CN108802711B - Signal receiving device and method and laser radar - Google Patents
Signal receiving device and method and laser radar Download PDFInfo
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- CN108802711B CN108802711B CN201810317394.1A CN201810317394A CN108802711B CN 108802711 B CN108802711 B CN 108802711B CN 201810317394 A CN201810317394 A CN 201810317394A CN 108802711 B CN108802711 B CN 108802711B
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a signal receiving device and a method and a laser radar, wherein the signal receiving device comprises: the device comprises a signal amplification module, a switching control module and a signal sampling module; the signal amplification module comprises at least two stages of signal amplification circuits, and the output ends of the signal amplification circuits are connected to the switching control module; the signal sampling module is connected to the switching control module; the switching control module is used for switching to the signal amplification circuit with the corresponding series according to the control signal and is connected with the signal sampling module, so that the problem that the signal cannot be sampled when the signal is higher than the dynamic range of the signal sampling module is solved.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a signal receiving device and method and a laser radar.
Background
The existing laser radar generally adopts a high-speed ADC (Analog-to-digital converter) to sample a received signal, an available dynamic range of the ADC is generally only 20dB to 30dB, and a dynamic range of the laser radar receiving an echo signal is often over 100 dB. When the echo signal is lower than the dynamic range of the ADC, the ADC cannot detect the signal. When the echo signal is higher than the dynamic range of the ADC, the ADC is saturated and the signal cannot be detected as well. Therefore, lidar tends to lose data when measuring strongly or weakly reflecting objects.
In order to solve the above problems, the prior art has the following two schemes:
first, the link gain is adjusted in real time. That is, when a strong echo signal is detected, the laser emission power is reduced or the gain of the receiver amplifying circuit is reduced, so that the signal intensity is reduced to the dynamic range allowed by the ADC. However, the response time of this scheme is too long, the laser pulse width is generally only a few nanoseconds, and the time for the detection signal to go out of range and then reduce the transmission power or the receiving gain is generally a few microseconds, which certainly causes the loss of the signal of the previous pulse. And the gain reduction may cause the echo signal of the subsequently scanned weak light-reflecting object to be lower than the lower limit of the dynamic range of the ADC, so that a signal is lost again. For example: when the stainless steel railing is scanned, signal echoes with large differences in strength can be obtained at intervals, and the reaction speed of the technical scheme is not enough to meet the target.
And secondly, adopting a multipath receiving amplifier. Fig. 1 is a schematic diagram of a prior art ADC sampling a signal, and as shown in fig. 1, each path is configured with different gains, and each path has a separate ADC for receiving samples. When the amplitude of the high-gain channel signal exceeds the limit, the signal of the middle-gain or low-gain channel can be in the dynamic range of the ADC receiving, and can be sampled normally. The system finally only takes one optimal signal. The problem with this scheme is that multiple ADCs are required to operate simultaneously, and the hardware investment cost is high.
Disclosure of Invention
The invention provides a signal receiving device and method and a laser radar, and solves the problem that a signal cannot be sampled when the signal is higher than the dynamic range of a signal sampling module.
In a first aspect, an embodiment of the present invention provides a signal receiving apparatus, including: the device comprises a signal amplification module, a switching control module and a signal sampling module;
the signal amplification module comprises at least two stages of signal amplification circuits, and the output ends of the signal amplification circuits are connected to the switching control module;
the signal sampling module is connected to the switching control module;
and the switching control module is used for switching to the signal amplification circuit with the corresponding stage number according to the control signal and is connected with the signal sampling module.
Further, the at least two stages of signal amplification circuits are connected in series step by step, wherein an input signal of the signal amplification module is used as an input signal of a first stage of signal amplification circuit, and an output signal of a current stage of signal amplification circuit is used as an input signal of a next stage of signal amplification circuit.
Further, the at least two stages of signal amplification circuits are connected in parallel, wherein an input signal of the signal amplification module is used as an input signal of each stage of signal amplification circuit.
Further, the switching control module includes: at least one circuit delay unit and a multi-way gating switch;
the circuit delay unit is used for delaying and outputting signals in the signal amplifying circuit connected with the circuit delay unit;
one end of the multi-path gating switch is connected to the output end of the last-stage signal amplification circuit or the signal output end of the circuit delay unit corresponding to the non-last-stage signal amplification circuit, and the other end of the multi-path gating switch is connected to the signal sampling module.
Further, the switching control module further includes:
and the control chip is connected to the multi-path gating switch and the signal sampling module and is used for receiving the control signal and controlling the multi-path gating switch according to the control signal.
Further, the switching control module further includes:
and the threshold triggering unit is respectively connected to the multi-path gating switch, the control chip and the signal sampling module and is used for detecting whether the signal entering the signal sampling module exceeds a preset threshold value or not and outputting the control signal when the signal is detected to exceed the preset threshold value.
Furthermore, the delay time of the circuit delay unit corresponding to the previous stage signal amplification circuit is longer than that of the circuit delay unit corresponding to the next stage signal amplification circuit;
the delay time of a circuit delay unit corresponding to the penultimate signal amplifying circuit is greater than the sum of first time and second time, wherein the first time is the time for detecting whether a signal entering the signal sampling module through the last stage signal amplifying circuit exceeds a preset threshold value, and the second time is the time for switching the signal amplifying circuit.
In a second aspect, an embodiment of the present invention further provides a laser radar including the signal receiving apparatus described in any embodiment of the present invention.
In a third aspect, an embodiment of the present invention further provides a signal receiving method, including:
receiving a signal output by a current-stage signal amplifying circuit connected with a signal sampling module in a signal amplifying module;
if the intensity of the signal is lower than a preset threshold value, sampling the signal;
if the intensity of the signal is higher than the preset threshold value, controlling to switch to a previous-stage signal amplifying circuit to be connected with the signal sampling module so as to receive the signal output by the previous-stage signal amplifying circuit.
Further, before the signal output by the current-stage signal amplifying circuit connected to the signal sampling module in the received signal amplifying module, the method further includes:
and the output end of the default last-stage signal amplification circuit is connected with the signal sampling module.
Further, before the signal output by the current-stage signal amplifying circuit connected to the signal sampling module in the received signal amplifying module, the method further includes:
the method for setting the delay time of signal output in the non-last-stage signal amplification circuit comprises the following steps:
setting the delay time of the signal output of the previous-stage signal amplification circuit to be longer than the delay time of the signal output of the next-stage signal amplification circuit;
the delay time of the output of the penultimate signal amplification electric signal is greater than the sum of first time and second time, wherein the first time is the time for detecting whether a signal entering the signal sampling module through the last stage signal amplification circuit exceeds a preset threshold value, and the second time is the time for switching the signal amplification circuit.
Further, if the previous stage amplifying circuit is a first stage amplifying circuit, after receiving the signal output by the previous stage amplifying circuit, the method further includes:
if the intensity of the signal output by the previous stage of amplifying circuit is higher than the preset threshold value, outputting a result of signal abnormality;
and the control switch is performed to the connection of the last stage of amplifying circuit and the signal sampling module so as to receive the signal output by the last stage of amplifying circuit.
The invention provides a signal receiving device, comprising: the device comprises a signal amplification module, a switching control module and a signal sampling module; the signal amplification module comprises at least two stages of signal amplification circuits, and the output ends of the signal amplification circuits are connected to the switching control module; the signal sampling module is connected to the switching control module; and the switching control module is used for switching to the signal amplification circuit with the corresponding stage number according to the control signal and connecting the signal amplification circuit with the signal sampling module to realize the sampling of the signal with the high dynamic range. The multi-stage signal amplification circuit enables the signal sampling module to receive multiple paths of signals with different amplification factors, and the sampling of the signals with a larger dynamic range can be realized by using one signal sampling module, so that the cost is low.
Drawings
Fig. 1 is a schematic diagram of the operation of an ADC for sampling a signal in the prior art.
Fig. 2 is a schematic structural diagram of a signal receiving apparatus according to a first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of another signal receiving apparatus according to a first embodiment of the present invention.
Fig. 4 is a schematic structural diagram of another signal receiving apparatus according to a first embodiment of the present invention.
Fig. 5 is a flowchart of a signal receiving method according to a second embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a signal receiving apparatus according to a third embodiment of the present invention.
Fig. 7 is a flowchart of the operation of a signal receiving apparatus according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
The embodiment of the invention provides a signal receiving device, which is applicable to the conditions of signal receiving and signal acquisition, and comprises: the device comprises a signal amplification module, a switching control module and a signal sampling module; the signal amplification module comprises at least two stages of signal amplification circuits, and the output ends of the signal amplification circuits of all stages are connected to the switching control module.
The amplification circuit (amplification circuit) can pass a weak signal through a device (the core is a triode or a field effect transistor) to obtain output of an alternating current large signal which is similar in waveform (is not distorted) but much larger in amplitude. The amplification factor is also called gain, which is an index for measuring the amplification capability of the amplification circuit. The actual amplifying circuit is usually composed of a signal source, an amplifier composed of a transistor and a load. Optionally, the at least two stages of signal amplification circuits are connected in series step by step, where an input signal of the signal amplification module is used as an input signal of a first stage of signal amplification circuit, and an output signal of a current stage of signal amplification circuit is used as an input signal of a next stage of signal amplification circuit. Taking the connection mode of the at least two stages of signal amplification circuits as an example of cascade connection, fig. 2A is a schematic structural diagram of a signal receiving apparatus in a first embodiment of the present invention, as shown in fig. 2A, the signal receiving apparatus includes: a signal amplifying module 210, a switching control module 220 and a signal sampling module 230; the signal amplification module 210 includes at least two stages of signal amplification circuits, and output ends of the signal amplification circuits are connected to the switching control module 220. Only two stages of signal amplification circuits are shown in fig. 2A, and a plurality of signal amplification circuits can be connected in series step by step at the dotted line; the signal sampling module 230 is connected to the switching control module 220; the switching control module 220 is configured to switch to a signal amplifying circuit with a corresponding number of stages according to a control signal, and is connected to the signal sampling module 230.
For example, in the amplifying circuits connected in series stage by stage, after an original signal is input from an input terminal of the first-stage signal amplifying circuit, the amplified signal may be output from an output terminal of the first-stage signal amplifying circuit, or the amplified signal may be input into the second-stage signal amplifying circuit again for amplification, and the amplified signal may be output from an output terminal of the second-stage signal amplifying circuit, or further amplified stage by stage. After the signal is amplified by the last stage of signal amplifying circuit, the signal with the maximum amplification factor can be output. The signal sampling module 230 is used for sampling a signal output by the amplifying circuit, and optionally, the signal sampling module 230 is an analog-to-digital converter (ADC). In such a signal receiving apparatus, the number of amplifiers and ADCs used is much smaller than that in the conventional multiple parallel circuit, and the hardware cost can be reduced.
Optionally, the at least two stages of signal amplification circuits are connected in parallel, wherein an input signal of the signal amplification module is used as an input signal of each stage of signal amplification circuit. Taking the connection mode of the at least two stages of signal amplification circuits as an example of parallel connection, fig. 2B is a schematic structural diagram of another signal receiving apparatus in the first embodiment of the present invention, and as shown in fig. 2B, only two stages of signal amplification circuits are shown, and actually, multiple stages of signal amplification circuits may be connected in parallel. Specifically, the number of stages of the signal amplification circuit may be multiple stages according to the service requirement, and the number of amplifiers in each stage of the signal amplification circuit may also be multiple amplifiers with the same or different gains according to the actual service requirement. It should be noted that, in the embodiment of the present invention, a connection manner of the multi-stage signal amplifying circuit in the signal amplifying circuit is not limited, for example, the multi-stage signal amplifying circuit may also be arranged in a connection manner of mixing a serial connection and a parallel connection in a stage-by-stage manner.
In general, the default signal sampling module 230 is connected to the last stage of signal amplification circuit, that is, the default signal sampling module receives the signal output from the last stage of signal amplification circuit. If the signal is detected not to exceed the preset threshold, the signal sampling module 230 directly samples the signal. If the signal is detected to exceed the preset threshold, the switching control module 220 may switch the signal sampling module 230 to connect with the previous stage signal amplifying circuit to receive the signal output from the previous stage signal amplifying circuit. The preset threshold is a preset intensity threshold that the signal sampling module 230 can sample the signal, and specifically may be determined according to the signal intensity value to be sampled and a dynamic range that the signal sampling module 230 can sample, for example, may be an upper limit value of a dynamic range of a receivable signal of the signal sampling module 230, such as an upper limit of a dynamic range of an ADC. Generally, the signal sampling module 230 may have a function of detecting whether the received signal exceeds a predetermined threshold (which may be regarded as having a threshold detection function), and when the received signal exceeds the predetermined threshold, the signal sampling module outputs a control signal to the switching control module 220, and the switching control module 220 switches the connection between the signal sampling module 230 and the signal amplifying circuit of different stages according to the control signal. For example, if the signal sampling module is an ADC and the chip of the ADC itself may have a saturation (overrun) alarm signal output function, that is, the ADC chip itself detects that the signal exceeds its own receiving range (which may also be a preset threshold), the alarm signal is automatically output. When the ADC receives a signal output from the signal amplification circuit, if the ADC detects that the signal exceeds a preset threshold, the ADC outputs an alarm signal, and outputs the alarm signal as a control signal to the switching control module 220, and the switching control module 220 switches connection between the signal sampling module 230 and different stages of signal amplification circuits according to the control signal.
It is understood that the reason why the last stage signal amplifying circuit is connected to the signal sampling module 230 by default before the signal is sampled is that: if the signal sampling module 230 initially receives a signal that is not output from the circuit with the highest gain, once the original signal is a very weak signal, the signal output from the signal amplifying circuit with low or medium gain may still be a weak signal, and the signal sampling module 230 itself generally has a certain requirement on the amplitude or strength of the identified signal. Thus, for weaker signals, the signal sampling module may not recognize it, and thus lose the signal. Therefore, the signal output by the signal amplifying circuit with the highest gain is received by default, and the problem that weak signals cannot be acquired or lost can be avoided.
Optionally, the switching control module 220 includes: at least one circuit delay unit and a multi-way gating switch;
the circuit delay unit is used for delaying and outputting signals in the signal amplifying circuit connected with the circuit delay unit; one end of the multi-path gating switch is connected to the output end of the last-stage signal amplification circuit or the signal output end of the circuit delay unit corresponding to the non-last-stage signal amplification circuit, and the other end of the multi-path gating switch is connected to the signal sampling module.
The number of the circuit delay units is related to the number of stages of the signal amplification circuit, specifically, the number of stages of the signal amplification circuit is reduced by 1. The circuit delay unit is used for delaying and outputting output signals in the signal amplifying circuits of different stages. Since if the signal strength output by the current stage signal amplifying circuit is higher than the preset threshold, the previous stage signal amplifying circuit needs to be connected to the signal sampling module 230 by switching the multiple-way gating switch to receive the signal output by the previous stage signal amplifying circuit. Because there are time for judging whether the signal intensity of the current stage exceeds the threshold and time for switching the multi-way gating switch, if the signal sampling module 230 can still accurately, completely and timely receive the signal output by the previous stage of signal amplifying circuit after the multi-way gating switch is switched, the output of the signal in the previous stage of signal amplifying circuit needs to be delayed. In actual circuit design, specific delay time can be set for different stages of signal amplification circuits, and received signals can be delayed by tens of nanoseconds to hundreds of nanoseconds.
Optionally, the delay time of the circuit delay unit corresponding to the previous-stage signal amplification circuit is longer than the delay time of the circuit delay unit corresponding to the next-stage signal amplification circuit;
the delay time of the circuit delay unit corresponding to the penultimate signal amplifying circuit is greater than the sum of a first time and a second time, the first time is the time taken for detecting whether the signal entering the signal sampling module 230 through the last signal amplifying circuit exceeds a preset threshold, and the second time is the time taken for switching the signal amplifying circuits.
Optionally, the switching control module 220 further includes: and the control chip is connected to the multi-path gating switch and the signal sampling module and is used for receiving the control signal and controlling the multi-path gating switch according to the control signal.
The control chip may control the switching of the connection condition of the multiple gating switch according to the received control signal, for example, by controlling the multiple gating switch, the connection between the signal sampling module 230 and the current stage of signal amplification circuit is switched to the connection between the signal sampling module 230 and the previous stage of signal amplification circuit. Illustratively, the control chip may select an FPGA (Field-Programmable Gate Array), and the RAM in the chip is programmed according to specific requirements during actual operation, and different programming modes may be adopted according to different configuration modes.
On the basis of the above embodiment, the first time may be a time taken by the threshold triggering unit to detect whether the signal entering the signal sampling module 230 exceeds a preset threshold, and the second time may be a time taken by the control chip to switch the gating switch to the previous stage of signal amplifying circuit according to the control signal.
Fig. 3 is a schematic structural diagram of another signal receiving apparatus according to an embodiment of the present invention, where a signal sampling module in the apparatus has a threshold detection function, an amplifier represents a signal amplifying circuit, and the signal amplifying circuit is connected in series in a stepwise manner, as shown in fig. 3, based on the above embodiment, the apparatus includes: the circuit comprises at least two stages of signal amplification circuits, at least one circuit delay unit, a multi-path gating switch, a control chip and a signal sampling module. The signal sampling module has a threshold detection function, and when the signal sampling module receives a signal output by the signal amplifying circuit, if the signal is detected not to exceed a preset threshold value, the signal is directly sampled. If the signal is detected to exceed the preset threshold value, a control signal is output to the control chip, and the control chip controls the connection between the multi-channel gating switch switching signal sampling module and the different-stage signal amplifying circuit according to the control signal.
This embodiment further provides an implementation manner suitable for the signal sampling module 230 without a threshold detection function, and optionally, the handover control module 220 further includes: and the threshold triggering unit is respectively connected to the multi-path gating switch, the control chip and the signal sampling module and is used for detecting whether the signal entering the signal sampling module exceeds a preset threshold value or not and outputting the control signal when the signal is detected to exceed the preset threshold value. Fig. 4 is a schematic structural diagram of another signal receiving apparatus according to an embodiment of the present invention, in which a signal sampling module in the apparatus does not have a threshold detection function, as shown in fig. 4, after a signal is output by a signal amplifying circuit, a threshold triggering unit may detect whether a signal strength entering the signal sampling module exceeds a preset threshold, and if the signal strength does not exceed the preset threshold, the signal sampling module may directly sample a signal; and if the threshold value is exceeded, outputting a control signal. Specifically, the control signal can be output to the control chip, and the control chip can switch the multi-path gating switch according to the control signal, so that the connection between the signal sampling module and the non-current-stage signal amplifying circuit is realized.
According to the technical scheme of the embodiment of the invention, the signal receiving device comprises: the device comprises a signal amplification module, a switching control module and a signal sampling module; the signal amplification module comprises at least two stages of signal amplification circuits, and the output ends of the signal amplification circuits are connected to the switching control module; the signal sampling module is connected to the switching control module; and the switching control module is used for switching to the signal amplification circuit with the corresponding stage number according to the control signal and connecting the signal amplification circuit with the signal sampling module to realize the sampling of the signal with higher dynamic range signal. The signal sampling module can receive multiple paths of signals with different amplification factors by the aid of the signal amplification circuits which are connected in series or in parallel step by step, and the signals with larger dynamic ranges can be sampled by the aid of one signal sampling module and a small number of amplifiers, so that the cost is low. The delay time is set for the signal output of the amplifying circuits of different stages, so that the signal can be prevented from being missed or lost in the process of switching the signal amplifying circuits to sample the signals, and the completeness, timeliness and accuracy of signal sampling are ensured. Especially, when the high-speed ADC is adopted in the laser radar to sample the echo signal, the signal can not be lost due to the overlarge dynamic range of the echo signal, and certain guidance can be provided for the power of the transmitted signal when the laser radar measures an object according to the output abnormal result.
Example two
Fig. 5 is a flowchart of a signal receiving method in a third embodiment of the present invention, where this embodiment is applicable to a signal receiving situation, and the method may be executed by a signal receiving apparatus in any embodiment of the present invention, and specific principles may be referred to in the foregoing embodiments, and details in this embodiment are not repeated. As shown in fig. 5, the method specifically includes the following steps:
and S510, receiving a signal output by a current-stage signal amplifying circuit connected with the signal sampling module in the signal amplifying module.
On the basis of the above embodiments, the signal amplification module includes at least two stages of signal amplification circuits, and each stage of signal amplification circuit can independently output a signal.
S520, if the strength of the signal is lower than a preset threshold value, sampling the signal.
Optionally, before the signal output by the current-stage signal amplifying circuit connected to the signal sampling module in the received signal amplifying module, the method further includes: and the output end of the default last-stage signal amplification circuit is connected with the signal sampling module. In general, before sampling a signal, the output terminal of the signal amplifying circuit of the last stage is connected to the signal sampling module by default. That is, when a signal is collected, the signal sampling module receives the signal output by the last stage of signal amplifying circuit.
And S530, if the strength of the signal is higher than the preset threshold value, controlling to switch to a previous-stage signal amplification circuit to be connected with the signal sampling module so as to receive the signal output by the previous-stage signal amplification circuit.
Optionally, after the control is switched to the connection between the previous stage of signal amplifying circuit and the signal sampling module, the method further includes:
and if the intensity of the signal is lower than the preset threshold value, sampling the signal.
And if the intensity of the signal is higher than the preset threshold value, controlling to switch to a signal amplification circuit at a previous stage to be connected with the signal sampling module.
Optionally, before the signal output by the current-stage signal amplifying circuit connected to the signal sampling module in the received signal amplifying module, the method further includes:
the method for setting the delay time of signal output in the non-last-stage signal amplification circuit comprises the following steps:
setting the delay time of the signal output of the previous-stage signal amplification circuit to be longer than the delay time of the signal output of the next-stage signal amplification circuit;
the delay time of the output of the penultimate signal amplification electric signal is greater than the sum of first time and second time, wherein the first time is the time for detecting whether a signal entering the signal sampling module through the last stage signal amplification circuit exceeds a preset threshold value, and the second time is the time for switching the signal amplification circuit.
Optionally, if the previous stage amplifying circuit is a first stage amplifying circuit, after receiving the signal output by the previous stage amplifying circuit, the method further includes:
if the intensity of the signal output by the previous stage of amplifying circuit is higher than the preset threshold value, outputting a result of signal abnormality;
and the control switch is performed to the connection of the last stage of amplifying circuit and the signal sampling module so as to receive the signal output by the last stage of amplifying circuit.
In the signal amplifying circuits connected in series step by step, when the signal output by the last stage of signal amplifying circuit exceeds a preset threshold value, the signal amplifying circuits are sequentially switched to the previous stage of signal amplifying circuit, and if the signal output by the first stage of signal amplifying circuit still exceeds the preset threshold value, the signal sampling module cannot collect the signal and outputs an abnormal signal result. When the signal cannot be sampled, the signal can be discarded, and the next pulse signal can be sampled. At this time, the control switch can be performed to connect the last stage of signal amplifying circuit with the signal sampling module. Meanwhile, an operator can adjust parameters of the radar or other equipment according to the abnormal signal result. For example, if an abnormal result occurs in the radar receiving echo signal, the power of the radar transmitting the pulse signal next time can be reduced to ensure that the echo signal next time can be acquired.
Optionally, after sampling the signal each time, the signal may be controlled to be switched to the last stage of signal amplifying circuit to be connected with the signal sampling module, and the sampling of the next pulse signal is waited.
According to the technical scheme of the embodiment of the invention, the signal output by a current-stage signal amplifying circuit connected with a signal sampling module in a signal amplifying module is received; if the intensity of the signal is lower than a preset threshold value, sampling the signal; if the intensity of the signal is higher than the preset threshold value, the signal is controlled to be switched to a previous-stage signal amplifying circuit to be connected with the signal sampling module so as to receive the signal output by the previous-stage signal amplifying circuit and realize the sampling of the high dynamic range signal. The signal sampling module can receive multiple paths of signals with different amplification factors by the aid of the signal amplification circuits connected in series step by step, and the signals with larger dynamic range are sampled by the aid of one signal sampling module and a small number of amplifiers, so that the cost is low. The delay time is set for the signal output of the amplifying circuits of different stages, so that the signal can be prevented from being missed or lost in the process of switching the signal amplifying circuits to sample the signals, and the completeness, timeliness and accuracy of signal sampling are ensured. Especially, when the high-speed ADC is adopted in the laser radar to sample the echo signal, the signal can not be lost due to the overlarge dynamic range of the echo signal, and certain guidance can be provided for the power of the transmitted signal when the laser radar measures an object according to the output abnormal result.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a signal receiving apparatus according to a third embodiment of the present invention, and based on the above embodiments, the structure and the working flow of the signal receiving apparatus are described by taking a three-stage signal amplifying circuit connected in series stage by stage as an example, as shown in fig. 6, a signal amplifying module of the entire apparatus includes a signal amplifying channel composed of an amplifier connected in series stage by stage, and three signals with different gains can be separated from the amplifier stages, which are a first-stage signal amplifying circuit, a second-stage signal amplifying circuit, and a third-stage signal amplifying circuit respectively. Namely, the device comprises a three-level signal amplifying circuit, a signal sampling module (ADC), a multi-path gating switch, two circuit delay units, a control chip (FPGA) and a threshold triggering unit.
Fig. 7 is a flowchart of a signal receiving apparatus according to a third embodiment of the present invention, and as shown in fig. 7, the working process of the signal receiving apparatus of the cascade-connected three-stage signal amplifying circuit is as follows:
first, the output end of the third stage signal amplifying circuit is connected with the ADC, that is, the default ADC starts to receive the signal output by the third stage signal amplifying circuit. The threshold triggering unit detects whether a signal entering the ADC exceeds a preset threshold value, and if the signal does not exceed the preset threshold value, the ADC directly samples the signal; and if the threshold value is exceeded, outputting a control signal to a control chip (FPGA) in the switching control module.
Then, the FPGA can control and switch the multi-path gating switch to the output end of the ADC and the output end of the second-stage signal amplification circuit to be connected according to the control signal, the threshold triggering unit continuously detects whether the signal entering the ADC exceeds a preset threshold value, and if the signal does not exceed the preset threshold value, the ADC directly samples the signal; and if the preset threshold value is still exceeded, outputting a control signal to the FPGA in the switching control module.
Finally, the FPGA can control and switch the multi-path gating switch to the ADC to be connected with the output end of the first-stage signal amplification circuit according to the control signal, the threshold trigger unit continuously detects whether the signal entering the ADC exceeds a preset threshold value, and if the signal does not exceed the preset threshold value, the ADC directly samples the signal; and if the preset threshold value is still exceeded, optionally, outputting the abnormal signal result. In addition, the signal may be dropped or a service person may reduce the power of the transmitted pulse signal in the transmitter by operating parameters so that the echo signal can be sampled by the ADC the next time.
It should be noted that after each time the ADC samples a signal, the FPGA may control the multiple-way gating switch according to the control signal to switch to the ADC to connect with the output terminal of the third-stage (last-stage) signal amplification circuit, and wait for receiving a next pulse signal.
It should be noted that, in order to ensure that no signal is lost when the ADC samples a signal after switching the signal amplification circuits, the output of the signal in the signal amplification circuits except the last stage may be delayed, and therefore, the second stage signal amplification circuit and the first stage signal amplification circuit are both connected to the circuit delay unit, and different delay times are set before the signal is output. In this example, the signal in the third-stage signal amplifying circuit does not need to be delayed, and the delay time in the second-stage signal amplifying circuit may be set to be greater than the sum of the time for the threshold triggering unit to determine whether the signal output by the third-stage signal amplifying circuit exceeds the preset threshold and the time for the FPGA to switch the gating switch. Accordingly, the delay time in the first-stage signal amplification circuit may be set to be twice as long as the delay time in the second-stage signal amplification circuit.
In the technical scheme of the embodiment of the invention, the signal sampling module can receive a plurality of paths of signals with different amplification factors through the amplifying circuits connected in series step by step, and the sampling of the signals with larger dynamic range is realized by using one sampling module and a small number of amplifiers, so that the cost is low. The delay time is set for the signal output of the amplifying circuits of different stages, so that the signal can be prevented from being missed or lost in the process of switching the signal amplifying circuits to sample the signals, and the completeness, timeliness and accuracy of signal sampling are ensured. Especially, when the high-speed ADC is adopted in the laser radar to sample the echo signal, the signal can not be lost due to the overlarge dynamic range of the echo signal, and certain guidance can be provided for the power of the transmitted signal when the laser radar measures an object according to the output abnormal result.
The present embodiment further provides a lidar, which includes any one of the signal receiving apparatuses in the embodiments of the present invention, and in addition, includes a laser transmitter, a turntable, other information processing systems, and other necessary working devices to implement the function of the lidar, where the lidar may sample a signal whose echo signal is higher than the dynamic range of the signal sampling module, and is not prone to data loss when measuring a strong-reflective object or a weak-reflective object.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (6)
1. A signal receiving apparatus, comprising: the device comprises a signal amplification module, a switching control module and a signal sampling module;
the signal amplification module comprises at least two stages of signal amplification circuits, and the output ends of the signal amplification circuits are connected to the switching control module;
the at least two stages of signal amplification circuits are connected in series step by step, wherein an input signal of the signal amplification module is used as an input signal of a first stage of signal amplification circuit, and an output signal of a current stage of signal amplification circuit is used as an input signal of a next stage of signal amplification circuit;
the signal sampling module is connected to the switching control module;
the switching control module is used for switching to the signal amplification circuit with the corresponding stage number according to the control signal and connecting the signal amplification circuit with the signal sampling module;
the switching control module includes: at least one circuit delay unit and a multi-way gating switch;
the circuit delay unit is used for delaying and outputting signals in the signal amplifying circuit connected with the circuit delay unit;
one end of the multi-path gating switch is connected to the output end of the last-stage signal amplification circuit or the signal output end of the circuit delay unit corresponding to the non-last-stage signal amplification circuit, and the other end of the multi-path gating switch is connected to the signal sampling module;
the handover control module further comprises:
the control chip is connected to the multi-path gating switch and the signal sampling module and used for receiving the control signal and controlling the multi-path gating switch according to the control signal;
and the threshold triggering unit is respectively connected to the multi-path gating switch, the control chip and the signal sampling module and is used for detecting whether the intensity of the signal entering the signal sampling module exceeds a preset threshold value or not and outputting the control signal when the intensity of the signal entering the signal sampling module exceeds the preset threshold value.
2. The apparatus according to claim 1, wherein the at least two stages of signal amplification circuits are connected in parallel, and wherein the input signal of the signal amplification module is used as the input signal of each stage of signal amplification circuit.
3. The apparatus of claim 1,
the delay time of the circuit delay unit corresponding to the previous stage signal amplification circuit is longer than that of the circuit delay unit corresponding to the next stage signal amplification circuit;
the delay time of a circuit delay unit corresponding to the penultimate signal amplifying circuit is greater than the sum of first time and second time, wherein the first time is the time for detecting whether the intensity of a signal entering the signal sampling module through the last signal amplifying circuit exceeds a preset threshold value, and the second time is the time for switching the signal amplifying circuit.
4. A lidar comprising the signal receiving apparatus of any one of claims 1 to 3.
5. A signal receiving method based on the signal receiving apparatus of claim 1, comprising:
the method for setting the delay time of signal output in the non-last-stage signal amplification circuit comprises the following steps:
setting the delay time of the signal output of the previous-stage signal amplification circuit to be longer than the delay time of the signal output of the next-stage signal amplification circuit;
the delay time of the output of the penultimate signal amplification electric signal is greater than the sum of first time and second time, wherein the first time is the time for detecting whether the intensity of a signal entering the signal sampling module through the last stage signal amplification circuit exceeds a preset threshold value, and the second time is the time for switching the signal amplification circuit;
receiving a signal output by a current-stage signal amplifying circuit connected with a signal sampling module in a signal amplifying module;
if the intensity of the signal is lower than a preset threshold value, sampling the signal;
if the intensity of the signal is higher than the preset threshold value, controlling to switch to a previous-stage signal amplification circuit, so that the signal amplification circuit is connected with the signal sampling module to receive the signal output by the previous-stage signal amplification circuit;
if the previous-stage signal amplifying circuit is a first-stage signal amplifying circuit, after receiving the signal output by the previous-stage signal amplifying circuit, the method further includes:
if the intensity of the signal output by the previous-stage signal amplification circuit is higher than the preset threshold value, outputting a result of signal abnormality;
and the control switch is performed to the connection of the last stage signal amplification circuit and the signal sampling module so as to receive the signal output by the last stage signal amplification circuit.
6. The method according to claim 5, wherein before the signal output by the current-stage signal amplifying circuit connected to the signal sampling module in the received signal amplifying module, the method further comprises:
and the output end of the default last-stage signal amplification circuit is connected with the signal sampling module.
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| CN111670371A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| CN109765543B (en) * | 2019-03-15 | 2020-10-23 | 北京未感科技有限公司 | Multi-path receiving laser radar |
| CN115128572A (en) * | 2021-03-24 | 2022-09-30 | 华为技术有限公司 | Signal receiving device, detecting device, signal processing method and device |
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