Echo Signal Acquisition System and LiDAR

Abstract

The present invention provides an echo signal acquisition system and a lidar, which relate to the technical field of lidar. The system includes: a signal conversion module, a sampling module, and an analog gater. The sampling module is connected between the signal conversion module and the analog gater. The signal conversion module is used to convert the laser pulse echo signal into a voltage pulse signal. The sampling module includes a plurality of sampling units, and the plurality of sampling units are used to sequentially sample each pulse signal in the voltage pulse signal and transmit the sampling point information of each sampled pulse signal to the analog gater. The analog gater is used to output the sampling point information of the pulse signal one by one. Among them, the sampling point information includes the level information of the pulse signal at the sampling moment. The present invention meets the system's requirement for extracting the pulse signal information in the pulse echo signal, reduces the system's requirement for the ADC sampling frequency, reduces the system power consumption, and reduces the system overhead.

Description

Technical Field

[0001] The present invention relates to the technical field of lidar, and in particular, to an echo signal acquisition system and a lidar. Background Art

[0002] Currently, lidars usually directly convert analog voltages into digital pulse signals. The digital pulse signals are sent to a time-to-digital conversion module to extract time information and pulse width information, and then the pulse signal intensity is extracted through the pulse width. However, this acquisition method usually can only extract the front and rear edge information of the pulse, that is, only the data information of two points can be acquired, and the amount of information extracted is small. To meet the requirement for extracting pulse signal information, existing lidars have begun to use high-speed analog-to-digital converters to complete sampling and quantization, resulting in a high power consumption of the acquisition system of the lidar and a large system overhead. Therefore, how to increase the amount of pulse signal information acquisition while reducing the power consumption of the acquisition system has become an urgent problem to be solved. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an echo signal acquisition system and a lidar, which can meet the system's requirement for extracting pulse signal information in the pulse echo signal, reduce the system's requirement for the ADC sampling frequency, reduce the system power consumption, and reduce the system overhead.

[0004] To achieve the above purpose, the technical solutions adopted in the embodiments of the present invention are as follows:

[0005] In a first aspect, an embodiment of the present invention provides an echo signal acquisition system, including: a signal conversion module, a sampling module, and an analog gater, where the sampling module is connected between the signal conversion module and the analog gater; the signal conversion module is used to convert a laser pulse echo signal into a voltage pulse signal; the sampling module includes a plurality of sampling units, and the plurality of sampling units are used to sequentially sample each pulse signal in the voltage pulse signal and transmit the sampling point information of each sampled pulse signal to the analog gater; the analog gater is used to output the sampling point information of the pulse signal one by one; wherein, the sampling point information includes the level information of the pulse signal at the sampling moment.

[0006] Further, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the sampling unit includes a sampling trigger signal output port of an enable port; the sampling units are connected in sequence, and the sampling trigger signal output port of the previous sampling unit in two adjacent sampling units is connected to the enable port of the subsequent sampling unit; the sampling unit is configured to transmit an enable signal from the sampling trigger signal output port to the enable port of the subsequent sampling unit after completing the sampling of the pulse signal, so as to trigger the subsequent sampling unit to enter a working state.

[0007] Further, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the sampling unit includes: a sampling circuit and a delay circuit; the delay circuit of the previous sampling unit is connected to the sampling circuit and the delay circuit of the subsequent sampling unit; each sampling circuit is connected to the analog strobe; the delay time of the delay circuit is a preset time interval, and each sampling circuit is configured to sample the voltage pulse signal at the preset time interval in sequence.

[0008] Further, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the sampling module further includes a time discrimination circuit and a target delay circuit; the time discrimination circuit is connected to the sampling circuit of the first sampling unit; the target delay circuit is connected to the sampling circuits in each sampling unit; the time discrimination circuit is configured to convert the voltage pulse signal into a digital pulse signal and transmit it to the sampling unit; the target delay circuit is configured to match the delay of the time discrimination circuit.

[0009] Further, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the sampling module includes an enabling unit, and the enabling unit is configured to input a voltage pulse signal to the time discrimination circuit and the target delay circuit after receiving an enabling signal.

[0010] Further, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the sampling circuit includes a first operational amplifier, a second operational amplifier, a sampling switch, and a capacitor; the sampling switch is connected between the output end of the first operational amplifier and the input end of the second operational amplifier; one end of the capacitor is connected between the sampling switch and the input end of the second operational amplifier, and the other end of the capacitor is grounded; the output end of the delay circuit is electrically connected to the sampling switch, and the output end of the second operational amplifier is connected to the analog strobe.

[0011] Further, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the sampling module includes a time-to-digital converter, and the time-to-digital converter is connected to the time discrimination circuit.

[0012] Further, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the signal conversion module includes an optoelectronic converter and an amplifier; the optoelectronic converter is configured to convert the laser pulse echo signal from an optical signal into a current pulse signal; the amplifier is configured to convert and amplify the current pulse signal into a voltage pulse signal.

[0013] Further, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, wherein the echo signal acquisition system further includes: an analog-to-digital converter, and the analog-to-digital converter is connected to the analog gate.

[0014] In a second aspect, an embodiment of the present invention further provides a lidar, including: the echo signal acquisition system according to any one of the first aspect.

[0015] An embodiment of the present invention provides an echo signal acquisition system and a lidar, including: a signal conversion module, a sampling module, and an analog gate. The sampling module is connected between the signal conversion module and the analog gate; the signal conversion module is configured to convert the laser pulse echo signal into a voltage pulse signal; the sampling module includes a plurality of sampling units, and the plurality of sampling units are configured to sequentially sample each pulse signal in the voltage pulse signal and transmit the sampling point information of each sampled pulse signal to the analog gate; the analog gate is configured to output the sampling point information of the pulse signal one by one. By sequentially sampling the pulse signals using a plurality of sampling units, the present invention can effectively sample multiple pulses in the echo signal, and further can effectively extract the pulse intensity information and extraction time information of the pulse signal, meeting the extraction requirements of the system for the pulse signal information in the pulse echo signal. At the same time, there is sufficient signal conversion time, and there is no need to use a high-speed analog-to-digital converter. A low-speed analog-to-digital converter can be used to realize the conversion of the sampled signal, reducing the system's requirement for the ADC sampling frequency, reducing the system power consumption, and reducing the system overhead.

[0016] Other features and advantages of the embodiments of the present invention will be described in the following specification, or, some features and advantages can be inferred from the specification or determined without doubt, or can be known by implementing the above technologies of the embodiments of the present invention.

[0017] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings required for the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 Fig. shows a schematic structural diagram of an echo signal acquisition system provided by an embodiment of the present invention;

[0020] Figure 2 Fig. shows a schematic structural diagram of a sampling module provided by an embodiment of the present invention;

[0021] Figure 3 Fig. shows a waveform diagram of a pulse signal provided by an embodiment of the present invention;

[0022] Figure 4 Fig. shows a schematic diagram of a delay circuit provided by an embodiment of the present invention;

[0023] Figure 5 Fig. shows a schematic diagram of a sampling circuit provided by an embodiment of the present invention. Specific Embodiments

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will describe the technical solutions of the present invention with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention.

[0025] Currently, in the existing echo signal acquisition technologies, one is that a pulse signal passes through a time discrimination circuit to convert an analog voltage into a digital pulse signal. The digital pulse signal is directly sent to a time-to-digital conversion module to extract time information and pulse width information, and then the signal pulse intensity is extracted through the pulse width information. However, in the processing method based on the time discrimination circuit and the time-to-digital conversion module, only the information of the leading and trailing edges of the pulse can be extracted, that is, only the data information of two points, and the amount of information is small, which cannot well meet the extraction requirements of echo information. The other is to directly sample and quantize the voltage pulse signal by an analog-to-digital conversion circuit, and extract time information and echo intensity information through the information of the sampled points after digitization. Since the signal pulse is generally a short pulse signal of several nanoseconds to dozens of nanoseconds, generally a high-speed ADC (Analog-to-digital converter) module is required to complete the sampling and quantization in this solution, resulting in high system power consumption and large overhead.

[0026] To address the above problems, an echo signal acquisition system and a lidar provided by an embodiment of the present invention can be applied to increase the amount of pulse signal information collected while reducing the power consumption of the acquisition system. The following provides a detailed introduction to the embodiments of the present invention.

[0027] This embodiment provides an echo signal acquisition system. Refer to Figure 1 the schematic structural diagram of the echo signal acquisition system shown. The system includes a signal conversion module 11, a sampling module 12, and an analog gate 13. The sampling module 12 is connected between the signal conversion module 11 and the analog gate 13.

[0028] As Figure 1 shown, the sampling module 12 is respectively connected to the signal conversion module 11 and the analog gate 13. The above echo signal acquisition system can be set in a time-of-flight lidar. The receiving end of the lidar receives the laser pulse echo signal reflected by the target and transmits the laser pulse echo signal to the echo signal acquisition system, so that the echo signal acquisition system performs signal acquisition processing to extract time information and echo intensity information.

[0029] The above signal conversion module 11 is used to convert the laser pulse echo signal into a voltage pulse signal. The receiving end of the lidar transmits the laser pulse echo signal reflected by the target to the signal conversion module, so that the signal conversion module converts the optical signal into a pulse signal.

[0030] The above sampling module 12 includes a plurality of sampling units 121 to 12N. The plurality of sampling units are used to sequentially sample each pulse signal in the voltage pulse signal and transmit the sampling point information of each sampled pulse signal to the analog gate; wherein, the sampling point information includes the level information of the pulse signal at each sampling moment.

[0031] In a time-of-flight lidar system, the laser pulse echo signal may contain multiple pulse signals. By setting a plurality of sampling units in the sampling module, the plurality of sampling units sequentially sample each pulse signal in the voltage pulse signal: the first sampling unit samples the first pulse signal. After the first sampling unit completes sampling, the second sampling unit samples the second pulse signal, and so on. The Nth sampling unit samples the Nth pulse signal. Each sampling unit outputs the sampling point information (i.e., the level information of each sampling point) of the sampled pulse signal to the gate.

[0032] The above analog gate 13 is used to output the sampling point information of the pulse signal one by one. In a feasible implementation, the above system further includes an analog-to-digital converter 14. The analog-to-digital converter 14 is connected to the analog gate 13, and the analog-to-digital converter 14 can be a low-speed analog-to-digital converter.

[0033] The input end of the analog strobe 13 receives the analog level signals output by the sampling module (including the extraction time information and pulse intensity information of each pulse signal), and through the address control signal, outputs the sampling point information of each pulse signal collected by the acquisition module to the analog-to-digital converter one by one. The analog-to-digital converter performs analog-to-digital conversion to convert the analog signal into a digital signal.

[0034] The echo signal acquisition system provided in this embodiment can effectively sample multiple pulses in the echo signal by using multiple sampling units to sequentially sample the pulse signals, so as to effectively extract the pulse intensity information and extraction time information of the pulse signals, meet the extraction requirements of the system for the pulse signal information in the pulse echo signal, and at the same time have sufficient signal conversion time. There is no need to use a high-speed analog-to-digital converter, and a low-speed analog-to-digital converter can be used to realize the conversion of the sampled signal, reducing the system's requirement for the sampling frequency of the ADC (Analog-to-digital converter), reducing the system power consumption, and reducing the system overhead.

[0035] In one embodiment, each sampling unit includes an enable port and a sampling trigger signal output port. The sampling units are sequentially connected, and the sampling trigger signal output port of the previous sampling unit and the enable port of the next sampling unit are connected among two adjacent sampling units. That is, the sampling trigger signal output port of the first sampling unit 121 is connected to the enable port of the second sampling unit 122, the sampling trigger signal output port of the second sampling unit 122 is connected to the enable port of the third sampling unit 123, and so on. The sampling trigger signal output port of the (N - 1)th sampling unit 12(N - 1) is connected to the enable port of the Nth sampling unit 12N.

[0036] The sampling unit is used to transmit an enable signal from the sampling trigger signal output port to the enable port of the next sampling unit after completing the sampling of the pulse signal, so as to trigger the next sampling unit to enter the working state. After the previous sampling unit completes the sampling, it sends an enable signal to the enable port of the next sampling unit, causing the next sampling unit to enter the working state and waiting for the pulse signal to arrive to trigger the sampling.

[0037] In one embodiment, each sampling unit includes a sampling circuit and a delay circuit; see, for example Figure 2Schematic diagram of the sampling module structure shown. The sampling module includes sampling circuits 1211 to 12N1 and delay circuits 1212 to 12N2. The delay circuit of the previous sampling unit is connected to the sampling circuit and delay circuit of the next sampling unit; the first sampling circuit 1211 is connected to the time discrimination circuit, the first delay circuit 1212 is connected to the time discrimination circuit, and each subsequent stage of the delay circuit is connected to the next stage of the delay circuit and the sampling circuit corresponding to the next stage of the delay circuit. Each sampling circuit 1211 to 12N1 is connected to the analog strobe 13.

[0038] As Figure 2 shown, the delay circuit 1212 is connected to the second sampling circuit 1221 and the next stage of the delay circuit 1222, and so on. The N - 1th delay circuit is connected to the Nth sampling circuit.

[0039] The delay time of the delay circuits 1212 to 12N2 is a preset time interval. Each sampling circuit is used to sample the voltage pulse signal at the preset time interval in sequence. The delay circuit delays the signal output by the time discrimination circuit, and each delayed pulse signal is used as the trigger signal for the N sampling circuits respectively. Each sampling circuit samples each pulse signal at the preset time interval.

[0040] In one embodiment, as Figure 2 shown, the sampling module further includes a time discrimination circuit 21, a target delay circuit 22, and an enable unit 23.

[0041] The enable unit 23 is used to input the voltage pulse signal to the time discrimination circuit 21 and the target delay circuit 22 after receiving the enable signal. The enable unit 23 controls the on - off of the analog signal input to the sampling module. When the enable unit 23 receives the enable signal, that is, after allowing the sampling module to start working, the enable unit 23 conducts to allow the analog pulse signal (i.e., the voltage pulse signal converted by the signal conversion module) to be input. After passing through the enable unit 23, the analog pulse signal is transmitted to the time discrimination circuit 21 and the target delay circuit 22 respectively. The above - mentioned enable unit 23 can be a switch or a switching device capable of controlling its on - off state. By controlling the on - off of the switch or the switching device, the on - off of the enable unit can be controlled, and further the on - off of the analog signal input to the sampling module can be controlled.

[0042] The time discrimination circuit 21 is connected to the sampling circuit 1211 of the first sampling unit 121; the target delay circuit 22 is connected to the sampling circuits 1211 to 12N1 in each sampling unit.

[0043] The time discrimination circuit 21 is used to convert the voltage pulse signal into a digital pulse signal and transmit it to the sampling circuit and delay circuit of the first sampling unit; the target delay circuit 22 is used to match the delay of the time discrimination circuit.

[0044] In one embodiment, the sampling module further includes a time-to-digital converter 24, and the time-to-digital converter 24 is connected to the moment discrimination circuit 21. The moment discrimination circuit 21 converts an analog pulse signal exceeding a certain threshold into a digital pulse signal, and the digital pulse signal output by the moment discrimination circuit 21 is transmitted to a time-to-digital converter (Time to Digital Convert, TDC) for time-to-digital conversion.

[0045] The digital pulse signal output by the moment discrimination circuit 21 is also transmitted to each delay circuit. Each delay circuit delays the digital pulse output by the moment discrimination circuit 21. A series of delayed digital pulse signals are respectively used as trigger signals for N sampling circuits. The delay time of the delay circuit can be set to τ, and the N sampling circuits sample the analog pulse signal at a time interval τ. The delay time τ of the delay circuit can be configured according to requirements to set different sampling intervals.

[0046] The target delay circuit 22 is used to match the delay of the moment discrimination circuit 21 to ensure that the time when the subsequent sampling circuit is triggered is synchronized with the time when the analog pulse signal arrives, and to ensure the sampling effect.

[0047] Refer to Figure 3 the pulse signal waveform diagram as shown. Assume that the delay time of the moment discrimination circuit 21 is T1, then the delay time of the target delay circuit 22 is set to T2 to ensure that when the first sampling circuit 1211 is triggered by the digital pulse signal output by the moment discrimination circuit 21, the analog pulse signal can reach the sampling circuit 1211 at the same time, and the sampling circuit 1211 samples the analog pulse signal; the digital pulse signal output by the moment discrimination circuit 21 is delayed by τ by the delay circuit 1212 and then triggers the second sampling circuit 1221 to enter the working state, and the second sampling circuit 1221 samples the analog pulse signal until the Nth sampling circuit 12N1 is triggered to enter the working state, completing the sampling of the analog pulse signal. As can be seen from Figure 3 this, the digital pulse signal sent by the moment discrimination circuit triggers a sampling circuit to complete a sampling of the analog pulse signal every interval of the delay time τ, and the points on the analog pulse signal are the sampling points of each pulse signal.

[0048] In one embodiment, the above-mentioned delay circuit is a delay conduction circuit. When the digital pulse signal output by the moment discrimination circuit reaches this delay circuit, the delay circuit will conduct after a delay time τ. For example, this delay circuit can be implemented by a delay relay or other delay devices, or can be implemented by the delay circuit schematic diagram as shown in Figure 4 this, where Figure 4CLKIN therein is the input port for digital pulse signals, and CLKOUT is the output port for digital pulse signals. By changing the capacitance value of capacitor C and the voltage at the Vctrl terminal, the delay time τ of the delay circuit can be controlled. The output terminal of the delay circuit is connected to the sampling circuit and the delay circuit of the next sampling unit to trigger the sampling circuit to enter the working state.

[0049] In one embodiment, the above sampling circuit can be a capacitor pair connected by a switch to sample the analog pulse signal, or a sampling circuit supported by an active amplifier. Refer to the Figure 5 schematic diagram of the sampling circuit shown. The sampling circuit includes a first operational amplifier A1, a second operational amplifier A2, a sampling switch S1, and a capacitor C1; the sampling switch S1 is connected between the output terminal of the first operational amplifier A1 and the input terminal of the second operational amplifier A2.

[0050] One end of the capacitor C1 is connected between the sampling switch S1 and the input terminal of the second operational amplifier A2, and the other end of the capacitor C1 is grounded; the output terminal of the delay circuit is electrically connected to the sampling switch S1, and the output terminal of the second operational amplifier A2 is connected to the analog strobe. When the digital pulse signal output by the time discrimination circuit arrives at the sampling circuit, it triggers the sampling switch S1 to close, and the sampling circuit closes and enters the working state.

[0051] In one embodiment, the above sampling module may further include a sampling trigger signal generation unit. As Figure 2 shown, the sampling trigger signal generation unit 25 is connected to the enable unit 23. After the sampling trigger signal generation unit 25 receives the analog pulse signal and the sampling unit completes sampling of the analog pulse signal, it outputs a valid signal indicating that the sampling unit has completed sampling.

[0052] The echo signal acquisition system provided in this embodiment adopts a circuit structure combining a high-speed sampling unit and a low-speed ADC. Based on the characteristic that the echo signal in the time-of-flight pulsed radar system is a short-pulse waveform, the high-speed sampling unit is triggered to sequentially perform high-speed sampling on the pulse signal. Based on its low duty cycle characteristic, there is sufficient conversion time for the low-speed ADC to convert the signal held by the sampling unit.

[0053] Corresponding to the echo signal acquisition system provided in the above embodiment, this embodiment provides a lidar, which includes the echo signal acquisition system provided in the above embodiment. The echo signal acquisition system is connected to the receiving end of the lidar. When the receiving end receives the echo signal reflected by the target, it is transmitted to the echo signal acquisition system for sampling to obtain the sampling point information of the pulse signal.

[0054] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention may be understood according to specific circumstances.

[0055] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0056] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments, or can easily conceive of changes, or make equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An echo signal acquisition system, characterized in that, Comprising: A signal conversion module, a sampling module, and an analog strobe. The sampling module is connected between the signal conversion module and the analog strobe; The signal conversion module is used to convert the laser pulse echo signal into a voltage pulse signal; The sampling module includes a plurality of sampling units. The plurality of sampling units are used to sequentially sample each pulse signal in the voltage pulse signal and transmit the sampling point information of each sampled pulse signal to the analog strobe; The analog strobe is used to output the sampling point information of the pulse signal one by one; wherein, the sampling point information includes the level information of the pulse signal at the sampling moment; The sampling unit includes an enabling port and a sampling trigger signal output port; Each of the sampling units is sequentially connected. The sampling trigger signal output port of the previous sampling unit in two adjacent sampling units is connected to the enabling port of the next sampling unit; The sampling unit is used to transmit an enabling signal from the sampling trigger signal output port to the enabling port of the next sampling unit after completing the sampling of the pulse signal, so as to trigger the next sampling unit to enter the working state; The sampling unit includes: a sampling circuit and a delay circuit; The delay circuit of the previous sampling unit is connected to the sampling circuit and the delay circuit of the next sampling unit; each of the sampling circuits is connected to the analog strobe; The delay time of the delay circuit is a preset time interval, and each of the sampling circuits is used to sample the voltage pulse signal at the preset time interval in sequence.

2. The system according to claim 1, characterized in that The sampling module further includes a time discrimination circuit and a target delay circuit; The time discrimination circuit is connected to the sampling circuit of the first sampling unit; the target delay circuit is connected to the sampling circuits in each of the sampling units; The time discrimination circuit is used to convert the voltage pulse signal into a digital pulse signal and transmit it to the sampling unit; The target delay circuit is used to match the delay of the time discrimination circuit.

3. The system according to claim 2, wherein The sampling module includes an enabling unit, and the enabling unit is used to input the voltage pulse signal into the time discrimination circuit and the target delay circuit after receiving the enabling signal.

4. The system according to claim 2, wherein The sampling circuit includes a first operational amplifier, a second operational amplifier, a sampling switch, and a capacitor; The sampling switch is connected between the output terminal of the first operational amplifier and the input terminal of the second operational amplifier; One end of the capacitor is connected between the sampling switch and the input terminal of the second operational amplifier, and the other end of the capacitor is grounded; The output terminal of the delay circuit is electrically connected to the sampling switch, and the output terminal of the second operational amplifier is connected to the analog strobe.

5. The system according to claim 2, wherein The sampling module includes a time-to-digital converter, and the time-to-digital converter is connected to the time discrimination circuit.

6. The system according to claim 1, wherein The signal conversion module includes an optoelectronic converter and an amplifier; The optoelectronic converter is used to convert the laser pulse echo signal from an optical signal into a current pulse signal; The amplifier is used to convert and amplify the current pulse signal into a voltage pulse signal.

7. The system according to claim 1, wherein Also comprising: An analog-to-digital converter, the analog-to-digital converter being connected to the analog strobe.

8. A lidar, characterized in that, Comprising: The echo signal acquisition system according to any one of claims 1-7.

Images