a hollow cylindrical structure, and the outer diameter of the base shell 1 is only 57mm. There are three cavities 1-1 evenly distributed along the circumference, and each cavity is divided into two parts, and is provided with a groove 1-2. The groove is preset with a threaded hole to fix the integrated transceiver detection module 2. Each integrated transceiver detection module 2 can realize 120° circumferential detection. Only three integrated transceiver detection modules 2 are required to realize 360° circumferential detection. Compared with the four or six groups of detection units required for the traditional partitioned laser circumferential detection device, the present invention reduces the cost while realizing the miniaturization of the laser fuse. An annular cone 1-3 is provided in the base shell 1 of the present invention. Three threaded holes are evenly arranged at the annular cone 1-3, and are staggered with the integrated transceiver detection module to avoid the threaded holes passing through the cavity 1-1. Three nylon columns 1-4 are fixed on the threaded holes, and the main control circuit is installed on the nylon columns 1-4.

[0029] Further, combined with Figure 3 The shell of the integrated transceiver detection module 2 is made of aluminum material and is divided into two upper and lower cavities. The upper cavity 4 is the laser emission cavity, and the lower cavity 5 is the laser receiving cavity, which effectively shields the transmitting part and the receiving part electromagnetically; each module shell is grounded, which effectively reduces the electric field interference of the pulse laser receiving circuit 13. An installation groove 6 is provided on the outside of the lower cavity for installing the lens. Compared with the traditional method of separating transmission and reception, the present invention adopts a modular design of integrated transmission and reception, which is convenient for assembly and calibration.

[0030] Further, combined with Figure 3 , Figure 4 The integrated transceiver detection module includes an array cylindrical lens 7, a laser collimator unit 8, a pulse laser drive circuit 9, a transmitting part end cap 10, an arched combined receiving lens 11, a narrowband filter 12, a pulse laser receiving circuit 13, and a receiving part end cap 14. The array cylindrical lens 7 is mounted on the circular groove inside the upper cavity, the laser collimator unit 8 and the pulse laser drive circuit 9 are sequentially mounted in the upper cavity 4, the cavity is potted with epoxy resin and closed by the transmitting part end cap 10. The arched combined receiving lens 11 is fixed in the mounting groove 6 by threads, the narrowband filter 12 and the pulse laser receiving circuit 13 are sequentially mounted in the lower cavity 5, the cavity is potted with epoxy resin and closed by the receiving part end cap 14.

[0031] Further, combined with Figure 5 The array cylindrical lens 7 is a wave-shaped lens array composed of multiple segments of aspherical cylindrical lenses 7-1, which has a one-dimensional beam expansion function and can expand the collimated laser beam to 110° on the sagittal plane to form a linear beam covering the detection area of the entire quadrant. The lens material is PMMA and the thickness is only 2mm. Compared with the use of Powell prism beam expansion, the lens cost and thickness are significantly reduced, and the space utilization rate is higher.

[0032] Further, combined with Figure 6 The laser collimation unit 8 is composed of a sleeve 8-1, an aspheric collimating lens 8-2, a pressure screw 8-3, and a focusing threaded seat 8-4. The aspheric collimating lens 8-2 is a plano-convex lens with a thickness of 1.34 mm, one side of which is an even-order aspheric surface and the other side is a plane. The distance from the plane to the focus is 5.9 mm, and the mechanical diameter is 10 mm, which is slightly larger than the diameter of the optical surface, so as to form a circular step and fit tightly with the inner plane of the sleeve 8-1. The inner wall of the sleeve 8-1 is provided with threads, and the lens plane can be fixed in the sleeve 8-1 by the pressure screw 8-3; the sleeve 8-1 is made of resin and has good impact resistance. A seat hole is provided at one end of the focusing threaded seat 8-4 for installing the laser diode, and the distance between the threaded seat and the aspheric collimating lens 8-2 is adjusted by fine thread, so that the light-emitting node of the laser diode is accurately at the focus of the collimating lens, thereby obtaining the best laser shaping effect. Compared with the conventional method of adjusting the focal length by supporting the lens with a spring, the focus offset of the collimating unit 8 during dynamic overload is smaller and the collimating effect is more stable.

[0033] Further, combined with Figure 7 The arched combined receiving lens 11 is composed of six segments of spherical mirrors 11-1. The spherical mirrors 11-1 are shaped into a lens with an arc outer surface and a flat inner surface and side surfaces, and the thickness is 1.3mm. The inner surfaces of the six segments of spherical mirrors 11-1 overlap each other at a central angle of 18° to form an arched structure. The focus of each segment of the spherical mirror 11-1 converges at 7mm on the inner surface, and the overall receiving field of view reaches 108°. Compared with a single large field of view lens, the curvature radius and lens thickness of the arched combined lens 11 are greatly reduced, which has the advantages of a large field of view and a narrow focal length, and significantly improves the space utilization of the detection device. Fixed seats 11-2 are provided on both sides of the arched combined lens 11, and countersunk threaded holes are provided on the fixed seats. They are fixed in the mounting groove 6 by bolts to ensure the stability of the structure. The material of the arched combined lens 11 is polycarbonate, which has excellent impact resistance and a light transmittance of up to 90%.

[0034] Further, combined with Figure 8The pulse laser receiving circuit 13 includes a voltage follower, a preamplifier circuit, a main amplifier circuit, an echo time identification circuit, a subtraction circuit and a capacitor integration circuit. When the line laser detects the target surface, the photodiode converts the diffusely reflected light signal into a weak current signal, and the voltage follower is used to convert the current signal into a voltage signal; the voltage follower includes a first resistor R1, a second resistor R2, and an integrated operational amplifier U1; one end of the first resistor R1 is connected to port 1 of the integrated operational amplifier U1, and the other end is connected to port 4 of the integrated operational amplifier U1 to form a negative feedback; one end of the second resistor R2 is grounded, and the other end is connected to port 3 of the integrated operational amplifier U1; port 2 of the integrated operational amplifier U1 is connected to -5V, and port 5 is connected to +5V.

[0035] The preamplifier circuit is used to preliminarily amplify the voltage signal output by the voltage follower; the preamplifier circuit includes a third resistor R3, a first capacitor C1, a fourth resistor R4, and an integrated operational amplifier U2; the third resistor R3 and the first capacitor C1 are connected in parallel, and after the parallel connection, one end is connected to port 1 of the integrated operational amplifier U1, and the other end is connected to port 4 of the integrated operational amplifier U2; the first capacitor C1 can accelerate signal transmission; one end of the fourth resistor R4 is connected to port 1 of the integrated operational amplifier U2, and the other end is connected to port 4 of the integrated operational amplifier U2, and can be used to adjust the amplification factor in conjunction with the third resistor R3; port 2 of the integrated operational amplifier U2 is connected to -5V, port 5 is connected to +5V, and port 3 is grounded.

[0036] The main amplifier circuit is used to perform secondary amplification on the signal, which helps to reduce the amplification factor of the pre-operational amplifier circuit and improve the bandwidth; the main amplifier circuit includes a second capacitor C2, a fifth resistor R5, a sixth resistor R6 and an integrated operational amplifier U3; the second capacitor C2 and the fifth resistor R5 are connected in series, and after the series connection, one end is connected to port 1 of the integrated operational amplifier U2, and the other end is connected to port 4 of the integrated operational amplifier U3; one end of the sixth resistor R6 is connected to port 1 of the integrated operational amplifier U3, and the other end is connected to port 4 of the integrated operational amplifier U3, and can be used to adjust the amplification factor in conjunction with the fifth resistor R5; port 2 of the integrated operational amplifier U3 is connected to -5V, port 5 is connected to +5V, and port 3 is grounded.

[0037] The echo moment identification circuit is used for identifying the leading edge moment of the echo signal and filtering out noise interference; the echo moment identification circuit includes a high-speed comparator U4, a seventh resistor R7, a third capacitor C3 and a fourth capacitor C4; one end of the third capacitor C3 is grounded, and the other end is connected to port 3 of the high-speed comparator U4; one end of the seventh resistor R7 is connected to port 5 of the high-speed comparator U4, and the other end is connected to +5V; one end of the fourth capacitor C4 is connected to port 5 of the high-speed comparator U4, and the other end is grounded; port 2 of the high-speed comparator U4 is grounded; if the signal is higher than the threshold voltage CP, the output voltage of the echo moment identification circuit is 5V, otherwise the output voltage is 0V, and when the echo signal arrives, VOUT1 will output a rectangular negative pulse signal from 5V to 0V, and the rectangular negative pulse signal is provided to the main control circuit 3 for further shaping and distance calculation.

[0038] The subtraction circuit is used to convert the rectangular negative pulse signal of 5V to 0V output by VOUT1 into a rectangular negative pulse signal of 0V to -5V by subtracting a voltage of 5V. The subtraction circuit includes an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11 and an integrated operational amplifier U5; one end of the eighth resistor is connected to 5V, and the other end is connected to port 4 of the integrated operational amplifier U5; one end of the ninth resistor R9 is connected to port 1 of the high-speed comparator U4, and the other end is connected to port 3 of the integrated operational amplifier U5; one end of the tenth resistor R10 is grounded, and the other end is connected to port 3 of the integrated operational amplifier U5; one end of the eleventh resistor R11 is connected to port 4 of the integrated operational amplifier U5, and the other end is connected to port 1 of the integrated operational amplifier U5; The eighth resistor R8, the ninth resistor R9, the tenth resistor R10, and the eleventh resistor R11 have equal resistance values, and the output VOUT2=VOUT1-5V;

[0039] The capacitor integration circuit is used to integrate the rectangular negative pulse signal input by VOUT2. The main control circuit 3 calculates the pulse width by measuring the voltage value output by the capacitor integration circuit to achieve auxiliary discrimination of the target; the capacitor integration circuit includes a twelfth resistor R12, a seventh capacitor C7 and an integrated operational amplifier U6; one end of the twelfth resistor R12 is connected to port 1 of the integrated operational amplifier U4, and the other end is connected to port 4 of the operational amplifier U5; one end of the seventh capacitor C7 is connected to port 4 of the integrated operational amplifier U6, and the other end is connected to port 1 of the integrated operational amplifier U6; port 2 of the integrated operational amplifier U6 is connected to -5V, port 5 is connected to +5V, and port 3 is grounded; the relationship between the output voltage VOUT3 and the pulse width τ is as follows:

[0040]

[0041] τ=-VOUT3·C7 / VOUT2

[0042] τ=VOUT3·C7 / 5

[0043] The output voltage VOUT3 is provided to the main control circuit 3. After the voltage is peak-held, it is sampled by the microcontroller to obtain the highest value of the output voltage and calculate the pulse width. The measurement of the pulse width can distinguish large and small targets. For small targets, the spot length of the line laser irradiating the target surface is shorter and the echo pulse width is narrower. However, for large targets, due to their larger area and depth, their echo pulse width will be wider.

[0044] Further, combined with Figure 3 and Fig. 9 The outer end surface of the housing of the transceiver integrated detection module is cylindrical, which fits tightly with the base housing 1, and can reduce the impact of the aerodynamic effect on the detection device when the ammunition is flying; the outer end surface of the upper cavity 4 of the detection module is a plane, which prevents the detection module housing from blocking the light beam emitted from the array cylindrical lens 7; the outer end surface of the lower cavity 5 is an arch, which prevents the detection module housing from blocking the return light beam entering the arched combined lens 11 in the meridian direction. The outer side surfaces of the upper cavity 4 and the lower cavity 5 are both provided with mounting ears, which are connected to the groove of the base housing by threads; the transceiver integrated detection module 2 is installed at an angle of 48° with the axis of the base housing 1, and the two are clearance-matched.

[0045] Further, combined with Fig.10 The small-aperture three-quadrant circumferential laser detection device of the present invention realizes forward detection, can obtain target information in advance, and effectively perform target identification and anti-interference. Through this detection method, the detection fields of the three quadrants intersect with each other to form a pyramidal detection field of view, and the detection field angle of each quadrant is about 104.3°. The beam expansion angle of the array cylindrical lens 7 is 110°, and the receiving field angle of the arched combined receiving lens 11 is 108°, both of which are greater than the detection field angle of a single quadrant, ensuring that the detection system achieves 360° circumferential leakage-free detection. Each quadrant detection module can not only adopt a synchronous drive method to form a conical detection field of view, but also adopt an asynchronous drive method to realize scanning detection. In this detection mode, not only can the energy consumption of the detection device be reduced, but also the interference to the power supply when multiple detection modules work at the same time can be reduced. When the repetition frequency of the pulsed laser meets the requirements, leakage-free detection can also be achieved.

[0046] Furthermore, the shell, transmitting part end cover 10, and receiving part end cover 14 of the transceiver-in-one detection module 2 are all made of aluminum structure and are grounded, which not only effectively reduces the weight of the detection device, but also has good electromagnetic shielding performance; and the base shell 1 is made of resin material, which can further reduce the overall weight of the detection device.

[0047] The working process of the small-aperture three-quadrant circumferential detection device of the present invention is as follows: the pulse laser driving circuit 9 provides a driving signal to the laser diode, and the laser emitted by the laser diode is shaped into a linear beam by a lens and then emitted to the circumferential space; the laser beam propagates in the atmosphere, and if it touches the target surface, diffuse reflection will occur. The reflected laser beam is focused by an arched combined receiving lens 11 and filtered out interference beams other than the wavelength of the emitted beam by a narrow-band filter 12; the filtered beam is irradiated on the photosensitive surface of the photodiode, and the optical signal is converted into an electrical signal by the photodiode, and then amplified by the pulse laser receiving circuit and time discrimination is performed, and the pulse width information is output as a voltage signal after capacitor integration and transmitted to the main control circuit 3, and the main control circuit 3 will discriminate the target and identify the quadrant in which the echo signal is located, and calculate the distance and direction of the target.

Claims

1. A small-aperture three-quadrant circumferential laser detection device, characterized in that: It includes a base shell, a three-in-one transceiver detection module and a main control circuit; The base shell is a hollow cylindrical structure with three cavities evenly distributed along the circumference. Each cavity is divided into two parts, and a groove is provided for fixing the integrated transceiver detection module. An annular truncated cone is provided inside the base shell for fixing the main control circuit. The transceiver integrated detection module is provided with two upper and lower cavities, the upper cavity is a laser emitting cavity, and the lower cavity is a laser receiving cavity; the shells of each transceiver integrated detection module are grounded; The integrated transceiver detection module includes an array cylindrical lens, a laser collimation unit, a pulse laser driving circuit, an emission part end cover, an arched combined receiving lens, a narrow-band filter, a pulse laser receiving circuit, and a receiving part end cover; the array cylindrical lens is mounted on a circular groove inside an upper cavity, the laser collimation unit and the pulse laser driving circuit are sequentially mounted in the upper cavity and are closed by the emission part end cover; the arched combined receiving lens is fixed in the mounting groove of the lower cavity, the narrow-band filter and the pulse laser receiving circuit are sequentially mounted in the lower cavity and are closed by the receiving part end cover.

2. The small-aperture three-quadrant circumferential laser detection device according to claim 1, characterized in that: The pulse laser driving circuit comprises: A voltage follower is used to convert the current signal converted by the photodiode into a voltage signal; A preamplifier circuit is used for preliminarily amplifying the voltage signal output by the voltage follower; A main amplifier circuit for performing secondary amplification of the signal; The echo moment identification circuit is used to identify the leading edge moment of the echo signal and filter out noise interference, and outputs a rectangular negative pulse signal VOUT1 from 5V to 0V; A subtraction circuit, used for converting a 5V to 0V rectangular negative pulse signal VOUT1 minus a 5V voltage into a 0V to -5V rectangular negative pulse signal VOUT2; The capacitor integration circuit is used to integrate the rectangular negative pulse signal input by VOUT2. The main control circuit calculates the pulse width by measuring the voltage value VOUT3 output by the capacitor integration circuit to achieve auxiliary identification of the target.

3. The small-aperture three-quadrant circumferential laser detection device according to claim 2, characterized in that: The voltage follower includes a photodiode D1, a first resistor R1, a second resistor R2, and an integrated operational amplifier U1; the photodiode D1 is added with a directional bias voltage of +5V; one end of the first resistor R1 is connected to port 1 of the integrated operational amplifier U1, and the other end is connected to port 4 of the integrated operational amplifier U1, forming a negative feedback; one end of the second resistor R2 is connected to the anode of the photodiode D1, and the other end is connected to port 3 of the integrated operational amplifier U1; port 2 of the integrated operational amplifier U1 is connected to -5V, and port 5 is connected to +5V.

4. The small-aperture three-quadrant circumferential laser detection device according to claim 2, characterized in that: The preamplifier circuit includes a third resistor R3, a first capacitor C1, a fourth resistor R4, and an integrated operational amplifier U2; the third resistor R3 and the first capacitor C1 are connected in parallel, and after the parallel connection, one end is connected to a voltage follower, and the other end is connected to port 4 of the integrated operational amplifier U2; one end of the fourth resistor R4 is connected to port 1 of the integrated operational amplifier U2, and the other end is connected to port 4 of the integrated operational amplifier U2, and can be used to adjust the amplification factor in conjunction with the third resistor R3; port 2 of the integrated operational amplifier U2 is connected to -5V, port 5 is connected to +5V, and port 3 is grounded.

5. The small-aperture three-quadrant circumferential laser detection device according to claim 2, characterized in that: The main amplifier circuit includes a second capacitor C2, a fifth resistor R5, a sixth resistor R6 and an integrated operational amplifier U3; the second capacitor C2 and the fifth resistor R5 are connected in series, one end of which is connected to the preamplifier circuit, and the other end is connected to port 4 of the integrated operational amplifier U3; one end of the sixth resistor R6 is connected to port 1 of the integrated operational amplifier U3, and the other end is connected to port 4 of the integrated operational amplifier U3, and can be used to adjust the amplification factor in conjunction with the fifth resistor R5; port 2 of the integrated operational amplifier U3 is connected to -5V, port 5 is connected to +5V, and port 3 is grounded.

6. The small-aperture three-quadrant circumferential laser detection device according to claim 2, characterized in that: The echo moment identification circuit includes a high-speed comparator U4, a seventh resistor R7, a third capacitor C3 and a fourth capacitor C4; one end of the third capacitor C3 is grounded, and the other end is connected to port 3 of the high-speed comparator U4; one end of the seventh resistor R7 is connected to port 5 of the high-speed comparator U4, and the other end is connected to +5V; one end of the fourth capacitor C4 is connected to port 5 of the high-speed comparator U4, and the other end is grounded; port 2 of the high-speed comparator U4 is grounded; if the signal is higher than the threshold voltage CP, the output voltage of the echo moment identification circuit is 5V, otherwise the output voltage is 0V, and when the echo signal arrives, a rectangular negative pulse signal VOUT1 from 5V to 0V will be output.

7. The small-aperture three-quadrant circumferential laser detection device according to claim 2, characterized in that: The subtraction circuit includes an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11 and an integrated operational amplifier U5; one end of the eighth resistor is connected to 5V, and the other end is connected to port 4 of the integrated operational amplifier U5; one end of the ninth resistor R9 is connected to the echo time identification circuit, and the other end is connected to port 3 of the integrated operational amplifier U5; one end of the tenth resistor R10 is grounded, and the other end is connected to port 3 of the integrated operational amplifier U5; one end of the eleventh resistor R11 is connected to port 4 of the integrated operational amplifier U5, and the other end is connected to port 1 of the integrated operational amplifier U5.

8. The small-aperture three-quadrant circumferential laser detection device according to claim 7, characterized in that: The rectangular negative pulse signal VOUT2 is:

9. The small-aperture three-quadrant circumferential laser detection device according to claim 2, characterized in that: The capacitance integration circuit includes a twelfth resistor R12, a seventh capacitor C7 and an integrated operational amplifier U6; one end of the twelfth resistor R12 is connected to the operational circuit, and the other end is connected to port 4 of the operational amplifier U5; one end of the seventh capacitor C7 is connected to port 4 of the integrated operational amplifier U6, and the other end is connected to port 1 of the integrated operational amplifier U6.

10. The small-aperture three-quadrant circumferential laser detection device according to claim 9, characterized in that: The voltage value VOUT3 is: τ=-VOUT3·C7 / VOUT2 τ is the pulse width.