阅读说明：本技术 一种采样电路、采用方法及测距装置、移动平台 (Sampling circuit, sampling method, distance measuring device and mobile platform ) 是由 黄森洪 梅雄泽 刘祥 洪小平 于 2018-12-03 设计创作，主要内容包括：一种采样电路(130)、采用方法及测距装置(200)、移动平台。采样电路(130)包括：并行设置的时间数字转换模块、模数转换模块,采样电路(130)还包括控制模块；其中,时间数字转换模块用于接收由光脉冲信号转化得到的电信号并将电信号与预设阈值进行比较运算,采集与电信号对应的时间信息；模数转换模块用于接收由光脉冲信号转化得到的电信号,并在采样时钟频率内采集与采集时间对应的电信号的幅值；控制模块,用于选取时间数字转换模块和/或模数转换模块采集的信号并进行计算,以得到光脉冲信号的参数值。(A sampling circuit (130), a method for using the same, a distance measuring device (200) and a mobile platform are provided. The sampling circuit (130) comprises: the sampling circuit (130) also comprises a control module; the time-to-digital conversion module is used for receiving an electric signal obtained by converting the optical pulse signal, comparing the electric signal with a preset threshold value, and acquiring time information corresponding to the electric signal; the analog-to-digital conversion module is used for receiving the electric signal obtained by converting the optical pulse signal and acquiring the amplitude of the electric signal corresponding to the acquisition time in the sampling clock frequency; and the control module is used for selecting and calculating the signals acquired by the time-to-digital conversion module and/or the analog-to-digital conversion module to obtain the parameter values of the optical pulse signals.)

A sampling circuit, comprising: the sampling circuit comprises a time-to-digital conversion module, an analog-to-digital conversion module and a control module, wherein the time-to-digital conversion module and the analog-to-digital conversion module are arranged in parallel;

the time-to-digital conversion module is used for receiving an electric signal obtained by converting an optical pulse signal, comparing the electric signal with a preset threshold value, and acquiring time information corresponding to the electric signal;

the analog-to-digital conversion module is used for receiving the electric signal obtained by converting the optical pulse signal and acquiring the amplitude of the electric signal corresponding to the acquisition time in the sampling clock frequency;

and the control module is used for selecting and calculating the signals acquired by the time-to-digital conversion module and/or the analog-to-digital conversion module to obtain the parameter values of the optical pulse signals.

The sampling circuit according to claim 1, wherein the time-to-digital conversion module includes a plurality of channels, each of the channels includes a comparator and a time-to-digital converter, wherein a first input terminal of the comparator is configured to receive an electrical signal converted from the optical pulse signal, a second input terminal of the comparator is configured to receive a preset threshold of the comparator, an output terminal of the comparator is configured to output a result of the comparison operation, and the time-to-digital converter is electrically connected to the output terminal of the comparator and is configured to extract time information corresponding to the electrical signal according to the result of the comparison operation output by the comparator;

and the preset thresholds of the comparators in the different channels are different.

The sampling circuit of claim 1, wherein the analog-to-digital conversion module comprises at least one analog-to-digital converter for acquiring an amplitude of the electrical signal corresponding to the acquisition time.

The sampling circuit of claim 1, wherein the control module is configured to calculate the selected signal by fitting to restore a pattern of the optical pulse signal;

or the control module is used for calculating the selected signal in an explicit statistic manner to obtain a parameter value of the optical pulse signal.

The sampling circuit of claim 4, wherein the control module collects at least a portion of the signals of the time-to-digital conversion module and at least a portion of the signals collected by the analog-to-digital conversion module for the fitting.

The sampling circuit of claim 1, wherein the control module is further configured to convert the samples from the time-to-digital conversion module into the samples from the analog-to-digital conversion module;

or the control module is also used for converting the sampling of the analog-to-digital conversion module into the sampling of the time-to-digital conversion module.

The sampling circuit of claim 6, wherein the control module is configured to calculate the sampled signal of the analog-to-digital conversion module by using a fitting method to obtain a graph of the optical pulse signal, and then calibrate a preset threshold and corresponding time information on the graph of the optical pulse signal.

The sampling circuit of claim 1, wherein the control module, when selecting the signal:

when the width of the optical pulse signal is smaller than a pulse width set value, selecting a signal acquired by the time-to-digital conversion module; and/or

When the pulse height of the optical pulse signal is smaller than a pulse height set value, selecting a signal acquired by the analog-to-digital conversion module; and/or

When the width of the optical pulse signal is greater than a pulse width set value and the pulse height of the optical pulse signal is greater than a pulse height set value, if the accuracy required by the arrival time and the pulse width information of the optical pulse signal is higher, at least selecting a signal acquired by the time-to-digital conversion module; and at least selecting the signal acquired by the analog-to-digital conversion module if the pulse energy and amplitude information of the optical pulse signal requires higher precision.

The sampling circuit of claim 1, wherein the parameter value comprises at least one of a pulse arrival time, a pulse width, a pulse energy, and an amplitude.

A sampling method based on a sampling circuit, comprising:

receiving an electric signal obtained by converting the optical pulse signal through a time-to-digital conversion module, comparing the electric signal with a preset threshold value, and acquiring time information corresponding to the electric signal;

receiving an electric signal obtained by converting the optical pulse signal through an analog-to-digital conversion module, and acquiring an amplitude signal of the electric signal corresponding to acquisition time in sampling clock frequency;

and selecting and calculating the signals acquired by the time-to-digital conversion module and/or the analog-to-digital conversion module to obtain the parameter values of the optical pulse signals.

The sampling method of claim 10, wherein the time-to-digital conversion module comprises a plurality of channels that receive the electrical signals in parallel and compare the electrical signals to collect time information corresponding to the electrical signals.

The sampling method according to claim 11, characterized in that said plurality of channels are respectively provided with different preset thresholds to receive in parallel said electrical signals and to perform a comparison operation on said electrical signals.

The sampling method of claim 10, wherein the step of selecting a signal and calculating to obtain a parameter value of the optical pulse signal comprises:

calculating the selected signal in a fitting mode to restore the graph of the optical pulse signal;

or calculating the selected signal by adopting an explicit statistic method to obtain a parameter value of the optical pulse signal.

The sampling method according to claim 13, wherein at least a portion of the signals from the time-to-digital conversion module and a portion of the signals from the analog-to-digital conversion module are selected for the fitting.

The sampling method of claim 10, wherein after selecting the signals collected by the time-to-digital conversion module and the analog-to-digital conversion module, and before performing the calculation, the method further comprises:

converting the sampling of the time-to-digital conversion module into the sampling of the analog-to-digital conversion module;

or the control module is also used for converting the sampling of the analog-to-digital conversion module into the sampling of the time-to-digital conversion module.

The sampling method according to claim 15, wherein a fitting manner is adopted to calculate the sampled signal of the analog-to-digital conversion module to obtain a graph of the optical pulse signal, and then a preset threshold and corresponding time information are calibrated on a graph structure of the optical pulse signal.

The sampling method of claim 10, wherein, when selecting the signal,

when the width of the optical pulse signal is smaller than a pulse width set value, selecting a signal acquired by the time-to-digital conversion module; and/or

When the pulse height of the optical pulse signal is smaller than a pulse height set value, selecting a signal acquired by the analog-to-digital conversion module; and/or

When the width of the optical pulse signal is greater than a pulse width set value and the pulse height of the optical pulse signal is greater than a pulse height set value, if the accuracy required by the arrival time and the pulse width information of the optical pulse signal is higher, at least selecting a signal acquired by the time-to-digital conversion module; and if the precision required by the pulse energy and amplitude information of the optical pulse signal is higher, at least selecting the signal acquired by the analog-to-digital conversion module.

The sampling method of claim 10, wherein the parameter value comprises at least one of a pulse arrival time, a pulse width, a pulse energy, and a pulse amplitude.

A ranging apparatus, comprising:

a light emitting circuit for emitting a light pulse signal;

the optical receiving circuit is used for receiving at least part of optical signals reflected by an object from the optical pulse signals emitted by the optical emitting circuit and converting the received laser signals into electric signals;

the sampling circuit according to any one of claims 1 to 9, for sampling the electrical signal from the laser receiving circuit to obtain a sampling result;

and the arithmetic circuit is used for calculating the distance between the object and the distance measuring device according to the sampling result.

A mobile platform, comprising:

a ranging apparatus as claimed in claim 19; and

the platform body, range unit's optical transmission circuit installs on the platform body.

The mobile platform of claim 20, wherein the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a robot.