CN108802711A - A kind of signal receiving device and method, laser radar - Google Patents
A kind of signal receiving device and method, laser radar Download PDFInfo
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- CN108802711A CN108802711A CN201810317394.1A CN201810317394A CN108802711A CN 108802711 A CN108802711 A CN 108802711A CN 201810317394 A CN201810317394 A CN 201810317394A CN 108802711 A CN108802711 A CN 108802711A
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- G—PHYSICS
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
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Abstract
The invention discloses a kind of signal receiving device and method, laser radar, the signal receiving device, including：Signal amplification module, switching control module and signal sampling module；The signal amplification module is connected to the switching control module including at least two-stage signal amplifying circuit, the output end of signal amplification circuits at different levels；The signal sampling module is connected to the switching control module；The switching control module, the signal amplification circuit for switching to corresponding series according to control signal is connect with the signal sampling module, when solving the dynamic range that signal is higher than signal sampling module, the problem of can not being sampled to signal.
Description
Technical field
The present invention relates to laser radar field more particularly to a kind of signal receiving devices and method, laser radar.
Background technology
Existing laser radar generally uses high-speed ADC (Analog-to-digital converter, Analog-digital Converter
Device) docking collects mail and number sampled, and the availability of dynamic range of ADC generally only has 20dB~30dB, and laser radar receives echo
The dynamic range of signal is often beyond 100dB.When echo-signal is less than ADC dynamic ranges, ADC can't detect signal.Echo is believed
Number be higher than ADC dynamic ranges when, ADC saturation, can not equally detect signal.Therefore, laser radar is often measuring strong reflective object
It is easily lost data when body or weak reflective object.
To solve the above-mentioned problems, there are following two schemes for the prior art：
One, link gain is adjusted in real time.I.e. when detecting strong echo-signal, laser emitting power is reduced or reduces connecing
Receipts machine amplifying circuit gain makes signal strength be reduced in the dynamic range of ADC permissions.But the reaction time mistake of this scheme
Long, laser pulse width generally only has several nanoseconds, and detects signal over range and arrive reduction transmission power again or reduce reception
The time of gain is usually several microseconds, is certain to cause the loss of previous pulse signal in this way.And it can after gain reduction
The weak reflective object echo-signal that follow up scan arrives can be caused to be less than the lower limit of ADC dynamic ranges, to lose a signal again.
Such as：It will be spaced to obtain strong and weak widely different signal echo, the reaction of such technical solution when scanning stainless steel railing
Underspeed is to cope with such target.
Two, using multipath reception amplifier.Fig. 1 be in the prior art ADC to the fundamental diagram of signal sampling, such as Fig. 1
It is shown, per different gains is configured all the way, per there are one independent ADC to receive sampling all the way.High-gain channel signal amplitude is super
In limited time, the signal of middle gain or low-gain channel may be to be received in dynamic range in ADC, can be with normal sample.System
Finally only take signal best all the way.The problem of this scheme is that multiple ADC is needed to work at the same time, hardware input cost compared with
It is high.
Invention content
A kind of signal receiving device of present invention offer and method, laser radar are solved when signal is higher than signal sampling mould
When the dynamic range of block, can not be to signal sampling the problem of.
In a first aspect, an embodiment of the present invention provides a kind of signal receiving devices, including：Signal amplification module, switching control
Molding block and signal sampling module；
The signal amplification module connects including at least two-stage signal amplifying circuit, the output end of signal amplification circuits at different levels
It is connected to the switching control module；
The signal sampling module is connected to the switching control module；
The switching control module, for switching to the signal amplification circuit of corresponding series and the letter according to control signal
The connection of number sampling module.
Further, the connection type of at least two-stage signal amplifying circuit is to connect step by step, wherein the signal is put
Input signal of the input signal of big module as first order signal amplification circuit, when the output signal of prime signal amplification circuit
Input signal as rear stage signal amplification circuit.
Further, the connection type of at least two-stage signal amplifying circuit is parallel connection, wherein the signal amplifies mould
Input signal of the input signal of block as signal amplification circuits at different levels.
Further, the switching control module includes：At least one circuit delay unit and multi-channel gating switch；
Wherein, at least one circuit delay unit connects with the output end of the signal amplification circuit of non-afterbody respectively
It connects, the circuit delay unit is used to export the signal in signal amplification circuit connected to it into line delay；
One end of the multi-channel gating switch is connected to the output end of afterbody signal amplification circuit or non-afterbody
The signal output end of the corresponding circuit delay unit of signal amplification circuit, the other end are connected to the signal sampling module.
Further, the switching control module further includes：
Chip is controlled, the multi-channel gating switch and the signal sampling module are connected to, for receiving the control letter
Number, and the multi-channel gating switch is controlled according to the control signal.
Further, the switching control module further includes：
Thresholding trigger element is respectively connected to the multi-channel gating switch, the control chip and the signal sampling mould
Block for whether detecting the signal into the signal sampling module beyond predetermined threshold value, and is being detected beyond described default
When threshold value, the control signal is exported.
Further, the delay time of the corresponding circuit delay unit of previous stage signal amplification circuit is more than rear stage signal
The delay time of the corresponding circuit delay unit of amplifying circuit；
Wherein, the delay time of the corresponding circuit delay unit of penultimate stage signal amplification circuit be more than at the first time with
The sum of second time, the first time are that detection enters the signal sampling module by afterbody signal amplification circuit
Whether beyond the time used in predetermined threshold value, second time is the time used in switching signal amplifying circuit to signal.
Second aspect, the embodiment of the present invention additionally provide a kind of laser radar, including described in any embodiment of the present invention
Signal receiving device.
The third aspect, the embodiment of the present invention additionally provide a kind of signal acceptance method, including：
Receive the signal exported when prime signal amplification circuit being connect with signal sampling module in signal amplification module；
If the intensity of the signal is less than predetermined threshold value, the signal is sampled；
If the intensity of the signal be higher than the predetermined threshold value, control be switched to previous stage signal amplification circuit with it is described
Signal sampling module connects, to receive the signal of the previous stage signal amplification circuit output.
Further, what is connect with signal sampling module in the reception signal amplification module works as prime signal amplification electricity
Before the signal of road output, further include：
The output end of acquiescence afterbody signal amplification circuit is connect with the signal sampling module.
Further, what is connect with signal sampling module in the reception signal amplification module works as prime signal amplification electricity
Before the signal of road output, further include：
The delay time that signal exports in non-afterbody signal amplification circuit is set, including：
The delay time that the output of previous stage signal amplification circuit signal is arranged is defeated more than rear stage signal amplification circuit signal
The delay time gone out；
Wherein, penultimate stage signal amplification electric signal output delay time be more than at the first time and the second time it
It is whether detection is entered by afterbody signal amplification circuit the signal of the signal sampling module and surpass with, first time
Go out the time used in predetermined threshold value, second time is the time used in switching signal amplifying circuit.
Further, if the previous stage amplifying circuit is first order amplifying circuit, the previous stage is received described
After the signal of amplifying circuit output, further include：
If the intensity of the signal of the previous stage amplifying circuit output is higher than the predetermined threshold value, output signal exception
As a result；
Control is switched to afterbody amplifying circuit and is connect with the signal sampling module, is put with receiving the afterbody
The signal of big circuit output.
The present invention by a kind of signal receiving device of offer, including：Signal amplification module, switching control module and signal
Sampling module；The signal amplification module includes that at least two-stage signal amplifying circuit, the output end of signal amplification circuits at different levels is equal
It is connected to the switching control module；The signal sampling module is connected to the switching control module；The switching control mould
Block, the signal amplification circuit for switching to corresponding series according to control signal are connect with the signal sampling module, realization pair
The signal of high dynamic range is sampled.Wherein, multilevel signal amplifying circuit allows signal sampling module to receive multichannel difference
The sampling of the signal to dynamic range bigger, cost can be thus achieved using a signal sampling module for the signal of amplification factor
It is cheap.
Description of the drawings
Fig. 1 be in the prior art ADC to the fundamental diagram of signal sampling.
Fig. 2 is a kind of structural schematic diagram of signal receiving device in the embodiment of the present invention one.
Fig. 3 is the structural schematic diagram of another signal receiving device in the embodiment of the present invention one.
Fig. 4 is the structural schematic diagram of another signal receiving device in the embodiment of the present invention one.
Fig. 5 is a kind of flow chart of signal acceptance method in the embodiment of the present invention two.
Fig. 6 is a kind of structural schematic diagram of signal receiving device in the embodiment of the present invention three.
Fig. 7 is a kind of work flow diagram of signal receiving device in the embodiment of the present invention three.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
The embodiment of the present invention provides a kind of signal receiving device, is applicable to the case where signal is received and acquired, the signal
Reception device includes：Signal amplification module, switching control module and signal sampling module；The signal amplification module includes at least
The output end of two-stage signal amplifying circuit, signal amplification circuits at different levels is connected to the switching control module.
Wherein, a small-signal can be passed through a device (core by amplifying circuit (amplification circuit)
The heart is triode, field-effect tube), obtain that a waveform is similar (undistorted), but the much larger big signal of exchange of amplitude is defeated
Go out.Amplification factor is also known as gain, it is the index for weighing amplifying circuit amplifying power.Actual amplifying circuit is typically by signal
The amplifier and load composition that source, transistor are constituted.Optionally, the connection type of at least two-stage signal amplifying circuit
To connect step by step, wherein input signal of the input signal of the signal amplification module as first order signal amplification circuit, when
Input signal of the output signal of prime signal amplification circuit as rear stage signal amplification circuit.With at least two-stage signal
The connection type of amplifying circuit is for connecting step by step, and Fig. 2A is a kind of knot of signal receiving device in the embodiment of the present invention one
Structure schematic diagram, as shown in Figure 2 A, which includes：Signal amplification module 210, switching control module 220 and signal
Sampling module 230；The signal amplification module 210 includes at least two-stage signal amplifying circuit, signal amplification circuits at different levels it is defeated
Outlet is connected to the switching control module 220.Two-stage signal amplifying circuit is only drawn in Fig. 2A, can be gone here and there step by step at dotted line
Join multiple signal amplification circuits；The signal sampling module 230 is connected to the switching control module 220；The switching control
Module 220, the signal amplification circuit for switching to corresponding series according to control signal connect with the signal sampling module 230
It connects.
Illustratively, in concatenated amplifying circuit step by step, when original signal is from the input of first order signal amplification circuit
After the input of end, the signal of amplification can be exported from the output end of first order signal amplification circuit, it can also be by amplified signal
It inputs in the signal amplification circuit of the second level, then is amplified again, can export and put from the output end of second level signal amplification circuit
Big signal, or further amplify step by step.After the amplification of afterbody signal amplification circuit, amplification factor can be exported
Maximum signal.The signal that signal sampling module 230 is used to export amplifying circuit samples, optionally, signal sampling mould
Block 230 is analog-digital converter (ADC).In such signal receiving device, the number ratio of used amplifier and ADC
The number of amplifier and ADC are few many in a plurality of parallel circuit in the prior art, can reduce hardware cost input.
Optionally, the connection type of at least two-stage signal amplifying circuit is parallel connection, wherein the signal amplification module
Input signal of the input signal as signal amplification circuits at different levels.With the connection type of at least two-stage signal amplifying circuit
For parallel connection, Fig. 2 B are the structural schematic diagram of another signal receiving device in the embodiment of the present invention one, as shown in Figure 2 B,
Two-stage signal amplifying circuit is only drawn, it actually can multilevel signal amplifying circuit in parallel.Specifically, the series of signal amplification circuit
Setting can be needed multistage according to business, the number of amplifier can also be according to practical business need in every level-one signal amplification circuit
Seek identical or different gains the multiple amplifiers of setting.It should be noted that signal amplification circuit in the embodiment of the present invention
In the connection type of multilevel signal amplifying circuit be not restricted, for example multilevel signal amplifying circuit can also be taken and go here and there step by step
The connection type setting of connection and mixing in parallel.
Under normal circumstances, default signal sampling module 230 is connect with afterbody signal amplification circuit, i.e., acquiescence receives most
The signal exported in rear stage signal amplification circuit.If detecting that this signal is not above predetermined threshold value, signal sampling mould
Block 230 directly samples this signal.If detecting that this signal is more than predetermined threshold value, switching control module 220 can be with
It switches to signal sampling module 230 to connect with previous stage signal amplification circuit, be exported with receiving in previous stage signal amplification circuit
Signal.Wherein, predetermined threshold value is the intensity threshold that preset signal sampling module 230 can carry out signal sampling, tool
Body can be determined according to the dynamic range that signal strength values to be sampled and signal sampling module 230 can sample, for example can be
The upper limit value of the dynamic range of the receivable signal of signal sampling module 230, for example, ADC dynamic range headroom.Ordinary circumstance
Under, signal sampling module 230 can have the function of detecting whether its received signal (can be considered and have more than predetermined threshold value
Threshold detection function), when detecting that its received signal is more than predetermined threshold value, switching control module can be output control signals to
220, switching control module 220 is according to the connection for controlling signal switching signal sampling module 230 and signal amplification circuit not at the same level.
For example, if signal sampling module is ADC, and the chip of ADC itself can have saturation (transfiniting) alarm signal output function,
I.e. ADC chips itself detect that signal is more than the range of receiving (can also be predetermined threshold value) of itself, can export alarm signal automatically
Number.When ADC receives the signal exported in signal amplification circuit, if ADC detects that this signal is more than predetermined threshold value, can export
Alarm signal, and exported alarm signal as control signal to switching control module 220, switching control module 220 is according to control
The connection of signal switching signal sampling module 230 and signal amplification circuit not at the same level processed.
It is understood that giving tacit consent to afterbody signal amplification circuit and signal sampling module before to signal sampling
230 are the reason of connection：If what signal sampling module 230 received at the beginning does not export from the highest circuit of gain
Signal, once then original signal is a very weak signal, after low gain or the output of the signal amplification circuit of middle gain
Signal still may be a weaker signal, and general signal sampling module 230 itself to the amplitude of the signal of identification or
Intensity there are certain requirements.Therefore, to weaker signal, signal sampling module may be identified less than can thus lose this letter
Number.Therefore the signal exported in the signal amplification circuit of acquiescence reception highest-gain, can not acquire or lose to avoid weak signal
The problem of mistake.
Optionally, the switching control module 220 includes：At least one circuit delay unit and multi-channel gating switch；
Wherein, at least one circuit delay unit connects with the output end of the signal amplification circuit of non-afterbody respectively
It connects, the circuit delay unit is used to export the signal in signal amplification circuit connected to it into line delay；The multichannel
One end of gating switch is connected to the output end of afterbody signal amplification circuit or non-afterbody signal amplification circuit corresponds to
Circuit delay unit signal output end, the other end is connected to the signal sampling module.
Wherein, the number of circuit delay unit and the series of signal amplification circuit are related, specifically signal amplification circuit
Series subtracts 1.Circuit delay unit is used to export the output signal in signal amplification circuit not at the same level into line delay.If due to
When the signal strength of prime signal amplification circuit output is higher than predetermined threshold value, then needing will be previous by switching multi-channel gating switch
Grade signal amplification circuit is connect with signal sampling module 230, to receive the signal of previous stage signal amplification circuit output.Due to depositing
To judge to work as whether prime signal strength is more than the time of threshold value and switches the time of multi-channel gating switch, therefore to cut
After changing multi-channel gating switch, signal sampling module 230 still accurately completely timely can receive previous stage signal amplification circuit
The signal of output then needs the output to signal in previous stage signal amplification circuit into line delay.In actual circuit design
Signal amplification circuit not at the same level can be directed to and set specific delay time, signal will be received and be delayed for tens to hundreds of nanoseconds not
Deng.
Optionally, the delay time of the corresponding circuit delay unit of previous stage signal amplification circuit is put more than rear stage signal
The delay time of the corresponding circuit delay unit of big circuit；
Wherein, the delay time of the corresponding circuit delay unit of penultimate stage signal amplification circuit be more than at the first time with
The sum of second time, the first time are that detection enters the signal sampling module by afterbody signal amplification circuit
Whether beyond the time used in predetermined threshold value, second time is the time used in switching signal amplifying circuit to 230 signal.
Optionally, the switching control module 220 further includes：Chip is controlled, the multi-channel gating switch and institute are connected to
Signal sampling module is stated, the multi-channel gating switch is controlled for receiving the control signal, and according to the control signal.
Wherein, control chip can switch the connection of multi-channel gating switch according to the control signal control received,
For example to switch from signal sampling module 230 and the connection of the signal amplification circuit when prime by controlling multi-channel gating switch
It is connect to signal sampling module 230 with the signal amplification circuit of previous stage.Illustratively, control chip can choose FPGA
(Field-Programmable Gate Array, field programmable gate array), in actual work according to specific demand pair
RAM in piece is programmed, and according to different configuration modes, different programming modes may be used.
On the basis of the above embodiments, the first time can be that the detection of thresholding trigger element is adopted into the signal
Whether beyond the time used in predetermined threshold value, the second time can be control chip according to control signal to the signal of egf block 230
Switch the time used in gating switch to previous stage signal amplification circuit.
Illustratively, Fig. 3 is the structural schematic diagram of another signal receiving device in the embodiment of the present invention one, wherein
Signal sampling module in the device has Threshold detection function, and signal amplification circuit is indicated with amplifier, amplifies electricity with signal
For concatenated connection type step by step is in road, as shown in figure 3, on the basis of the above embodiments, which includes：At least two-stage
Signal amplification circuit, at least one circuit delay unit, multi-channel gating switch, control chip and signal sampling module.The signal
Sampling module has Threshold detection function, when signal sampling module receives the signal exported in signal amplification circuit, if inspection
This signal is measured without departing from predetermined threshold value, then signal is directly sampled.If detecting, this signal is more than predetermined threshold value, meeting
Output control signals to control chip, control chip according to control signal control multi-channel gating switch switching signal sampling module with
The connection of signal amplification circuit not at the same level.
The present embodiment additionally provides the embodiment for not having Threshold detection function suitable for signal sampling module 230, can
Choosing, the switching control module 220 further includes：Thresholding trigger element is respectively connected to the multi-channel gating switch, the control
Whether coremaking piece and the signal sampling module, the signal for being used to detect into the signal sampling module exceed predetermined threshold value,
And when detecting beyond the predetermined threshold value, export the control signal.Fig. 4 is another letter in the embodiment of the present invention one
The structural schematic diagram of number reception device, the signal sampling module in the device does not have Threshold detection function, as shown in figure 4, letter
After number amplifying circuit output signal, thresholding trigger element can detect the signal strength in entering signal sampling module whether be more than
Predetermined threshold value, if being not above predetermined threshold value, signal sampling module can directly sample signal；If more than default threshold
Value, then export control signal.Specifically, can export control signal to control chip, control chip can be believed according to control
Number switching multi-channel gating switch, realize signal sampling module and non-present grade signal amplification circuit connection.
The technical solution of the embodiment of the present invention, by a kind of signal receiving device of offer, including：Signal amplification module is cut
Change control module and signal sampling module；The signal amplification module is put including at least two-stage signal amplifying circuit, signals at different levels
The output end of big circuit is connected to the switching control module；The signal sampling module is connected to the switching control mould
Block；The switching control module, for signal to switch to the signal amplification circuit of corresponding series and the signal is adopted according to controlling
Egf block connects, and realizes the sampling to the higher signal of dynamic range signal.Wherein, the signal amplification of serial or parallel connection is electric step by step
Road allows signal sampling module to receive the signal of multichannel different amplification, puts using a signal sampling module and on a small quantity
Big device realization samples the signal of dynamic range bigger, of low cost.Setting is exported to the signal of amplifying circuit not at the same level
Delay time can prevent from missing during signal amplification circuit switches progress signal sampling or lossing signal, guarantee are believed
Complete, the timely and accurately property of number sampling.When using high-speed ADC to echo signal sample especially in laser radar, Bu Huiyou
And lossing signal excessive in the dynamic range of echo-signal, and can be according to the abnormal results of output to lidar measurement object
The power for emitting signal when body provides certain guidance.
Embodiment two
Fig. 5 is a kind of flow chart of signal acceptance method in the embodiment of the present invention three, and the present embodiment is applicable to signal
The case where reception, this method can be executed by the signal receiving device in any embodiment of the present invention, and concrete principle can be found in
Described in the various embodiments described above, this embodiment is not repeated.As shown in figure 5, this method specifically comprises the following steps：
S510, the letter exported when prime signal amplification circuit being connect with signal sampling module in signal amplification module is received
Number.
Wherein, on the basis of the above embodiments, signal amplification module includes at least two-stage signal amplifying circuit, per level-one
Signal amplification circuit can be with individual output signals.
If the intensity of S520, the signal is less than predetermined threshold value, the signal is sampled.
Optionally, what is connect with signal sampling module in the reception signal amplification module works as prime signal amplification circuit
Before the signal of output, further include：The output end of acquiescence afterbody signal amplification circuit is connect with the signal sampling module.
Under normal circumstances, before to a signal sampling, give tacit consent to the output end and signal sampling mould of the signal amplification circuit of afterbody
Block connects.I.e. when acquiring a signal, signal sampling module first receives the signal of the signal amplification circuit output of afterbody.
If the intensity of S530, the signal is higher than the predetermined threshold value, control is switched to previous stage signal amplification circuit
It is connect with the signal sampling module, to receive the signal of the previous stage signal amplification circuit output.
Optionally, it is switched to after previous stage signal amplification circuit connect with the signal sampling module in control, also wraps
It includes：
If the intensity of the signal is less than the predetermined threshold value, the signal is sampled.
If the intensity of the signal is higher than the predetermined threshold value, control is switched to more previous stage signal amplification circuit and institute
State the connection of signal sampling module.
Optionally, what is connect with signal sampling module in the reception signal amplification module works as prime signal amplification circuit
Before the signal of output, further include：
The delay time that signal exports in non-afterbody signal amplification circuit is set, including：
The delay time that the output of previous stage signal amplification circuit signal is arranged is defeated more than rear stage signal amplification circuit signal
The delay time gone out；
Wherein, penultimate stage signal amplification electric signal output delay time be more than at the first time and the second time it
It is whether detection is entered by afterbody signal amplification circuit the signal of the signal sampling module and surpass with, first time
Go out the time used in predetermined threshold value, second time is the time used in switching signal amplifying circuit.
Optionally, it if the previous stage amplifying circuit is first order amplifying circuit, is put in the reception previous stage
After the signal of big circuit output, further include：
If the intensity of the signal of the previous stage amplifying circuit output is higher than the predetermined threshold value, output signal exception
As a result；
Control is switched to afterbody amplifying circuit and is connect with the signal sampling module, is put with receiving the afterbody
The signal of big circuit output.
Wherein, in concatenated signal amplification circuit step by step, the signal of afterbody signal amplification circuit output is more than pre-
If when threshold value, being sequentially switched to previous stage signal amplification circuit, if until the signal of first order signal amplification circuit output
When still above predetermined threshold value, then signal sampling module can not be acquired this signal, the result of output signal exception.When this
When signal can not sample, this signal can be lost, carries out the sampling of next pulse signal.It can control at this time and be switched to last
Grade signal amplification circuit is connect with signal sampling module.Meanwhile operating personnel can be according to the result of this abnormal signal to radar
Or other equipment carries out parameter adjustment.It, can be next by radar such as if abnormal results occurs in radar receives echo-signal
Emitting the power of pulse signal reduces, to ensure that echo-signal next time can collect.
Optionally, after being sampled every time to the signal, it can control and be switched to afterbody signal amplification circuit
It is connect with the signal sampling module, waits for the sampling of next pulse signal.
The technical solution of the embodiment of the present invention, it is current by being connect with signal sampling module in reception signal amplification module
The signal of grade signal amplification circuit output；If the intensity of the signal is less than predetermined threshold value, the signal is sampled；If
The intensity of the signal is higher than the predetermined threshold value, then control is switched to previous stage signal amplification circuit and the signal sampling mould
Block connects, and to receive the signal of the previous stage signal amplification circuit output, realizes the sampling to high dynamic range signal.Its
In, concatenated signal amplification circuit allows signal sampling module to receive the signal of multichannel different amplification step by step, uses one
A signal sampling module and a small amount of amplifier realize the sampling to the signal of dynamic range bigger, of low cost.To not at the same level
The signal output setting delay time of amplifying circuit, can prevent during signal amplification circuit switches progress signal sampling
It misses or lossing signal, ensures complete, the timely and accurately property of signal sampling.High-speed ADC pair is used especially in laser radar
When echo signal sample, will not and lossing signal excessive due to the dynamic range of echo-signal, and can be according to the different of output
The power of transmitting signal provides certain guidance when normal result is to lidar measurement object.
Embodiment three
Fig. 6 is a kind of structural schematic diagram of signal receiving device in the embodiment of the present invention three, in the various embodiments described above
On the basis of, by taking concatenated three-level signal amplifying circuit step by step as an example, the structure and workflow of signal receiving device are said
It is bright, lead to as shown in fig. 6, the signal amplification module of whole device is amplified by the signal that the amplifier including a thtee-stage shiplock forms
Road can isolate the signal of three tunnel different gains, respectively first order signal amplification circuit, second level letter from Amplifier stage
Number amplifying circuit and third level signal amplification circuit.I.e. the device includes three-level signal amplifying circuit, signal sampling module
(ADC), multi-channel gating switch, two circuit delay units, control chip (FPGA) and thresholding trigger element.
Fig. 7 is a kind of work flow diagram of signal receiving device in the embodiment of the present invention three, as shown in fig. 7, this is step by step
The signal receiving device course of work of concatenated three-level signal amplifying circuit is：
First, the output end of third level signal amplification circuit is connect with ADC, that is, starts to give tacit consent to ADC reception third level letters
The signal of number amplifying circuit output.Whether the signal of the detection of thresholding trigger element into ADC are more than predetermined threshold value, if do not surpassed
Predetermined threshold value is crossed, then ADC directly samples signal；If it exceeds predetermined threshold value, then export a control signal to switching
Control chip (FPGA) in control module.
Then, FPGA can carry out control to multi-channel gating switch according to control signal and switch to ADC and second level signal
The output end of amplifying circuit is attached, and thresholding trigger element continues detection into the signal of ADC whether more than predetermined threshold value, such as
Fruit is not above predetermined threshold value, then ADC directly samples signal；If still above predetermined threshold value, a control is exported
Signal processed is to switching control mould FPGA in the block.
Finally, FPGA can carry out control to multi-channel gating switch according to control signal and switch to ADC and first order signal
The output end of amplifying circuit is attached, and thresholding trigger element continues detection into the signal of ADC whether more than predetermined threshold value, such as
Fruit is not above predetermined threshold value, then ADC directly samples signal；If still above predetermined threshold value, optionally, output letter
The result of number exception.Furthermore, it is possible to which losing the signal or business personnel can be reduced in transmitter by operating parameter and be emitted
The power of pulse signal, so that ADC can sample echo-signal next time.
It should be noted that after each ADC samples signal, FPGA can select multichannel according to control signal
It opens up to put row control into and switch to the output end of ADC and the third level (afterbody) signal amplification circuit and be attached, wait waiting
Receive next pulse signal.
It should be noted that ensure after switching signal amplifying circuit, letter can not be lost when ADC is to signal sampling
Number, it can be to the output of signal in the signal amplification circuit in addition to afterbody into line delay, therefore, second level signal amplification electricity
Road and first order signal amplification circuit are all connected with circuit delay unit, and setting for different delayed time time is carried out before signal output
It is fixed.In this example, the signal in third level signal amplification circuit need not be delayed, the delay in the signal amplification circuit of the second level
Time can be to judge whether the signal of third level signal amplification circuit output is more than default more than thresholding trigger element with setting value
The sum of the time of the time of threshold value and FPGA switching gating switches.Correspondingly, the delay time in first order signal amplification circuit
It can be set as twice of the delay time in the signal amplification circuit of the second level.
In the technical solution of the embodiment of the present invention, signal sampling module is set to receive by concatenated amplifying circuit step by step
The signal of multichannel different amplification is realized using a sampling module and a small amount of amplifier in the letter to dynamic range bigger
Number sampling, it is of low cost.To the signal output setting delay time of amplifying circuit not at the same level, can prevent from amplifying electricity in signal
Road switching missed or lossing signal during signal sampling, ensures complete, the timely and accurately property of signal sampling.Especially
It is that when using high-speed ADC to echo signal sample in laser radar, will not be lost since the dynamic range of echo-signal is excessive
Signal, and can according to the abnormal results of output to lidar measurement object when transmitting signal power provide centainly finger
It leads.
The present embodiment also provides a kind of laser radar, which includes any signal in the embodiment of the present invention
Reception device, in addition to this, further include by the necessary device works such as laser transmitter, turntable and other information processing system with
Realize that the function of laser radar, the signal which can be to echo-signal higher than the dynamic range of signal sampling module are adopted
Sample does not allow data easy to be lost when measuring strong reflective object or weak reflective object.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a kind of signal receiving device, which is characterized in that including：Signal amplification module, switching control module and signal sampling mould
Block；
The signal amplification module is connected to including at least two-stage signal amplifying circuit, the output end of signal amplification circuits at different levels
The switching control module；
The signal sampling module is connected to the switching control module；
The switching control module, for signal to switch to the signal amplification circuit of corresponding series and the signal is adopted according to controlling
Egf block connects.
2. the apparatus according to claim 1, which is characterized in that the connection type of at least two-stage signal amplifying circuit is
It connects step by step, wherein input signal of the input signal of the signal amplification module as first order signal amplification circuit, currently
Input signal of the output signal of grade signal amplification circuit as rear stage signal amplification circuit.
3. the apparatus according to claim 1, which is characterized in that the connection type of at least two-stage signal amplifying circuit is
It is in parallel, wherein input signal of the input signal of the signal amplification module as signal amplification circuits at different levels.
4. the apparatus of claim 2, which is characterized in that the switching control module includes：At least one circuit prolongs
Shi Danyuan and multi-channel gating switch；
Wherein, at least one circuit delay unit is connect with the output end of the signal amplification circuit of non-afterbody respectively,
The circuit delay unit is used to export the signal in signal amplification circuit connected to it into line delay；
One end of the multi-channel gating switch is connected to the output end of afterbody signal amplification circuit or non-afterbody signal
The signal output end of the corresponding circuit delay unit of amplifying circuit, the other end are connected to the signal sampling module.
5. device according to claim 4, which is characterized in that the switching control module further includes：
Chip is controlled, the multi-channel gating switch and the signal sampling module are connected to, for receiving the control signal, and
The multi-channel gating switch is controlled according to the control signal.
6. device according to claim 5, which is characterized in that the switching control module further includes：
Thresholding trigger element is respectively connected to the multi-channel gating switch, the control chip and the signal sampling module, uses
Whether the signal for entering the signal sampling module in detection exceeds predetermined threshold value, and is detecting to exceed the predetermined threshold value
When, export the control signal.
7. device according to claim 4, which is characterized in that
The delay time of the corresponding circuit delay unit of previous stage signal amplification circuit is corresponded to more than rear stage signal amplification circuit
Circuit delay unit delay time；
Wherein, the delay time of the corresponding circuit delay unit of penultimate stage signal amplification circuit is more than first time and second
The sum of time, the first time are the signals that detection enters the signal sampling module by afterbody signal amplification circuit
Whether beyond the time used in predetermined threshold value, second time is the time used in switching signal amplifying circuit.
8. a kind of laser radar, which is characterized in that including any signal receiving device in claim 1-7.
9. a kind of signal acceptance method, which is characterized in that including：
Receive the signal exported when prime signal amplification circuit being connect with signal sampling module in signal amplification module；
If the intensity of the signal is less than predetermined threshold value, the signal is sampled；
If the intensity of the signal is higher than the predetermined threshold value, control is switched to previous stage signal amplification circuit and the signal
Sampling module connects, to receive the signal of the previous stage signal amplification circuit output.
10. according to the method described in claim 9, it is characterized in that, in the reception signal amplification module with signal sampling
Before the signal of module connection exported when prime signal amplification circuit, further include：
The output end of acquiescence afterbody signal amplification circuit is connect with the signal sampling module.
11. according to the method described in claim 9, it is characterized in that, in the reception signal amplification module with signal sampling
Before the signal of module connection exported when prime signal amplification circuit, further include：
The delay time that signal exports in non-afterbody signal amplification circuit is set, including：
The delay time that the output of previous stage signal amplification circuit signal is arranged is more than the output of rear stage signal amplification circuit signal
Delay time；
Wherein, the delay time of penultimate stage signal amplification electric signal output is more than the sum of first time and the second time, institute
State is whether detection enters the signal of the signal sampling module beyond pre- by afterbody signal amplification circuit at the first time
If the time used in threshold value, second time is the time used in switching signal amplifying circuit.
12. if according to the method described in claim 9, it is characterized in that, the previous stage amplifying circuit is first order amplification electricity
Road further includes then after the signal for receiving the previous stage amplifying circuit output：
If the intensity of the signal of the previous stage amplifying circuit output is higher than the predetermined threshold value, the knot of output signal exception
Fruit；
Control is switched to afterbody amplifying circuit and is connect with the signal sampling module, to receive the afterbody amplification electricity
The signal of road output.
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| CN108802711B (en) | 2021-08-17 |
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