CN109521413A - Full wave shape suitable for laser radar obtains circuit - Google Patents
Full wave shape suitable for laser radar obtains circuit Download PDFInfo
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- CN109521413A CN109521413A CN201811230513.6A CN201811230513A CN109521413A CN 109521413 A CN109521413 A CN 109521413A CN 201811230513 A CN201811230513 A CN 201811230513A CN 109521413 A CN109521413 A CN 109521413A
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- 238000005070 sampling Methods 0.000 claims abstract description 73
- 239000003990 capacitor Substances 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000002366 time-of-flight method Methods 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention is suitable for laser radar field, to improve sample rate and effectively avoiding walking error.Thus, the technical solution adopted by the present invention is that, Full wave shape suitable for laser radar obtains circuit, including three comparator, time delay module and high speed sampling circuit modules, the control terminal of the output end and high speed sampling circuit of time delay module and comparator is respectively connected with, the pulse-shaped voltage signal that receives while inputing to comparator and high speed sampling circuit, when voltage signal is higher than the threshold voltage signal Vref of setting, comparator output is high level, it is a trigger signal, is used for Time delay module；Delay time can be controlled by voltage control signal, and the output signal of time delay module, which will pass to high speed sampling circuit, makes it stop sampling.Present invention is mainly applied to set laser radar meter occasions that manufacture.
Description
Technical field
The present invention is suitable for laser radar field, can improve sample rate and effectively avoid walking error while progress
Full wave shape sampling.
Background technique
Laser radar technique be for automatic Pilot it is vital, he can pass through the accurate spy for information of adjusting the distance
It surveys, to carry out 3D imaging and ground mapping, and then realizes target identification, the function of navigation and avoidance.Between above-mentioned function, swash
Optical radar is equally also widely used in unmanned plane, robot, mapping, the fields such as agricultural production.Mobile lidar is realized
The principle of precision ranging is time-of-flight method (TOF).The process of TOF is that laser starts timing while emitting beam of laser,
It can be reflected in blocking surfaces when laser encounters barrier, reflection light is irradiated to detector after receiving optics
On, detector stops timing when detecting light, and the round-trip time used is t, then the distance d=t*C/ of detector to barrier
2 (wherein C is the light velocity).Because light be all under any circumstance it is metastable, it is considered that the distance obtained in this way
Information is accurately.
But there are large errors for existing technology, very high for frequency modulation (chirp) linearity, fm linearity is straight
Connect influence range accuracy；Mode of frequency regulation integrated at present is not also that very mature (such as the frequency modulation based on WGM mode of Strobe swashs
Light), there are the problems such as cost, volume to need to solve for other mode of frequency regulation (such as optical fiber, MEMS).Walk operational amplifier
(OPA) company in direction tends to select CW/FM continuous wave/frequency modulated modulated (FMCW) ranging, and reason has two: the frequency sweep of CW/FM continuous wave/frequency modulated modulated can be made
For wherein one-dimensional scanning mode, the defects of one-dimensional scanning can only be done by making up silicon OPA, and two-dimensional scanning technique difficulty is excessive；FMCW
In conjunction with other frequency domains or the signal processing method being concerned with local signal, compared to the direct ranging of the impulse method of time domain, it is possible to
Farther away measurement distance is obtained in the case where lower-wattage Laser emission end, and the maximum power and efficiency of silicon OPA scheme are all
Exactly a big problem.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is directed to obtain circuit by design new pattern laser radar Full wave shape come excellent
Change the performance of traditional reading circuit, and improves sample rate and effectively avoid walking error.For this purpose, the skill that the present invention takes
Art scheme is that the Full wave shape suitable for laser radar obtains circuit, including comparator, time delay module and high speed sampling circuit three
The output end of module, time delay module and comparator and the control terminal of high speed sampling circuit are respectively connected with, the impulse wave received
Shape voltage signal inputs to comparator and high speed sampling circuit simultaneously, when voltage signal is higher than the threshold voltage signal Vref of setting
When, it is a trigger signal that comparator output, which is high level, is used for Time delay module；It is set if pulse voltage signal is lower than
The output of fixed threshold voltage signal Vref, comparator are low level, will not generate trigger signal；The high level of comparator output
Trigger signal to time delay module, start to work by time delay module, and delay time is controlled by voltage control signal, can be according to adopting at a high speed
The time of sample circuit is adjusted, guarantee high speed sampling circuit can complete sample wavefonn signal without loss of data,
The output signal of time delay module, which will pass to high speed sampling circuit, makes it stop sampling.
Comparator is realized using uncompensated voltage amplifier, including the preamplifier and buffer being sequentially connected in series.
High-speed sampling module is connected in series by several units, the physical circuit of each unit be by a delay unit (
Inside sampling module, with time delay module different from), a control opens a dry and sampling unit and constitutes.Each delay unit
It is formed by two inverter series, the delay of phase inverter is controlled by signal TIMEDELAY_CON signal, connects one after delay unit
A control switch, the input signal of control switch are the output signal of WRITE signal and delay unit, and sampling unit is opened by two
It closes, a buffer and a capacitor composition, sampling window control the capacitor number of signal WIN_CON control control while sampling
Mesh, the charging time of each capacitor are the high level width of WIN_CON signal.
High-speed sampling module starts to sample when receiving pulse voltage signal, and when WRITE signal is high, control switch K is beaten
It opens, circuit is opened, as long as the waveform signal received generates a high level signal by delay cell, sampling unit is opened
It opens, is sampled, if ENWRITE signal is low level, switch K is turned off, and sampling unit stops working, passes through in this way
The control of ENWRITE signal condition allows sample circuit to stop working in the signal reading stage, signal is sequential read out, thus real
Existing lower power consumption.
The features of the present invention and beneficial effect are:
Present example will be turned up laser radar waveform and obtain the sample rate of circuit and generate without error of walking.
Detailed description of the invention:
Fig. 1 is the Full wave shape acquisition circuit structure suitable for new pattern laser radar.
Fig. 2 is the internal structure chart of comparator.
Fig. 3 is the internal structure of high-speed sampling module.
Fig. 4 is high-speed sampling inside modules sampling unit structure chart.
Fig. 5 is that the Full wave shape of new pattern laser radar obtains the working timing figure of circuit.
Specific embodiment
Present example devises a kind of new pattern laser radar Full wave shape acquisition circuit, circuit can avoided to generate walking
Sample rate is improved while error.It illustrates this new pattern laser radar waveform with explanation, Fig. 1 in order to facilitate understanding and obtains
Circuit, including comparator (COMP) 12,13 3 modules of time delay module (DELAY) 11 and high speed sampling circuit (Sample), prolong
When module 11 input terminal be connected with the output end of comparator 12, and the output end and high speed sampling circuit of time delay module 11
13 control terminal is connected.
The internal structure of comparator 12 is including preceding as shown in Fig. 2, comparator is realized using uncompensated voltage amplifier
Amplifier 21 and buffer 22 are set, since received pulse waveform signal is continuous signal, in order to preferably receive signal and mention
High-gain, preamplifier 21 is open loop circuit, and buffer 22 is then the driving capability in order to improve circuit, can be effective
Drive subsequent conditioning circuit.
The delay time of time delay module 11 can be controlled by a voltage signal, can be according to the time of high speed sampling circuit
Be adjusted, guarantee high speed sampling circuit can complete sample wavefonn signal without loss of data.
High-speed sampling module 13 is connected in series by several units, and the physical circuit of each unit is as shown in figure 3, by one
Delay unit 31, a control switch and a sampling unit 32 are constituted, it should be noted that this delay unit is sampling mould
The internal structure of block, with 11 different from of time delay module.The output of delay unit terminates control switch, and then control switch connects
Sampling unit is connect, each delay unit 31 is connected in series by two phase inverters 312, and the delay of each phase inverter 312 is by adjustable
WIN_CON signal is sampling window width by a current source control, pulsewidth N, adjustable outer for TIMEDELAY_CON
Signal is a square-wave signal, and pulsewidth W controls the delay of entire high-speed sampling module, is sampled simultaneously according to W/N is adjustable
Window number (sampling window width), guarantee echo waveform in sampling depth, so that sampled data be avoided to lose.
The shutdown or conducting of ENWRITE Signal-controlled switch K0, the input signal of K0 are the output signal of delay circuit, when
When ENWRITE signal is high level, switch K0 conducting, signal enters sampling unit control sampling by switch.Sampling unit by
Two switch switch0 and switch1, a buffer buffer and a capacitor 321 form, wherein switch0 and
The indirect capacitor 321 of buffer, buffer are followed by switch switch1, switch0 and switch1 switch for signal sampling
Control, buffer 42 is used to be promoted the driving capability of circuit, and capacitor 321 is for sampling VIN signal.
The working sequence signal that novel Full wave shape suitable for laser radar obtains circuit is as shown in Figure 5.What is received
Before pulse-shaped voltage signal, circuit is in loitering phase, and after receiving pulse voltage signal, signal inputs to comparator
12 and high speed sampling circuit 13.When voltage signal is higher than the threshold voltage signal Vref of setting, the output of comparator 12 is high electricity
It is flat, it is a trigger signal, is used for Time delay module 11；If pulse voltage signal is lower than the threshold voltage signal of setting
The output of Vref, comparator 12 are low level, will not generate trigger signal.
The high trigger signal that comparator 12 exports is started to work to time delay module 11, time delay module 11, delay time
It can be controlled, can be adjusted according to the time of high speed sampling circuit 13 by voltage control signal, guarantee high speed sampling circuit 13
Can complete sample wavefonn signal without loss of data, the output signal of time delay module 11 will pass to high-speed sampling
Circuit 13 makes it stop sampling.
High-speed sampling module 13 starts to sample when receiving pulse voltage signal, when ENWRITE signal is high, indicates sampling
Circuit is opened, and the output signal of time delay module enters sampling unit by control switch to control sampling, if
WRITE signal is low level, and sample circuit shutdown thus can allow sample circuit to exist by the control of WRITE signal state
The signal reading stage stops working, to realize lower power consumption.When the input of sampling unit is high level, switch0 switch
It opens, switch1 switch is closed, and the pulse voltage that sampling unit inputs the end VIN samples, and capacitor 321 charges；When
After the high level signal of WIN_CON passes through completely from delay unit 31, control switch K0 shutdown will retain WIN_ in capacitor 321
CON becomes the level of low level VIN that time, stops working at sample circuit at this time, and switch0 switch disconnects, and switch1 is opened
It closes and opens, the collected signal of capacitor 421 can be exported, may serve to pass before a branch of laser pulse under reception
Defeated signal.After laser pulse receives next time, high-speed sampling module stops output, continues to sample by above-mentioned steps.
It is equal to threshold voltage from echo-signal and generates the time used in trigger signal for Ts, corresponding to echo midpoint to comparator
Time be TM, sample circuit stop sampling at the time of be T, the time difference T from TM to T0It can be by being adopted where waveform center
Sampling point position and number are calculated, and are obtained at the time of due to the echo moment being by calculating where echo wave crest, and by prolonging
Control late guarantees echo-signal in sampling depth, therefore the requirement in present example for comparator response speed is just significantly
It reduces, and without walking error.
Obtaining circuit suitable for the novel Full wave shape of laser radar designed by present example being capable of high-speed sampling reception
The waveform signal and no error of walking arrived generates.
Claims (4)
1. a kind of Full wave shape suitable for laser radar obtains circuit, characterized in that adopted including comparator, time delay module and high speed
Three modules of sample circuit, the control terminal of the output end and high speed sampling circuit of time delay module and comparator are respectively connected with, and are received
To pulse-shaped voltage signal simultaneously input to comparator and high speed sampling circuit, when voltage signal be higher than setting threshold value electricity
When pressing signal Vref, it is a trigger signal that comparator output, which is high level, is used for Time delay module；If pulse voltage
For signal lower than the threshold voltage signal Vref of setting, the output of comparator is low level, will not generate trigger signal；Comparator is defeated
High trigger signal out is started to work to time delay module, time delay module, and delay time is controlled by voltage control signal, can
Be adjusted according to the time of high speed sampling circuit, guarantee high speed sampling circuit can complete sample wavefonn signal without
Loss of data, the output signal of time delay module, which will pass to high speed sampling circuit, makes it stop sampling.
2. obtaining circuit suitable for the Full wave shape of laser radar as described in claim 1, characterized in that comparator is using of no help
The voltage amplifier repaid is realized, including the preamplifier and buffer being sequentially connected in series.
3. as described in claim 1 suitable for laser radar Full wave shape obtain circuit, characterized in that high-speed sampling module by
Several units are connected in series, and the physical circuit of each unit is by a delay unit (inside sampling module, with time delay module
Different from), a control opens a dry and sampling unit and constitutes.Each delay unit is formed by two inverter series, instead
The delay of phase device is controlled by signal TIMEDELAY_CON signal, connects a control switch after delay unit, control switch it is defeated
Enter the output signal that signal is WRITE signal and delay unit, sampling unit is by two switches, a buffer and an electricity
Hold composition, sampling window control signal WIN_CON control controls while the capacitor number of sampling, the charging time of each capacitor are
The high level width of WIN_CON signal.
4. obtaining circuit suitable for the Full wave shape of laser radar as claimed in claim 3, characterized in that high-speed sampling module connects
Start to sample when receiving pulse voltage signal, when WRITE signal is high, control switch K is opened, and circuit is opened, as long as receiving
Waveform signal by delay cell generate a high level signal when, sampling unit open, sampled, if ENWRITE
Signal is low level, and switch K shutdown, sampling unit stops working, and in this way by the control of ENWRITE signal condition, allows sampling
Circuit stops working in the signal reading stage, signal is sequential read out, to realize lower power consumption.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811230513.6A CN109521413A (en) | 2018-10-22 | 2018-10-22 | Full wave shape suitable for laser radar obtains circuit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811230513.6A CN109521413A (en) | 2018-10-22 | 2018-10-22 | Full wave shape suitable for laser radar obtains circuit |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412545A (en) * | 2019-07-26 | 2019-11-05 | 桂林理工大学 | The analog-to-digital measuring circuit of pulse lidar time interval |
| CN112564705A (en) * | 2020-12-02 | 2021-03-26 | 湖北方圆环保科技有限公司 | Multi-channel data acquisition method for radon measuring instrument |
| CN113746456A (en) * | 2020-12-09 | 2021-12-03 | 南开大学深圳研究院 | Reconfigurable composite waveform generating circuit |
| CN115308717A (en) * | 2022-08-17 | 2022-11-08 | 无锡明芯微电子有限公司 | High-speed drive circuit of laser radar |
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| CN107678010A (en) * | 2017-10-23 | 2018-02-09 | 桂林理工大学 | The multistage high pass of pulse lidar holds resistance moment discrimination circuit |
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| US20150066458A1 (en) * | 2012-03-28 | 2015-03-05 | Westerngeco L.L.C. | Providing an objective function based on variation in predicted data |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412545A (en) * | 2019-07-26 | 2019-11-05 | 桂林理工大学 | The analog-to-digital measuring circuit of pulse lidar time interval |
| CN112564705A (en) * | 2020-12-02 | 2021-03-26 | 湖北方圆环保科技有限公司 | Multi-channel data acquisition method for radon measuring instrument |
| CN113746456A (en) * | 2020-12-09 | 2021-12-03 | 南开大学深圳研究院 | Reconfigurable composite waveform generating circuit |
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| CN115308717B (en) * | 2022-08-17 | 2024-01-12 | 无锡明芯微电子有限公司 | High-speed driving circuit of laser radar |
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Application publication date: 20190326 |