Waveform correction method of laser, waveform correction device and medium

Abstract

The embodiment of the invention discloses a waveform correction method of a laser, a waveform correction device and a medium, which are used for the technical field of laser pulses. The waveform correction method is applied to a driving circuit of a laser, the driving circuit comprises an energy storage capacitor, a circuit total resistor, a circuit total inductor, a laser and a switch which are sequentially connected in series, and the method comprises the following steps: acquiring pulse widths of laser time domain waveforms output by a plurality of lasers; adjusting the capacitance value of an energy storage capacitor in a driving circuit of the laser based on the pulse width of the laser time domain waveform, so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent; amplitude values of laser time domain waveforms output by the multiple lasers after adjustment are obtained; adjusting the initial voltage of an energy storage capacitor based on the amplitude of the laser time domain waveform, so that the amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent; the laser time domain waveform signals emitted by the plurality of lasers are consistent, the characteristic difference of the laser received by the photoelectric detector is avoided, and the imaging quality of the laser radar is ensured.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of laser pulse, in particular to a waveform correction method of a laser, a waveform correction device and a medium. BACKGROUND

[0002] The existing laser radar contains a laser and a photoelectric detector. The laser radar emits laser to a target object by driving the laser, and receives the laser reflected by the target object through the photoelectric detector. The received laser reflected by the target object is compared with the emitted laser, and the distance, direction, height, speed, attitude and even shape of the target object are obtained after processing. For example, the distance of the target object is calculated by measuring the round-trip time of the laser emission signal and the reflected signal.

[0003] With the development of the laser radar industry in the direction of smaller size and higher resolution, the number of circuit boards inside the laser radar is reduced, and the number of lasers to be mounted on the single laser emission board inside the laser radar is increased. There are inevitable differences in circuit drawing between the driving circuits of multiple lasers on the laser emission board, which will cause differences in the time-domain waveforms of the lasers emitted by the multiple lasers, and differences in the characteristics of the laser received by the photoelectric detector, affecting the quality of the laser radar imaging. SUMMARY

[0004] Embodiments of the present application provide a waveform correction method of a laser, a waveform correction device and a medium, which make the time-domain waveform signals of the lasers emitted by multiple lasers consistent, avoid differences in the characteristics of the laser received by the photoelectric detector, and ensure the quality of the laser radar imaging.

[0005] Embodiments of the present application provide a waveform correction method of a laser. The method is applied to a driving circuit of the laser, the driving circuit includes an energy storage capacitor, a total resistance of a circuit, a total inductance of the circuit, a laser and a switch connected in series, and the method includes:

[0006] Obtaining the pulse width of the time-domain waveform of the laser output by multiple lasers;

[0007] Adjusting the capacitance value of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the time-domain waveform of the laser, so that the pulse widths of the time-domain waveforms of the lasers output by multiple lasers are consistent;

[0008] Obtaining the amplitude of the time-domain waveform of the laser output by multiple lasers after adjustment;

[0009] Adjusting the initial voltage of the energy storage capacitor based on the amplitude of the time-domain waveform of the laser, so that the amplitudes of the time-domain waveforms of the lasers output by multiple lasers are consistent.

[0010] Further, the adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the laser time-domain waveform makes the pulse widths of the laser time-domain waveforms output by the plurality of lasers consistent, comprising:

[0011] Obtaining an RLC circuit model corresponding to the driving circuit of the laser;

[0012] Adjusting the capacitance of the energy storage capacitor in the RLC circuit model based on the pulse width of the laser time-domain waveform makes the pulse widths of the laser time-domain waveforms output by the plurality of lasers consistent.

[0013] Further, the adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the laser time-domain waveform makes the pulse widths of the laser time-domain waveforms output by the plurality of lasers consistent, comprising:

[0014] If the pulse width of the laser time-domain waveform output by any laser in the plurality of lasers is greater than an expected waveform pulse width, the capacitance of the energy storage capacitor in the driving circuit of the any laser is reduced;

[0015] If the pulse width of the laser time-domain waveform output by the any laser is less than the expected waveform pulse width, the capacitance of the energy storage capacitor in the driving circuit of the any laser is increased.

[0016] Further, the energy storage capacitor in the driving circuit of the laser comprises an adjustable capacitor, and the adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser comprises:

[0017] Adjusting the plate spacing and / or the plate facing area of the adjustable capacitor to adjust the capacitance of the energy storage capacitor.

[0018] Further, the adjusting the initial voltage of the energy storage capacitor based on the amplitude of the laser time-domain waveform makes the amplitudes of the laser time-domain waveforms output by the plurality of lasers consistent, comprising:

[0019] If the amplitude of the laser time-domain waveform output by any laser in the plurality of lasers is greater than an expected waveform amplitude, the initial voltage of the energy storage capacitor in the driving circuit of the any laser is reduced;

[0020] If the amplitude of the laser time-domain waveform output by the any laser is less than the expected waveform amplitude, the initial voltage of the energy storage capacitor in the driving circuit of the any laser is increased.

[0021] Further, the driving circuit of the laser further comprises an adjustable DC power supply, and the adjustable DC power supply charges the energy storage capacitor;

[0022] The adjusting the initial voltage of the energy storage capacitor comprises adjusting the output voltage of the adjustable DC power supply.

[0023] Further, the pulse width and the amplitude of the laser time-domain waveform output by the laser are obtained by:

[0024] The light signal of the laser output by the laser is detected by a photoelectric detector, and the light signal is converted into an electric signal.

[0025] The electric signal is sampled by an oscilloscope to obtain the pulse width and the amplitude of the laser time-domain waveform output by the laser.

[0026] The embodiment of the present application also provides a waveform correction device of a laser, which is applied to a driving circuit of the laser, and the driving circuit comprises: an energy storage capacitor, a total resistance of a circuit, a total inductance of the circuit, a laser and a switch which are connected in series; and the waveform correction device comprises:

[0027] A first acquisition unit is configured to acquire the pulse widths of a plurality of laser time-domain waveforms output by the laser.

[0028] A first adjustment unit is configured to adjust the capacitance of the energy storage capacitor in the driving circuit of the laser based on the pulse widths of the laser time-domain waveforms, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent.

[0029] A second acquisition unit is configured to acquire the amplitudes of the laser time-domain waveforms output by the plurality of lasers after adjustment.

[0030] A second adjustment unit is configured to adjust the initial voltage of the energy storage capacitor based on the amplitudes of the laser time-domain waveforms, so that the amplitudes of the laser time-domain waveforms output by the plurality of lasers are consistent.

[0031] The embodiment of the present application also provides a waveform correction device of a laser, which comprises:

[0032] A central processing unit, a memory, an input and output interface, a wired or wireless network interface and a power supply.

[0033] The memory is a transitory storage memory or a persistent storage memory.

[0034] The central processing unit is configured to communicate with the memory, execute the instruction operation in the memory on a control plane function entity to perform the method described above.

[0035] The embodiment of the present application also provides a computer readable storage medium, which comprises instructions, when the instructions are run on a computer, the computer executes the method described above.

[0036] From the above technical solutions, the embodiment of the present application has the following advantages:

[0037] In the embodiment of the present application, the waveform correction method is applied to the driving circuit of the laser, and the driving circuit comprises: an energy storage capacitor, a total resistance of the circuit, a total inductance of the circuit, a laser and a switch connected in series; the waveform correction method comprises: obtaining the pulse width of the laser time domain waveform output by the plurality of lasers; adjusting the capacitance value of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the laser time domain waveform, so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent; obtaining the amplitude of the laser time domain waveform output by the plurality of lasers after adjustment; and adjusting the initial voltage of the energy storage capacitor based on the amplitude of the laser time domain waveform, so that the amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent. By adjusting the capacitance value of the energy storage capacitor in the driving circuit of the laser, the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent, and by adjusting the initial voltage of the energy storage capacitor, the amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent, so that the pulse widths and amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent, the laser time domain waveform signals emitted by the plurality of lasers are consistent, the differences in the characteristics of the laser received by the photodetector are avoided, and the quality of the laser radar imaging is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0039] Figure 1 A waveform correction flowchart of a laser disclosed in an embodiment of the present application;

[0040] Figure 2 Another waveform correction flowchart of a laser disclosed in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of a driving circuit of a single laser disclosed in an embodiment of the present application;

[0042] Figure 4 An RLC circuit model diagram corresponding to a driving circuit disclosed in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a driving circuit of a plurality of lasers disclosed in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a waveform correction device for a plurality of lasers disclosed in an embodiment of the present application;

[0045] Figure 7 Another schematic diagram of a waveform correction device for a plurality of lasers disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order for those skilled in the technical field to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0047] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0048] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0049] In the existing laser radar, laser is driven to emit laser for distance measurement, speed measurement and other parameter measurement. With the reduction of the number of circuit boards inside the laser radar, the number of lasers to be mounted on the single laser emission board inside the laser radar also increases. Due to the difference in circuit drawing between the driving circuits of the multiple lasers on the laser emission board, the time domain waveforms of the lasers emitted by the multiple lasers will be different, which will cause the difference in the laser characteristics received by the photoelectric detector, and affect the quality of the imaging of the laser radar.

[0050] Therefore, the embodiments of the present application provide a waveform correction method of a laser, which can make the time domain waveforms of the lasers emitted by the multiple lasers consistent, avoid the difference in the laser characteristics received by the photoelectric detector, and ensure the quality of the imaging of the laser radar. In the embodiments of the present application, the waveform correction method is applied to the driving circuit of the laser. The laser is a pulse laser, such as a VCSEL laser, an EEL laser, etc. That is, the waveform correction method is applied to the driving circuit of the pulse laser, and the circuit model of the corresponding driving circuit is as follows: Figure 3As shown, the drive circuit includes: energy storage capacitor C, circuit total resistance R, circuit total inductance L, laser Laser and switch SW connected in series. The corresponding laser waveform correction method is as follows Figure 1 As shown, the method specifically includes the following steps:

[0051] 101. Obtain the pulse width of the laser time-domain waveform output by the plurality of lasers.

[0052] In the embodiment of the present application, a plurality of lasers are contained on a single laser emission plate of the laser radar, and the waveform correction device can obtain the pulse width of the laser time-domain waveform output by the plurality of lasers, that is, the pulse width (optical pulse width) of the laser time-domain waveform emitted by the plurality of lasers on the laser emission plate. Wherein, the laser time-domain waveform output by the laser refers to the waveform of the change of laser intensity with time, which intuitively reflects the energy distribution characteristics of the laser in the time dimension. The pulse width of the laser time-domain waveform refers to the duration of the laser pulse, that is, the time experienced from the rising of the pulse to the falling to a certain threshold (usually 50% of the peak value).

[0053] In the embodiment of the present application, the optical signal of the laser pulse can be converted into an electrical signal by a photoelectric detector, and then the time-domain waveform of the electrical signal can be collected and displayed by an oscilloscope to obtain the pulse width of the corresponding laser time-domain waveform, or the pulse width can be inversely deduced by measuring the autocorrelation function of the laser pulse based on the second-order nonlinear optical effect, which is not limited here. It can be understood that the corresponding drive circuits of the plurality of lasers on the laser emission plate have certain differences, and the laser time-domain waveforms output by the plurality of lasers have certain differences, that is, the pulse widths of the laser time-domain waveforms output by the plurality of lasers also have certain differences.

[0054] 102. Adjust the capacitance value of the energy storage capacitor in the drive circuit of the laser based on the pulse width of the laser time-domain waveform, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent.

[0055] In the embodiment of the present application, the capacitance value of the energy storage capacitor in the drive circuit of the laser can be adjusted based on the pulse width of the laser time-domain waveform, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent. Wherein, the drive circuit of the laser is used to drive the laser to output a laser pulse, and the energy storage capacitor in the drive circuit of the laser is used to store energy and release it quickly, to provide a transient large current pulse for the laser, and to ensure that the laser outputs a stable and high-power laser pulse.

[0056] The pulse width of the laser time-domain waveform output by the laser can be adjusted by adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser. Specifically, if the pulse width of the laser time-domain waveform output by the laser is too large, the capacitance of the energy storage capacitor in the driving circuit of the laser is reduced to reduce the pulse width of the laser time-domain waveform; if the pulse width of the laser time-domain waveform output by the laser is too small, the capacitance of the energy storage capacitor in the driving circuit of the laser is increased to increase the pulse width of the laser time-domain waveform; after adjusting the capacitance of the energy storage capacitor each time, the pulse width of the laser time-domain waveform output by the laser is obtained again, and the capacitance of the energy storage capacitor is adjusted through closed-loop feedback control of the pulse width of the laser time-domain waveform, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent.

[0057] 103. Obtain the amplitude of the laser time-domain waveform output by the plurality of lasers after adjustment.

[0058] After adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser to make the pulse widths of the laser time-domain waveforms output by the plurality of lasers consistent, the amplitude of the laser time-domain waveform output by the plurality of lasers after adjustment can be obtained. The amplitude of the laser time-domain waveform is the energy output by the laser per unit time, which can be understood as the average optical power of the laser. In the embodiments of the present application, the optical signal of the laser pulse can be converted into an electrical signal by a photodetector, and the time-domain waveform of the electrical signal can be collected and displayed by an oscilloscope to obtain the amplitude of the corresponding laser time-domain waveform, or the total energy of a single laser pulse can be measured by an energy meter or a power meter, and the amplitude of the laser time-domain waveform can be calculated based on the total energy.

[0059] It can be understood that during the process of adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser, the amplitude of the laser time-domain waveform output by the laser will also change. Therefore, in the embodiments of the present application, the pulse widths of the laser time-domain waveforms output by the plurality of lasers are first made consistent by adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser, and then the initial voltage of the energy storage capacitor is adjusted to make the amplitudes of the laser time-domain waveforms output by the plurality of lasers consistent, thereby ensuring the consistency of the laser time-domain waveforms output by the plurality of lasers.

[0060] 104. Adjust the initial voltage of the energy storage capacitor based on the amplitude of the laser time-domain waveform to make the amplitudes of the laser time-domain waveforms output by the plurality of lasers consistent.

[0061] After obtaining the amplitude of the laser time-domain waveform output by the plurality of lasers after adjustment, the initial voltage of the energy storage capacitor can be adjusted based on the amplitude of the laser time-domain waveform to make the amplitudes of the laser time-domain waveforms output by the plurality of lasers consistent. The initial voltage of the energy storage capacitor refers to the terminal voltage value of the energy storage capacitor when it has completed charging and has not started discharging to the laser.

[0062] The amplitude of the laser time-domain waveform output by the laser can be adjusted by adjusting the initial voltage of the energy storage capacitor in the driving circuit of the laser. Specifically, if the amplitude of the laser time-domain waveform output by the laser is too large, the initial voltage of the energy storage capacitor in the driving circuit of the laser is reduced to reduce the amplitude of the laser time-domain waveform; if the amplitude of the laser time-domain waveform output by the laser is too small, the initial voltage of the energy storage capacitor in the driving circuit of the laser is increased to increase the amplitude of the laser time-domain waveform; after adjusting the initial voltage of the energy storage capacitor each time, the amplitude of the laser time-domain waveform output by the laser is obtained again, and the initial voltage of the energy storage capacitor is adjusted through closed-loop feedback control of the amplitude of the laser time-domain waveform, so that the amplitudes of the laser time-domain waveforms output by the plurality of lasers are consistent.

[0063] It can be seen that in the embodiments of the present application, the pulse widths of the laser time-domain waveforms output by the plurality of lasers can be obtained; the capacitance values of the energy storage capacitors in the driving circuits of the lasers are adjusted based on the pulse widths of the laser time-domain waveforms, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent; the amplitudes of the laser time-domain waveforms output by the plurality of lasers after adjustment are obtained; and the initial voltages of the energy storage capacitors are adjusted based on the amplitudes of the laser time-domain waveforms, so that the amplitudes of the laser time-domain waveforms output by the plurality of lasers are consistent. By adjusting the capacitance values of the energy storage capacitors in the driving circuits of the lasers, the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent, and by adjusting the initial voltages of the energy storage capacitors, the amplitudes of the laser time-domain waveforms output by the plurality of lasers are consistent, so that the pulse widths and amplitudes of the laser time-domain waveforms output by the plurality of lasers are consistent, the laser time-domain waveform signals emitted by the plurality of lasers are consistent, differences in laser characteristics received by the photodetector are avoided, and the quality of laser radar imaging is ensured.

[0064] It can be understood that the waveform correction method for the plurality of lasers in the embodiments of the present application can not only be applied to laser radars, but also can be applied to other pulse laser devices, such as laser range finders, laser processing devices, laser medical devices, etc. By applying the waveform correction method for the plurality of lasers in the embodiments of the present application to pulse laser devices, the plurality of lasers in the pulse laser devices can emit laser signals with consistent time-domain waveforms.

[0065] Further, the existing laser output laser time domain waveform pulse width is adjusted to be consistent by limiting the on time of the low side switch in the driving circuit of the laser; however, the actual low side switch is not an ideal switch, and the on and off processes of the low side switch have a rise time and a fall time, and the on resistance is also not a constant value. In the process of limiting the on time, the non-ideal characteristics of the low side switch will cause the voltage or current waveform loaded on the laser to be not an ideal rectangular wave, and then the laser output laser time domain waveform appears nonlinear, which affects the waveform consistency. At the same time, in this mode, the low side switch is easy to cause strong electromagnetic interference at the low side switch when it is turned off, and also makes the laser bear a large reverse voltage, which affects the service life of the laser, and also increases the heat loss of the low side switch, which affects the reliability of the driving circuit of the laser. In order to improve the waveform consistency and improve the reliability of the driving circuit, in the embodiment of the application, the pulse width of the laser output laser time domain waveform is controlled by adjusting the capacitance value of the energy storage capacitor in the RLC circuit model corresponding to the driving circuit, specifically:

[0066] In the embodiment of the application, the RLC circuit model corresponding to the driving circuit of the laser can be obtained, wherein the circuit model of the driving circuit of the laser can be simplified as an RLC circuit model (i.e. a resistance-inductance-capacitance series second-order circuit model), and the simplified RLC circuit model is as shown in Figure 4 The second-order homogeneous differential equation can be obtained by the RLC circuit model:

[0067] Formula I

[0068] Wherein, L is the inductance value of the total inductance of the circuit, R is the resistance value of the total resistance of the circuit, C is the capacitance value of the energy storage capacitor, is the voltage of the energy storage capacitor.

[0069] The solution of formula I is:

[0070] Formula II

[0071] Formula III

[0072] Formula IV

[0073] Wherein, is the root of the differential equation of formula I, is the integral constant, is the initial voltage of the energy storage capacitor (i.e. t=0, = ).

[0074] Based on the voltage formula of the energy storage capacitor, the current in the circuit as a function of time is:

[0075] Formula five

[0076] The laser time-domain waveform output by the laser can be represented by the change of the optical power of the laser with time, and the relationship between the optical power and the current can be approximately regarded as a linear relationship, so that the optical power The function changing with time (i.e. the function of the laser time-domain waveform) is:

[0077] Formula six

[0078] According to formula four and formula six, the initial voltage of the energy storage capacitor only affects the amplitude of the optical power function curve (i.e. the amplitude of the laser time-domain waveform), and has no effect on the normalized function curve of the optical power, so it can be considered that adjusting the initial voltage of the energy storage capacitor will not affect the pulse width of the laser time-domain waveform. According to formula three, adjusting the capacitance C of the energy storage capacitor will affect the value of , thereby affecting the normalized function curve of the optical power, so adjusting the capacitance of the energy storage capacitor can control the pulse width of the laser time-domain waveform.

[0079] In the embodiments of the present application, the capacitance of the energy storage capacitor in the RLC circuit model is adjusted based on the pulse width of the laser time-domain waveform, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent. By adjusting the capacitance of the energy storage capacitor in the corresponding RLC circuit model of the driving circuit to control the pulse width of the laser time-domain waveform output by the laser, the adjusted laser time-domain waveform is approximately a linear waveform of the RLC circuit model, and the waveform consistency is better than the method of adjusting the pulse width of the laser time-domain waveform to be consistent by limiting the on-time of the low-side switch. Moreover, the current waveform of the adjusted driving circuit is linearly changed, and compared with the method of adjusting the pulse width of the laser time-domain waveform to be consistent by limiting the on-time of the low-side switch, the low-side switch is not easy to generate electromagnetic interference when it is turned off, the laser does not need to withstand a large reverse voltage, the heat loss of the laser is reduced, and the reliability of the driving circuit of the laser is improved.

[0080] Further, the waveform correction method in the embodiments of the present application will be described in detail below. Figure 2 , specifically including the following steps:

[0081] 201. Detect the pulse width of the laser time-domain waveform output by the plurality of lasers.

[0082] In the embodiments of the present application, the pulse width of the laser time-domain waveform output by the plurality of lasers can be detected. Specifically, the optical signal of the laser output by the laser can be detected by an optoelectronic detector to convert the optical signal into an electrical signal; the optoelectronic detector can be a photodiode or an avalanche diode, and the specific type is not limited here. Then, the electrical signal can be sampled by an oscilloscope to obtain the pulse width of the laser time-domain waveform output by the laser. The sampling rate of the oscilloscope satisfies the Nyquist sampling theorem, i.e., the sampling rate is greater than or equal to 2x the highest frequency of the signal. By detecting the laser time-domain waveform through the optoelectronic detector and the oscilloscope, the laser time-domain waveform output by the laser can be quickly obtained without calculation, and the pulse width of the laser time-domain waveform output by the laser can be quickly detected to quickly control the pulse width of the laser time-domain waveform.

[0083] 202, determine whether the pulse width of the laser time-domain waveform meets the expected waveform pulse width, if not, execute step 203 and return to execute step 201, if yes, execute step 204.

[0084] After detecting the pulse width of the laser time-domain waveform output by the laser, it can be determined whether the pulse width of the laser time-domain waveform meets the expected waveform pulse width. The expected waveform pulse width can be configured according to the actual needs of the laser radar, and the expected waveform pulse width can be 2 seconds or 3 seconds, and the specific type is not limited here. Specifically, the pulse width of the laser time-domain waveform can be compared with the expected waveform pulse width, if the pulse width of the laser time-domain waveform is greater than the expected waveform pulse width, or the pulse width of the laser time-domain waveform is less than the expected waveform pulse width, it is determined that the pulse width of the laser time-domain waveform does not meet the expected waveform pulse width, and step 203 is executed to adjust the capacitance value of the energy storage capacitor in the driving circuit of the laser to adjust the pulse width of the laser time-domain waveform; if the pulse width of the laser time-domain waveform is equal to the expected waveform pulse width, it is determined that the pulse width of the laser time-domain waveform meets the expected waveform pulse width.

[0085] 203, adjust the capacitance value of the energy storage capacitor in the driving circuit of the laser.

[0086] When the pulse width of the laser time-domain waveform does not meet the expected waveform pulse width, the capacitance value of the energy storage capacitor in the driving circuit of the laser can be adjusted to adjust the pulse width of the laser time-domain waveform, so that the pulse width of the laser time-domain waveform meets the expected waveform pulse width. It can be understood that for a plurality of lasers (two or more lasers), the driving circuit of each laser has a corresponding energy storage capacitor, and the capacitance value of the energy storage capacitor in the driving circuit of each laser can be adjusted so that the pulse width of the laser time-domain waveform output by each laser meets the expected waveform pulse width.

[0087] As Figure 5As shown, the driving circuit of the plurality of lasers Laser1, Laser2, LaserN has a corresponding energy storage capacitor C1, C2, CN, a corresponding total resistance R1, R2, RN, a corresponding total inductance L1, L2, LN, a corresponding switch SW1, SW2, SWN, and a corresponding laser power input channel Laser_Power_CH1, Laser_Power_CH2, Laser_Power_CHN. The capacitance of the energy storage capacitor in the driving circuit of each laser needs to be adjusted so that the pulse width of the laser time domain waveform output by each laser conforms to the expected pulse width.

[0088] Specifically, if the pulse width of the laser time domain waveform output by any laser in the plurality of lasers is greater than the expected pulse width, the capacitance of the energy storage capacitor in the driving circuit of the any laser is reduced to reduce the pulse width of the laser time domain waveform output by the any laser; if the pulse width of the laser time domain waveform output by the any laser is less than the expected pulse width, the capacitance of the energy storage capacitor in the driving circuit of the any laser is increased to increase the pulse width of the laser time domain waveform output by the any laser. After adjusting the capacitance of the energy storage capacitor each time, the pulse width of the laser time domain waveform output by the corresponding laser is re-detected, and the re-detected pulse width of the laser time domain waveform is compared with the expected pulse width until the pulse widths of the laser time domain waveforms output by the plurality of lasers conform to the expected pulse width. That is, after adjusting the capacitance of the energy storage capacitor each time, steps 201, 202, and 203 are returned to be executed until the pulse width of the laser time domain waveform is equal to the expected pulse width, so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are all equal to the expected pulse width, and the pulse widths of the laser time domain waveforms are consistent. The expected pulse width can be used to accurately adjust the pulse widths of the laser time domain waveforms output by the plurality of lasers, so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are all equal to the expected pulse width.

[0089] The capacitance of the energy storage capacitor can be adjusted by connecting a capacitor in series with the energy storage capacitor to reduce the capacitance of the energy storage capacitor, connecting a capacitor in parallel with the energy storage capacitor to increase the capacitance of the energy storage capacitor, or replacing the energy storage capacitor with an energy storage capacitor of a different capacitance, without limitation. Preferably, the energy storage capacitor in the driving circuit of the laser includes an adjustable capacitor, and adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser includes adjusting the plate spacing and / or the plate facing area of the adjustable capacitor to adjust the capacitance of the energy storage capacitor. The smaller the plate spacing, the greater the capacitance; the greater the plate facing area, the greater the capacitance. By adjusting the plate spacing and / or the plate facing area of the adjustable capacitor, the capacitance of the energy storage capacitor can be adjusted without modifying the circuit structure of the driving circuit, facilitating rapid adjustment of the capacitance of the energy storage capacitor to quickly control the pulse width of the laser time domain waveform.

[0090] 204、detecting the amplitude of the laser time-domain waveform output by the plurality of lasers after adjustment.

[0091] When the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent, the amplitude of the laser time-domain waveform output by the plurality of lasers after adjustment can be detected. Specifically, the optical signal of the laser output laser can be detected by an optical-electricity detector, and the optical signal can be converted into an electrical signal. Then, the electrical signal can be sampled by an oscilloscope to obtain the amplitude of the laser time-domain waveform output by the laser. By detecting the laser time-domain waveform through the optical-electricity detector and the oscilloscope, the laser time-domain waveform output by the laser can be quickly obtained without calculation, and the amplitude of the laser time-domain waveform output by the laser can be quickly detected to quickly control the amplitude of the laser time-domain waveform.

[0092] 205、determining whether the amplitude of the laser time-domain waveform conforms to the expected waveform amplitude, if not, executing step 206 and returning to execute step 204, if yes, executing step 205.

[0093] After detecting the amplitude of the laser time-domain waveform output by the laser, it can be determined whether the amplitude of the laser time-domain waveform conforms to the expected waveform amplitude. The expected waveform amplitude can be configured according to the actual needs of the laser radar, and the expected waveform pulse width can be 20 watts or 30 watts, which is not limited here. Specifically, the amplitude of the laser time-domain waveform can be compared with the expected waveform amplitude. If the amplitude of the laser time-domain waveform is greater than the expected waveform amplitude, or the amplitude of the laser time-domain waveform is less than the expected waveform amplitude, it is determined that the amplitude of the laser time-domain waveform does not conform to the expected waveform amplitude, and step 206 is executed to adjust the initial voltage of the energy storage capacitor in the driving circuit of the laser to adjust the amplitude of the laser time-domain waveform. If the amplitude of the laser time-domain waveform is equal to the expected waveform amplitude, it is determined that the amplitude of the laser time-domain waveform conforms to the expected waveform amplitude.

[0094] 206、adjusting the initial voltage of the energy storage capacitor in the driving circuit of the laser.

[0095] When the amplitude of the laser time-domain waveform does not conform to the expected waveform amplitude, the initial voltage of the energy storage capacitor in the driving circuit of the laser can be adjusted to adjust the amplitude of the laser time-domain waveform, so that the amplitude of the laser time-domain waveform conforms to the expected waveform amplitude. It can be understood that for a plurality of lasers, the driving circuit of each laser has a corresponding energy storage capacitor, and the initial voltage of the energy storage capacitor in the driving circuit of each laser can be adjusted so that the amplitude of the laser time-domain waveform output by each laser conforms to the expected waveform amplitude.

[0096] As Figure 5As shown, the driving circuit of the plurality of lasers Laser1, Laser2, …, LaserN has a corresponding energy storage capacitor C1, C2, …, CN respectively. The capacitance of the energy storage capacitor in the driving circuit of each laser needs to be adjusted so that the pulse width of the laser time-domain waveform output by each laser conforms to the expected pulse width.

[0097] Specifically, if the amplitude of the laser time-domain waveform output by any laser in the plurality of lasers is greater than the expected waveform amplitude, the initial voltage of the energy storage capacitor in the driving circuit of the any laser is reduced to reduce the amplitude of the laser time-domain waveform output by the any laser. If the amplitude of the laser time-domain waveform output by the any laser is less than the expected waveform amplitude, the initial voltage of the energy storage capacitor in the driving circuit of the any laser is increased to increase the amplitude of the laser time-domain waveform output by the any laser. After adjusting the initial voltage of the energy storage capacitor each time, the amplitude of the laser time-domain waveform output by the corresponding laser is re-detected, and the re-detected amplitude of the laser time-domain waveform is compared with the expected waveform amplitude until the amplitudes of the laser time-domain waveforms output by the plurality of lasers conform to the expected waveform amplitude. That is, after adjusting the initial voltage of the energy storage capacitor each time, steps 204, 205, and 206 are executed again until the amplitude of the laser time-domain waveform is equal to the expected waveform amplitude, so that the amplitudes of the laser time-domain waveforms output by the plurality of lasers are all equal to the expected waveform amplitude, and the amplitudes of the laser time-domain waveforms are consistent. The expected waveform amplitude can be used to accurately adjust the amplitudes of the laser time-domain waveforms output by the plurality of lasers, so that the amplitudes of the laser time-domain waveforms output by the plurality of lasers are all equal to the expected waveform amplitude.

[0098] The initial voltage of the energy storage capacitor in the driving circuit of the laser can be adjusted by adjusting the resistance value of the voltage dividing resistor connected to the energy storage capacitor. Preferably, the driving circuit of the laser further includes an adjustable DC power supply that charges the energy storage capacitor. Adjusting the initial voltage of the energy storage capacitor includes adjusting the output voltage of the adjustable DC power supply to the initial voltage of the energy storage capacitor. By adjusting the output voltage of the adjustable DC power supply to the initial voltage of the energy storage capacitor, the circuit structure of the driving circuit does not need to be modified, and the initial voltage of the energy storage capacitor can be quickly adjusted to quickly control the amplitude of the laser time-domain waveform.

[0099] 207. Obtain laser with consistent time-domain waveforms output by the plurality of lasers.

[0100] After adjusting the initial voltage of the energy storage capacitor in the driving circuit of the laser so that the amplitudes of the laser time-domain waveforms output by the plurality of lasers are consistent, laser with consistent time-domain waveforms output by the plurality of lasers can be obtained.

[0101] It can be seen that, in the embodiment of the application, by adjusting the capacitance value of the energy storage capacitor in the driving circuit of the laser, the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent, and by adjusting the initial voltage of the energy storage capacitor, the amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent, so that the pulse widths and amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent, the laser time domain waveform signals emitted by the plurality of lasers are consistent, differences in laser characteristics received by the photodetector are avoided, and the quality of laser radar imaging is ensured.

[0102] The embodiment of the application further provides a waveform correction device of a laser, as shown in Figure 6 The waveform correction device is applied to a driving circuit of a laser, and the driving circuit comprises an energy storage capacitor, a total resistance of a circuit, a total inductance of the circuit, a laser, and a switch which are connected in series.

[0103] A first acquisition unit 601 is configured to acquire pulse widths of laser time domain waveforms output by a plurality of lasers.

[0104] A first adjustment unit 602 is configured to adjust a capacitance value of an energy storage capacitor in a driving circuit of a laser based on the pulse widths of the laser time domain waveforms, so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent.

[0105] A second acquisition unit 603 is configured to acquire amplitudes of the laser time domain waveforms output by the plurality of lasers after adjustment.

[0106] A second adjustment unit 604 is configured to adjust an initial voltage of the energy storage capacitor based on the amplitudes of the laser time domain waveforms, so that the amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent.

[0107] The embodiment of the application further provides a waveform correction device 700 of a laser, as shown in Figure 7 The waveform correction device 700 of the embodiment of the application can comprise one or more central processing units (CPUs) 701 and a memory 702, and the memory 702 stores one or more application programs or data.

[0108] The memory 702 can be volatile storage or persistent storage. The programs stored in the memory 702 can comprise one or more modules, and each module can comprise a series of instruction operations in the electronic device. Furthermore, the central processing unit 701 can be configured to communicate with the memory 702 and execute the series of instruction operations in the memory 702 on the waveform correction device 700.

[0109] The waveform correction device 700 can also include one or more power supplies 705, one or more wired or wireless network interfaces 704, one or more input / output interfaces 703, and / or one or more operating systems, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0110] The central processor 701 can perform operations performed by the first aspect or any of the specific method embodiments of the first aspect, and details are not repeated here.

[0111] The embodiments of the present application also provide a computer readable storage medium, which includes instructions, when the instructions are run on a computer, cause the computer to execute the method described above.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0113] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0114] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0115] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0116] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

Claims

1. A laser waveform correction method, characterized in that: The method is applied to a driving circuit of a laser, wherein the driving circuit comprises: an energy storage capacitor, a total circuit resistance, a total circuit inductance, a laser, and a switch connected in series in sequence. The method comprises: Acquiring the pulse width of the laser time domain waveform output by the plurality of lasers; Adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the laser time-domain waveform so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent; Acquiring the amplitudes of the laser time domain waveforms output by the plurality of lasers after adjustment; The initial voltage of the energy storage capacitor is adjusted based on the amplitude of the laser time-domain waveform, so that the amplitudes of the laser time-domain waveforms output by the multiple lasers are consistent.

2. The waveform correction method according to claim 1, wherein: The adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the laser time domain waveform so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent includes: Obtaining an RLC circuit model corresponding to a driving circuit of the laser; The capacitance of the energy storage capacitor in the RLC circuit model is adjusted based on the pulse width of the laser time-domain waveform, so that the pulse widths of the laser time-domain waveforms output by the multiple lasers are consistent.

3. The waveform correction method according to claim 1, wherein: The step of adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser based on the pulse width of the laser time domain waveform so that the pulse widths of the laser time domain waveforms output by the plurality of lasers are consistent includes: If the pulse width of the laser time domain waveform output by any one of the plurality of lasers is greater than the expected waveform pulse width, reducing the capacitance of the energy storage capacitor in the driving circuit of any one of the lasers; If the pulse width of the laser time domain waveform output by any of the lasers is smaller than the expected waveform pulse width, the capacitance of the energy storage capacitor in the driving circuit of any of the lasers is increased.

4. The waveform correction method according to claim 1, wherein: The energy storage capacitor in the driving circuit of the laser includes an adjustable capacitor; Adjusting the capacitance of the energy storage capacitor in the driving circuit of the laser includes: The distance between the plates and / or the area facing each other of the plates of the adjustable capacitor are adjusted to adjust the capacitance of the energy storage capacitor.

5. The waveform correction method according to claim 1, wherein: The adjusting the initial voltage of the energy storage capacitor based on the amplitude of the laser time domain waveform so that the amplitudes of the laser time domain waveforms output by the plurality of lasers are consistent includes: If the amplitude of the laser time domain waveform output by any one of the plurality of lasers is greater than the expected waveform amplitude, reducing the initial voltage of the energy storage capacitor in the driving circuit of any one of the lasers; If the amplitude of the laser time-domain waveform output by any one of the lasers is smaller than the expected waveform amplitude, the initial voltage of the energy storage capacitor in the driving circuit of any one of the lasers is increased.

6. The waveform correction method according to claim 1, wherein: The driving circuit of the laser further comprises: an adjustable DC power supply, the adjustable DC power supply charges the energy storage capacitor; Adjusting the initial voltage of the energy storage capacitor includes: adjusting the output voltage of the adjustable DC power supply to adjust the initial voltage of the energy storage capacitor.

7. The waveform correction method according to claim 1, wherein: Obtaining the pulse width and amplitude of the laser time domain waveform output by the laser includes: Detecting the optical signal of the laser output by the laser through a photodetector, and converting the optical signal into an electrical signal; The electrical signal is sampled by an oscilloscope to obtain the pulse width and amplitude of the laser time domain waveform output by the laser.

8. A laser waveform correction device, characterized in that: The waveform correction device is applied to a driving circuit of a laser, wherein the driving circuit comprises: an energy storage capacitor, a total circuit resistance, a total circuit inductance, a laser, and a switch connected in series in sequence. The waveform correction device comprises: A first acquiring unit, configured to acquire the pulse width of the laser time domain waveforms output by the plurality of lasers; A first adjustment unit is configured to adjust the capacitance of an energy storage capacitor in a driving circuit of the laser based on the pulse width of the laser time-domain waveform, so that the pulse widths of the laser time-domain waveforms output by the plurality of lasers are consistent; A second acquiring unit, configured to acquire the amplitudes of the laser time domain waveforms output by the plurality of lasers after adjustment; The second adjustment unit is used to adjust the initial voltage of the energy storage capacitor based on the amplitude of the laser time domain waveform, so that the amplitudes of the laser time domain waveforms output by the multiple lasers are consistent.

9. A laser waveform correction device, characterized in that: include: CPU, memory, input and output interfaces, wired or wireless network interfaces, power supply; The memory is a short-term storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instructions in the memory on a control plane function entity to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes instructions, and when the instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 7.

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