CN108513618B

CN108513618B - Pulse information measuring method, related device and mobile platform

Info

Publication number: CN108513618B
Application number: CN201780004472.6A
Authority: CN
Inventors: 刘祥; 占志鹏; 蒲文进; 洪小平
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2022-06-21
Anticipated expiration: 2037-03-29
Also published as: WO2018176287A1; CN108513618A

Abstract

A pulse information measuring method, a related device and a mobile platform are provided, wherein the pulse information measuring method comprises the following steps: receiving a pulse signal, and acquiring corresponding leading edge time and trailing edge time of the pulse signal under one or more threshold conditions (101); calculating pulse information of the pulse signal according to the leading edge time and the trailing edge time; wherein the pulse information comprises a pulse time and/or a pulse energy (102). The pulse information measuring method can improve the accuracy of pulse time and pulse energy measurement.

Description

Pulse information measuring method, related device and mobile platform

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The invention relates to the technical field of laser ranging, in particular to a pulse information measuring method, a related device and a mobile platform.

Background

The laser radar is a sensing system for the outside, can acquire three-dimensional information of the outside, and is not limited to a plane sensing mode for the outside such as a camera. The principle of the laser radar is that a laser pulse signal is actively emitted outwards, the reflected pulse signal is detected, and the distance of a measured object is judged according to the time difference between the emission and the reception of the pulse signal; and the three-dimensional depth information can be reconstructed and obtained by combining the emission angle information of the light pulse. Currently, in measurement of pulse information such as pulse time and pulse energy of a pulse signal, the pulse time is generally determined based on the leading edge time of the pulse signal. However, the pulse itself has a certain width, and the width of the pulse signal is not uniform at different distances and different reflectivities. Therefore, sampling only the front porch time will undoubtedly cause some error in the measurement of the pulse time.

Disclosure of Invention

The embodiment of the invention provides a pulse information measurement method, a related device and a mobile platform, which are used for reducing the error of pulse information measurement and improving the accuracy of pulse information measurement.

A pulse information measuring method, comprising:

receiving a pulse signal, and acquiring corresponding leading edge time and trailing edge time of the pulse signal under one or more threshold conditions;

calculating pulse information of the pulse signal according to the leading edge time and the trailing edge time;

wherein the pulse information comprises pulse time and/or pulse energy.

A pulse information measuring apparatus comprising:

the acquisition circuit is used for receiving the pulse signals and acquiring the corresponding front edge time and back edge time of the pulse signals under one or more threshold conditions;

the information acquisition unit is used for calculating pulse information of the pulse signal according to the leading edge time and the trailing edge time; wherein the pulse information comprises pulse time and/or pulse energy.

A pulse information measuring method, comprising:

receiving a pulse signal, and acquiring corresponding leading edge time or trailing edge time of the pulse signal under a plurality of threshold values;

calculating pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times; wherein the pulse information comprises pulse time and/or pulse energy.

A pulse information measuring apparatus comprising:

the acquisition circuit is used for receiving the pulse signals and acquiring the corresponding leading edge time or trailing edge time of the pulse signals under the condition of a plurality of threshold values;

the information acquisition unit is used for calculating pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times; wherein the pulse information comprises pulse time and/or pulse energy.

A laser measuring apparatus comprising a pulse information measuring apparatus, the pulse information measuring apparatus comprising:

A laser measuring apparatus including a pulse information measuring apparatus, the pulse information measuring apparatus comprising:

A mobile platform, includes laser measuring device and platform body, the laser measuring device install the platform body, the laser measuring device includes pulse information measuring device, pulse information measuring device includes:

A mobile platform, comprising a laser measuring device and a platform body, the laser measuring device being installed in the platform body, the laser measuring device including a pulse information measuring device, the pulse information measuring device comprising:

The pulse information measuring method and the device can effectively reduce the error of pulse information measurement and improve the accuracy of pulse information measurement compared with the scheme that the pulse time is determined only according to the leading edge time of the pulse signal in the prior art by acquiring the leading edge time and the trailing edge time of the pulse signal under the condition of one or more threshold values and then calculating the pulse information of the pulse signal according to the leading edge time and the trailing edge time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a first flowchart of a pulse information measurement method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a waveform comparison of a pulse signal under a single threshold condition in a pulse information measurement method according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a multi-threshold comparator applied in the pulse information measurement method according to the embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating waveforms and front and back edge time relationships of pulse signals under a multi-threshold condition according to an embodiment of the present invention;

fig. 5 is a schematic view of a first structure of a pulse information measuring apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an acquisition circuit of the pulse information measurement apparatus according to the embodiment of the present invention;

fig. 7 is a second structural diagram of a pulse information measuring apparatus according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a first structure of a pulse energy obtaining circuit of a pulse information measuring apparatus according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a second structure of the pulse energy obtaining circuit of the pulse information measuring apparatus according to the embodiment of the present invention;

fig. 10 is a schematic diagram illustrating a waveform comparison of a pulse signal of a pulse information measuring apparatus before and after a broadening process according to an embodiment of the present invention;

fig. 11 is a schematic diagram of a third structure of a pulse energy obtaining circuit of the pulse information measuring apparatus according to the embodiment of the present invention;

fig. 12 is a schematic diagram of a fourth structure of a pulse energy obtaining circuit of the pulse information measuring apparatus according to the embodiment of the present invention;

FIG. 13 is a second flowchart of a pulse information measurement method according to an embodiment of the present invention;

FIG. 14 is a schematic diagram illustrating a comparison of a plurality of preset thresholds triggered by portions of pulse signals of different pulse energies fitted by a pulse information measurement method according to an embodiment of the present invention;

fig. 15 is a schematic diagram of a third structure of the pulse information measuring apparatus according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1, in an embodiment of the present invention, a pulse information measuring method is provided, which can be applied to a laser radar to measure pulse information of a laser pulse signal detected by the laser radar. The method may comprise at least the steps of:

step 101: receiving a pulse signal, and acquiring corresponding leading edge time and trailing edge time of the pulse signal under one or more threshold conditions;

step 102: calculating pulse information of the pulse signal according to the leading edge time and the trailing edge time;

wherein the pulse information comprises pulse time and/or pulse energy. The pulse signal is a laser pulse signal which is detected by a laser radar after the laser pulse signal is transmitted outwards and is reflected back.

It can be understood that the laser radar can determine the distance of the target object according to the difference between the pulse time of the emitted laser pulse signal and the pulse time of the reflected laser pulse signal by emitting the laser pulse signal to the outside and detecting the reflected laser pulse signal, and can determine the surface reflectivity information and the profile information of the target object according to the pulse energy of the reflected laser pulse signal. Under different distances and different reflectivities, the pulse energy of the reflected laser pulse signal of the target object received by the laser radar may be different. It can be understood that under the same distance and threshold value, when the reflectivity of the target object surface is larger, the pulse energy of the reflected laser pulse signal is larger, so that the corresponding pulse amplitude is larger, the leading edge time of the pulse is smaller, and the trailing edge time of the pulse is larger, and when the reflectivity of the target object surface is smaller, the pulse energy of the reflected laser pulse signal is smaller, so that the pulse amplitude is smaller, the leading edge time of the pulse is larger, and the trailing edge time of the pulse is smaller. Therefore, to obtain the accurate pulse time, the pulse time of the pulse signal can be calculated according to the leading edge time and the trailing edge time by obtaining the leading edge time and the trailing edge time of the pulse signal.

In one embodiment, acquiring leading edge time and trailing edge time of the pulse signal under one or more threshold conditions includes:

acquiring the time when the leading edge of the pulse signal triggers one or more thresholds as the leading edge time;

and acquiring the time of triggering a threshold value corresponding to the front edge time by the rear edge of the pulse signal as the rear edge time.

Referring to fig. 2, Vref is the threshold, the amplitude of the laser pulse signal a1 is larger in the dashed line, the leading edge time of the laser pulse signal a1 is t1 and the trailing edge time is t4, the amplitude of the laser pulse signal a2 is smaller in the solid line, and the leading edge time of the laser pulse signal a2 is t2 and the trailing edge time is t 3. The leading edge time t1 of the laser pulse signal a1 is the time for the leading edge of the laser pulse signal a1 to trigger the threshold value Vref, and the trailing edge time t4 of the laser pulse signal a1 is the time for the trailing edge of the laser pulse signal a1 to trigger the threshold value ref. The leading edge time t2 of the laser pulse signal a2 is the time for the leading edge of the laser pulse signal a2 to trigger the threshold value Vref, and the trailing edge time t3 of the laser pulse signal a2 is the time for the trailing edge of the laser pulse signal a2 to trigger the threshold value Vref.

It is understood that the leading edge Time and the trailing edge Time can be obtained by a comparator and a Time measuring unit (in this embodiment, a Time-to-Digital Converter, TDC). The comparator is used for comparing the voltage pulse signal corresponding to the reflected laser pulse signal with the one or more thresholds to obtain a corresponding square wave signal, and then triggering the TDC by the square wave signal to measure the leading edge time and the trailing edge time of the square wave signal, which respectively correspond to the leading edge time and the trailing edge time of the reflected laser pulse signal.

It is understood that if the laser pulse signal a1 and the laser pulse signal a2 shown in fig. 2 are laser pulse signals reflected by a target object at the same distance, the amplitude of the laser pulse signal a2 is smaller than that of the laser pulse signal a1 due to the difference in reflectivity of the surface of the target object. At this time, if the pulse time is determined by measuring only the leading edge times of the laser pulse signal a1 and the laser pulse signal a2, the leading edge time of the laser pulse signal a1 is t1 less than the leading edge time of the laser pulse signal a2 is t2, which results in an erroneous measurement result that the pulse time of the laser pulse signal a1 is less than the pulse time of the laser pulse signal a 2.

As can be seen from a comparison between the waveforms of the laser pulse signal a1 and the laser pulse signal a2 shown in fig. 2 and the relationship between the leading edge time and the trailing edge time thereof, if the leading edge time and the trailing edge time of the laser pulse signal a1 and the laser pulse signal a2 are obtained at the same time, and then the respective pulse times are calculated according to the respective leading edge time and the respective trailing edge time, the errors between the leading edge time and the trailing edge time can be cancelled out, so that the accuracy of pulse time measurement is improved.

In one embodiment, the pulse information includes a pulse time, and the calculating the pulse information of the pulse signal according to the leading edge time and the trailing edge time includes:

and calculating a weighted average value of the leading edge time and the corresponding trailing edge time, and taking the weighted average value as the pulse time of the pulse signal.

For example, for the laser pulse signal a1 shown in fig. 2, the pulse time of the laser pulse signal a1 can be obtained by calculating a weighted average of the leading edge time t1 and the trailing edge time t 4. It can be understood that, according to the difference of the waveforms of the laser pulse signals, the weights of the leading edge time and the trailing edge time can also be adjusted by the weights, so as to further improve the accuracy of the pulse time calculation.

In one embodiment, the pulse information includes a pulse time, and the pulse information measurement is based on the leading edge time and the trailing edge time under a plurality of threshold conditions, and the calculating the pulse information of the pulse signal includes:

calculating the average value of all the corresponding front edge time and back edge time under the conditions of the plurality of threshold values, and taking the average value as the pulse time of the pulse signal; alternatively, the first and second electrodes may be,

fitting the pulse signal according to all the corresponding front edge time and back edge time under the multiple threshold values, and determining the pulse time according to the corresponding time point of the fitted pulse signal on the threshold voltage; alternatively, the first and second electrodes may be,

calculating the pulse time of the pulse signal according to a first preset function and all corresponding front edge time and back edge time under the conditions of the plurality of threshold values;

the input of the first preset function is all the leading edge time and the trailing edge time corresponding to the threshold values, and the output of the first preset function is the pulse time of the pulse signal.

Referring to fig. 3, when the leading edge time and the trailing edge time of the pulse signal are obtained by the comparator and the time measuring unit, in order to obtain more pulse information, the pulse signal may be compared and calculated by using a multi-threshold comparator. Specifically, two or more comparators may be used, and different threshold conditions are set for each comparator, so that two or more sets of leading edge time and trailing edge time can be obtained for the same pulse signal.

In this embodiment, a four-way comparator and four different threshold conditions are used as an example for description. As shown in fig. 3, SU31, U32, U33, and U34 are four-way comparators, TDC31, TDC32, TDC33, and TDC34 are time measurement units corresponding to the four-way comparators, respectively, and Vf01, Vf02, Vf03, and Vf04 are threshold voltages corresponding to the four different threshold conditions, respectively, so that after the pulse signal is compared by the four-way comparators and passes through the corresponding time measurement units, four different sets of leading edge time and trailing edge time, that is, four sets of edge time, can be obtained.

As shown in fig. 4, where t1 and t8 are the leading edge time and the trailing edge time corresponding to the threshold voltage Vf01, t2 and t7 are the leading edge time and the trailing edge time corresponding to the threshold voltage Vf02, t3 and t6 are the leading edge time and the trailing edge time corresponding to the threshold voltage Vf03, and t4 and t5 are the leading edge time and the trailing edge time corresponding to the threshold voltage Vf04, respectively, an average value of the four different sets of leading edge time and trailing edge time may be calculated to obtain the pulse time of the pulse signal.

In an embodiment, eight time-voltage information of the pulse signal may be obtained according to the leading edge time and the trailing edge time corresponding to the four sets of threshold conditions, which are respectively (t1, Vf01), (t2, Vf02), (t3, Vf03), (t4, Vf04), (t5, Vf04), (t6, Vf03), (t7, Vf02), and (t8, Vf 01).

In one embodiment, the actual pulse time of the pulse signal may also be obtained from a known scene, for example, by emitting a laser pulse signal to a target object at a known distance and receiving a reflected laser pulse signal, and obtaining the actual pulse time of the pulse signal from a precision laboratory instrument measurement. By establishing a functional relationship between the four different sets of leading edge time and trailing edge time and the pulse time of the pulse signal based on knowing the actual pulse time of the pulse signal, for example, assuming that the actual pulse time is T1, the following functional relationship can be established:

t ═ f (T1, T2, T3, T4, T5, T6, T7 and T8), wherein T is the pulse time of the pulse signal calculated according to the functional relation. By optimally solving the function f, a first preset function f1 is obtained, such that the pulse time T calculated by the first preset function f1 is closest to the actual pulse time T1 of the pulse signal. Further, the pulse time of the pulse signal under any other threshold condition can be calculated according to the first preset function f1 obtained by the optimization solution.

In one embodiment, the pulse information includes pulse energy, and the pulse information measurement is based on the leading edge time and the trailing edge time under multiple threshold conditions, and the calculating the pulse information of the pulse signal includes:

calculating the sum of a plurality of pulse widths corresponding to the threshold conditions according to the leading edge time and the trailing edge time, and taking the sum of the pulse widths as the pulse energy of the pulse signal; alternatively, the first and second electrodes may be,

fitting the pulse signal according to all the corresponding front edge time and back edge time under the conditions of the plurality of threshold values, and calculating the pulse energy of the pulse signal according to the difference integral between the fitted pulse signal and a pulse baseline; alternatively, the first and second electrodes may be,

calculating the pulse energy of the pulse signal according to a second preset function and all corresponding front edge time and back edge time under the conditions of the plurality of threshold values;

the input of the second preset function is all the leading edge time and the trailing edge time corresponding to the threshold values, and the output of the second preset function is the pulse energy of the pulse signal.

Referring again to fig. 3 and 4, the present embodiment will be described by taking four-way comparators and four different threshold conditions as examples. In this embodiment, as shown in fig. 4, the leading edge time and the trailing edge time (t1, t8), (t2, t7), (t3, t6), (t4, and t5) corresponding to the four sets of threshold conditions can be obtained by collecting the four comparators SU31, U32, U33, and U34 and the corresponding time measurement units TDC31, TDC32, TDC33, and TDC34 shown in fig. 3, and eight time-voltage information of the pulse signal are obtained according to the leading edge time and the trailing edge time corresponding to the four sets of threshold conditions, which are respectively (t1, Vf01), (t2, Vf02), (t3, Vf03), (t4, Vf04), (t5, Vf04), (t6, Vf03), (t7, Vf02), (t8, and Vf 01).

Further, in one embodiment, the sum of the pulse widths corresponding to the threshold conditions, i.e., (t8-t1) + (t7-t2) + (t6-t3) + (t5-t4), may be calculated as the pulse energy of the pulse signal.

In one embodiment, the pulse signal may be further fitted according to the eight time-voltage information, and the pulse energy of the pulse signal may be calculated according to a difference integral between the fitted pulse signal and a pulse baseline.

In one embodiment, the actual pulse energy of the pulse signal may also be obtained according to a known scene, for example, by emitting a laser pulse signal to a target object at a known distance and receiving a reflected laser pulse signal, and obtaining the actual pulse energy of the pulse signal according to a precision laboratory instrument measurement. By establishing a functional relationship between the four different sets of leading edge time and trailing edge time and the pulse energy of the pulse signal based on knowing the actual pulse energy of the pulse signal, for example, assuming that the actual pulse energy is E1, the following functional relationship can be established:

f (t1, t2, t3, t4, t5, t6, t7 and t8), wherein E is the pulse time of the pulse signal calculated according to the functional relation. And obtaining a second preset function f2 by optimizing the solving function f, so that the pulse energy E calculated by the second preset function f2 is closest to the actual pulse energy E1 of the pulse signal. Further, the pulse energy of the pulse signal under any other threshold condition can be calculated according to the second preset function f2 obtained by the optimization solution.

In one embodiment, the pulse information includes pulse energy, the method further comprising:

acquiring the pulse amplitude of the pulse signal;

and calculating the pulse energy of the pulse signal according to the pulse amplitude.

The pulse amplitude of the pulse signal may be determined according to a time difference between a leading edge time and a trailing edge time of the pulse signal, for example, the larger the time difference between the leading edge time and the trailing edge time of the pulse signal is, the larger the pulse amplitude is, and vice versa, the smaller the pulse amplitude is. In addition, the pulse amplitude of the pulse signal can also be obtained through a peak hold circuit and an analog-to-digital converter ADC.

It is understood that the larger the pulse energy of the pulse signal, the larger the pulse amplitude. Therefore, the pulse energy of the pulse signal can be calculated according to the pulse amplitude by establishing the corresponding relation between the pulse energy and the pulse amplitude.

In one embodiment, the pulse information further includes a pulse time, the method further comprising:

and correcting the pulse time according to the pulse energy to obtain the corrected pulse time.

It is understood that the pulse energy of the pulse signal can be obtained according to the leading edge time and the trailing edge time, and particularly, reference may be made to the related description on the pulse energy calculation in the foregoing embodiment. Further, the pulse energy of the pulse signal may also be acquired by a pulse energy acquiring circuit, and the configuration of the pulse energy acquiring circuit will be described in detail in the following embodiments.

In one embodiment, said correcting said pulse time according to said pulse amplitude comprises:

obtaining a model of the pulse signal;

calculating the relation between the pulse energy and the offset according to the model of the pulse signal;

and correcting the pulse time according to the offset.

It is understood that since the waveform of the pulse signal may have some distortion, if the pulse time is calculated based on only the leading edge time and the trailing edge time, there may be some error in the pulse time. Therefore, in this embodiment, the accuracy of pulse time measurement can be further improved by obtaining a model of the pulse signal, calculating the relationship between the pulse energy and the pulse time offset according to the model, and further correcting the pulse time according to the offset.

It will be appreciated that in one embodiment, the actual pulse time of the pulse signal may also be acquired according to a known scenario, e.g., transmitting a laser pulse signal to a target object at a known distance and receiving a reflected laser pulse signal, and obtaining the actual pulse time of the pulse signal according to the measurement of a precise experimental instrument, and calculating the offset between the pulse time obtained by calculation according to the leading edge time and the trailing edge time and the actual pulse time, and then establishing the relation between the difference between the leading edge time and the trailing edge time and the offset, and establishing a corresponding database, so that after the leading edge time and the trailing edge time of the pulse signal are obtained, the corresponding offset in the database can be queried by calculating the difference between the leading edge time and the trailing edge time, and the pulse time can be corrected according to the offset.

and integrating the pulse signal, and calculating the pulse energy of the pulse signal according to the integration result.

It can be understood that after the pulse signal is integrated, the integrated dc quantity can be sampled by an analog-to-digital converter ADC with a low sampling rate, and then the pulse energy of the pulse signal is calculated according to the sampling result.

broadening and amplifying the pulse signal to obtain a broadened pulse signal;

and digitally sampling the broadened pulse signals, and calculating the pulse energy of the pulse signals according to the sampling result.

It is understood that after the pulse signal is stretched and amplified, the stretched pulse signal can be digitally sampled by a low sampling rate analog-to-digital converter ADC, and the pulse energy of the pulse signal is calculated according to the sampling result.

Referring to fig. 5, in an embodiment of the present invention, an apparatus 100 for measuring pulse information is provided, including:

the acquisition circuit 110 is configured to acquire a leading edge time and a trailing edge time of the pulse signal under one or more threshold conditions;

an information obtaining unit 130, configured to calculate pulse information of the pulse signal according to the leading edge time and the trailing edge time;

wherein the pulse information comprises pulse time and/or pulse energy.

In one embodiment, the pulse information measuring device is a laser radar, and the pulse signal is a laser pulse signal detected by the laser radar.

In one embodiment, the information obtaining unit 130 may be implemented by a circuit.

In one embodiment, the information obtaining unit 130 may be implemented by software.

In one embodiment, the acquisition circuit 110 includes:

a comparator or a plurality of comparators with different thresholds respectively used for receiving the pulse signals;

and the time measuring unit is positioned at the output end of each comparator and is used for acquiring the leading edge time and the trailing edge time of the threshold value of the pulse signal triggering the comparator.

Referring to fig. 6, in the present embodiment, the acquisition circuit 110 includes four comparators with different threshold conditions for illustration. SU61, U62, U63, and U64 are four-way comparators, TDC61, TDC62, TDC63, and TDC64 are time measurement units corresponding to the four-way comparators, respectively, and Vf01, Vf02, Vf03, and Vf04 are threshold voltages corresponding to the four-way comparators, respectively, so that after the pulse signals are compared by the four-way comparators and pass through the corresponding time measurement units, four different sets of leading edge time and trailing edge time, that is, four sets of edge time, can be obtained. For specific functions of the acquisition circuit 110, reference may also be made to the description in the embodiments shown in fig. 3 and fig. 4, and details are not repeated here.

In one embodiment, the pulse information includes a pulse time, and the acquisition circuit 110 is specifically configured to acquire a leading edge time and a trailing edge time of the pulse signal under a threshold condition;

the information obtaining unit 130 is specifically configured to:

In one embodiment, the pulse information includes a pulse time, and the acquisition circuit 110 is specifically configured to acquire a leading edge time and a trailing edge time of the pulse signal under multiple threshold conditions;

the information obtaining unit 130 is specifically configured to:

In one embodiment, the pulse information includes pulse energy, and the acquisition circuit 110 is specifically configured to acquire a leading edge time and a trailing edge time of the pulse signal under multiple threshold conditions;

the information obtaining unit 130 is specifically configured to:

In one embodiment, the pulse information further includes a pulse time;

the information obtaining unit 130 is further configured to correct the pulse time according to the pulse energy, so as to obtain a corrected pulse time.

In one embodiment, the information obtaining unit 130 is specifically configured to:

obtaining a model of the pulse signal;

and correcting the pulse time according to the offset.

Referring to fig. 7, in one embodiment, the apparatus 100 further includes:

and a pulse energy acquiring circuit 150 for acquiring the pulse energy of the pulse signal.

The information obtaining unit 130 is further configured to correct the pulse time according to the pulse energy obtained by the pulse energy obtaining circuit 150, so as to obtain a corrected pulse time.

In an embodiment, the pulse energy obtaining circuit 150 is specifically configured to integrate the pulse signal and calculate the pulse energy of the pulse signal according to the integration result.

Referring to fig. 8, in one embodiment, the pulse energy obtaining circuit 150 includes an integrating circuit 151 for integrating the pulse signal. The integrating circuit 151 may include an integrating operational amplifier U21, a first input resistor R21, and a first feedback capacitor C21, wherein a first input terminal + IN of the operational amplifier U21 is used for inputting the first reference level Vref1, a second input terminal-IN of the operational amplifier U21 is electrically connected to one terminal of the first input resistor R21, the other terminal of the first input resistor R21 is used for inputting the pulse signal, and the second input terminal-IN of the operational amplifier U21 is further electrically connected to the output terminal OUT of the operational amplifier U21 through the first feedback capacitor C21. And the positive and negative power supply ends V + and V-of the operational amplifier U21 are respectively used for connecting a positive power supply VCC + and a negative power supply VCC-. It is understood that the output end of the integrating circuit 211 can be further connected to an analog-to-digital converter ADC, and after the pulse signal is integrated by the integrating circuit 211, the pulse energy of the pulse signal can be obtained by sampling the pulse signal through the analog-to-digital converter ADC at a lower sampling rate.

In an embodiment, the pulse energy obtaining circuit 150 is specifically configured to perform stretching processing on the pulse signal to obtain a stretched pulse signal, and further configured to perform digital sampling on the stretched pulse signal, and calculate the pulse energy of the pulse signal according to a sampling result.

Referring to fig. 9, in an embodiment, the pulse energy obtaining circuit 150 includes a stretching circuit 153 for stretching and amplifying the pulse signal. The stretching circuit 153 may include a stretching operational amplifier U23, a second input resistor R231, a feedback resistor R232, and a second feedback capacitor C23. The first input end + IN of the operational amplifier U23 is used for inputting a second reference level Vref2, the second input end-IN of the operational amplifier U23 is connected to one end of a second input resistor R231, the other end of the second input resistor R231 is used for inputting the pulse signal, and the second input end-IN of the operational amplifier U23 is further connected to the output end OUT of the operational amplifier U23 through a feedback resistor R232 and a second feedback capacitor C23 which are connected IN parallel. And a positive power supply end V + and a negative power supply end V-of the operational amplifier U23 are respectively used for connecting a positive power supply VCC + and a negative power supply VCC-. The pulse waveforms of the pulse signals before and after the stretching and amplifying process are shown in fig. 10, in which the solid line shows the original pulse waveform of the pulse signal, and the dotted line shows the stretched pulse signal.

It is understood that the output of the stretching circuit 153 may also be connected to an analog-to-digital converter ADC, and after the pulse signal is stretched and amplified, the stretched pulse signal may be digitally sampled by the analog-to-digital converter ADC at a lower sampling rate, and the pulse energy of the pulse signal is calculated according to the sampling result.

Referring to fig. 11, in one embodiment, the pulse energy obtaining circuit 150 includes a peak hold circuit 155, the peak hold circuit 155 includes a first diode D1 and a hold capacitor C1, a first end of the first diode D1 is used for inputting a pulse signal, a second end of the first diode D1 is electrically connected to a first end of the hold capacitor C1 and an output end of the peak hold circuit 215, and a second end of the hold capacitor C1 is used for inputting a third reference level Vref 3. The output end of the peak holding circuit 155 is used for connecting an analog-to-digital converter ADC, and the analog-to-digital converter ADC is used for collecting the peak value of the pulse signal, so as to obtain the pulse amplitude of the pulse signal.

IN one embodiment, the peak holding circuit 155 further includes a first operational amplifier U31, the first operational amplifier U31 includes a first input terminal + IN, a second input terminal-IN, an output terminal OUT, a positive power terminal V + and a negative power terminal V-, the positive and negative power terminals V + and V-of the first operational amplifier U31 are respectively used for connecting a positive power source VCC + and a negative power source VCC-, the first input terminal + IN of the first operational amplifier U31 is used for inputting a pulse signal, the second input terminal-IN of the first operational amplifier U31 is electrically connected to the output terminal OUT of the first operational amplifier U31 and the first terminal of the first diode D1, and the first operational amplifier U31 is used for amplifying the pulse signal and outputting the amplified pulse signal to the first terminal of the first diode D1. Optionally, the peak hold circuit 215 may further include a second resistor R2, and the second resistor R2 is electrically connected between the second terminal of the first diode D1 and the first terminal of the holding capacitor C1.

Referring to fig. 12, IN an embodiment, the peak holding circuit 215 further includes a second operational amplifier U32 and a first resistor R1, the second operational amplifier U32 includes a first input terminal + IN, a second input terminal-IN, an output terminal OUT, a positive power terminal V + and a negative power terminal V-, the positive and negative power terminals V + and V-of the second operational amplifier U32 are respectively used for connecting a positive power source VCC + and VCC-, the first input terminal + IN of the second operational amplifier U32 is electrically connected to the first terminal of the holding capacitor C1, the second input terminal-IN of the second operational amplifier U32 is electrically connected to the first terminal of the first resistor R1 and the output terminal OUT of the second operational amplifier U32, and the second terminal of the first resistor R1 is used for inputting a fourth reference level 4. The second operational amplifier U32 is used to improve the load driving capability of the subsequent circuit. Wherein the third reference level Vref3 may be the same as the fourth reference level Vref 4.

IN one embodiment, the peak hold circuit 155 further comprises a second diode D2, a first terminal of the second diode D2 is electrically connected to the second input terminal-IN of the second operational amplifier U32, a second terminal of the second diode D2 is electrically connected to the output terminal OUT of the second operational amplifier U32, and a polarity of the second diode D2 is opposite to a polarity of the first diode D1. It is understood that the peak value output by the peak hold circuit 215 has an error due to the conduction voltage drop of the first diode D1, the error is equal to the conduction voltage drop of the first diode D1, and the error is compensated by arranging the second diode D2 such that the polarity of the second diode D2 is opposite to the polarity of the first diode D1.

It is to be understood that if the peak holding circuit 155 is used to obtain the peak value of the negative pulse of the pulse signal, the first terminal of the first diode D1 is negative, the second terminal of the first diode D2 is positive, the first terminal of the second diode D2 is positive, and the second terminal of the second diode D2 is negative. If the peak holding circuit 155 is configured to obtain the peak value of the positive pulse of the pulse signal, the first terminal of the first diode D1 is positive, the second terminal of the first diode D1 is negative, the first terminal of the second diode D2 is negative, and the second terminal of the second diode D2 is positive.

In one embodiment, the peak hold circuit 155 further comprises a controllable switch Q connected in parallel with the holding capacitor C1 for releasing the charge stored by the holding capacitor C1 after the analog-to-digital converter ADC completes peak acquisition. The controllable switch Q may include a control signal input Ctrl configured to receive a control signal, and turn on or off according to the control signal, and when the controllable switch Q is turned on, the controllable switch Q is configured to release the charge stored in the holding capacitor C1.

It can be understood that, the specific steps of the pulse information measuring apparatus 100 for measuring the pulse information of the pulse signal can also refer to the related description in the method embodiments shown in fig. 1 to fig. 4, and are not repeated herein.

Referring to fig. 13, in an embodiment of the invention, a pulse information measuring method is provided, which can be applied to a laser radar to measure pulse information of a laser pulse signal detected by the laser radar. The method may comprise at least the steps of:

step 301: receiving a pulse signal, and acquiring corresponding leading edge time or trailing edge time of the pulse signal under a plurality of threshold values;

step 302: calculating pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times; wherein the pulse information comprises pulse time and/or pulse energy.

In one embodiment, the receiving a pulse signal and acquiring a leading edge time or a trailing edge time of the pulse signal corresponding to a plurality of threshold conditions includes:

respectively receiving pulse signals through a plurality of comparators with different threshold values;

and acquiring the leading edge time or the trailing edge time of the threshold value of the pulse signal triggering the comparator by a time measurement unit at the output end of each comparator.

In one embodiment, the pulse information includes a pulse time, and the calculating the pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times includes:

calculating the average value of all the corresponding leading edge time or trailing edge time under the conditions of the plurality of threshold values, and taking the average value as the pulse time of the pulse signal; alternatively, the first and second electrodes may be,

fitting out a part of the pulse signal according to all corresponding leading edge time or trailing edge time under the conditions of the plurality of threshold values, and determining the pulse time according to a corresponding time point of the fitted part of the pulse signal on a preset voltage; alternatively, the first and second liquid crystal display panels may be,

calculating the pulse time of the pulse signal according to a first preset function and all corresponding front edge time or all corresponding back edge time under the conditions of the plurality of threshold values;

the input of the first preset function is all leading edge time or all trailing edge time corresponding to the multiple threshold values, and the output of the first preset function is the pulse time of the pulse signal.

In one embodiment, the pulse information includes pulse energy, and the calculating the pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times includes:

fitting a part of the pulse signal according to all the corresponding front edge time or all the corresponding back edge time under the conditions of the plurality of threshold values;

determining a pulse energy of the pulse signal based on a plurality of preset thresholds triggered by the portion of the fitted pulse signal.

Specifically, referring to fig. 14, assuming that the plurality of preset thresholds include four threshold voltages V01, V02, V03, and V04 that are sequentially increased, for the fitted pulse signals with different pulse energies, due to the difference in pulse amplitudes, the number of the preset thresholds triggered by the portions of the pulse signals with different pulse energies is different, so that the energy estimation value of the fitted pulse signal can be calculated according to the number of the preset thresholds triggered by the portions of the fitted pulse signal, and further, the magnitude relationship of the pulse energies of the different pulse signals can be determined according to the energy estimation value. For example, if the number of preset thresholds for the partial trigger of the fitted pulse signal A3 shown in fig. 14 is 4 and the number of preset thresholds for the partial trigger of the other fitted pulse signal a4 is 3, it can be determined that the pulse energy of the pulse signal A3 is greater than that of the pulse signal a 4. It is to be understood that the threshold voltages corresponding to the plurality of preset thresholds and the threshold voltages corresponding to the plurality of threshold conditions are at least partially different.

calculating the pulse energy of the pulse signal according to a second preset function and all corresponding front edge time or all corresponding back edge time under the conditions of the plurality of threshold values;

the input of the second preset function is all leading edge time or all trailing edge time corresponding to the multiple threshold values, and the output of the second preset function is pulse energy of the pulse signal.

It can be understood that, in the pulse information measuring method according to this embodiment, the pulse signals are respectively received by the multiple comparators with different thresholds, the leading edge time or the trailing edge time of the threshold, at which the pulse signal triggers the comparators, is obtained by the time measuring unit located at the output end of each comparator, and the specific implementation manner of calculating the pulse information of the pulse signal according to the multiple leading edge times or the multiple trailing edge times may refer to the description in the embodiments shown in fig. 3 to 4, which is not described herein again.

Referring to fig. 15, in an embodiment of the present invention, an apparatus 200 for measuring pulse information is provided, including:

the acquisition circuit 210 is configured to receive a pulse signal and acquire leading edge time or trailing edge time corresponding to the pulse signal under a plurality of threshold conditions;

an information obtaining unit 230, configured to calculate pulse information of the pulse signal according to the multiple leading edge times or the multiple trailing edge times; wherein the pulse information comprises pulse time and/or pulse energy.

In one embodiment, the pulse information measuring device 200 is a laser radar, and the pulse signal is a laser pulse signal detected by the laser radar.

In one embodiment, the acquisition circuit 210 includes:

a plurality of comparators with different thresholds respectively used for receiving pulse signals;

and the time measuring unit is positioned at the output end of each comparator and is used for acquiring the leading edge time or the trailing edge time of the threshold value of the pulse signal triggering the comparator.

Specifically, the structure of the acquisition circuit 210 may refer to the description of the acquisition circuit 110 shown in fig. 6, and is not described herein again.

In an embodiment, the pulse information includes a pulse time, and the information acquiring unit 230 is specifically configured to:

fitting out a part of the pulse signal according to all corresponding leading edge time or trailing edge time under the conditions of the plurality of threshold values, and determining the pulse time according to a corresponding time point of the fitted part of the pulse signal on a preset voltage; alternatively, the first and second electrodes may be,

In an embodiment, the pulse information includes pulse energy, and the information obtaining unit 230 is specifically configured to:

It can be understood that, in the pulse information measuring apparatus according to this embodiment, the plurality of comparators with different thresholds respectively receive the pulse signal, and the time measuring unit at the output end of each comparator obtains the leading edge time or the trailing edge time of the threshold of the comparator triggered by the pulse signal, and the specific implementation manner of calculating the pulse information of the pulse signal according to the leading edge times or the trailing edge times may refer to the description in the embodiments shown in fig. 3 to 4, which is not repeated herein.

In one embodiment, a laser measuring device is also provided for sensing external environmental information, such as distance information, angle information, reflection intensity information, velocity information, etc., of an environmental target. The laser measuring device may be a lidar. Specifically, the laser measuring device of the embodiment of the invention can be applied to a mobile platform, and the laser measuring device can be installed on a platform body of the mobile platform. The mobile platform with the laser measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a remote control car. When the laser measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the laser measuring device is applied to an automobile, the platform body is the automobile body of the automobile. When the laser measuring device is applied to the remote control car, the platform body is the car body of the remote control car.

It is to be understood that the laser measurement device may include the pulse information measurement device according to any embodiment of the present invention, and specific reference may be made to the description in the embodiments shown in fig. 5 to 12 and fig. 15, which is not repeated herein.

It is understood that all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

It should be understood that the above-described embodiments are merely exemplary of the present invention, and should not be construed as limiting the scope of the present invention, but rather as embodying all or part of the above-described embodiments and equivalents thereof as may be made by those skilled in the art, and still fall within the scope of the invention as claimed.

Claims

1. A method of measuring pulse information, comprising:

calculating pulse information of the pulse signal according to the leading edge time and the trailing edge time, wherein the pulse information comprises pulse time and pulse energy;

correcting the pulse time according to the pulse energy to obtain corrected pulse time;

wherein correcting the pulse time comprises: calculating the relationship between the pulse energy and the pulse time offset through the obtained model of the pulse signal, and correcting the pulse time according to the pulse time offset corresponding to the pulse energy in the relationship;

or correcting the pulse time comprises: and searching the offset corresponding to each of the obtained leading edge time and the obtained trailing edge time according to the established relationship between the difference between the leading edge time and the trailing edge time and the offset, and correcting the pulse time included in the pulse information obtained by calculation according to the searched offset.

2. The method of claim 1, wherein the pulse signal is a laser pulse signal detected by a laser radar.

3. The method of claim 1, wherein acquiring leading edge times and trailing edge times of the pulse signals corresponding to one or more threshold conditions comprises:

4. The method of any of claims 1 to 3, wherein the pulse information comprises a pulse time, and wherein calculating the pulse information of the pulse signal from the leading edge time and the trailing edge time comprises:

5. The method of any of claims 1 to 3, wherein the pulse information comprises pulse time and the pulse information measurement is under a plurality of threshold conditions, and the calculating pulse information for the pulse signal from the leading edge time and the trailing edge time comprises:

6. The method of any of claims 1 to 3, wherein the pulse information comprises pulse energy and the pulse information measurement is under a plurality of threshold conditions, and the calculating pulse information for the pulse signal from the leading edge time and the trailing edge time comprises:

7. The method of any of claims 1 to 3, wherein the pulse information comprises pulse energy, the method further comprising:

8. The method of any of claims 1 to 3, wherein the pulse information comprises pulse energy, the method further comprising:

broadening the pulse signal to obtain a broadened pulse signal;

9. The method of any of claims 1 to 3, wherein the pulse information comprises pulse energy, the method further comprising:

acquiring the pulse amplitude of the pulse signal;

10. An impulse information measuring apparatus, characterized by comprising:

the information acquisition unit is used for calculating pulse information of the pulse signal according to the leading edge time and the trailing edge time; wherein the pulse information comprises a pulse time and a pulse energy;

the information acquisition unit is also used for correcting the pulse time according to the pulse energy to obtain the corrected pulse time;

the information acquisition unit is specifically configured to: calculating the relationship between the pulse energy and the pulse time offset through the obtained model of the pulse signal, and correcting the pulse time according to the pulse time offset corresponding to the pulse energy in the relationship;

or the information obtaining unit is specifically configured to: and searching the offset corresponding to each of the obtained leading edge time and the obtained trailing edge time according to the established relationship between the difference between the leading edge time and the trailing edge time and the offset, and correcting the pulse time included in the pulse information obtained by calculation according to the searched offset.

11. The apparatus according to claim 10, wherein the pulse information measuring apparatus is a laser radar, and the pulse signal is a laser pulse signal detected by the laser radar.

12. The apparatus of claim 10, wherein the acquisition circuit comprises:

13. The apparatus according to any one of claims 10 to 12, wherein the pulse information includes a pulse time, and the acquisition circuit is specifically configured to acquire a leading edge time and a trailing edge time of the pulse signal under a threshold condition;

the information acquisition unit is specifically configured to:

14. The apparatus according to any one of claims 10 to 12, wherein the pulse information includes a pulse time, and the acquisition circuit is specifically configured to acquire a leading edge time and a trailing edge time of the pulse signal corresponding to a plurality of threshold conditions;

the information acquisition unit is specifically configured to:

15. The apparatus according to any one of claims 10 to 12, wherein the pulse information includes pulse energy, and the acquisition circuit is specifically configured to acquire corresponding leading edge time and trailing edge time of the pulse signal under a plurality of threshold conditions;

the information acquisition unit is specifically configured to:

16. The apparatus of any of claims 10 to 12, further comprising:

and the pulse energy acquisition circuit is used for acquiring the pulse energy of the pulse signal.

17. The apparatus according to claim 16, wherein the information obtaining unit is further configured to correct the pulse time according to the pulse energy obtained by the pulse energy obtaining circuit, so as to obtain a corrected pulse time.

18. The apparatus according to claim 16, wherein the pulse energy obtaining circuit is specifically configured to integrate the pulse signal and calculate the pulse energy of the pulse signal according to the integration result.

19. The apparatus of claim 18, wherein the pulse energy obtaining circuit comprises an integrating circuit, the integrating circuit comprises an integrating operational amplifier, a first input resistor and a first feedback capacitor, a first input terminal of the operational amplifier is electrically connected to a first reference level, a second input terminal of the operational amplifier is electrically connected to one end of the first input resistor, the other end of the first input resistor is used for inputting the pulse signal, and the first feedback capacitor is electrically connected between the second input terminal and an output terminal of the integrating operational amplifier.

20. The apparatus according to claim 16, wherein the pulse energy obtaining circuit is specifically configured to stretch the pulse signal to obtain a stretched pulse signal, and further configured to digitally sample the stretched pulse signal and calculate the pulse energy of the pulse signal according to a sampling result.

21. The apparatus according to claim 20, wherein the pulse energy obtaining circuit specifically includes a stretching circuit, the stretching circuit includes an operational amplifier, a second input resistor, a second feedback capacitor, and a feedback resistor, a first input terminal of the operational amplifier is electrically connected to a second reference level, a second input terminal of the operational amplifier is electrically connected to one end of the second input resistor, the other end of the second input resistor is used for inputting the pulse signal, and the second feedback capacitor and the feedback resistor are connected in parallel between a second input terminal and an output terminal of the operational amplifier.

22. The apparatus of claim 16, wherein the pulse energy harvesting circuit comprises a peak-hold circuit, the peak-hold circuit comprising a first diode and a hold capacitor, a first terminal of the first diode for inputting a pulse signal, a second terminal of the first diode electrically connected to a first terminal of the hold capacitor and an output terminal of the peak-hold circuit, and a second terminal of the hold capacitor for inputting a third reference level.

23. The apparatus of claim 22, wherein the peak-hold circuit further comprises a first operational amplifier, a first input of the first operational amplifier being for inputting a pulse signal, a second input of the first operational amplifier being electrically connected to an output of the first operational amplifier and a first terminal of the first diode, the first operational amplifier being for amplifying the pulse signal and outputting the amplified pulse signal to the first terminal of the first diode.

24. The apparatus of claim 22, wherein the peak-hold circuit further comprises a second operational amplifier and a first resistor, a first input terminal of the second operational amplifier being electrically connected to the first terminal of the holding capacitor, a second input terminal of the second operational amplifier being electrically connected to the first terminal of the first resistor and an output terminal of the second operational amplifier, a second terminal of the first resistor being for inputting a fourth reference level.

25. The apparatus of claim 24, the peak hold circuit further comprising a second diode, a first terminal of the second diode electrically connected to a second input terminal of the second operational amplifier, a second terminal of the second diode electrically connected to an output terminal of the second operational amplifier, a polarity of the second diode being opposite to a polarity of the first diode.

26. The apparatus of claim 22, wherein an output of the peak-hold circuit is configured to be coupled to an analog-to-digital converter configured to collect a peak value of the pulse signal, the peak-hold circuit further comprising a controllable switch coupled in parallel with the holding capacitor for discharging charge stored by the holding capacitor after the analog-to-digital converter completes the peak collection.

27. A pulse information measuring method, characterized by comprising:

calculating pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times; wherein the pulse information includes: the pulse energy, or the pulse information includes: pulse time and pulse energy;

the calculating the pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times includes:

determining an estimate of the pulse energy of the pulse signal based on the number of preset thresholds triggered by the portion of the fitted pulse signal.

28. The method of claim 27, wherein the pulse information measuring device is a laser radar, and the pulse signal is a laser pulse signal detected by the laser radar.

29. The method of claim 27, wherein receiving the pulse signal and obtaining the corresponding leading edge time or trailing edge time of the pulse signal under a plurality of threshold conditions comprises:

30. The method of any one of claims 27 to 29, wherein the pulse information comprises a pulse time, and wherein calculating the pulse information of the pulse signal from the plurality of leading edge times or the plurality of trailing edge times comprises:

fitting out a part of the pulse signal according to all corresponding leading edge time or trailing edge time under the multiple threshold values, and determining the pulse time according to a corresponding time point of the fitted part of the pulse signal on a threshold voltage; alternatively, the first and second electrodes may be,

31. The method of any one of claims 27 to 29, wherein the pulse information comprises pulse energy, and wherein calculating the pulse information of the pulse signal from the plurality of leading edge times or the plurality of trailing edge times comprises:

32. An impulse information measuring apparatus, characterized by comprising:

the information acquisition unit is used for calculating pulse information of the pulse signal according to the plurality of leading edge times or the plurality of trailing edge times; wherein the pulse information includes: the pulse energy, or the pulse information includes: pulse time and pulse energy;

the information obtaining unit is specifically configured to: fitting out a part of the pulse signal according to all the leading edge time or all the trailing edge time corresponding to the multiple threshold values;

33. The apparatus of claim 32, wherein the pulse information measuring device is a laser radar, and the pulse signal is a laser pulse signal detected by the laser radar.

34. The apparatus of claim 32, wherein the acquisition circuit comprises:

a plurality of comparators having different thresholds for receiving the pulse signals, respectively;

35. The apparatus according to any one of claims 32 to 34, wherein the pulse information comprises a pulse time, the information obtaining unit being specifically configured to:

calculating the average value of all the corresponding leading edge time or trailing edge time under the conditions of the plurality of threshold values, and taking the average value as the pulse time of the pulse signal; alternatively, the first and second liquid crystal display panels may be,

fitting out a part of the pulse signal according to all the corresponding leading edge time or trailing edge time under the multiple threshold values, and determining the pulse time according to a corresponding time point of the fitted part of the pulse signal on the threshold voltage; alternatively, the first and second liquid crystal display panels may be,

36. The apparatus according to any one of claims 32 to 34, wherein the pulse information comprises pulse energy, the information acquisition unit being specifically configured to:

37. A laser measuring apparatus comprising the pulse information measuring apparatus according to any one of claims 10 to 26 and 32 to 36.

38. A mobile platform, comprising:

the laser measuring device of claim 37; and

the laser measuring device is installed on the platform body.

39. The mobile platform of claim 38, wherein the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a remote control car.