Photosensitive array, receiving system and method for receiving reflected light spots of laser radar

Abstract

The present invention discloses a photosensitive array, a receiving system, and a method for receiving the reflected light spot of a laser radar. The photosensitive array includes: at least two photosensitive area groups, the photosensitive area group includes only one photosensitive area for receiving the reflected light spot of the laser radar; the photosensitive area is electrically connected to an analog-to-digital converter through a switching switch, and the adjacent photosensitive areas are not connected to the same switching switch, so as to output the electrical signal corresponding to the reflected light spot to the analog-to-digital converter. The present invention also discloses a receiving system for the reflected light spot of a laser radar, and a receiving method for the reflected light spot. Since at any time only the photosensitive area corresponding to the landing position of the reflected light spot and its adjacent next photosensitive area are sampled by the analog-to-digital converter, no matter what signal is received by other areas, it will not affect the receiving result, thereby improving the anti-interference ability of the reflected light spot receiving system and improving the detection accuracy.

Description

[0001] This application is a divisional application of the invention patent application with application number 201810146027.X filed on February 12, 2018 and entitled “Photosensitive array, receiving system and method for receiving reflected light spots of laser radar”. Technical Field

[0002] Embodiments of the present invention relate to laser radar technology, and in particular to a photosensitive array, a receiving system, and a method for receiving reflected light spots from a laser radar. Background Art

[0003] MEMS micromirror scanning LiDAR acquires target profile information through beam scanning and simultaneous distance measurement. Due to its compact size and low power consumption, MEMS micromirror scanning LiDAR has broad application prospects in urban modeling, topographic mapping, and autonomous driving.

[0004] Because the laser radar has a large scanning angle range, the received laser spot will have a large offset range. In order to ensure that the reflected light spot is received reliably, the receiver usually has a photosensitive array, and the photosensitive area of the photosensitive array is greater than or equal to the offset range of the reflected light spot. However, in off-axis laser radars, the receiver generally has a large optical field of view. For example, the actual received reflected light spot on the photosensitive array of several millimeters by several millimeters is only tens of microns in size. In other words, at any moment, most of the photosensitive units in the photosensitive array do not receive useful signals, and are very likely to receive useless interference signals. For example, because the receiving lens has a large field of view, it is very likely that the light signals of other laser radars will be projected onto the photosensitive surface, which will be incorrectly sampled by the ADC (Analog-to-Digital Converter), causing the radar to output erroneous information. Summary of the Invention

[0005] The present invention provides a photosensitive array, a receiving system and a method for receiving the reflected light spot of a laser radar, which can effectively prevent the interference signals of other laser radars from being erroneously sampled by an analog-to-digital converter, thereby improving detection accuracy.

[0006] In a first aspect, an embodiment of the present invention provides a photosensitive array for receiving a reflected light spot of a laser radar, comprising: at least two photosensitive region groups, each photosensitive region group including only one photosensitive region for receiving the reflected light spot of the laser radar;

[0007] The photosensitive area is electrically connected to the analog-to-digital converter via a switching switch, and adjacent photosensitive areas are not connected to the same switching switch, so as to output the electrical signal corresponding to the reflected light spot to the analog-to-digital converter.

[0008] In a second aspect, an embodiment of the present invention further provides a system for receiving a reflected light spot of a laser radar, the system comprising the photosensitive array as described in the first aspect above, and further comprising:

[0009] a controller, respectively connected to the transmitter and the switch controller of the laser radar, configured to receive a scanning angle output by the transmitter, determine a photosensitive area corresponding to a reflected light spot according to the scanning angle, generate a switch switching instruction according to the photosensitive area, and output the switch switching instruction to the switch controller;

[0010] The switch controller is electrically connected to the photosensitive array and the analog-to-digital converter respectively, and is used to switch on the circuit between the photosensitive area in the photosensitive array and the analog-to-digital converter according to the switch switching instruction.

[0011] In a third aspect, an embodiment of the present invention further provides a method for receiving a reflected light spot of a laser radar, the method being performed by the reflected light spot receiving system of the laser radar described in the second aspect, including:

[0012] The controller receives the scanning angle output by the transmitter;

[0013] The controller determines the photosensitive area corresponding to the reflected light spot according to the scanning angle;

[0014] The controller controls the switch controller to select the photosensitive area and the next photosensitive area adjacent to the photosensitive area;

[0015] The photosensitive area receives the reflected light spot and outputs an electrical signal corresponding to the reflected light spot to an analog-to-digital converter.

[0016] An embodiment of the present invention provides a photosensitive array for receiving reflected light spots from laser radars. The array comprises at least two photosensitive area groups, each of which includes only one photosensitive area for receiving the reflected light spots from the laser radars. The photosensitive area is electrically connected to an analog-to-digital converter via a switch, and adjacent photosensitive areas are not connected to the same switch, so that the electrical signal corresponding to the reflected light spots is output to the analog-to-digital converter. By selecting the photosensitive areas and the analog-to-digital converter along the direction of the light spot's movement, the receiving lens can effectively avoid projecting interference signals from other laser radars onto the photosensitive areas, thereby causing ADC missampling. This improves the anti-interference capability of the reflected light spot receiving system and enhances detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of a laser radar system in the prior art;

[0018] Figure 2 This is a schematic structural diagram of a photosensitive array for receiving reflected light spots from a laser radar, provided in a first embodiment of the present invention;

[0019] Figure 3 This is a circuit diagram of a photosensitive area provided in Example 1 of the present application;

[0020] Figure 4 This is a schematic structural diagram of a system for receiving reflected light spots of a laser radar provided in a second embodiment of the present invention;

[0021] Figure 5 Schematic diagram of the change in the position of the reflected light spot with the scanning angle provided in the second embodiment of the present application;

[0022] Figure 6 This is a schematic diagram of the laser radar transmission and reception process provided in Example 2 of the present application;

[0023] Figure 7 This is a schematic diagram of the working state of the receiving lens provided in Example 2 of the present application;

[0024] Figure 8 This is a flow chart of a method for receiving a reflected light spot of a laser radar provided in Example 3 of the present application. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0026] Figure 1Figure 1 is a schematic diagram of a conventional lidar system. Lidar system 100 includes a transmitter 110 for emitting laser light; a receiving lens 140 for projecting the reflected laser light from an obstacle 150 onto a photosensitive receiving array 130; and a photosensitive receiving array 130 for receiving the reflected laser light, where the reflected laser light forms a reflection spot 120 on the photosensitive receiving array 130. Due to the wide scanning angle range of lidar, the reflected light spot received by the photosensitive receiving array has a relatively large offset range, typically falling within an n mm by m mm range. To ensure that the receiving system can reliably receive the reflected light spot, a photoelectric conversion device array is typically used as the photosensitive receiving array, and the photosensitive area of the photoelectric conversion device array is greater than or equal to the offset range of the reflected light spot. However, in off-axis lidar, the receiving system generally has a large optical field of view. For example, the reflected signal spot received by an n mm by m mm photosensitive receiving array is only tens of microns in size. That is, at any given moment, most of the photosensitive units in the photosensitive receiving array are not receiving useful signals and are very likely to be receiving useless interference signals. For example, because the receiving lens has a large field of view, it is very likely that light signals from other lidars will be received on the photosensitive receiving array, resulting in incorrect sampling by the ADC, causing the radar to output erroneous information. In related technologies, solutions commonly used to address the above technical issues are to reduce the radar's field of view angle or reduce the area of the photosensitive array. However, these solutions may have the disadvantage of reducing the performance of the lidar and increasing its cost.

[0027] In order to solve the above technical problems, an embodiment of the present application provides a solution for receiving the reflected light spot of a laser radar, which can improve the anti-interference ability of the reflected light spot receiving system without reducing the efficiency of the laser radar.

[0028] Example 1

[0029] Figure 2 This is a structural diagram of a photosensitive array for receiving the reflected light spot of a laser radar provided in the first embodiment of the present invention. The photosensitive array can be integrated into the reflected light spot receiving system of the laser radar to execute the method for receiving the reflected light spot of the laser radar. Figure 2 As shown, the photosensitive array 210 includes:

[0030] At least two photosensitive area groups, each photosensitive area group including only one photosensitive area 220 for receiving a reflected light spot of a laser radar;

[0031] The photosensitive area 220 is electrically connected to the analog-to-digital converter 240 via the switch 230, and adjacent photosensitive areas 220 are not connected to the same switch 230, so as to output the electrical signal corresponding to the reflected light spot to the analog-to-digital converter 240. The switch can be a four-to-one switch A or a four-to-one switch B.

[0032] It should be noted that the photosensitive area group includes only one photosensitive area, and the photosensitive area includes at least one photosensitive unit, and each photosensitive unit can independently perform photoelectric conversion. The photosensitive unit can be an avalanche diode or a PIN-type photodiode. It is understandable that the embodiment of the present application does not limit the type of component used for the photosensitive unit. In addition to the avalanche diode or PIN-type photodiode listed above, the photosensitive unit can also be other types of photoelectric conversion devices. Figure 3 This is a circuit diagram of a photosensitive area provided in Example 1 of the present application. Figure 3 As shown, a plurality of photosensitive units 320 are connected in parallel to form a photosensitive area 310. Optionally, a photosensitive unit can be used independently as a photosensitive area, and the smaller the area of the photosensitive area, the stronger the anti-interference ability.

[0033] Exemplarily, when the number of photosensitive units in each photosensitive area is at least two, the at least two photosensitive units are connected in parallel to form a photosensitive area, and the distance d between two adjacent photosensitive areas can range from tens of microns to 100 microns, for example, it can be any value between 10 microns and 100 microns. Optionally, the distance between two adjacent photosensitive areas can range from 50 microns to 80 microns. Optionally, when the number of photosensitive areas exceeds two, the distance between two adjacent photosensitive areas can take unequal values. For example, the distance between two adjacent photosensitive areas in the same row is unequal. For another example, in a system with at least two rows of photosensitive areas (the first row is used to collect horizontally moving laser spots, and the second row is used to collect vertically moving laser spots), two adjacent photosensitive areas can be two adjacent photosensitive areas in the horizontal direction or two adjacent photosensitive areas in the vertical direction. In this case, the distance between the two adjacent photosensitive areas can be the same or different. For example, the first distance between two adjacent photosensitive areas in the same row can be the same, and the second distance between two adjacent photosensitive areas in the same column can be different from the first distance.

[0034] The photosensitive area is electrically connected to the switch. Figure 2As shown, each photosensitive region 220 is electrically connected to the switch 230, and two adjacent photosensitive regions 220 are not connected to the same switch. For example, photosensitive region 1 is electrically connected to the first input terminal of the first switch (e.g., 4-to-1 switch A), photosensitive region 2 is electrically connected to the first input terminal of the second switch (e.g., 4-to-1 switch B), photosensitive region 3 is electrically connected to the second input terminal of the 4-to-1 switch A, photosensitive region 4 is electrically connected to the second input terminal of the 4-to-1 switch B, ..., photosensitive region 7 is electrically connected to the fourth input terminal of the 4-to-1 switch A, and photosensitive region 8 is electrically connected to the fourth input terminal of the 4-to-1 switch B. This is used to select the circuit connection between the photosensitive region 220 and the analog-to-digital converter 240, and the photosensitive region 220 receives the reflected light spot signal of the laser radar, converts the reflected light spot signal from an optical signal to an electrical signal, and then outputs the electrical signal to the analog-to-digital converter 240.

[0035] The technical solution of this embodiment includes at least two photosensitive area groups, each of which includes only one photosensitive area for receiving the reflected light spot from the laser radar. This photosensitive area is electrically connected to an analog-to-digital converter via a switch, and adjacent photosensitive areas are not connected to the same switch, so that the electrical signal corresponding to the reflected light spot is output to the analog-to-digital converter. By selecting the photosensitive area and the analog-to-digital converter along the direction of the light spot's movement, the receiving lens can effectively avoid the problem of interference signals from other laser radars being projected onto the photosensitive area, causing ADC missampling. This improves the anti-interference capability of the reflected light spot receiving system and enhances detection accuracy.

[0036] Example 2

[0037] Figure 4 This is a schematic diagram of the structure of a receiving system for a laser radar reflected light spot provided by the second embodiment of the present invention. The receiving system is used to perform a method for receiving a laser radar reflected light spot, including but not limited to the photosensitive array in the above embodiment. Figure 4 As shown, the receiving system includes:

[0038] The controller 410 is in communication with the laser radar transmitter 460 and the switch controller 430, and is configured to receive the scanning angle output by the transmitter 460, determine the photosensitive area corresponding to the reflected light spot based on the scanning angle, generate a switch switching instruction based on the photosensitive area, and output the switch switching instruction to the switch controller 430;

[0039] The photosensitive array 420 includes at least two photosensitive area groups, each photosensitive area group includes only one photosensitive area, the photosensitive area is electrically connected to the analog-to-digital converter 450 via a switch, and adjacent photosensitive areas are not connected to the same switch;

[0040] The switch controller 430 is electrically connected to the photosensitive array 420 and the analog-to-digital converter 450 respectively, and includes a first switching switch and a second switching switch, which is used to select the circuit between the photosensitive area in the photosensitive array and the analog-to-digital converter 450 according to the switch switching instruction.

[0041] It should be noted that the scanning angle is the rotation angle of the galvanometer in the transmitter, and the galvanometer may be a MEMS (MicroElectronic Mechanical System, resonant single-axis micro-electromechanical system) galvanometer. Figure 5 Schematic diagram of the position of the reflected light spot according to the scanning angle provided in the second embodiment of the present application. Figure 5 As shown in FIG, the reflected light spots corresponding to t1 to t5 show that when the scanning angle changes, the position of the reflected light spot also moves on the photosensitive array. The following method can be used to calculate the coordinates of the reflected light spot on the photosensitive array.

[0042] Exemplarily, the controller obtains the distance between the receiving lens and the photosensitive array. It receives the scanning angle output by the transmitter according to a set period, and calculates the coordinates of the reflected light spot's landing point in the photosensitive array based on the scanning angle and the distance. It then determines a first photosensitive area based on the landing point coordinates; determines the switch identifiers of the switches connected to the first and second photosensitive areas, where the second photosensitive area is adjacent to the first photosensitive area; and generates a switch switching instruction based on the switch identifier, outputting the switch switching instruction to the switch controller. Figure 6 This is a schematic diagram of the laser radar transmission and reception process provided in Example 2 of this application. Figure 6 As shown, the incident light is emitted through a deflectable MEMS galvanometer 610, and the rotation direction of the MEMS galvanometer 610 is as shown in FIG. Figure 6 As shown, due to the change in the deflection angle of the galvanometer 610, the emitted light forms a scanning fan. The reflected light is focused by the receiving lens 630 and projected onto a smaller photosensitive array 640. When the light scans to the highest angle, the reflected light spot is at the bottom of the array surface of the photosensitive array 640. Conversely, the reflected light spot is at the top of the array surface of the photosensitive array 640. Since the deflection angle of the MEMS galvanometer (or other types of mechanisms that can deflect light) is known, the incident angle ω of the reflected light directed to the receiving lens can also be known. And because it is known that the distance between the receiving lens and the photosensitive array is f', as shown in Figure 7 The working diagram of the receiving lens is shown in the following figure. According to the imaging principle and geometric relationship, the relationship between the landing point y' of the light beam with a scanning angle ω projected on the photosensitive array is as follows: ′ =f′tanω, then the coordinates of the landing point are (f', y')

[0043] The MEMS galvanometer rotates at a preset angle in a preset direction according to a set period, causing the reflected light spot to appear on the upper edge of the photosensitive array. Figure 7 Move in the scanning direction shown. Since the photosensitive array includes a plurality of photosensitive areas, the photosensitive area corresponding to the reflected light spot can be determined by the landing position of the reflected light spot. Since the correspondence between the area identification of the photosensitive area and the switching switch is pre-stored, a switch switching instruction can be generated according to the photosensitive area corresponding to the reflected light spot, and the switch switching instruction is output to the switch controller to control the switch controller to turn on or off the circuit. It should be noted that the switch controller includes a first switching switch and a second switching switch. The input end of the first switching switch is electrically connected to the photosensitive area with an odd area identification, and the input end of the second switching switch is electrically connected to the photosensitive area with an even area identification. In addition, the output end of the first switching switch is connected in series with a first signal amplification circuit, and the output end of the first signal amplification circuit is electrically connected to the analog-to-digital converter, wherein the first signal amplification circuit includes but is not limited to an operational amplifier 250 (such as Figure 2 , is used to receive and amplify the signal corresponding to the reflected light spot, and output the amplified signal to the analog-to-digital converter. The output of the second switch is connected in series with a second signal amplification circuit, the output of which is electrically connected to the analog-to-digital converter. The second signal amplification circuit includes, but is not limited to, an operational amplifier 250, which receives and amplifies the signal corresponding to the reflected light spot, and outputs the amplified signal to the analog-to-digital converter. Thus, the reflected light spot signal received by the photosensitive area can be output to the analog-to-digital converter via either the first or second switch.

[0044] For example, in the reflected light spot receiving system of the laser radar of the embodiment of the present application, the photosensitive array has multiple photosensitive areas, and each photosensitive area may include multiple photosensitive units or only one photosensitive unit. Figure 2As shown, a switch with a four-select-one function divides the photosensitive area into two groups. It is understood that when receiving reflected light spots in a one-dimensional scenario (considering only left-right movement of the reflected light spot), the photosensitive area groups can be arranged horizontally and divided into two groups to ensure that as the reflected light spot moves, the activated photosensitive area promptly tracks the direction of movement. Specifically, the switch is controlled to connect the circuit between the photosensitive area corresponding to the current reflection spot's landing point and the analog-to-digital converter, and to connect the circuit between the next photosensitive area where the reflection spot may be located at the next moment and the analog-to-digital converter. If receiving reflected light spots in a two-dimensional scenario (considering left-right and up-and-down movement of the reflected light spot), the photosensitive array can be configured to have multiple rows of photosensitive areas. Optionally, the photosensitive areas in each row are horizontally aligned, and the photosensitive areas in the same column are vertically aligned. The controller obtains the scanning angle information of the lidar transmitter (e.g., a MEMS galvanometer) and calculates in real time the location of the emitted light spot reflection signal (i.e., the reflected light spot) on the photosensitive array, i.e., the corresponding photosensitive area. The controller generates a switch switching instruction according to the area identification of the photosensitive area and outputs it to the switch controller (i.e., a switch with a multiple-choice function), such as Figure 4 As shown, switch controller 430 switches on the photosensitive array corresponding to the location of the light spot reflection signal on photosensitive array 420, as well as the next adjacent photosensitive array, so that the electrical signal generated by photosensitive array 420 is input to analog-to-digital converter 450. In other words, the controller continuously tracks and calculates the impact point of the reflected light spot, and by switching the switches, it constantly ensures that the electrical signal corresponding to the reflected light spot is input to the analog-to-digital converter. For example, when the controller calculates that the impact point is in photosensitive area 1, it activates four-to-one switch A to activate photosensitive area 1 and simultaneously activates four-to-one switch B to activate photosensitive area 2. When the reflected light spot moves to photosensitive area 2, four-to-one switch A is activated to turn off photosensitive area 1 and turn on photosensitive area 3. When the reflected light spot moves to photosensitive area 3, four-to-one switch B is activated to turn off photosensitive area 2 and turn on photosensitive area 4. Similarly, when the reflected light spot moves to photosensitive area 7, four-to-one switch B is activated to turn off photosensitive area 6 and turn on photosensitive area 8. This ensures that the photosensitive area corresponding to the reflected light spot is always connected to the analog-to-digital converter, while the non-reflected light spot and the adjacent photosensitive areas are isolated by the switch. In other words, only two photosensitive areas are sampled by the analog-to-digital converter at any given time, and any signals received by other areas will not affect the reception results, thus avoiding interference.

[0045] The technical solution of this embodiment includes a photosensitive array having multiple photosensitive areas, each of which is electrically connected to an analog-to-digital converter via a switching switch, and adjacent photosensitive areas are not connected to the same switching switch; a controller, which is respectively communicatively connected to the laser radar transmitter and the switch controller, can receive the scanning angle output by the transmitter, and determine the photosensitive area corresponding to the reflected light spot based on the scanning angle, generate a switch switching instruction based on the photosensitive area, and output the switch switching instruction to the switch controller; the switch controller is respectively electrically connected to the photosensitive array and the analog-to-digital converter, and can select the circuit between the photosensitive area and the analog-to-digital converter based on the switch switching instruction. Because only the photosensitive area corresponding to the landing point of the reflected light spot and its next adjacent photosensitive area are sampled by the analog-to-digital converter at any time, no matter what signal is received by other areas, it will not affect the reception result. This can effectively prevent the receiving lens from projecting interference signals from other laser radars onto the photosensitive area, causing ADC missampling, thereby improving the anti-interference capability of the reflected light spot receiving system and enhancing detection accuracy.

[0046] Example 3

[0047] Figure 8 This is a flow chart of a method for receiving a reflected light spot of a laser radar provided in Example 3 of the present application. This method can be executed by a receiving system for the reflected light spot of the laser radar. The method includes:

[0048] Step 810: The controller receives the scanning angle output by the transmitter.

[0049] The transmitter (eg, MEMS) rotates in a preset direction at a preset scanning angle according to a preset period, and sends scanning angle information to the controller, wherein the scanning angle information may include a scanning angle, a period, and a direction.

[0050] Step 820: The controller determines the photosensitive area corresponding to the reflected light spot according to the scanning angle.

[0051] It should be noted that the controller obtains the distance between the receiving lens and the photosensitive array. Then, based on the imaging principle and geometric relationship, the controller determines the landing point of the reflected light spot projected on the photosensitive array based on the scanning angle and the distance between the receiving lens and the photosensitive array. The controller uses this landing point as the value on the y-axis and the aforementioned distance as the value on the x-axis to determine the landing point coordinates. Based on these landing point coordinates, the photosensitive area corresponding to the reflected light spot is determined.

[0052] Furthermore, the direction of movement of the light spot on the photosensitive array can be determined based on the preset direction. The current photosensitive area corresponding to the reflected light spot can be determined based on the landing point position, and the next photosensitive area adjacent to the current photosensitive area can be further determined. For example, the controller obtains the rotation direction of the transmitter's galvanometer mirror and determines the next photosensitive area adjacent to the current photosensitive area based on the galvanometer rotation direction and the photosensitive area corresponding to the landing point coordinates.

[0053] Step 830: The controller controls the switch controller to enable the photosensitive area and the next photosensitive area adjacent to the photosensitive area.

[0054] The controller generates a switch switching instruction based on the area identifier of the current photosensitive area and the area identifier of the next photosensitive area, and sends the switch switching instruction to the switch controller. The switch controller then switches on the circuit between the current photosensitive area and the analog-to-digital converter and the circuit between the next photosensitive area and the analog-to-digital converter based on the switch switching instruction.

[0055] It should be noted that after determining the photosensitive area, the controller will determine whether the photosensitive area is the first photosensitive area. This can be determined by the area identifier of the photosensitive area. If the area identifier is area 1, the photosensitive area is determined to be the first photosensitive area. If the current photosensitive area is the first photosensitive area, a switch switching instruction corresponding to the switch identifier is generated based on the area identifiers of the current photosensitive area and the next adjacent photosensitive area. If the current photosensitive area is not the first photosensitive area, the controller also obtains the switch identifier of the previous photosensitive area adjacent to the current photosensitive area, and disconnects the circuit between the previous photosensitive area and the analog-to-digital converter before connecting the circuit between the next photosensitive area of the photosensitive area and the analog-to-digital converter.

[0056] Step 840: The photosensitive area receives the reflected light spot and outputs an electrical signal corresponding to the reflected light spot to an analog-to-digital converter.

[0057] The technical solution of this embodiment uses a controller to receive the scanning angle output by the transmitter, determine the photosensitive area corresponding to the reflected light spot based on the scanning angle, and then control a switch controller to select the photosensitive area and the next photosensitive area adjacent to it. The photosensitive area receives the reflected light spot and outputs the electrical signal corresponding to the reflected light spot to the analog-to-digital converter. Because only the photosensitive area corresponding to the location of the reflected light spot and the next photosensitive area adjacent to it are sampled by the analog-to-digital converter at any given time, any signals received by other areas will not affect the reception result. This effectively prevents the receiving lens from projecting interference signals from other lidars onto the photosensitive area, causing ADC missampling. This improves the anti-interference capability of the reflected light spot receiving system and enhances detection accuracy.

[0058] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A photosensitive array for receiving reflected light spots from a laser radar, characterized in that: The method comprises: at least two photosensitive area groups, each photosensitive area group including only one photosensitive area for receiving a reflected light spot of a laser radar; The photosensitive area is electrically connected to the analog-to-digital converter via a switching switch, and each photosensitive area group is individually connected to one of the switching switches to output the electrical signal corresponding to the reflected light spot to the analog-to-digital converter; At least two photosensitive units in the photosensitive area are connected in parallel to form one photosensitive area, and the photosensitive area of the photosensitive area group is greater than or equal to the offset range of the reflected light spot; The photosensitive array and the analog-to-digital converter are respectively electrically connected to a switch controller, and the switch controller is used to switch on the circuit between the photosensitive area in the photosensitive array and the analog-to-digital converter according to the switch switching instruction; the switch controller is in communication with the controller; The controller is configured to receive a scanning angle output by the transmitter, determine a photosensitive area corresponding to the reflected light spot according to the scanning angle, generate a switch switching instruction according to the photosensitive area corresponding to the reflected light spot, and output the switch switching instruction to the switch controller; The controller obtains the distance between the receiving lens and the photosensitive array, receives the scanning angle output by the transmitter according to a set period, and calculates the landing point coordinates of the reflected light spot in the photosensitive array based on the scanning angle and the distance, determines the first photosensitive area based on the landing point coordinates, and determines the switch identifier of the switching switch connected to the first photosensitive area and the second photosensitive area, wherein the second photosensitive area is adjacent to the first photosensitive area, generates a switch switching instruction based on the switch identifier, and outputs the switch switching instruction to the switch controller to realize the selection of the photosensitive area and the analog-to-digital converter along the moving direction of the reflected light spot.

2. The photosensitive array according to claim 1, wherein: include: The photosensitive unit includes an avalanche diode or a PIN photodiode.

3. A system for receiving reflected light spots of a laser radar, characterized in that: The photosensitive array according to any one of claims 1 to 2, further comprising: The controller is respectively connected to the transmitter and the switch controller of the laser radar.

4. A method for receiving a reflected light spot of a laser radar, characterized in that: The reflected light spot receiving system of the laser radar according to claim 3 is executed, comprising: The controller receives the scanning angle output by the transmitter; The controller determines the photosensitive area corresponding to the reflected light spot according to the scanning angle; The controller controls the switch controller to select the photosensitive area and the photosensitive area corresponding to the next photosensitive area group adjacent to the photosensitive area group corresponding to the photosensitive area; The photosensitive area receives the reflected light spot and outputs an electrical signal corresponding to the reflected light spot to an analog-to-digital converter; Among them, the photosensitive array of the reflected light spot receiving system of the laser radar includes at least three photosensitive area groups.

5. The receiving method according to claim 4, wherein: The controller controls the switch controller to select the photosensitive area and the next photosensitive area adjacent to the photosensitive area, including: The controller obtains the rotation direction of the galvanometer of the transmitter; The controller determines the next photosensitive area adjacent to the photosensitive area according to the rotation direction of the galvanometer and the photosensitive area; The controller determines the light-sensitive area and the switch identifier corresponding to the next light-sensitive area; The controller generates a switch switching instruction corresponding to the switch identifier, and sends the switch switching instruction to respectively connect the circuit between the photosensitive area and the analog-to-digital converter, and the circuit between the next photosensitive area and the analog-to-digital converter.

6. The receiving method according to claim 5, characterized in that After the controller determines the light-sensitive area and the switch identifier corresponding to the next light-sensitive area, the method further includes: The controller determines whether the photosensitive area is the first photosensitive area; If yes, executing the operation of generating a switch switching instruction corresponding to the switch identifier; Otherwise, the controller further obtains the switch identifier of the previous photosensitive area adjacent to the photosensitive area, and disconnects the circuit between the previous photosensitive area and the analog-to-digital converter before connecting the circuit between the next photosensitive area of the photosensitive area and the analog-to-digital converter.

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