A power-on control method and a laser radar device

Abstract

Embodiments of the present application provide a power-on control method and a laser radar device, and relate to the field of laser detection. The power-on control method is applied to a power-on timing control unit of a laser radar, and the laser radar further comprises a transmitting unit and a receiving unit, wherein the power-on timing control unit is connected with the transmitting unit and the receiving unit respectively; the method comprises: adjusting a power-on timing of the receiving unit; and adjusting a laser emission time of the transmitting unit according to the power-on timing, so as to match the power-on timing of the receiving unit. The present application can inhibit the front-scatter echo by precisely controlling the laser emission time and matching the power-on timing of the detection device, so that the receiving gain of the detection device is relatively low when receiving the front-scatter echo, and the receiving gain is relatively high when receiving the real echo signal, thereby ensuring the normal detection of the near blind area and the far target; and a time interval of a certain order unit is set, so as to precisely adjust the laser emission time.

Description

Technical Field

[0001] This invention relates to the field of laser detection, and more specifically, to a power-on control method and a lidar device. Background Technology

[0002] In existing technologies, lidar is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle is usually to emit a detection signal to the target, then compare the received signal reflected back from the target with the emitted detection signal, and after appropriate processing of the received signal, relevant information about the target can be obtained, such as the target's distance, azimuth, altitude, velocity, attitude, and even shape parameters, thereby enabling the detection, tracking, and identification of the target.

[0003] However, the inaccurate ranging problem that easily occurs when lidar detects objects at close range is often referred to as the "sucking point". The close-range area where the ranging is inaccurate is usually referred to as the "blind zone". How to eliminate the lidar ranging blind zone is a difficult problem that plagues the entire industry. Summary of the Invention

[0004] The purpose of this invention includes eliminating the blind zone of lidar ranging. For example, it provides a power-on control method and lidar device that can precisely control the laser emission time and coordinate with the power-on timing of the detection device. This results in a relatively low receiving gain of the detection device when receiving the preceding interference echo, thereby suppressing the preceding interference echo, while the receiving gain is relatively high when receiving the true echo signal. This ensures normal detection of near blind zones and distant targets, thus eliminating the lidar ranging blind zone.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] On one hand, a power-on control method is applied to a power-on timing control unit of a lidar, wherein the lidar further includes a transmitting unit and a receiving unit, wherein the power-on timing control unit is connected to the transmitting unit and the receiving unit respectively; the method includes:

[0007] Adjust the power-on timing of the receiving unit;

[0008] The laser emission time of the transmitting unit is adjusted according to the power-on timing to match the power-on timing of the receiving unit.

[0009] Optionally, the step of adjusting the laser emission time of the emitting unit according to the power-on timing includes:

[0010] The power-on sequence includes the power-on sequence slope and the power-on time;

[0011] With a fixed power-on timing slope, and at a preset laser emission time, the flight time corresponding to the forward interference echo received by the receiving unit is recorded as the first flight time;

[0012] Adjust the power-on time and use the adjusted power-on time as the laser emission time to be tested;

[0013] Single-point ranging is performed at the laser emission time to be measured, and it is determined whether the flight time of the forward interference echo signal received by the receiving unit at the current single-point ranging is greater than the first flight time; if not, the laser emission time to be measured is adjusted according to a first preset rule, and single-point ranging is performed again according to the adjusted laser emission time to be measured, until no flight time of the forward interference echo signal can be detected at the adjusted laser emission time to be measured, and the adjusted laser emission time to be measured is recorded as the laser emission time of the transmitting unit. Optionally, the step of adjusting the laser emission time to be measured according to the first preset rule is as follows:

[0014] The time interval is set according to the preset level, and the emission time of the laser to be tested is gradually reduced.

[0015] Optionally, after the step of determining whether the flight time of the forward scrambling echo signal received by the receiving unit under the current single-point ranging is greater than the first flight time, the method further includes:

[0016] If the flight time of the forward scrambling echo signal received by the receiving unit is greater than the first flight time, the emission time of the laser to be tested is adjusted according to the second preset rule, and single-point ranging is re-performed according to the adjusted emission time of the laser to be tested.

[0017] Optionally, the step of adjusting the emission time of the laser to be tested according to the second preset rule is as follows:

[0018] The time interval is set according to the preset level, and the emission time of the laser to be tested is gradually increased.

[0019] Optionally, the power-on timing control unit further includes a power-on timing control module and a laser emission control module, and the method further includes:

[0020] The power-on timing control module is used to preset the power-on timing slope and power-on time.

[0021] The laser emission control module adjusts the laser emission time of the transmitting unit under a preset power-on timing slope to match the power-on timing of the receiving unit;

[0022] The power-on timing control module adjusts the power-on timing slope based on the adjusted laser emission time.

[0023] Optionally, the receiving unit includes: a detection module and a ranging module; the method further includes:

[0024] The power-on timing control unit is used to preset the power-on timing of the detection module;

[0025] The laser emission control module adjusts the laser emission time of the emission unit according to the power-on sequence.

[0026] The power-on timing control module adjusts the power-on timing of the detection module according to the adjusted laser emission time.

[0027] The transmitting unit emits a laser signal according to the adjusted laser emission time;

[0028] The detection module receives the laser echo signal and converts it into an electrical signal; wherein the receiving voltage of the detection module is greater than the baseline voltage.

[0029] The distance data is measured using the ranging module based on the electrical signal.

[0030] Optionally, the step of adjusting the power-on timing of the detection module according to the adjusted laser emission time using the power-on timing control module includes:

[0031] The power-on timing control module adjusts the power-on timing slope according to the adjusted laser emission time, so that the bias voltage of the detection module exceeds the avalanche voltage of the detection module.

[0032] Optionally, the receiving unit further includes a transimpedance amplifier circuit, which is disposed between the detection module and the ranging module; the method further includes:

[0033] The electrical signal is amplified by the transimpedance amplifier circuit described above.

[0034] The distance measurement module is used to measure distance data based on the amplified electrical signal.

[0035] Secondly, a lidar device includes: a power-on timing control unit, a transmitting unit, and a receiving unit; the power-on timing control unit includes: a power-on timing control module and a laser emission control module; the power-on timing control module is connected to the receiving unit and the laser emission control module; the laser emission control module is also connected to the transmitting unit; the emitted light from the transmitting unit, after being emitted by the object to be detected, can be received by the receiving unit;

[0036] The power-on timing control unit is used to execute the power-on control method described in the first aspect above.

[0037] The beneficial effects of the embodiments of the present invention include, for example:

[0038] A power-on control method and a lidar device are disclosed. The power-on control method is applied to a power-on timing control unit of the lidar. The lidar further includes a transmitting unit and a receiving unit, wherein the power-on timing control unit is connected to the transmitting unit and the receiving unit respectively. The method includes: adjusting the power-on timing of the receiving unit; and adjusting the laser emission time of the transmitting unit according to the power-on timing to match the power-on timing of the receiving unit. This application, by precisely controlling the laser emission time and coordinating it with the power-on timing of the detection device, ensures that the receiving gain of the detection device is relatively low when receiving the preceding interference echo, thereby suppressing the preceding interference echo, while the receiving gain is relatively high when receiving the true echo signal. This ensures normal detection of near blind zones and distant targets and avoids interference from the preceding interference echo signal. Furthermore, by setting a time interval of a certain magnitude to adjust the laser emission time, the precision control of the laser emission time is improved. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the transmission and reception of a coaxial lidar.

[0041] Figure 2 A diagram of a lidar structure to which a power-on control method is applicable, provided in an embodiment of the present invention;

[0042] Figure 3 This is one of the schematic diagrams illustrating the steps of a power-on control method provided in an embodiment of the present invention;

[0043] Figure 4 This is a second schematic diagram illustrating the steps of a power-on control method provided in an embodiment of the present invention;

[0044] Figure 5 One of the schematic diagrams illustrating the adjustment of a power-on control method provided in an embodiment of the present invention;

[0045] Figure 6 This is the third schematic diagram of the steps of a power-on control method provided in an embodiment of the present invention;

[0046] Figure 7 This is the fourth schematic diagram of the steps of a power-on control method provided in an embodiment of the present invention;

[0047] Figure 8 This is the fifth schematic diagram of the steps of a power-on control method provided in an embodiment of the present invention;

[0048] Figure 9 A second schematic diagram illustrating the adjustment of a power-on control method provided in an embodiment of the present invention;

[0049] Figure 10 This is a structural diagram of a lidar device provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0052] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0053] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0054] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0055] In existing technologies, lidar includes coaxial optics and non-axial optics. Non-axial optics uses two different receiving devices, but it is costly and prone to ranging errors. Coaxial optics, on the other hand, only requires one transceiver, has a simple design, and is low-cost. However, coaxial optics has a problem: its transmitting and receiving optical paths are... Figure 1 As shown, when the emitted laser shines on internal structural components (e.g., a reflector) or the outer shell (e.g., a window), it produces stray light with strong backlighting. This stray light overlaps with the backlighting of nearby targets, making it impossible to detect nearby targets and thus creating a blind zone.

[0056] This embodiment provides a power-on control method and a lidar device. By precisely controlling the laser emission time and coordinating it with the power-on timing of the detection device, the time for the detection device to reach the avalanche voltage is shorter than the time interval between the forward interference echo signal and the near-field echo signal, thereby eliminating the blind zone and avoiding interference from the forward interference echo signal. Furthermore, a method for controlling the laser emission time is provided by setting a time interval of a certain magnitude to adjust the emission time of the laser to be measured, thereby improving the precise control of the laser emission time.

[0057] This application provides a power-on control method applied to the power-on timing control unit of a lidar system. Please refer to [link / reference]. Figure 2 The lidar also includes a transmitting unit and a receiving unit, wherein the power-on timing control unit is connected to both the transmitting and receiving units; please refer to... Figure 3 The method includes:

[0058] S1. Adjust the power-on timing of the receiving unit;

[0059] S2. Adjust the laser emission time of the transmitting unit according to the power-on timing to match the power-on timing of the receiving unit.

[0060] In one feasible embodiment, please refer to Figure 4 The steps for adjusting the laser emission timing of the transmitting unit according to the power-on timing sequence include:

[0061] The power-on sequence includes the power-on sequence slope and the power-on time;

[0062] S201. Fix the power-on timing slope, and at the preset laser emission time, record the flight time corresponding to the forward interference echo received by the receiving unit as the first flight time.

[0063] Specifically, at a preset laser emission time, the flight time toof (Ts) corresponding to the rising edge of the leading disturbance in the leading disturbance echo signal can be obtained through a calibration test of the lidar. This is the first flight time mentioned above. This calibration test is performed directly by the lidar equipped with a power-on timing control unit through a power-on test. The flight time toof (Ts) corresponding to the rising edge of the leading disturbance can be directly obtained using an oscilloscope. A low threshold voltage Vt can be set via software. This low threshold voltage Vt is the receiving voltage, typically about 100mV above the baseline voltage. The baseline voltage is the noise floor voltage of the receiving unit when there is no echo. The receiving unit will only detect the echo signal when the echo signal voltage, i.e., the voltage of the signal received by the receiving unit, is greater than the low threshold voltage Vt.

[0064] S202. Adjust the power-on time and use the adjusted power-on time as the laser emission time to be tested;

[0065] S203. Perform single-point ranging at the moment the laser to be measured is emitted, and determine whether the flight time of the forward interference echo signal received by the receiving unit under the current single-point ranging is greater than the first flight time.

[0066] S204. If not, adjust the emission time of the laser to be tested according to the first preset rule, and re-perform single-point ranging according to the adjusted emission time of the laser to be tested until the flight time of the forward disturbance echo signal cannot be detected under the adjusted emission time of the laser to be tested, and record the adjusted emission time of the laser to be tested as the laser emission time of the transmitting unit.

[0067] Specifically, when the receiver unit is powered on, the power-on timing slope is fixed, and the adjusted power-on time is taken as the emission time of the laser to be tested. This can be understood as the emission time of the laser to be tested being consistent with the power-on time. Based on this, single-point ranging is enabled. It is then determined whether the flight time of the forward interference echo signal received by the receiver unit under the current single-point ranging is greater than the first flight time.

[0068] If the flight time of the forward scrambling echo signal received by the receiving unit is greater than the first flight time, the emission time of the laser to be measured is adjusted according to the second preset rule, and single-point ranging is performed again according to the adjusted emission time of the laser to be measured.

[0069] If the flight time of the forward interference echo signal received by the receiving unit is less than or equal to the first flight time, it can be understood that the flight time can be detected and that the flight time is near the first flight time. Then, the laser emission time to be measured will be adjusted according to the first preset rule, and single-point ranging will be restarted until the flight time of the forward interference echo signal can no longer be detected at the adjusted laser emission time to be measured. Then, the adjusted laser emission time to be measured will be recorded as the laser emission time of the transmitting unit.

[0070] In another possible embodiment, it can be determined whether the flight time of the forward-scratching echo signal received by the receiving unit under the current single-point ranging is present.

[0071] In one feasible embodiment, such as Figure 5 As shown, the steps for adjusting the emission time of the laser under test according to the first preset rule are as follows: set the time interval according to the preset level, and gradually reduce the emission time of the laser under test.

[0072] In one feasible embodiment, the step of adjusting the emission time of the laser to be tested by the second preset rule is as follows: setting the time interval according to the preset level and gradually increasing the emission time of the laser to be tested.

[0073] Specifically, in the embodiments of this application, the first preset rule can be the picosecond (ps) decrease of the emission time of the laser to be tested. The preset level can be adjusted and optimized according to the actual situation and is not limited to the picosecond level in the above embodiments.

[0074] Please refer to the following: Figure 6 In this embodiment, a control method with adjustable preset magnitude is also provided, which can be:

[0075] In the logic layer, the register control module receives the edge signal acquired by the main control chip. Then, the physical layer uses the acquisition trigger signal to convert the received edge signal into an output pulse. The delay is adjusted by a preset amount through the odelay module. Finally, the differential output buffer (OBUF) converts the signal into a differential signal to drive the lidar device to achieve the preset adjustment.

[0076] In one feasible embodiment, after determining whether the flight time of the forward scrambling echo signal received by the receiving unit under the current single-point ranging is greater than a first flight time, the method further includes:

[0077] If the flight time of the forward scrambling echo signal received by the receiving unit is greater than the first flight time, the emission time of the laser to be measured is adjusted according to the second preset rule, and single-point ranging is performed again according to the adjusted emission time of the laser to be measured.

[0078] In one feasible embodiment, the power-on timing control unit further includes a power-on timing control module and a laser emission control module, wherein the power-on timing includes a power-on timing slope and a power-on time. Please refer to [reference needed]. Figure 7 The methods also include:

[0079] A1. Use the power-on timing control module to preset the power-on timing slope and power-on time;

[0080] A2. The laser emission control module is used to adjust the laser emission time of the transmitting unit under the preset power-on timing slope to match the power-on timing of the receiving unit.

[0081] A3. Use the power-on timing control module to adjust the power-on timing slope according to the adjusted laser emission time.

[0082] In one feasible embodiment, the receiving unit includes: a detection module and a ranging module; please refer to Figure 8 The methods also include:

[0083] B1. Use the power-on timing control unit to preset the power-on timing of the detection module;

[0084] B2. The laser emission control module is used to adjust the laser emission time of the emission unit according to the power-on sequence;

[0085] B3. The power-on timing control module is used to adjust the power-on timing of the detection module according to the adjusted laser emission time;

[0086] B4. The transmitting unit emits a laser signal according to the adjusted laser emission time.

[0087] B5. Receive the laser echo signal using the detection module and convert the laser echo signal into an electrical signal; wherein the receiving voltage of the detection module is greater than the baseline voltage;

[0088] B6. Use the ranging module to measure distance data based on electrical signals.

[0089] In one feasible embodiment, please refer to Figure 9 The steps for adjusting the power-on timing of the detection module using the power-on timing control module according to the adjusted laser emission time include:

[0090] The power-on timing control module adjusts the power-on timing slope according to the adjusted laser emission time, so that the bias voltage of the detection module exceeds the avalanche voltage of the detection module.

[0091] Specifically, after obtaining the laser emission time, it is necessary to further adjust the power-on slope of the receiving unit so that the bias voltage of the detection module exceeds the avalanche voltage of the detection module. That is, quickly adjust the gain of the power-on timing to shorten the time for the power-on time to reach the avalanche voltage Vbr. This will ensure that after matching the laser emission time, the situation is avoided where the forward interference echo is completely eliminated, but the real echo at close range cannot be detected.

[0092] Specifically, this can be understood as follows: Since the leading-edge echo returns to the receiver earlier than the true echo, the receiving time of the leading-edge echo is set to the laser emission time. At the same time, the detector is powered on. At this time, the detector voltage is low and the leading-edge echo will not be received. When the detector voltage increases, the leading-edge echo has disappeared, and the true echo is received. Because the time interval between the leading-edge echo and the near-field true echo is short, the detector voltage needs to rise rapidly to the avalanche voltage Vbr in a short time in order to sense the true echo signal. Therefore, the power-on slope can be increased to shorten the time from power-on to reaching the avalanche voltage Vbr in order to receive the true echo.

[0093] By precisely controlling the laser emission time and coordinating it with the power-on sequence of the detection device, the receiving gain of the detection device is relatively low when receiving the preceding interference echo, which can suppress the preceding interference echo, while the receiving gain is high when receiving the real echo signal, thus ensuring normal detection of near blind zones and distant targets; and by setting a time interval of a certain order of magnitude, the laser emission time can be precisely adjusted.

[0094] In one feasible embodiment, the receiving unit further includes a transimpedance amplifier circuit disposed between the detection module and the ranging module; the method further includes:

[0095] A transimpedance amplifier circuit is used to amplify the electrical signal.

[0096] The distance data is measured using a ranging module based on the amplified electrical signal.

[0097] In summary, the embodiments of this application precisely control the laser emission time and coordinate with the power-on timing of the receiving unit. When receiving a forward-scratching echo, the receiving gain is low, and the forward-scratching echo will not be detected. However, when receiving a real echo, the receiving gain is relatively high, and the real echo can be detected. This ensures normal detection of near blind zones and distant targets.

[0098] Secondly, please refer to Figure 10 This application also provides a lidar device, including: a power-on timing control unit, a transmitting unit, and a receiving unit; the power-on timing control unit includes: a power-on timing control module and a laser emission control module; the power-on timing control module is connected to the receiving unit and the laser emission control module; the laser emission control module is also connected to the transmitting unit; the emitted light from the transmitting unit can be received by the receiving unit after being emitted by the object to be detected;

[0099] The power-on timing control unit is used to execute the power-on control method of the first aspect mentioned above.

[0100] In summary, this application provides a power-on control method and a lidar device. The power-on control method is applied to the power-on timing control unit of the lidar, which further includes a transmitting unit and a receiving unit. The power-on timing control unit is connected to the transmitting unit and the receiving unit, respectively. The method includes: adjusting the power-on timing of the receiving unit; and adjusting the laser emission time of the transmitting unit according to the power-on timing to match the power-on timing of the receiving unit. This application, by precisely controlling the laser emission time and coordinating it with the power-on timing of the detection device, ensures that the receiving gain of the detection device is relatively low when receiving the preceding interference echo, thereby suppressing the preceding interference echo, while the receiving gain is relatively high when receiving the true echo signal. This ensures normal detection of near blind zones and distant targets and avoids interference from the preceding interference echo signal. Furthermore, by setting a time interval of a certain magnitude to adjust the laser emission time, the precision control of the laser emission time is improved.

[0101] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A power-on control method applied to a power-on timing control unit of a lidar, wherein the lidar further includes a transmitting unit and a receiving unit, wherein, The power-on timing control unit is connected to the transmitting unit and the receiving unit respectively; the method includes: Adjust the power-on timing of the receiving unit; The laser emission time of the transmitting unit is adjusted according to the power-on timing to match the power-on timing of the receiving unit; The step of adjusting the laser emission time of the emitting unit according to the power-on timing includes: The power-on sequence includes the power-on sequence slope and the power-on time; With a fixed power-on timing slope, and at a preset laser emission time, the flight time corresponding to the forward interference echo received by the receiving unit is recorded as the first flight time; Adjust the power-on time and use the adjusted power-on time as the laser emission time to be tested; Single-point ranging is performed at the laser emission time to be measured, and it is determined whether the flight time of the forward interference echo signal received by the receiving unit at the current single-point ranging is greater than the first flight time; if not, the laser emission time to be measured is adjusted according to the first preset rule, and single-point ranging is performed again according to the adjusted laser emission time to be measured until the flight time of the forward interference echo signal cannot be detected at the adjusted laser emission time to be measured, and the adjusted laser emission time to be measured is recorded as the laser emission time of the transmitting unit.

2. The power-on control method according to claim 1, characterized in that, The step of adjusting the emission time of the laser to be tested according to the first preset rule is as follows: The time interval is set according to the preset level, and the emission time of the laser to be tested is gradually reduced.

3. The power-on control method according to claim 2, characterized in that, After the step of determining whether the flight time of the forward scrambling echo signal received by the receiving unit under the current single-point ranging is greater than the first flight time, the method further includes: If the flight time of the forward scrambling echo signal received by the receiving unit is greater than the first flight time, the emission time of the laser to be tested is adjusted according to the second preset rule, and single-point ranging is re-performed according to the adjusted emission time of the laser to be tested.

4. The power-on control method according to claim 3, characterized in that, The step of adjusting the emission time of the laser to be tested according to the second preset rule is as follows: The time interval is set according to the preset level, and the emission time of the laser to be tested is gradually increased.

5. The power-on control method according to claim 1, characterized in that, The power-on timing control unit further includes a power-on timing control module and a laser emission control module, wherein the power-on timing includes a power-on timing slope and a power-on time, and the method further includes: The power-on timing control module is used to preset the power-on timing slope and power-on time. The laser emission control module adjusts the laser emission time of the transmitting unit under a preset power-on timing slope to match the power-on timing of the receiving unit; The power-on timing control module adjusts the power-on timing slope based on the adjusted laser emission time.

6. The power-on control method according to claim 5, characterized in that, The receiving unit includes: a detection module and a ranging module; the method further includes: The power-on timing control unit is used to preset the power-on timing of the detection module; The laser emission control module adjusts the laser emission time of the emission unit according to the power-on sequence. The power-on timing control module adjusts the power-on timing of the detection module according to the adjusted laser emission time. The transmitting unit emits a laser signal according to the adjusted laser emission time; The detection module receives the laser echo signal and converts it into an electrical signal; wherein the receiving voltage of the detection module is greater than the baseline voltage. The distance data is measured using the ranging module based on the electrical signal.

7. The power-on control method according to claim 6, characterized in that, The steps of adjusting the power-on timing of the detection module according to the adjusted laser emission time using the power-on timing control module include: The power-on timing control module adjusts the power-on timing slope according to the adjusted laser emission time, so that the bias voltage of the detection module exceeds the avalanche voltage of the detection module.

8. The power-on control method according to claim 6, characterized in that, The receiving unit further includes a transimpedance amplifier circuit, which is disposed between the detection module and the ranging module; the method further includes: The electrical signal is amplified by the transimpedance amplifier circuit described above. The distance measurement module is used to measure distance data based on the amplified electrical signal.

9. A lidar device, characterized in that, include: Power-on timing control unit, transmitting unit and receiving unit; The power-on timing control unit includes a power-on timing control module and a laser emission control module; the power-on timing control module is connected to the receiving unit and the laser emission control module; the laser emission control module is also connected to the emission unit; the emitted light from the emission unit can be received by the receiving unit after being emitted by the object to be detected. The power-on timing control unit is used to execute the power-on control method according to claims 1 to 8.

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