CN112255620A - Multi-channel peak detection integrated circuit and laser radar echo peak acquisition system - Google Patents
Multi-channel peak detection integrated circuit and laser radar echo peak acquisition system Download PDFInfo
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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Abstract
The invention discloses a multi-channel peak detection integrated circuit and a laser radar echo peak value acquisition system. The multi-channel peak detection integrated circuit includes: a ramp voltage generating module and an echo peak value digital signal generating array; the echo peak value digital signal generating array comprises a plurality of echo peak value digital signal generating modules; the ramp voltage generation module is connected with each echo peak value digital signal generation module; the ramp voltage generating module is used for generating a ramp voltage signal; the echo peak value digital signal generating module is used for receiving a voltage pulse signal converted from the echo signal of the laser pulse, collecting and maintaining the peak value, and outputting the digital signal of the echo peak value when the ramp voltage signal is greater than the peak value after the voltage pulse signal is collected and maintained. Compared with the existing peak detection module, the multi-channel peak detection integrated circuit and the laser radar echo peak acquisition system have higher integration level and detection efficiency, and are suitable for laser radar receiving units for array detection.
Description
Technical Field
The invention relates to the technical field of laser pulse echo peak value detection, in particular to a multi-channel peak value detection integrated circuit and a laser radar echo peak value acquisition system.
Background
The laser radar imaging can be divided into a range profile, a gray level profile and the like, the range imaging depends on the feasibility and the accuracy of a ranging method, wherein a pulse Time of Flight (TOF) method is used for further obtaining distance information between a measuring instrument and a target based on the measurement of the Flight Time of a laser pulse in space, the gray level profile can be obtained by measuring the peak value of an echo pulse on the basis of the ranging method, and the echo peak value information can be used for representing the scattering capability of a detector on a laser signal and the radiation characteristic of the target.
At present, the research on the acquisition architecture of the echo peak value information of the laser radar receiver is not mature in China, many peak value detection modules are integrated into the laser radar receiver, but the acquired echo peak value information still needs to be connected with an external ADC (Analog to Digital Converter) for Digital signal conversion, the integration level is low, and most of the peak value detection modules are applied to single-point detection.
Disclosure of Invention
The invention aims to provide a multi-channel peak detection integrated circuit and a laser radar echo peak value acquisition system, which have higher integration level and detection efficiency compared with the existing peak detection module and are suitable for a laser radar receiving unit for array detection.
In order to achieve the purpose, the invention provides the following scheme:
a multi-channel peak detection integrated circuit, comprising:
a ramp voltage generating module and an echo peak value digital signal generating array; the echo peak digital signal generating array comprises a plurality of echo peak digital signal generating modules;
the ramp voltage generation module is connected with each echo peak value digital signal generation module; the ramp voltage generating module is used for generating a ramp voltage signal; the echo peak value digital signal generating module is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, collecting and maintaining a peak value, and outputting a digital signal of an echo peak value when the ramp voltage signal is larger than the peak value after collection and maintenance of the voltage pulse signal.
Optionally, the echo peak digital signal generating module specifically includes:
a peak keeper, a comparator and a binary number register;
the peak value holder is connected with the positive input end of the comparator; the peak value keeper is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, collecting and keeping a peak value, and outputting a keeping voltage equal to the peak value of the voltage pulse signal to the comparator;
the ramp voltage generation module is respectively connected with the binary number register and the reverse input end of the comparator, and the output end of the comparator is connected with the binary number register; the comparator is used for comparing the ramp voltage signal with the holding voltage and controlling the binary number register to store the binary number for generating the ramp voltage signal when the ramp voltage is greater than the holding voltage; the binary number for generating the ramp voltage signal is a digital signal of an echo peak value.
Optionally, the ramp voltage generating module specifically includes:
the device comprises a counter, a decoder, a ramp generator and a first driving circuit;
the counter is respectively connected with the decoder and the binary number register, the decoder is connected with the ramp generator, the ramp generator is connected with the input end of the first driving circuit, and the output end of the first driving circuit is connected with the reverse input end of the comparator; the decoder is used for converting the binary number generated by the counter into the one-hot code and controlling the ramp generator to generate a ramp voltage signal according to the one-hot code; the first driving circuit is used for driving a ramp voltage.
Optionally, the peak value holder specifically includes:
the differential amplifier circuit, the PMOS tube and the capacitor are connected;
the positive input end of the differential amplification circuit is connected with one end of the capacitor, the output end of the differential amplification circuit is connected with the grid electrode of the PMOS tube, the drain electrode of the PMOS tube is connected with the positive input end of the comparator, and the other end of the capacitor is grounded;
the differential amplification circuit is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, judging whether the voltage at the previous moment is less than or equal to the voltage at the current moment or not according to the voltage pulse signal, if so, controlling the state of the PMOS tube to be in an on state, and if not, controlling the state of the PMOS tube to be in an off state;
the PMOS tube is used for controlling the capacitor to be charged in the on state and keeping the voltage of the capacitor in the off state.
Optionally, the echo peak digital signal generating module further includes:
a second drive circuit;
the second driving circuit is respectively connected with the positive input end of the comparator and the drain electrode of the PMOS tube; the second driving circuit is used for inputting the holding voltage into the comparator.
Optionally, the echo peak digital signal generating module further includes:
a shift register;
the shift register is respectively connected with each binary number register; the shift register is used for sequentially outputting the binary numbers stored by the binary number registers.
Optionally, the echo peak digital signal generating module further includes:
a binary number register reset unit and a capacitor reset unit;
the binary number register resetting unit is respectively connected with each binary number register and is used for clearing the binary numbers in the binary number registers;
the capacitor resetting unit is respectively connected with each capacitor in parallel and is used for clearing the holding voltage.
The invention also provides a laser radar echo peak value acquisition system, which comprises:
a pulse signal processing array and the multi-channel peak detection integrated circuit; the pulse signal processing array comprises a plurality of pulse signal processing modules, and the number of the pulse signal processing modules is equal to that of the echo peak value digital signal generating modules;
the pulse signal processing module is connected with the echo peak value digital signal generating module in a one-to-one corresponding manner;
the pulse signal processing module is used for converting an echo signal of a laser pulse into a voltage pulse signal and transmitting the voltage pulse signal to the multichannel peak detection integrated circuit.
Optionally, the method further includes:
a processor;
the processor is connected with the echo peak value digital signal generating module;
the processor is used for processing the digital signal of the echo peak value output by the echo peak value digital signal generating module to obtain the scattering capability characteristic and the target radiation characteristic of the detection object to the laser pulse signal.
Optionally, the pulse signal processing module specifically includes:
a photodiode and a transimpedance amplifier;
the photodiode is connected with the input end of the transimpedance amplifier, and the output end of the transimpedance amplifier is connected with the echo peak digital signal generation module;
the photodiode is used for converting an echo signal of the laser pulse into a photocurrent pulse signal;
the trans-impedance amplifier is used for converting and amplifying the photocurrent pulse signal into a voltage pulse signal.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a multi-channel peak detection integrated circuit and a laser radar echo peak value acquisition system, wherein the multi-channel peak detection integrated circuit comprises a ramp voltage generation module and an echo peak value digital signal generation array; the echo peak value digital signal generating array comprises a plurality of echo peak value digital signal generating modules; the ramp voltage generation module is connected with each echo peak value digital signal generation module; the ramp voltage generating module is used for generating a ramp voltage signal; the echo peak value digital signal generating module is used for receiving a voltage pulse signal converted from an echo signal of the laser pulse and outputting a digital signal of the echo peak value when the ramp voltage signal is larger than the peak value of the voltage pulse signal. Compared with the existing peak detection module, the peak detection module has higher integration level and detection efficiency, and is suitable for the laser radar receiving unit for array detection. In addition, by sharing one ramp voltage generation module, the integration area of the multi-channel peak detection integrated circuit can be greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed 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 to obtain other drawings without inventive exercise.
FIG. 1 is a diagram of a multi-channel peak detection integrated circuit according to an embodiment of the present invention;
FIG. 2 is a diagram of a system for collecting the echo peak of a laser radar according to an embodiment of the present invention;
FIG. 3 is a logic diagram of peak detection quantized data transmission according to an 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a multi-channel peak detection integrated circuit and a laser radar echo peak value acquisition system, which have higher integration level and detection efficiency compared with the existing peak detection module and are suitable for a laser radar receiving unit for array detection.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
Fig. 1 is a structural diagram of a multi-channel peak detection integrated circuit in an embodiment of the present invention, and as shown in fig. 1, a multi-channel peak detection integrated circuit at a laser radar receiving end includes: a ramp voltage generation module and an echo peak value digital signal generation array. The echo peak digital signal generating array comprises a plurality of echo peak digital signal generating modules. The ramp voltage generation module is connected with each echo peak value digital signal generation module; the ramp voltage generating module is used for generating a ramp voltage signal; the echo peak value digital signal generation module is used for receiving a voltage pulse signal converted from the echo signal of the laser pulse, performing peak value acquisition and holding (namely receiving the voltage pulse signal converted from the echo signal of the laser pulse, performing peak value acquisition and holding on the voltage pulse signal to obtain a peak value of the voltage pulse signal after acquisition and holding), and outputting a digital signal of the echo peak value when the ramp voltage signal is greater than the peak value after the voltage pulse signal acquisition and holding (the peak value after the voltage pulse signal acquisition and holding is the peak value of the voltage pulse signal).
Echo peak digital signal produces module, specifically includes: peak-holder, comparator Comp and binary number register (register 1). The peak value holder is connected with the positive input end of the comparator; the peak value keeper is used for receiving a voltage pulse signal converted from an echo signal of the laser pulse, collecting and keeping a peak value, and outputting a keeping voltage equal to the peak value of the voltage pulse signal to the comparator; the ramp voltage generation module is respectively connected with the binary number register and the reverse input end of the comparator, and the output end of the comparator is connected with the binary number register; the comparator is used for comparing the magnitude of the ramp voltage signal and the holding voltage and controlling the binary number register to store the binary number for generating the ramp voltage signal when the ramp voltage is greater than the holding voltage; the binary number of the ramp voltage signal is generated as the digital signal of the echo peak value.
The ramp voltage generation module specifically comprises: a counter, a decoder, a ramp generator and a first drive circuit (not shown in the figure). The counter is respectively connected with the decoder and the binary number register, the decoder is connected with the ramp generator, the ramp generator is connected with the input end of the first driving circuit, and the output end of the first driving circuit is connected with the reverse input end of the comparator; the decoder is used for converting the binary number generated by the counter into the one-hot code and controlling the ramp generator to generate a ramp voltage signal according to the one-hot code; the first driving circuit is used for driving the ramp voltage.
The peak holder specifically includes: a differential amplifier circuit A, PMOS tube and a capacitor C. The positive input end of the differential amplification circuit is connected with one end of the capacitor, the output end of the differential amplification circuit is connected with the grid electrode of the PMOS tube, the drain electrode of the PMOS tube is connected with the positive input end of the comparator, and the other end of the capacitor is grounded; the differential amplification circuit is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, judging whether the voltage at the previous moment is less than or equal to the voltage at the current moment or not according to the voltage pulse signal, if so, controlling the state of the PMOS tube to be in an on state, and if not, controlling the state of the PMOS tube to be in an off state; the PMOS tube is used for controlling the capacitor to be charged in an on state and maintaining the voltage of the capacitor in an off state.
The echo peak value digital signal generation module further comprises: a second drive circuit (not shown). The second driving circuit is respectively connected with the positive input end of the comparator and the drain electrode of the PMOS tube; the second drive circuit is used for inputting the holding voltage into the comparator.
The echo peak value digital signal generation module further comprises: a shift register. The shift register is respectively connected with each binary number register; the shift register is used for sequentially outputting the binary numbers stored by the binary number registers.
The echo peak value digital signal generation module further comprises: a binary number register reset unit and a capacitor reset unit. The binary number register resetting unit is respectively connected with each binary number register and is used for clearing the binary numbers in the binary number registers. And the capacitor resetting unit is respectively connected with each capacitor in parallel and is used for resetting the holding voltage.
As shown in fig. 2, the present invention further provides a laser radar echo peak value acquisition system, including: the device comprises a pulse signal processing array, a multi-channel peak detection integrated circuit (MPDQ) and a processor FPGA. The pulse signal processing array comprises a plurality of pulse signal processing modules, and the number of the pulse signal processing modules is equal to that of the echo peak value digital signal generating modules; the pulse signal processing module is connected with the echo peak value digital signal generating module in a one-to-one corresponding way; the pulse signal processing module is used for converting the echo signal of the laser pulse into a voltage pulse signal and transmitting the voltage pulse signal to the multichannel peak detection integrated circuit. The processor is connected with the echo peak value digital signal generating module; the processor is used for processing the digital signal of the echo peak value output by the echo peak value digital signal generating module to obtain the scattering capability characteristic and the target radiation characteristic of the detection object to the laser pulse signal.
The pulse signal processing module specifically comprises: a photodiode and a Trans-impedance amplifier (TIA). The photodiode is connected with the input end of the transimpedance amplifier, and the output end of the transimpedance amplifier is connected with the echo peak digital signal generation module; the photodiode is used for converting an echo signal of the laser pulse into a photocurrent pulse signal; the trans-impedance amplifier is used for converting and amplifying the photocurrent pulse signal into a voltage pulse signal.
The multi-channel peak detection integrated circuit and the laser radar echo peak value acquisition system provided by the invention can be suitable for a laser radar receiving unit for array detection.
As shown in fig. 2, an echo of a laser pulse is converted into a photocurrent pulse by a photodiode, then the photocurrent pulse is converted and amplified by a transimpedance amplifier TIA into a voltage pulse signal within a certain range (the amplified voltage is greater than a voltage value corresponding to a binary number formed by a counter), then Peak information of the voltage signal is collected by a proposed multi-channel Peak Detection and Quantization Module (MPDQ) to be further quantized into a digital signal, which facilitates subsequent data processing.
As shown in fig. 1, the voltage pulse signal VAnThe switch state of the PMOS tube is controlled by a differential amplifying circuit to charge a holding capacitor C until a holding voltage V is applied to the capacitor CinIs equal to VAnAfter a peak value of the voltage pulse signal VAnStarting to fall, the PMOS tube is turned off, and the voltage V is maintainedinOutput through an NMOS source follower (drive circuit).
The external clock signal CLK controls the counter to generate the binary number D [ a:0 ]]Converted into one-hot codes Sb: 0 by a decoding circuit]To control the ramp circuit to generate a ramp voltage signal VrampThe ramp voltage signal is compared with the holding voltage collected by each channel through a unit gain buffer (comparator), when the ramp voltage is greater than the input holding voltage, the output level of the comparator comp is inverted to control the register to store the binary number corresponding to the counter at the moment, and then the external signal controls the shift register to sequentially output the serial signals D of each channel1,2…n. At the moment, each conversion channel shares one counter, one decoder and one ramp generator, the integration area of the detection unit can be greatly reduced, and each detection channel can realize peak value collection and holding of an analog signal of the detection unit and register output of a converted digital signal.
The architecture data transmission logic is shown in FIG. 3 (taking channel n as an example), wherein the dotted arrow in FIG. 3 indicates that V isinIs translated to VrampIn the waveform of VinAnd a slope VrampComparison, VrampThe transverse line in the waveform is VinAt VrampThe upper corresponding level position; the Reset signal (Reset signal) is provided by an external control signal having a period T for resetting the holding voltage and the register state, the period T being divided into three periods of time, T1The time period may be a period of time for waiting for the arrival of the echo pulse of each channelAdjusting according to the occasion requirements of the laser radar detection system; t is t2A minimum period of time required for maintaining the voltage conversion into the digital signal, corresponding to a time required for ramp voltage generation of a fixed precision; t is t3A period required for digital signal transmission.
In this case, the time period T, and V, may be set according to the detection request of the external systemAnRepresenting voltage pulse signals, V, received by n-channel modulesinThe external enable signal (EN) controls the ramp generator to generate the ramp voltage (V) at the time of arrival of the external enable signal (EN) at the time of transition time t2 representing the hold voltage of the peak detectionramp) Further digital conversion is carried out, D after conversionn{ a:0} parallel signal stored in register as n-channel, t3The time period can be controlled by SS signals of an external FPGA to carry out serial data transmission (D) on all channels in sequencenA serial signal output after conversion by a shift register in n channels). For different number of channels to transmit serial data in sequence, the reset period and enable signal can be adjusted to adjust t3The length of the time period achieves the purpose of data transmission.
The multichannel peak value detection integrated circuit of the laser radar receiving end can effectively detect the intensity information of the laser radar echo with the array as the detection unit, thereby creating conditions for obtaining the gray level image. Compared with the existing peak detection module, the multi-channel peak detection quantification framework has higher integration level and detection efficiency, and has more advantages in the application of the laser radar unit for array detection. The sampling period can be controlled by external reset and enable signals, and the requirements of various detection scenes are met more flexibly.
The invention can also utilize the discrete peak detection and holding module and ADC to convert the acquired peak information of the laser radar echo, which can lead the laser radar detection unit to have complicated structure, complex control signal and low conversion efficiency. Compared with the prior art, the multichannel peak detection architecture and the data transmission logic of the laser radar receiving end have more obvious advantages.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (10)
1. A multi-channel peak detection integrated circuit, comprising:
a ramp voltage generating module and an echo peak value digital signal generating array; the echo peak digital signal generating array comprises a plurality of echo peak digital signal generating modules;
the ramp voltage generation module is connected with each echo peak value digital signal generation module; the ramp voltage generating module is used for generating a ramp voltage signal; the echo peak value digital signal generating module is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, collecting and maintaining a peak value, and outputting a digital signal of an echo peak value when the ramp voltage signal is larger than the peak value after collection and maintenance of the voltage pulse signal.
2. The multi-channel peak detection integrated circuit of claim 1, wherein the echo peak digital signal generation module specifically comprises:
a peak keeper, a comparator and a binary number register;
the peak value holder is connected with the positive input end of the comparator; the peak value keeper is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, collecting and keeping a peak value, and outputting a keeping voltage equal to the peak value of the voltage pulse signal to the comparator;
the ramp voltage generation module is respectively connected with the binary number register and the reverse input end of the comparator, and the output end of the comparator is connected with the binary number register; the comparator is used for comparing the ramp voltage signal with the holding voltage and controlling the binary number register to store the binary number for generating the ramp voltage signal when the ramp voltage is greater than the holding voltage; the binary number for generating the ramp voltage signal is a digital signal of an echo peak value.
3. The multi-channel peak detection integrated circuit of claim 2, wherein the ramp voltage generation module specifically comprises:
the device comprises a counter, a decoder, a ramp generator and a first driving circuit;
the counter is respectively connected with the decoder and the binary number register, the decoder is connected with the ramp generator, the ramp generator is connected with the input end of the first driving circuit, and the output end of the first driving circuit is connected with the reverse input end of the comparator; the decoder is used for converting the binary number generated by the counter into the one-hot code and controlling the ramp generator to generate a ramp voltage signal according to the one-hot code; the first driving circuit is used for driving a ramp voltage.
4. Multi-channel peak detection integrated circuit according to claim 2, characterized in that the peak holder, in particular comprises:
the differential amplifier circuit, the PMOS tube and the capacitor are connected;
the positive input end of the differential amplification circuit is connected with one end of the capacitor, the output end of the differential amplification circuit is connected with the grid electrode of the PMOS tube, the drain electrode of the PMOS tube is connected with the positive input end of the comparator, and the other end of the capacitor is grounded;
the differential amplification circuit is used for receiving a voltage pulse signal converted from an echo signal of a laser pulse, judging whether the voltage at the previous moment is less than or equal to the voltage at the current moment or not according to the voltage pulse signal, if so, controlling the state of the PMOS tube to be in an on state, and if not, controlling the state of the PMOS tube to be in an off state;
the PMOS tube is used for controlling the capacitor to be charged in the on state and keeping the voltage of the capacitor in the off state.
5. The multi-channel peak detection integrated circuit of claim 4, wherein the echo peak digital signal generation module further comprises:
a second drive circuit;
the second driving circuit is respectively connected with the positive input end of the comparator and the drain electrode of the PMOS tube; the second driving circuit is used for inputting the holding voltage into the comparator.
6. The multi-channel peak detection integrated circuit of claim 4, wherein the echo peak digital signal generation module further comprises:
a shift register;
the shift register is respectively connected with each binary number register; the shift register is used for sequentially outputting the binary numbers stored by the binary number registers.
7. The multi-channel peak detection integrated circuit of claim 4, wherein the echo peak digital signal generation module further comprises:
a binary number register reset unit and a capacitor reset unit;
the binary number register resetting unit is respectively connected with each binary number register and is used for clearing the binary numbers in the binary number registers;
the capacitor resetting unit is respectively connected with each capacitor in parallel and is used for clearing the holding voltage.
8. A laser radar echo peak acquisition system, comprising:
a pulse signal processing array and a multi-channel peak detection integrated circuit as claimed in any one of claims 1 to 7; the pulse signal processing array comprises a plurality of pulse signal processing modules, and the number of the pulse signal processing modules is equal to that of the echo peak value digital signal generating modules;
the pulse signal processing module is connected with the echo peak value digital signal generating module in a one-to-one corresponding manner;
the pulse signal processing module is used for converting an echo signal of a laser pulse into a voltage pulse signal and transmitting the voltage pulse signal to the multichannel peak detection integrated circuit.
9. The lidar echo peak acquisition system of claim 8, further comprising:
a processor;
the processor is connected with the echo peak value digital signal generating module;
the processor is used for processing the digital signal of the echo peak value output by the echo peak value digital signal generating module to obtain the scattering capability characteristic and the target radiation characteristic of the detection object to the laser pulse signal.
10. The lidar echo peak acquisition system according to claim 8, wherein the pulse signal processing module specifically comprises:
a photodiode and a transimpedance amplifier;
the photodiode is connected with the input end of the transimpedance amplifier, and the output end of the transimpedance amplifier is connected with the echo peak digital signal generation module;
the photodiode is used for converting an echo signal of the laser pulse into a photocurrent pulse signal;
the trans-impedance amplifier is used for converting and amplifying the photocurrent pulse signal into a voltage pulse signal.
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