Receiving drive circuit, laser receiving circuit, and laser radar

Abstract

The application discloses a receiving driving circuit, a laser receiving circuit and a laser radar. The receiving driving circuit comprises a driving voltage output module. The driving voltage output module comprises an anode driving voltage output end connected with an anode of a laser detector in a laser detection module, and is used for outputting a negative anode driving voltage. The absolute value of the anode driving voltage is smaller than the absolute value of a reverse breakdown voltage of the laser detector. The driving voltage output module further comprises a cathode driving voltage output end connected with a cathode of the laser detector in the laser detection module, and is used for outputting a positive cathode driving voltage. The cathode driving voltage is smaller than the absolute value of the reverse breakdown voltage. The anode driving voltage and the cathode driving voltage form a reverse bias voltage greater than the reverse breakdown voltage at both ends of the laser detector, so that the laser detector converts a received laser signal into a current signal. Compared with the related art, the time length of the laser detector converting to the reverse breakdown state can be shortened, and the response speed of the laser detector is improved.

Description

Technical Field

[0001] This application relates to the field of laser detection, and more particularly to a receiver driving circuit, a laser receiving circuit, and a lidar. Background Technology

[0002] In related technologies, laser receiving circuits generally include laser detectors. In order for the laser detector to receive the laser signal reflected back from the target object and convert it into a corresponding current signal, the laser detector needs to be broken down in the reverse direction.

[0003] Currently, related technologies apply a first anode driving voltage to the anode of the laser detector, and this first anode driving voltage is greater than the reverse breakdown voltage of the laser detector, thus putting the laser detector in a reverse breakdown state. However, since the first anode driving voltage output by the anode driving circuit to the laser detector is typically a relatively high voltage of tens of volts, the output voltage needs to be continuously increased to reach this final high voltage of tens of volts during the output process. This continuous increase in voltage takes a long time, affecting the response speed of the laser detector to the received laser signal, and consequently affecting the speed of the laser detector's output current signal. Summary of the Invention

[0004] This application provides a receiving drive circuit, a laser receiving circuit, and a lidar, which can shorten the time from when the laser detector is turned off to when it is reversed and broken down, thereby improving the response speed of the laser detector to the laser signal reflected back from the target object.

[0005] In a first aspect, embodiments of this application provide a receiving drive circuit applied to a laser detection module, the laser detection module including one or more laser detectors; the receiving drive circuit includes a drive voltage output module, the drive voltage output module including:

[0006] An anode driving voltage output terminal is connected to the anode of the laser detector in the laser detection module and is used to output an anode driving voltage. The anode driving voltage is a negative voltage, and the absolute value of the negative voltage is less than the absolute value of the reverse breakdown voltage of the laser detector.

[0007] The cathode driving voltage output terminal is connected to the cathode of the laser detector in the laser detection module and is used to output the cathode driving voltage. The cathode driving voltage is a positive voltage and the positive voltage is less than the absolute value of the reverse breakdown voltage.

[0008] The anode driving voltage and the cathode driving voltage jointly form a reverse bias voltage at both ends of the laser detector, and an absolute value of the reverse bias voltage is greater than an absolute value of a reverse breakdown voltage of the laser detector, so that the laser detector converts a received laser signal into a current signal.

[0009] In a second aspect, the application provides a laser receiving circuit, which comprises the receiving driving circuit and the laser detection module.

[0010] In a third aspect, the application provides a laser receiving circuit, which comprises a laser detection module; the laser detection module comprises at least one two-dimensional detector array, and the two-dimensional detector array comprises M rows and N columns of laser detectors; wherein M and N are positive integers, M≥2, and N≥2.

[0011] The two-dimensional detector array is divided into K detection units along a row direction, each of the detection units comprises m K rows of laser detectors, and each of the detection units comprises m K laser detectors arranged along a column direction in the nth column, wherein m K *K=M, K, m K , and n are positive integers, and 2≤K<M, 2≤m K <M, and n=1, 2…N; anodes of the m K rows of laser detectors located in the same detection unit are electrically connected and led out as one common anode end; the m K laser detectors respectively comprised by the K detection units in the nth column are in one-to-one correspondence, forming m K laser detector groups; the N columns of laser detectors of the two-dimensional detector array form m K *N laser detector groups; cathodes of the m K laser detectors located in the same laser detector group are electrically connected and led out as one common cathode end.

[0012] The M common anode ends led out by the M rows of laser detectors are connected to a driving voltage output module through one-to-one corresponding first switches; N*m K common cathode ends led out by the N columns of laser detectors are connected to the driving voltage output module through one-to-one corresponding second switches; the driving voltage output module is used for forming a reverse bias voltage at both ends of the laser detector whose anode-connected first switch and cathode-connected second switch are both turned on, and an absolute value of the reverse bias voltage is greater than an absolute value of a reverse breakdown voltage of the laser detector, so that the laser detector converts a received laser signal into a current signal.

[0013] In a fourth aspect, the present application provides a laser radar, which comprises a laser emission circuit and the laser receiving circuit of any one of the above; the laser emission circuit comprises:

[0014] a laser emission module comprising one or more laser emitters;

[0015] a transmission driving circuit connected to the laser emitters in the laser emission module, for driving the laser emitters to emit laser signals;

[0016] the laser detector is configured to receive the laser signals emitted by the laser emitters and reflected by target objects;

[0017] when the laser emission module comprises at least one emitter array, the emitter array comprises a plurality of laser emitters arranged in an array, the transmission driving circuit is configured to address and drive the plurality of laser emitters in the emitter array to emit light; the laser detection module comprises at least one detector array, the detector array comprises a plurality of laser detectors arranged in an array; the plurality of laser detectors in the detector array receive the laser signals emitted by the laser emitters and reflected by target objects under the address and driving of the receiving driving circuit, and convert the received laser signals into current signals.

[0018] The receiving driving circuit, the laser receiving circuit and the laser radar of the embodiments of the present application can obtain a reverse bias with a value greater than the reverse breakdown voltage by applying a negative anode driving voltage to the anode of the laser detector and a positive cathode driving voltage to the cathode of the laser detector, and using the voltage difference between the negative anode driving voltage and the positive cathode driving voltage, so that the laser detector can be reverse broken and work in the Geiger mode. At the same time, the values of the anode driving voltage and the cathode driving voltage are both less than the reverse breakdown voltage. Compared with the related art, when the power supply outputs the anode driving voltage and the cathode driving voltage, the time for the voltage value to rise can be shortened, and thus the time length for the laser detector to convert from the non-reverse breakdown state to the reverse breakdown state can be shortened, the response speed of the laser detector to the laser signal is improved, the current signal is output faster, and the frame rate of the laser detection module outputting the current signal is improved. At the same time, the laser receiving circuit provided by the present application can realize the simultaneous output of the current signals of the two-dimensional detector array by electrically connecting and leading out a common anode terminal of multiple rows of laser detectors, and further improve the readout speed of the current signal. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Figure 1 A schematic diagram of a framework of a laser receiving circuit in the related art;

[0021] Figure 2 A schematic diagram of a framework structure of a laser receiving circuit provided by the embodiments of the present application;

[0022] Figure 3 Another schematic diagram of a framework of a laser receiving circuit provided by the embodiments of the present application;

[0023] Figure 4 Another schematic diagram of a framework structure of a laser receiving circuit provided by the embodiments of the present application;

[0024] Figure 5 A circuit schematic diagram of a linear voltage regulator provided by the embodiments of the present application;

[0025] Figure 6 A circuit schematic diagram of a laser receiving circuit when a laser detection module provided by the embodiments of the present application includes a two-dimensional detector array;

[0026] Figure 7 Another circuit schematic diagram of a laser receiving circuit when a laser detection module provided by the embodiments of the present application includes a two-dimensional detector array;

[0027] Figure 8 A schematic diagram of a framework structure of a signal processing module provided by the embodiments of the present application;

[0028] Figure 9 Another schematic diagram of a framework structure of a signal processing module provided by the embodiments of the present application.

[0029] Reference signs:

[0030] 1, laser detection module; 2, anode driving circuit; 3, processor; 10, receiving driving circuit; 11, anode driving voltage output module; 12, cathode driving voltage output module; 13, first switch module; 131, first switch; 14, second switch module; 142, second switch; 15, first current limiting module; 151, first current limiting resistor; 16, second current limiting module; 161, second current limiting resistor; 20, laser detection module; 21, laser detector; 30, signal processing module; 31, analog signal processing circuit; 311, transimpedance amplifier; 312, comparator; 313, time-to-digital converter; 32, digital signal processing circuit; 33, signal gating unit; 17, third current limiting module; 171, third current limiting resistor; 401, voltage conversion chip; 4011, feedback end; 4012, voltage input end; 4013, voltage output end; 402, feedback circuit; R1, first voltage dividing resistor; R2, second voltage dividing resistor. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0032] Example 1

[0033] In the related art, please refer to Figures 1 to 2 , the laser receiving circuit generally includes a laser detection module 1, an anode driving circuit 2 and a processor 3. The laser detection module 1 includes one or more laser detectors; the output end of the anode driving circuit 2 is connected with the anode of the laser detector in the laser detection module 1, for outputting a first anode driving voltage, the first anode driving voltage is a negative voltage, and the absolute value of the first anode driving voltage is greater than the absolute value of the reverse breakdown voltage of the laser detector in the laser detection module 1, so that the laser detector 1 is reversely broken down when receiving the first anode driving voltage, and the laser detector 1 that is reversely broken down receives a laser signal and outputs a current signal; the laser detector in the laser detection module 1 is used for receiving a laser signal reflected by a target object and outputting a current signal to the processor 3, and the processor 3 can obtain the distance, speed, direction, attitude and even shape of the target object by analyzing and processing the received current signal, and then can be applied to navigation avoidance, obstacle identification, distance measurement, speed measurement, automatic driving and other scenes of products such as cars, robots, logistics vehicles and inspection vehicles.

[0034] In the related art, the laser receiving circuit applies a first anode driving voltage greater than the reverse breakdown voltage of the laser detector to the anode of the laser detector through the anode driving circuit 2, so that the laser detector is in a reverse breakdown state. When the laser detector in the reverse breakdown state receives the laser signal reflected by the target object, it can output a current signal to the processor 3. In practical applications, the first anode driving voltage output by the anode driving circuit 2 to the laser detector is usually a high bias voltage of several tens of volts. When the anode driving circuit 2 outputs the first anode driving voltage, the voltage value of the output needs to be continuously increased to reach the final high bias voltage of several tens of volts. The continuous increase in voltage value requires a long time, which affects the response speed of the laser detector 1 to the received laser signal, and further affects the speed of the laser detector 1 outputting the current signal.

[0035] To solve the above problems, please refer to Figures 2 to 4 The first aspect of the present application provides a receiving driving circuit 10 applied to a laser detection module 20, wherein the laser detection module 20 includes one or more laser detectors 21, the receiving driving circuit 10 is connected to the anode and cathode of the laser detector 21 in the laser detection module 20, and is used for outputting an anode driving voltage U drive阳 to the anode of the laser detector 21, and outputting a cathode driving voltage U drive阴 to the cathode of the laser detector 21; wherein the anode driving voltage U drive阳 is a negative voltage, and the absolute value of the anode driving voltage U drive阳 is less than the absolute value of the reverse breakdown voltage of the laser detector 21; the cathode driving voltage U drive阴 is a positive voltage, and the absolute value of the cathode driving voltage U drive阴 is less than the absolute value of the reverse breakdown voltage of the laser detector 21; the anode driving voltage U drive阳 and the cathode driving voltage U drive阴 jointly form a reverse bias U drive across the laser detector 21, U drive = U drive阳 -U drive阴 ; the absolute value of the reverse bias U drive is greater than the absolute value of the reverse breakdown voltage of the laser detector 1, so that the anode receives the anode driving voltage U drive阳 , and the cathode receives the cathode driving voltage U drive阴The laser detector 21 is in a reverse breakdown state, the laser detector 21 in the reverse breakdown state receives a laser signal reflected by the target object to generate a current signal; the cathode of the laser detector 1 is also connected to an input end of the signal processing module 30, and the current signal is output to the signal processing module 30, and the signal processing module 30 analyzes and processes the received current signal, so that the distance, speed, direction, attitude and even shape of the target object are obtained, and then the laser detector 1 can be applied to navigation avoidance, obstacle identification, distance measurement, speed measurement, automatic driving and other scenes of a car, a robot, a logistics vehicle, a patrol vehicle and the like.

[0036] The laser detector 21 can be an APD (Avalanche Photo Diode), a SIPM (Silicon photomultiplier), a SPAD (Single Photon Avalanche Diode) or the like. Exemplarily, the laser detector 21 can be a single photon array sensor, which is composed of a plurality of single photon avalanche diodes and has a gain of up to 10 6 The above gain can detect a laser signal with extremely low power and is suitable for application in a laser ranging radar. The gain G of the single photon avalanche diode is positively correlated with the bias voltage.

[0037] Preferably, the laser detector 21 is a silicon photomultiplier (SIPM). The silicon photomultiplier is a new type of photoelectric detection device, which has the advantages of high photon detection efficiency, fast response, excellent time resolution and wide spectral response range. Each silicon photomultiplier is composed of a plurality of (up to several hundred to several thousand, the specific number can be designed according to actual needs) avalanche diode (APD) units, each avalanche diode unit is composed of an avalanche photodiode (APD) and a large resistance quenching resistor in series, and these micro units are connected in parallel to form a surface array. That is, the SiPM is composed of an avalanche diode (SPAD) array working in a Geiger mode, has the characteristics of high gain, high sensitivity, low bias voltage, insensitivity to magnetic field, compact structure and the like, and is widely used in the field of photoelectric detection technology.

[0038] Optionally, the anode driving voltage U drive阳 and the cathode driving voltage U drive阴 are referenced to the same reference voltage; for example, a ground voltage or a voltage at any point in the receiving driving circuit 10; the anode driving voltage U drive阳 is a negative voltage relative to the reference voltage, and the cathode driving voltage U drive阴 is a positive voltage relative to the reference voltage; the anode driving voltage U drive阳 and the cathode driving voltage U drive阴 form a reverse bias Udrive The absolute value of the voltage is greater than the absolute value of the reverse breakdown voltage of laser detector 1, so that the anode receives the anode drive voltage U. drive阳 The cathode receives the cathode driving voltage U drive阴 The laser detector 21 is in a reverse breakdown state. When the laser detector 21 is in a reverse breakdown state, it receives the laser signal reflected by the target object and outputs a current signal.

[0039] It should be noted that the voltage at any point in the receiving drive circuit 10 is used as the reference voltage. This point may not actually exist; it is only used to distinguish the anode drive voltage U. drive阳 With cathode drive voltage U drive阴 The relative polarity relationship, that is, the anode driving voltage U drive阳 The cathode driving voltage U is negative. drive阴 A positive voltage is applied to the anode of the laser detector 21, and a negative voltage is applied to the cathode of the laser detector 21, so as to form a reverse bias voltage U between the anode and cathode of the laser detector 21 that is greater than the reverse breakdown voltage. drive .

[0040] Compared to related technologies, the receiving drive circuit 10 provided in this application applies a negative anode drive voltage U to the anode of the laser detector 21. drive阳 A positive cathode driving voltage U is applied to the cathode of the laser detector 21. drive阴 Using a negative anode driving voltage U drive阳 and positive cathode drive voltage U drive阴 The voltage difference is used to obtain the reverse bias voltage U that is greater than the reverse breakdown voltage. drive This allows the laser detector 21 to be reverse-broken and operate in Geiger mode; simultaneously, the anode drive voltage U drive阳 and cathode drive voltage U drive阴 The values ​​are all less than the reverse breakdown voltage, which, compared to related technologies, can shorten the time required to provide the anode drive voltage U. drive阳 and cathode drive voltage U drive阴 The power supply output anode drive voltage U drive阳 and cathode drive voltage U drive阴 The time it takes for the voltage value to increase can be shortened, thereby reducing the time for the laser detector 21 to transition from the non-reverse breakdown state to the reverse breakdown state. This improves the response speed of the laser detector 21 to the laser signal, allowing it to output the current signal faster, and thus increases the frame rate of the output current signal of the laser detection module 20.

[0041] like Figure 2As shown, the receiving driving circuit 10 comprises a driving voltage output module, which comprises an anode driving voltage output end and a cathode driving voltage output end, wherein the anode driving voltage output end of the driving voltage output module is connected with the anode of the laser detector 21 in the laser detection module 20, for outputting an anode driving voltage U drive阳 ; the cathode driving voltage output end of the driving voltage output module is connected with the cathode of the laser detector 21 in the laser detection module 20, for outputting a cathode driving voltage U drive阴 . Wherein the laser detector 21, whose anode is conducted with the anode driving voltage output end of the driving voltage output module and whose cathode is conducted with the cathode driving voltage output end of the driving voltage output module, can be in a reverse breakdown state when the anode receives the anode driving voltage U drive阳 and the cathode receives the cathode driving voltage U drive阴 ; the laser detector 21 in the reverse breakdown state can output a current signal after receiving a laser signal.

[0042] As shown in an optional embodiment, Figure 2 , the driving voltage output module comprises an anode driving voltage output module 11 and a cathode driving voltage output module 12; the output end of the anode driving voltage output module 11 is connected with the anode of the laser detector 21 in the laser detection module 20, for outputting an anode driving voltage U drive阳 ; the output end of the cathode driving voltage output module 12 is connected with the cathode of the laser detector 21 in the laser detection module 20, for outputting a cathode driving voltage U drive阴 . Wherein the laser detector 21, whose anode is conducted with the output end of the anode driving voltage output module 11 and whose cathode is conducted with the output end of the cathode driving voltage output module 12, can be in a reverse breakdown state when the anode receives the anode driving voltage U drive阳 and the cathode receives the cathode driving voltage U drive阴 ; the laser detector 21 in the reverse breakdown state can output a current signal after receiving a laser signal.

[0043] Further, the absolute value of the reverse breakdown voltage is greater than the absolute value of the anode driving voltage U drive阳 , and less than a first preset value; wherein the smaller the first preset value is, the closer the anode driving voltage U drive阳 output by the anode driving voltage output module 11 can be to the reverse breakdown voltage of the laser detector 21, and at this time, the cathode driving voltage output module 12 only needs to output a cathode driving voltage U drive阴 of a smaller value, so as to make the reverse bias U driveExceeding the reverse breakdown voltage of laser detector 21 facilitates the switching of laser detector 21 to the reverse breakdown state and entry into Geiger mode; simultaneously, compared to existing technologies, the time required to provide the anode drive voltage U can be shortened. drive阳 The power supply output anode drive voltage U drive阳 The time it takes for the voltage value to increase can be shortened, thereby reducing the time for the laser detector 21 to transition from the non-reverse breakdown state to the reverse breakdown state. This improves the response speed of the laser detector 21 to the laser signal, allowing it to output the current signal faster, and thus increases the frame rate of the output current signal of the laser detection module 20.

[0044] Optionally, the anode drive voltage U output by the anode drive voltage output module 11 drive阳 This is a bias-high voltage that is close to but less than the reverse breakdown voltage of the laser detector 21. In one specific embodiment, the first preset value is equal to 1V, that is, the absolute value of the reverse breakdown voltage is equal to the anode driving voltage U. drive阳 The absolute value difference drives the voltage output module to be greater than 0V and less than 1V, so that the anode drive voltage U drive阳 The value is close to the reverse breakdown voltage but slightly less than the reverse breakdown voltage.

[0045] Furthermore, the cathode drive voltage output module 12 outputs the cathode drive voltage U drive阴 Greater than 0 and less than the second preset value; wherein, the smaller the second preset value, the stronger the cathode drive voltage U output by the cathode drive voltage output module 12. drive阴 The smaller the value, the easier it is to adjust the cathode drive voltage U output by the cathode drive voltage output module 12. drive阴 The gain G of the laser detector 21 is numerically adjusted; simultaneously, due to the cathode driving voltage U drive阴 Smaller, used to provide cathode drive voltage U drive阴 The power supply output cathode drive voltage U drive阴 When the voltage rise time is shorter, it is easier to shorten the time for the laser detector 21 to transition from the non-reverse breakdown state to the reverse breakdown state, thereby improving the response speed of the laser detector 21 to the laser signal and outputting the current signal faster, which in turn improves the frame rate of the output current signal of the laser detection module 20.

[0046] Preferably, the second preset value is greater than the first preset value, which facilitates the application of the reverse bias voltage U on the laser detector 21 by the anode drive voltage output module 11 and the cathode drive voltage output module 12. drive The voltage exceeds the reverse breakdown voltage of laser detector 21, causing laser detector 21 to switch to reverse breakdown state and enter Geiger mode. In one specific embodiment, the second preset value is equal to 5V, that is, the cathode drive voltage U output by cathode drive voltage output module 12.drive阴 Greater than 0V and less than 5V.

[0047] Furthermore, the cathode drive voltage output module 12 outputs the cathode drive voltage U drive阴 Adjustable, by adjusting the cathode drive voltage U drive阴 The gain G of the laser detector 21 can be adjusted by simply applying the cathode drive voltage U. drive阴 The absolute value greater than the reverse breakdown voltage and the anode drive voltage U drive阳 The difference in absolute values; in an alternative embodiment, the cathode drive voltage U drive阴 The driving voltage output module can be driven by any voltage value within the range of 0V to 5V, and the cathode driving voltage U drive阴 As the driving voltage output module gradually increases from a voltage value close to 0V to a voltage value close to 5V, it can increase the reverse bias voltage U on the laser detector 21. drive As the gain increases, the gain G of the laser detector 21 can also increase continuously. For example... Figure 3 and 4 As shown, the receiving drive circuit 10 also includes a first switch module 13; the first switch module 13 includes a first switch 131, which is connected in series between the output terminal of the anode drive voltage output module 11 and the anode of the laser detector 21; when the first switch 131 is turned on, the anode of the laser detector 131 connected to the first switch 131 receives the anode drive voltage U. drive阳 When the first switch 131 is open, the anode of the laser detector 131 connected to the first switch 131 stops receiving the anode drive voltage U. drive阳 .

[0048] like Figure 3 and 4 As shown, the receiving drive circuit 10 also includes a second switch module 14; the second switch module 14 includes a second switch 141, which is connected in series between the cathode drive voltage output module 12 and the cathode of the laser detector 21; when the second switch 141 is turned on, the cathode of the laser detector 131 whose cathode is connected to the second switch 141 receives the cathode drive voltage U. drive阴 When the second switch 141 is open, the cathode of the laser detector 131 connected to the second switch 141 stops receiving the cathode drive voltage U. drive阴 .

[0049] The receiving drive circuit 10 provided in this application controls the conduction of both the first switch 131 and the second switch 141 to control the anode receiving anode drive voltage U of the laser detector 21, whose anode is connected to the first switch 131 and whose cathode is connected to the second switch 141. drive阳, the cathode receives a cathode driving voltage U drive阴 , is in a reverse breakdown state (for SIPM, the reverse breakdown state is Geiger mode); by controlling the first switch 131 and / or the second switch 141 to be turned off, the corresponding laser detector 21 is no longer in the reverse breakdown state, so as to control the corresponding laser detector 21 to stop detecting the laser signal, that is, the corresponding laser detector 21 will not generate a current signal even if it receives a laser signal, thereby facilitating addressable detection of multiple laser detectors 21.

[0050] Further, in order to limit the current flowing through the laser detector 21 and avoid excessive current being directly delivered to the anode of the laser detector 21 and the cathode of the laser detector 21, causing the laser detector 21 to be burned out, please refer to Figure 3 and Figure 4 , the receiving driving circuit 10 further comprises a first current limiting module 15 and a second current limiting module 16; the first current limiting module 15 comprises a first current limiting resistor 151, which is connected in series between the output end of the anode driving voltage output module 11 and the anode of the laser detector 21, so as to limit the current when the anode driving voltage output module 11 outputs the anode driving voltage U drive阳 to the anode of the laser detector 21; the second current limiting module 16 comprises a second current limiting resistor 161, which is connected in series between the output end of the cathode driving voltage output module 12 and the cathode of the laser detector 21, so as to limit the current when the cathode driving voltage output module 12 outputs the cathode driving voltage U drive阴 to the cathode of the laser detector 21; the first current limiting module 15 and the second current limiting module 16 are used for current limiting protection of the laser detector 21.

[0051] Further, as shown in Figure 3 and 4 , a third current limiting module 17 is arranged between the cathode of the laser detector 21 and the input end of the signal processing module 30, the third current limiting module 17 comprises a third current limiting resistor 171, which is connected in series between the cathode of the laser detector 21 and the input end of the signal processing module 30, so as to avoid the output current signal being too large, thereby protecting the signal processing module 30. It should be noted that the present application does not specifically limit the resistance values of the first current limiting resistor 151, the second current limiting resistor 161 and the third current limiting resistor 171, and the resistance values of the first current limiting resistor 151, the second current limiting resistor 161 and the third current limiting resistor 171 can be set according to actual conditions.

[0052] Further, in order to improve the stability of the cathode driving voltage U drive阴 output by the cathode driving voltage output module 12, that is, to provide a stable cathode driving voltage U drive阴The cathode drive voltage output module 12 includes a linear regulator (low dropout regulator) used to subtract excess voltage from the applied input voltage to generate a regulated output voltage as the cathode drive voltage U. drive阴 Output. In one optional embodiment, the linear regulator included in the cathode drive voltage output module 12 is a low-voltage linear regulator, which facilitates the output of a cathode drive voltage U that is less than the second preset value. drive阴 The gain G of the laser detector 21 can be quickly adjusted by regulating the output voltage of the low-voltage linear regulator; simultaneously, the cathode drive voltage U output by the low-voltage linear regulator... drive阴 The smaller voltage level results in a shorter rise time, which facilitates the reduction of the transition time from the non-reverse breakdown state to the reverse breakdown state of the laser detector 21. This improves the response speed of the laser detector 21 to the laser signal, allowing for faster output of the current signal and thus increasing the frame rate of the output current signal from the laser detection module 20. Simultaneously, the gain of the laser detector 21 can be quickly adjusted. It is understood that the anode drive voltage output module 11 may also include a linear regulator, and output a stable anode drive voltage U through the linear regulator. drive阳 In some embodiments, either the cathode drive voltage output module 12 or the anode drive voltage output module 11 may include a linear regulator, or both may include linear regulators, depending on the actual situation.

[0053] like Figure 5 As shown, in one optional embodiment, the linear regulator may include a voltage conversion chip 401 and a feedback circuit 402. The voltage conversion chip 401 may include a feedback terminal 4011, a voltage input terminal 4012, and a voltage output terminal 4013. The voltage input terminal 4012 is used to receive an input voltage (DC voltage) provided by an external power supply, and the voltage output terminal 4013 is used to output a cathode drive voltage U. drive阴 The voltage conversion chip 401 can convert the input voltage value input to the voltage input terminal 4012 into a cathode drive voltage U. drive阴 Therefore, the voltage output terminal 4013 will convert the cathode driving voltage U, which has been converted by the voltage conversion chip 401, into voltage U. drive阴 It is delivered to the cathode of laser detector 21.

[0054] Feedback circuit 402 is used to receive the feedback signal output by signal processing module 30 and feed it back to voltage conversion chip 401, so that voltage conversion chip 401 can convert the input voltage into the cathode driving voltage U required by the cathode of laser detector 21 according to the feedback signal output by feedback circuit 402. drive阴Specifically, the feedback circuit 402 can include a first voltage dividing resistor R1 and a second voltage dividing resistor R2, and the first voltage dividing resistor R1 and the second voltage dividing resistor R2 are connected in series, a first end of the first voltage dividing resistor R1 is connected to the feedback voltage output by the signal processing module 30, a second end of the first voltage dividing resistor R1 and a first end of the second voltage dividing resistor R2 are connected, and a second end of the second voltage dividing resistor R2 is electrically connected to the feedback end 4011 of the conversion chip 401. The feedback voltage output by the signal processing module 30 can be divided by the first voltage dividing resistor R1 and the second voltage dividing resistor R2 and then transmitted to the feedback end 4011 of the voltage conversion chip 401. It should be noted that the resistance values of the first voltage dividing resistor R1 and the second voltage dividing resistor R2 are not specifically limited and can be set according to actual conditions.

[0055] Further, in an optional embodiment, the laser detection module 20 includes at least one two-dimensional detector array, which includes M rows and N columns of laser detectors 21, i.e., M*N laser detectors 21, the M*N laser detectors 21 are arranged in a two-dimensional array, M and N are both positive integers, and M≥2 and N≥2; the M rows of laser detectors 21 of the M*N two-dimensional detector array include K detection units arranged in order along the row direction, which are respectively a first detection unit 211, a second detection unit 212, and a Kth detection unit 21K, each of the first detection unit 211 to the Kth detection unit 21K includes m K rows and N columns of laser detectors 21, i.e., m K *N laser detectors 21, where m K *K=M, K and m K are both positive integers, and 2≤K≤M and 1≤m K <M; the m K rows and N columns of laser detectors 21 included in the kth detection unit 21K correspond to the [1+(k-1)*m K ]th to k*m K row and Nth laser detector 21 of the laser detection module 20, i.e., the [1+(k-1)*m K ]th to k*m K row and Nth laser detector 21 of the laser detection module 20, where k is a positive integer, and k=1, 2, …, K; for example, the m K rows and N columns of laser detectors 21 included in the first detection unit 211 correspond to the first to m K row and Nth laser detector of the laser detection module 20, the m K rows and N columns of laser detectors 21 included in the second detection unit 212 correspond to the m K +1th to 2*m KRow, Nth column laser detector; the anodes of the laser detectors in the kth detection unit 21k are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 corresponds to the [1 + (K-1) *m K ]th row to the K*m K Row, Nth column laser detector; the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ 1n, …, 21 _ m K n, where n is a positive integer, and n = 1, 2, …, N; for example, the nth column laser detector 21 of the first detection unit 211 includes m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m _ Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m K Row, Nth column laser detector 21 are electrically connected and led out to a common anode end, i.e. the m Kone-to-one correspondence, forming m K group laser detector group, each group laser detector group including the nth column laser detector 211 of the first detection unit 211 _ 1n to 211 _ m K one of the laser detectors 21 in n, the nth column laser detector 212 of the second detection unit 212 _ 1n to 212 _ m K one of the laser detectors 21 in n… and the nth column laser detector 21K of the Kth detection unit 21K _ 1n to 21K _ m K one of the laser detectors 21 in n; the nth column laser detector 211 in the first detection unit 211 _ 1n to 211 _ m K m K laser detectors included by n, the nth column laser detector 212 of the second detection unit 212 _ 1n to 212 _ m K m K laser detectors included by n… and the nth column laser detector 21K of the Kth detection unit _ 1n to 21K _ m K m K laser detector groups formed by n, the cathodes of the K laser detectors 21 in the same group are electrically connected and led out as a common cathode terminal, further, the nth column laser detector 211 in the first detection unit 211 _ 1n to 211 _ m K m K laser detectors included by n, the nth column laser detector 212 of the second detection unit 212 _ 1n to 212 _ m K m K laser detectors included by n… and the nth column laser detector 21K of the Kth detection unit _ 1n to 21K _ m K m K laser detector groups formed by n are led out as m Ka common cathode terminal; further, the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K each include N columns of laser detectors 21, and the N columns of laser detectors 21 included in the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K have N*m K common cathode terminals.

[0056] Specifically, the nth column, qth laser detector 211 _ qnof the first detection unit 211, the nth column, qth laser detector 212 _ qnof the second detection unit 212, and the nth column, qth laser detector 212 _ qnof the Kth detection unit 21K correspond to K laser detectors forming a laser detector group, q is a positive integer, and 1≤q≤m K For example, the nth column, first laser detector 211 _ 1nof the first detection unit 211, the nth column, first laser detector 212 _ 1nof the second detection unit 212, and the nth column, first laser detector 212 _ 1nof the Kth detection unit 21K correspond to K laser detectors forming a first laser detector group; the nth column, m K th laser detector 211 _ m K nof the first detection unit 211, the nth column, m K th laser detector 212 _ m K nof the second detection unit 212, and the nth column, m K th laser detector 21K _ m K nof the Kth detection unit 21K correspond to K laser detectors forming an m K th laser detector group; when n=1, the first column laser detector 211 _ 11to 211 _ m K 1of the first detection unit 211, the first column laser detector 212 _ 11to 212 _ m K 1of the second detection unit 212, and the first column laser detector 21K _ 11to 21K _ m K 1of the Kth detection unit 21K correspond to m K groups of laser detectors, which have m Ka common cathode end; when n = 2, the second column of laser detectors 211 of the first detection unit 211 _ 12 to 211 _ m K 2, the second column of laser detectors 212 of the second detection unit 212 _ 12 to 212 _ m K 2, and the first column of laser detectors 21K of the Kth detection unit 21K _ 12 to 21K _ m K 2 K groups of laser detectors are formed, and m K common cathode ends are led out, when n = N, the Nth column of laser detectors 211 of the first detection unit 211 _ 1N, …, 211 _ m K N, the Nth column of laser detectors 212 of the second detection unit 212 _ 1N, …, 212 _ m K N, and the Nth column of laser detectors 21K of the Kth detection unit 21K _ 1N, …, 21K _ m K N K groups of laser detectors are formed, and m K common cathode ends are led out, and then it can be obtained that the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K together form N* m K groups of laser detectors, and N* m K groups of laser detectors lead out N* m K common cathode ends.

[0057] Further, the first switch module 13 includes K first switches 131, and one end of each of the K common anode ends led out by the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K is connected to one end of the K first switches 131 in one-to-one correspondence, and the other end of the K first switches 131 is connected to the output end of the anode driving voltage output module 11; that is, one common anode end led out by the kth detection unit 22k is connected to one end of the kth first switch 131, and the other end of the kth first switch 131 is connected to the output end of the anode driving voltage output module 11, k is a positive integer, and k = 1, 2, …, K (as above); by externally connecting an anode addressing signal, the K detection units connected to the K first switches K1 are driven in an anode addressing mode, and the K first switches K1 are controlled to be turned on in turn, thereby controlling the K detection units to be connected to the anode driving voltage in turn, such as controlling the kth first switch 131 to be turned on to control the mK The anodes of the laser detectors 21 in the row and the column are connected to the anode driving voltage; for example, when the anode connected to the kth first switch 131 is selected by the high-level anode selection driving signal, the kth first switch 131 is turned on under the driving of the high-level anode selection driving signal, one common anode end of the kth detection unit 21k is connected to the output end of the anode driving voltage output module 11, and then the m K laser detectors 21 in the row and the column (i.e., m K *N laser detectors 21) receive the anode driving voltage output by the anode driving voltage output module 11 through the kth first switch 131 that is turned on; when the anode connected to the kth first switch 131 is selected by the low-level anode selection driving signal, the kth first switch 131 is turned off under the driving of the low-level anode selection driving signal, one common anode end of the kth detection unit 21k is disconnected from the output end of the anode driving voltage output module 11, and then the m K laser detectors 21 in the row and the column (i.e., m K *N laser detectors 21) stop receiving the anode driving voltage.

[0058] Further, the second switch module 23 includes N*m K second switches 14, one end of each of the N*m K second switches 14 is connected to one of the N*m K common cathode ends of the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K, and the other end is connected to the output end of the cathode driving voltage output module 12; for example, when at least one second switch 14 connected to at least one of the m _ 1n, …, 211 _ m K n common cathode ends of the nth column laser detector 211 _ 1n, …, 212 _ m K n of the second detection unit 212, and the nth column laser detector 21N _ 1n, …, 21N _ m K n of the Kth detection unit 21K is turned on, the corresponding at least one common cathode end is connected to the output end of the cathode driving voltage output module 12; for example, when at least one second switch 14 connected to at least one of the m K common cathode ends of the nth column laser detector 211 _ 1n, …, 211 _ m Kthe cathode of the at least one laser detector 21 electrically connected to the at least one common cathode terminal in the n-th row, the n-th column of the laser detectors 212 of the second detection unit 212 _ 1n, …, 212 _ m K the cathode of the at least one laser detector 21 electrically connected to the at least one common cathode terminal in the n-th row, the n-th column of the laser detectors 21N of the K-th detection unit 21K _ 1n, …, 21N _ m K the cathode of the at least one laser detector 21 electrically connected to the at least one common cathode terminal in the n-th row, the n-th column of the laser detectors 212 of the second detection unit 212

[0059] In an alternative embodiment, when the n-th column of the laser detectors 211 of the first detection unit 211 _ 1n, …, 211 _ m K the n-th column of the laser detectors 212 of the second detection unit 212 _ 1n, …, 212 _ m K the n-th column of the laser detectors 21N of the K-th detection unit 21K _ 1n, …, 21N _ m K when the q-th second switch 14 connected to the q-th common cathode terminal in the m common cathode terminals of the n-th row of the laser detectors 211 of the first detection unit 211 K is turned on, the cathode of the q-th row, n-th column of the laser detectors 211 of the first detection unit 211 _ the cathode of the q-th row, n-th column of the laser detectors 212 of the second detection unit 212 _ the cathode of the q-th row, n-th column of the laser detectors 21K of the K-th detection unit 21K _ is electrically connected to the output terminal of the cathode driving voltage output module 12 through the turned-on q-th second switch 14 and receives the cathode driving voltage, q is a positive integer and q = 1, …, m K ; at this time, if the k-th first switch 131 corresponding to the k-th detection unit 21k is turned on, the anode of the q-th row, n-th column of the laser detectors 21k of the k-th detection unit 21k _ receives the anode driving voltage output by the anode driving voltage output module 11, the cathode of the q-th row, n-th column of the laser detectors 21k of the k-th detection unit 21k _ receives the cathode driving voltage output by the cathode driving voltage output module 12, and the q-th row, n-th column of the laser detectors 21k of the k-th detection unit 21k _The qn-th laser detector in the k-th detection unit 21k is in a reverse breakdown state (Geiger mode) under the joint action of the voltage difference between the negative voltage output by the anode driving voltage output module 11 and the positive voltage output by the cathode driving voltage output module 12 (the value of the voltage difference is greater than the reverse breakdown voltage of the laser detector 21), and the qn-th row and the n-th column laser detector in the k-th detection unit 21k is in a reverse breakdown state _ After receiving the reflected laser signal of the target object, the qn-th laser detector outputs a current signal to the signal processing module 30, and the signal processing module 30 analyzes and processes the current signal.

[0060] In another optional embodiment, when the n-th laser detector 211n of the first detection unit 211 is in a reverse breakdown state (Geiger mode) under the joint action of the voltage difference between the negative voltage output by the anode driving voltage output module 11 and the positive voltage output by the cathode driving voltage output module 12 (the value of the voltage difference is greater than the reverse breakdown voltage of the laser detector 21), and the qn-th row and the n-th column laser detector in the k-th detection unit 21k is in a reverse breakdown state _ 1n, …, 211 _ m K n, the n-th laser detector 212n of the second detection unit 212 _ 1n, …, 212 _ m K n, …, and the n-th laser detector 21n of the k-th detection unit 21k _ 1n, …, 21N _ m K n K When the m K second switches 14 connected to the m _ cathodes of the n-th laser detector 211n of the first detection unit 211, the n-th laser detector 212n of the second detection unit 212, …, and the n-th laser detector 21n of the k-th detection unit 21k are all turned on, the cathodes of the n-th laser detector 211n of the first detection unit 211, the n-th laser detector 212n of the second detection unit 212, …, and the n-th laser detector 21n of the k-th detection unit 21k are electrically connected to the output end of the cathode driving voltage output module 12 through the m _ turned-on second switches 14, and receive the cathode driving voltage, that is, the cathodes of the corresponding M laser detectors 21 in the n-th column of the laser detection module 20 all receive the cathode driving voltage; at this time, if the k-th first switch 131 corresponding to the k-th detection unit 21k is turned on, the anodes of the n-th laser detector 21n in the k-th detection unit 21k K receive the anode driving voltage output by the anode driving voltage output module 11, and the n-th laser detector 21n in the k-th detection unit 21k _ _ m K n _ _ m K n K _ _ m K n _ _ m​​​​​K The cathode of the nth laser detection module receives the anode driving voltage output by the anode driving voltage output module 12, and the nth column laser detector 21k in the kth detection unit 21k _ 1n to 21k _ m K n, i.e. the [1+(k-1) *m K ]th to k*m K row, nth column laser detector 21 receives the anode driving voltage (negative voltage) output by the anode driving voltage output module 11, the cathode driving voltage (positive voltage) output by the cathode driving voltage output module 12, and under the joint action of the voltage difference (the value of the voltage difference is greater than the reverse breakdown voltage of the laser detector 21) formed by the anode driving voltage and the cathode driving voltage, the [1+(k-1) *m K ]th to k*m K row, nth column laser detector 21 of the laser detection module 20 in the Geiger mode, after the [1+(k-1) *m K ]th to k*m K row, nth column laser detector 21 receives the reflected laser signal of the target object, outputs a current signal to the signal processing module 30, and the signal processing module 30 analyzes and processes the current signal.

[0061] In another optional embodiment, when the N* m K second switches 14 corresponding to the common cathode terminals of the N* m K first detection unit 211, the second detection unit 212 to the Kth detection unit 21K are all turned on, the cathodes of the M*N laser detectors 21 included in the first detection unit 211, the second detection unit 212 to the Kth detection unit 21K are all electrically connected to the output end of the cathode driving voltage output module 12 through the N* m K second switches 14 that are turned on, and receive the cathode driving voltage, i.e. the cathodes of all laser detectors 21 of the laser detection module 20 receive the cathode driving voltage; at this time, if the kth first switch 131 corresponding to the kth detection unit 21k is turned on, all laser detectors 21 in the kth detection unit 21k (i.e. the [1+(k-1) *m K ]th to k*m K row, nth column laser detector 21 of the laser detection module 20) receive the cathode driving voltage. KThe anode of the kth detection unit 21k (i.e., the (1 + (k-1) *m K )th row, Nth column laser detector 21 of the laser detection module 20) receives the anode driving voltage (negative voltage) output by the anode driving voltage output module 11, the cathode receives the anode driving voltage (positive voltage) output by the cathode driving voltage output module 12, and under the joint action of the voltage difference formed by the anode driving voltage and the cathode driving voltage (the value of the voltage difference is greater than the reverse breakdown voltage of the laser detector 21), the kth detection unit 21k (i.e., the (1 + (k-1) *m K )th row, Nth column laser detector 21 of the laser detection module 20) is in the Geiger mode, and the signal processing module 30 analyzes and processes the current signal output by the kth detection unit 21k (i.e., the (1 + (k-1) *m

[0062] Further, the first current limiting module 15 includes K first current limiting resistors 151, and the K first current limiting resistors 151 are respectively connected in series between the output end of the anode driving voltage output module 11 and the K common anode ends of the two-dimensional laser detector array.

[0063] Further, the second current limiting module 16 includes N*m K second current limiting resistors 161, and the N*m K second current limiting resistors 161 are respectively connected in series between the output end of the cathode driving voltage output module 12 and the N*m K common cathode ends of the two-dimensional laser detector array.

[0064] Secondly, the embodiment of the present application also provides a laser receiving circuit, which includes the above-mentioned receiving driving circuit 10, the laser detection module 20, and the signal processing module 30.

[0065] Further, the laser detection module 20 includes at least one two-dimensional detector array, and the two-dimensional detector array includes M rows and N columns of laser detectors 21, i.e., M*N laser detectors 21, which are arranged in a two-dimensional array, M and N are both positive integers, and M≥2 and N≥2; the M rows of laser detectors 21 of the M*N two-dimensional detector array include K detection units arranged in sequence along the row direction, which are respectively denoted as a first detection unit 211, a second detection unit 212, and a Kth detection unit 21K, and each of the first detection unit 211 to the Kth detection unit 21K includes m K rows and N columns of laser detectors 21 (i.e., m K *N laser detectors 21), wherein m K *K=M, K and m K are both positive integers, and 2≤K≤M and 1≤m K <M.

[0066] As Figure 6 shown in an optional embodiment, m K =1, K=M; the M rows of laser detectors 21 of the two-dimensional detector array include M detection units arranged in sequence along the row direction, respectively denoted as a first detection unit 211, a second detection unit 212, and an Mth detection unit 21M, the first detection unit 211, the second detection unit 212, and the Mth detection unit 21M each include a row of N columns of laser detectors 21; the anodes of the laser detectors 21 located in the same row are electrically connected and lead out a common anode terminal, the first detection unit 211, the second detection unit 212, and the Mth detection unit 21M lead out M common anode terminals in total; the cathodes of the laser detectors 21 located in the same column are electrically connected and lead out a common cathode terminal; the first detection unit 211, the second detection unit 212, and the Mth detection unit 21M each include N columns of detectors and lead out N common cathode terminals in total.

[0067] Correspondingly, the first switch module 13 includes M first switches 131, one end of each of the M first switches 131 is connected to the M common anode terminals led out by the M rows of laser detectors 21 in the two-dimensional detector array in one-to-one correspondence, and the other end is connected to the output terminal of the anode driving voltage output module 11; the M rows of laser detectors 21 connected to the M first switches 131 can be anode-addressing driven in a scanning manner by externally connecting an anode addressing signal, and the anode of a row of laser detectors 21 connected to a certain one of the M first switches 131 can be controlled to be connected to the anode driving voltage by controlling the certain one of the M first switches 131 to be conductive; the second switch module 23 includes N second switches 14, one end of each of the N second switches 14 is connected to the N common cathode terminals led out by the N columns of laser detectors 21 in the two-dimensional detector array in one-to-one correspondence, and the other end is connected to the output terminal of the cathode driving voltage output module 12; the N second switches 14 connected to the cathodes of the N columns of laser detectors 21 can be cathode-addressing driven in a scanning manner by externally connecting a cathode addressing signal, and the cathode of a column of laser detectors 21 connected to a certain one of the N second switches 14 can be controlled to be connected to the anode driving voltage by controlling the certain one of the N second switches 14 to be conductive.

[0068] In an optional scheme, when the mth second switch 220 of the M first switches 131 is conductive, the nth second switch 14 of the N second switches 14 is conductive, the anode of the laser detector 21 located in the mth row and the nth column of the M*N two-dimensional detector array receives the anode driving voltage, the cathode receives the cathode driving voltage, and under the joint action of the voltage difference formed by the anode driving voltage and the cathode driving voltage, the laser detector 21 is in the Geiger mode, and the laser detector 21 in the Geiger mode mn mn ​After receiving the laser signal reflected by the target object, a current signal is output to the signal processing module 30, which analyzes and processes the current signal. Here, m is a positive integer, and m = 1, 2…M; n is a positive integer, and n = 1, 2…N. By controlling the conduction of a single first switch 131 and a single second switch K2, individual control of a specific laser detector 21 in the m-th row and n-th column can be achieved, thereby realizing two-dimensional addressing of the laser detector 21 array. Any laser detector 21 can be independently reverse-broken down by the first switch module 13 and the second switch module 23, allowing each laser detector 21 to be independently controlled, thus improving the flexibility of controlling the laser detector 21 array. Furthermore, each laser detector 21 can independently control its own output current signal, which not only improves the accuracy of the current signal output but also increases the resolution of the laser detector 21 array.

[0069] In another alternative scheme, when the m-th second switch 220 of the M first switches 131 is turned on, the N second switches 14 are turned on sequentially. The anodes of all N laser detectors 21 in the m-th row of the M*N two-dimensional detector array receive the anode driving voltage, and the cathodes receive the cathode driving voltage sequentially. Under the combined effect of the voltage difference formed by the anode driving voltage and the cathode driving voltage, they are in Geiger mode. After the m-th row of laser detectors 21 in Geiger mode receives the laser signal reflected by the target object, it outputs a current signal to the signal processing module 30, which analyzes and processes the current signal. Here, m is a positive integer, and m=1, 2...M (as above). By controlling the turn on of a single first switch 131 and then controlling all the second switches K2 to turn on sequentially, the entire row of the M*N two-dimensional detector array can be controlled, thereby realizing the output of the entire row current signal of the M*N two-dimensional detector array, which can meet the readout requirements of the entire row current signal of the laser receiving circuit.

[0070] like Figure 7 As shown, in another alternative implementation, m K=2, K =M / 2, M is an even positive integer, and M≥4, 2≤K<M; the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K each include two rows and N columns of laser detectors 21; the two rows and N columns of laser detectors 21 included in the kth detection unit 21k correspond to the (2k-1)th to 2kth rows and Nth column of laser detectors 21 of the laser detection module 20; the anodes of the two rows and N columns of laser detectors 21 located in the same detection unit are electrically connected and lead out a common anode end, that is, the anodes of the two rows and N columns of laser detectors 21 in the kth detection unit 21k are electrically connected and lead out a common anode end, wherein k is a positive integer, and k=1, 2, …, K; the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K lead out K common anode ends in total. _ 1n and 211 _ 2n, wherein n is a positive integer, and n=1, 2, …, N; the 2 laser detectors 211 _ 1n and 211 _ 2n, the 2 laser detectors 212 in the nth column in the second detection unit 212 _ 1n and 212 _ 2n, …, and the 2 laser detectors 21K in the nth column in the Kth detection unit _ 1n and 21K _ 2n, which correspond one by one to form two groups of laser detector groups; for example, the first row and nth column laser detector 211 _ 1n, the first row and nth column laser detector 212 of the second detection unit 212 _ 1n, …, and the first row and nth column laser detector 21K in the Kth detection unit _ 1n form a first group of laser detector groups, and the second row and nth column laser detector 211 _ 2n, the second row and nth column laser detector 212 of the second detection unit 212 _ 2n, …, and the second row and nth column laser detector 21K in the Kth detection unit _ 2n form a second group of laser detector groups; each group of laser detector groups includes K laser detectors, the cathodes of the K laser detectors are electrically connected and lead out a common cathode end, and the two groups of laser detector groups correspond to two common cathode ends; further, the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K each include N columns of detectors, and together form 2N groups of laser detector groups, leading out 2N common cathode ends.

[0071] Correspondingly, the first switch module 13 includes K first switches 131, one end of the K first switches 131 is connected with the K common anode terminals corresponding to the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K respectively, and the other end is connected with the output terminal of the anode driving voltage output module 11; that is, one end of the kth first switch 131 in the K first switches 131 is connected with the common anode terminal led out by the kth detection unit 22k, and the other end is connected with the output terminal of the anode driving voltage output module 11, k is a positive integer, and k = 1, 2, …, K (as above); through the external anode addressing signal, the K detection units connected by the K first switches 131 are driven in a scanning manner, and the anode of the 2K laser detectors 21 included in the detection unit connected by the first switch 131 controlled to be turned on is connected to the anode driving voltage; the second switch module 23 includes 2N second switches 14, one end of the 2N second switches 14 is connected with the 2N common cathode terminals led out by the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K respectively, and the other end is connected with the output terminal of the cathode driving voltage output module 12; through the external cathode addressing signal, the laser detectors 21 included in the 2N laser detector groups connected by the 2N second switches 14 are driven in a scanning manner, and the cathode of the K laser detectors 21 included in the laser detector group connected by the second switch 14 controlled to be turned on is connected to the cathode driving voltage.

[0072] In an optional embodiment, the kth first switch 131 (i.e. the first switch 131 connected by the kth detection unit 21k) is turned on, and the 2n-1th second switch 14 (i.e. the second switch 14 connected by the first row, n column laser detector 211 _ 1n of the first detection unit 211 _ 1n, the second row, n column laser detector 212 _ 1n of the second detection unit 212 _ 1n, …, and the second row, n column laser detector 21K _ 1n of the Kth detection unit _ 1n _The anode of the 1n receives the anode driving voltage output by the anode driving voltage output module 11 through the conductive kth first switch 131, and the cathode receives the cathode driving voltage output by the cathode driving voltage output module 12 through the conductive 2n-1th second switch 14, or the second row, nth column laser detector 21k of the kth detection unit 21k _ The anode of the 2n receives the anode driving voltage output by the anode driving voltage output module 11 through the conductive kth first switch 131, and the cathode receives the cathode driving voltage output by the cathode driving voltage output module 12 through the conductive 2n-1th second switch 14; the first row, nth column laser detector 21k of the kth detection unit 21k _ The 1n or the second row, nth column laser detector 21k of the kth detection unit 21k _ The 2n is in the Geiger mode under the joint action of the voltage difference formed by the anode driving voltage and the cathode driving voltage, and the first row, nth column laser detector 21k of the kth detection unit 21k in the Geiger mode _ The 1n or the second row, nth column laser detector 21k of the kth detection unit 21k _ After receiving the reflected laser signal of the target object, the 2n outputs a current signal to the signal processing module 30, and the signal processing module 30 analyzes and processes the current signal; wherein k and n are positive integers, and k=1, 2…K, n=1, 2…N (as above); by controlling the conduction of a single first switch 131 and a single second switch K2, the individual control of a specific laser detector 21 of a specific detection unit is realized, and then the two-dimensional addressing operation of the laser detector 21 array is realized, and any laser detector 21 can be controlled to be independently reversed by the first switch module 13 and the second switch module 23, and then each laser detector 21 can be independently controlled, thereby improving the flexibility of the laser detector 21 array control, and each laser detector 21 can independently control the output of its own current signal, which not only improves the accuracy of the current signal output, but also improves the resolution of the laser detector 21 array.

[0073] In another optional embodiment, the kth first switch 131 (i.e. the first switch 131 connected to the kth detection unit) is conductive, and the odd-numbered second switches 14 in the 2N second switches 14, i.e. the first second switch 14, the third second switch 14 to the 2N-1th second switch 14 (i.e. the first row of the first detection unit 211 corresponds to the N column laser detector 211 _ 11, 211 _ 12…211 _ 1N, the first row of the second detection unit 212 corresponds to the N column laser detector 212 _ 11, 212 _ 12…212_ 1N, … and the N columns of laser detectors 21K corresponding to the first row of the Kth detection unit _ 11, 21K _ 12…21K _ 1N, the N second switches 14 connected to the N columns of laser detectors 21N are turned on, or the even-numbered second switches 14, i.e., the second, fourth, to the 2Nth second switches 14, among the 2N second switches 14, i.e., the N columns of laser detectors 21N corresponding to the second row of the first detection unit 211 _ 21, 211 _ 22…211 _ 2N, the N columns of laser detectors 212 corresponding to the second row of the second detection unit 212 _ 21, 212 _ 22…212 _ 2N, … and the N columns of laser detectors 21K corresponding to the second row of the Kth detection unit _ 21, 21K _ 22…21K _2N second switches 14 connected to the Nth switch 14 are turned on, the anodes of the N laser detectors 21 corresponding to the first row of the kth detection unit (i.e. the (2k-1)th row of laser detectors 21 of the laser detection module 20) receive the anode driving voltage output by the anode driving voltage output module 11 through the kth first switch 131 turned on, and the cathodes receive the cathode driving voltage output by the cathode driving voltage output module 12 through the N odd-numbered second switches 14 turned on, or the anodes of the N laser detectors 21 corresponding to the second row of the kth detection unit (i.e. the 2kth row of laser detectors 21 of the laser detection module 20) receive the anode driving voltage output by the anode driving voltage output module 11 through the kth first switch 131 turned on, and the cathodes receive the cathode driving voltage output by the cathode driving voltage output module 12 through the N even-numbered second switches 14 turned on; wherein the (2k-1)th row of laser detectors 21 in the M*N two-dimensional detector array or the (2k-1)th row of laser detectors 21 of the laser detection module 20 is in the Geiger mode under the joint action of the voltage difference between the anode driving voltage and the cathode driving voltage, and the (2k-1)th row of laser detectors 21 or the 2kth row of laser detectors 21 in the Geiger mode outputs a current signal to the signal processing module 30 after receiving the reflected laser signal of the target object, and the signal processing module 30 analyzes and processes the current signal; wherein k is a positive integer, and k = 1, 2…K; n is a positive integer, and n = 1, 2…N; by controlling the single first switch 131 and the second switches 14 connected to the entire row of laser detectors 21 to be turned on, the entire row of the M*N two-dimensional detector array is controlled, and the entire row of current signals of the M*N two-dimensional detector array is output, which can meet the readout requirement of the entire row of current signals of the laser receiving circuit and improve the readout speed of the current signal.

[0074] In another alternative embodiment, when the kth first switch 131 (i.e. the first switch 131 connected to the kth detection unit) is turned on and the 2N second switches 14 are sequentially turned on, the anodes of the N columns of laser detectors 21 corresponding to the first row of the kth detection unit (i.e. the (2k-1)th row of laser detectors 21 of the laser detection module 20) and the N columns of laser detectors 21 corresponding to the second row of the kth detection unit (i.e. the 2kth row of laser detectors 21 of the laser detection module 20) receive the anode driving voltage output by the anode driving voltage output module 11 through the kth first switch 131 turned on, and the cathodes receive the cathode driving voltage output by the cathode driving voltage output module 12 through the 2N second switches 14 sequentially turned on; the (2k-1)th row of laser detectors 21 in the M*N two-dimensional detector array and the (2k-1)th row of laser detectors 21 of the laser detection module 20 are in the Geiger mode under the joint action of the voltage difference between the anode driving voltage and the cathode driving voltage, and the (2k-1)th row of laser detectors 21 and the 2kth row of laser detectors 21 in the Geiger mode output current signals to the signal processing module 30 after receiving the reflected laser signals of the target object, and the signal processing module 30 analyzes and processes the current signals; wherein k is a positive integer, and k = 1, 2, …, K; n is a positive integer, and n = 1, 2, …, N; by connecting the anodes of every two adjacent rows of lasers in the two-dimensional detector array to a first switch 131, two rows of current signals of the two-dimensional detector array are output, and the readout speed of the current signals is further improved.

[0075] In another alternative embodiment, m K >2, K=M / m K , M>4, i.e. the first detection unit 211, the second detection unit 212, …, and the Kth detection unit 21K each include at least three rows of laser detectors 21; the m K rows and N columns of laser detectors 21 included in the kth detection unit 21k correspond to the (m K *k-1)th to m K *k rows and N columns of laser detectors 21 of the laser detection module 20; the anodes of the m K rows and N columns of laser detectors 21 in the same detection unit are electrically connected and lead out a common anode terminal, i.e. the anodes of the m K rows and N columns of laser detectors 21 in the kth detection unit 21k are electrically connected and lead out a common anode terminal, wherein k is a positive integer, and k = 1, 2, …, K; the first detection unit 211, the second detection unit 212, …, and the Kth detection unit 21K lead out K common anode terminals in total; the nth column of laser detectors 21 of the kth detection unit 21k includes m K laser detectors arranged along the column direction, denoted as 21k _ 1n, 21k _2n…21k _ m K n, wherein m K and n are positive integers, and m K >2, n=1, 2…N; the nth column of the first detection unit 211 includes m K laser detectors 211 _ 1n, 211 _ 2n…211 _ m K n, the nth column of the second detection unit 212 includes m K laser detectors 212 _ 1n, 212 _ 2n…212 _ m K n, …and the nth column of the Kth detection unit includes m K laser detectors 21K _ 1n, 21K _ 2n…21K _ m K n all correspond to each other, forming m K groups of laser detector groups; wherein the cathodes of the laser detectors 21 in the same group of laser detector groups are electrically connected and lead to a common cathode terminal; each column of laser detectors 21 includes m K groups of laser detector groups, leading to m K common cathode terminals; further, the two-dimensional detector array includes N columns of detectors, forming m K *N groups of laser detector groups, leading to m K *N common cathode terminals.

[0076] As shown in Figure 6 and 7 , the laser detection module 20 includes m K *N current signal output terminals, m K *N current signal output terminals are respectively for the m K *N common cathode terminals led by the two-dimensional detector array; the signal processing module 30 is connected with the m K *N common cathode terminals led by the two-dimensional detector array, for analyzing and processing the current signals output by the laser detection module 20.

[0077] As shown in Figure 8 , in an optional embodiment, the signal processing module 30 includes m K *N analog signal processing circuits 31 and one digital signal processing circuit 32; the input terminals of the m K *N analog signal processing circuits 31 are respectively connected with the m K*N common cathode terminals are connected one-to-one, and the output terminals are all connected to the digital signal processing circuit 32; for example... Figure 9 As shown, in another optional embodiment, the signal processing module 30 includes a signal gating unit 33, an analog signal processing circuit 31, and a digital signal processing circuit 32 connected in sequence; the input terminal of the signal gating unit 33 is connected to the m signal output from the two-dimensional detector array. K *N common cathode terminals are connected together, and the output terminal is connected to the input terminal of analog signal processing circuit 31. The output terminal of analog signal processing circuit 31 is connected to the input terminal of digital signal processing circuit 32.

[0078] In another alternative embodiment, the laser detection module 20 includes a laser detector 21; the laser detection module 20 includes a current signal output terminal, which is the cathode of the laser detector 21; the signal processing module 30 includes an analog signal processing circuit 31 and a digital signal processing circuit 32 connected in sequence.

[0079] Among them, the signal gating unit 33 is used for time-division selection of m K *N common cathode terminals output a single current signal and output it to the analog signal processing circuit 31; the analog signal processing circuit 31 is used to amplify the current signal output by the laser detection module 20 and convert the current signal into an analog voltage signal. It is also used to compare the analog voltage signal with a preset threshold comparison voltage and output a digital signal, and output the digital signal to the digital signal processing circuit 32 for analysis and processing; the digital signal processing circuit 32 is used to analyze and process the digital signal to obtain information such as the distance, speed, orientation, attitude and even shape of the target object, which can then be applied to navigation avoidance, obstacle recognition, distance measurement, speed measurement and autonomous driving scenarios of products such as automobiles, robots, logistics vehicles and inspection vehicles.

[0080] Further, please see Figure 8 and Figure 9The analog signal processing circuit 31 comprises a trans-impedance amplifier (TIA) 311, a comparator 312 and a time-to-digital converter (TDC) 313. The trans-impedance amplifier 311 is configured to receive a current signal output by the cathode of the laser detector 21, amplify the current signal and convert the current signal into an analog voltage signal. The comparator 312 is connected to an output end of the trans-impedance amplifier 311 and configured to receive the analog voltage signal, compare the analog voltage signal with a preset threshold comparison voltage, and output a low level to the time-to-digital converter 313 when the analog voltage signal does not exceed the threshold comparison voltage, and output a high level to the time-to-digital converter 313 when the analog voltage signal exceeds the threshold comparison voltage, which can be used to represent that the laser detector 21 receives the reflected laser signal. The time-to-digital converter 313 is connected to an output end of the comparator 312 and configured to receive the high level or low level signal output by the comparator 312, further generate a digital signal representing a time-of-flight time interval using the high level output by the comparator, and output the digital signal to the digital signal processing unit 32. The digital signal processing unit 32 is configured to calculate a time interval between the laser signal emitted by the laser emitter and the reflected laser signal received by the laser detector 21 according to the digital signal representing the time-of-flight time interval, and accurately obtain relevant information of the target object, such as distance, direction, height, speed, attitude and shape of the target object, so as to realize detection, tracking and identification of the target such as an airplane or a missile.

[0081] In a third aspect, the application further provides a laser radar, which comprises the laser receiving circuit and further comprises a laser emitting circuit. The laser emitting circuit comprises:

[0082] The laser emitting circuit further comprises a laser emitting module comprising one or more laser emitters.

[0083] The laser emitting circuit further comprises a transmitting driving circuit connected to the laser emitters in the laser emitting module and configured to drive the laser emitters to emit laser signals.

[0084] The laser detector 21 in the laser detecting module 20 is configured to receive the laser signal emitted by the laser emitters and reflected by the target object.

[0085] In an alternative embodiment, the laser detection module 20 includes at least one two-dimensional detector array, and the two-dimensional detector array includes M rows and N columns of laser detectors 21, that is, M*N laser detectors 21. The M*N laser detectors 21 are arranged in a two-dimensional array, and both M and N are positive integers, and M≥2, N≥2; the M rows of laser detectors 21 in the M*N two-dimensional detector array include K detection units arranged in sequence along the row direction, which are respectively denoted as the first detection unit 211, the second detection unit 212... and the Kth detection unit 21K. The first detection unit 211 to the Kth detection unit 21K all include m K rows and N columns of laser detectors 21 (that is, m K *N laser detectors 21), where m K *K = M, and both K and m K are positive integers, and 2≤K≤M, 1≤m K <M; the anodes of the m K rows and N columns of laser detectors 21 in the same detection unit are electrically connected and lead out a common anode terminal. The first detection unit 211, the second detection unit 212... and the Kth detection unit 21K altogether lead out K common anode terminals; the nth column of laser detectors 21 in the kth detection unit 21k includes m K laser detectors arranged along the column direction, which are respectively denoted as 21k _ 1n,..., 211 _ m K n, where n is a positive integer, and n = 1, 2... N; the m _ laser detectors from 211 _ 1n to 211 K m K n included in the first detection unit 211, the m _ laser detectors from 212 _ 1n to 212 K m K n included in the second detection unit 212... and the m _ laser detectors from 21K _ 1n to 21K K m K n included in the Kth detection unit correspond one by one to form m K groups of laser detector groups. The cathodes of the K laser detectors 21 in the same laser detection group are electrically connected and lead out a common cathode terminal. Further, the m _ laser detectors from 211 _ 1n to 211 K m Kthe nth laser detector in the first detection unit 211 _ 1n to 212 _ m K m included by n K the nth laser detector in the Kth detection unit 21K _ 1n to 21K _ m K m formed by n K m common cathode terminals are led out by the laser detector group formed by n K N*m common cathode terminals are led out by the N columns of laser detectors included in the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K. K N*m common cathode terminals are led out by the N columns of laser detectors included in the first detection unit 211, the second detection unit 212, and the Kth detection unit 21K.

[0086] The laser emission module includes at least one two-dimensional emitter array, the two-dimensional emitter array includes laser emitters arranged in a two-dimensional array, wherein the anodes of the laser emitters in the same row in the two-dimensional emitter array are electrically connected and lead out an emission common anode terminal, and the cathodes of the laser emitters in the same column in the two-dimensional emitter array are electrically connected and lead out an emission common cathode terminal; the emission driving circuit includes a plurality of anode address driving circuits, the plurality of anode address driving circuits are respectively connected to the plurality of common anode terminals led out by the two-dimensional emitter array in one-to-one correspondence, and are used for anode address driving of a plurality of rows of laser emitters in the two-dimensional emitter array; the emission driving circuit further includes a plurality of cathode address driving circuits, the plurality of cathode address driving circuits are respectively connected to the plurality of common cathode terminals led out by the two-dimensional emitter array in one-to-one correspondence, and are used for cathode address driving of a plurality of columns of laser emitters in the two-dimensional emitter array.

[0087] The laser emitters in the two-dimensional emitter array emit laser signals under the address driving of the emission driving circuit; the laser detectors in the two-dimensional detector array are in a reverse breakdown state under the address driving of the receiving driving circuit, and the laser detectors in the reverse breakdown state output current signals to the signal processing module after receiving the laser signals reflected by the target object.

[0088] Embodiment 2

[0089] The difference between the embodiment of the application and embodiment 1 is that the laser detection module 20 includes at least one one-dimensional detector array, the one-dimensional detector array includes N laser detectors; wherein N is a positive integer, and N≥2; the anodes of the N laser detectors are electrically connected and lead out a common anode terminal;

[0090] In the embodiment, the receiving driving circuit further includes:

[0091] The second switch module includes N second switches, one end of each of the N second switches is connected to one of the cathodes of the N laser detectors in one-to-one correspondence, and the other end is connected to the output end of the cathode driving voltage output module.

[0092] In the embodiment, the first current limiting module includes a first current limiting resistor connected in series between the output end of the anode driving voltage output module and the common anode end of the one-dimensional detector array; and the second current limiting module includes N second current limiting resistors connected in series with the N second switches respectively.

[0093] In the embodiment, the signal processing module includes N analog signal processing circuits and a digital signal processing circuit; the input ends of the N analog signal processing circuits are connected to the N common cathode ends of the one-dimensional detector array in one-to-one correspondence, and the output ends are connected to the digital signal processing circuit; or, the signal processing module includes a signal gating unit, an analog signal processing circuit and a digital signal processing circuit connected in sequence; the input end of the signal gating unit is connected to the N common cathode ends of the one-dimensional detector array, the output end is connected to the input end of the analog signal processing circuit, and the signal gating unit is configured to select a current signal of one of the N common cathode ends in time and output the current signal to the analog signal processing circuit; and the output end of the analog signal processing circuit is connected to the input end of the digital signal processing circuit.

[0094] In the embodiment, the laser emission module includes at least one one-dimensional emitter array; the anodes of the laser emitters included in the one-dimensional emitter array are electrically connected and lead to a common anode end, and the cathodes are connected to one-to-one corresponding cathode address driving circuits respectively, and the one-dimensional emitter array is driven by the cathode address driving circuits; or, the cathodes of the laser emitters included in the one-dimensional emitter array are electrically connected and lead to a common cathode end, and the anodes are connected to one-to-one corresponding anode address driving circuits respectively, and the one-dimensional emitter array is driven by the anode address driving circuits.

[0095] The above are only preferred embodiments of the present application, and are not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A receiving drive circuit, characterized by The application is applied to a laser detection module, the laser detection module comprises one or more laser detectors; the receiving driving circuit comprises a driving voltage output module, the driving voltage output module comprises: an anode driving voltage output end, which is connected with an anode of a laser detector in the laser detection module, and is used for outputting an anode driving voltage, the anode driving voltage is a negative voltage, and an absolute value of the negative voltage is smaller than an absolute value of a reverse breakdown voltage of the laser detector; a difference between the absolute value of the reverse breakdown voltage and the absolute value of the negative voltage is within a first preset range, and the first preset range is (0V, 1V); a cathode driving voltage output end, which is connected with a cathode of the laser detector in the laser detection module, and is used for outputting a cathode driving voltage, the cathode driving voltage is a positive voltage, and the positive voltage is smaller than the absolute value of the reverse breakdown voltage; the positive voltage is within a second preset range, and the second preset range is (0V, 5V); the anode driving voltage and the cathode driving voltage jointly form a reverse bias voltage between the two ends of the laser detector, and an absolute value of the reverse bias voltage is greater than the absolute value of the reverse breakdown voltage of the laser detector, so that the laser detector converts a received laser signal into a current signal; the receiving driving circuit further comprises a first switch and a second switch; the first switch is connected in series between the anode driving voltage output end and the anode of the laser detector in the laser detection module; the second switch is connected in series between the cathode driving voltage output end and the cathode of the laser detector in the laser detection module; The receiving driving circuit controls the conduction of both the first switch and the second switch to control the anode of the laser detector, whose anode is connected to the first switch and cathode is connected to the second switch, to receive an anode driving voltage U drive阳 , and the cathode to receive a cathode driving voltage U drive阴 , in a reverse breakdown state; by controlling the first switch and / or the second switch to be off, the corresponding laser detector is no longer in a reverse breakdown state.

2. The receive drive circuit of claim 1, wherein: the cathode driving voltage output by the driving voltage output module is adjustable.

3. The receive driver circuit of any of claims 1-2, wherein, The laser detection module comprises at least one two-dimensional detector array, and the two-dimensional detector array comprises M rows and N columns of the laser detectors; wherein, M and N are both positive integers, M is greater than or equal to 2, and N is greater than or equal to 2; The two-dimensional detector array is divided into K detection units along the row direction, each of which includes m K The laser detectors along the column direction, each of which includes m K The laser detectors along the column direction, each of which includes m K *K=M, K, m K And n are positive integers, and 2≤K≤M, 1≤m K <M, n=1, 2…N; the anodes of the m K The laser detectors in the same detection unit are electrically connected and led out as a common anode terminal; the m K The laser detectors in the same detection unit are electrically connected and led out as a common anode terminal; the m K The laser detectors in the same detection unit are electrically connected and led out as a common anode terminal; the m K *N laser detector groups; the m K The laser detectors in the same laser detector group are electrically connected and led out as a common cathode terminal; the receiving driving circuit further comprises: a first switch module comprising K first switches, one end of each of the K first switches is connected with one of K common anode terminals of the two-dimensional detector array in one-to-one correspondence, and the other end of each of the K first switches is connected with the anode driving voltage output end; The second switch module comprises m K *N second switches, m K One end of the *N second switches is respectively connected with m K *N common cathode ends are connected in one-to-one correspondence, and the other ends are all connected with the cathode drive voltage output end.

4. The receive drive circuit of claim 3, wherein, the receiving driving circuit further comprises: a first current limiting module comprising K first current limiting resistors, and each of the K first current limiting resistors is connected in series with one of the K first switches; The second current limiting module comprises m K *N second current limiting resistors, m K *N second current limiting resistors, m K *N second current limiting resistors, m 5. The receive driver circuit of any of claims 1-2, wherein, The laser detection module comprises at least one one-dimensional detector array, and the one-dimensional detector array comprises N laser detectors; wherein, N is a positive integer, and N is greater than or equal to 2; the anodes of the N laser detectors in the one-dimensional detector array are electrically connected and lead out a common anode terminal; and the cathode of each laser detector leads out a common cathode terminal; the receiving driving circuit further comprises: a second switch module comprising N second switches, one end of each of the N second switches is connected with the cathode of one of the N laser detectors in one-to-one correspondence, and the other end of each of the N second switches is connected with the cathode driving voltage output end.

6. The receive drive circuit of claim 5, wherein, the receiving driving circuit further comprises: The first current limiting module comprises a first current limiting resistor connected in series between the anode driving voltage output end and the anode of the laser detector. The second current limiting module comprises N second current limiting resistors connected in series with the N second switches respectively.

7. A laser receiving circuit, characterized by comprising: The laser detection module comprises one or more current signal output ends.

8. The laser receiving circuit according to claim 7, characterized by When the laser detection module comprises at least one two-dimensional detector array, the two-dimensional detector array comprises M rows and N columns of the laser detectors; wherein M and N are both positive integers, M≥2, and N≥2; the two-dimensional detector array is divided into K detection units along a row direction, each of the detection units comprises m K rows of the laser detectors, and each of the detection units comprises m K laser detectors arranged along a column direction in the nth column, wherein m K *K=M, K, m K , and n are all positive integers, and 2≤K≤M, 1≤m K <M, and n=1, 2…N; m K =1, K=M; the anodes of the laser detectors in the same row are electrically connected and lead to a common anode terminal; the first switch module includes M first switches, one end of each of the M first switches is connected to one of the M common anode terminals led by the M rows of laser detectors in one-to-one correspondence, and the other end of each of the M first switches is connected to the anode driving voltage output terminal; the cathodes of the laser detectors in the same column are electrically connected and lead to a common cathode terminal; the second switch module includes N second switches, one end of each of the N second switches is connected to one of the N common cathode terminals led by the N columns of laser detectors in one-to-one correspondence, and the other end of each of the N second switches is connected to the cathode driving voltage output terminal; or, m K =2, K=M / 2, M is a positive even number, and M≥4; the anodes of the laser detectors located in the same detection unit are electrically connected and lead to a common anode terminal; the first switch module includes M / 2 first switches, one end of the M / 2 first switches is respectively connected with the M / 2 common anode terminals led by the M rows of laser detectors in one-to-one correspondence, and the other end is connected with the anode driving voltage output terminal; the cathodes of the laser detectors located in the first row and the nth column of the K detection units are electrically connected and lead to a common cathode terminal, and the cathodes of the laser detectors located in the second row and the nth column of the K detection units are electrically connected and lead to another common cathode terminal; the second switch module includes 2N second switches, one end of the 2N second switches is respectively connected with the 2N common cathode terminals led by the N columns of laser detectors in one-to-one correspondence, and the other end is connected with the cathode driving voltage output terminal; Or, m K >2, K=M / m K M>4; the anodes of the laser detectors located in the same detection unit are electrically connected and a common anode terminal is led out; the first switching module includes M / m K The first switch, M / m K One end of the first switch is respectively connected to the M / m output from the laser detector in row M. K Each of the common anode terminals is connected in a one-to-one correspondence, and the other end of each terminal is connected to the anode drive voltage output terminal; M / m located in the nth column K Each of the aforementioned detection units includes m K Each of the aforementioned laser detectors corresponds one-to-one, forming m K A group of laser detectors; m located in the same laser detector group K The cathode of the laser detector is electrically connected and a common cathode terminal is led out; the second switching module includes m K *N second switches, m K One end of each of the N second switches is connected to an M-shaped lead-out from the N columns of laser detectors. K *N common cathode terminals are connected one-to-one, and the other end of each terminal is connected to the cathode drive voltage output terminal.

9. The laser receiving circuit according to claim 7 or 8, characterized in that, The laser receiving circuit further comprises a signal processing module connected with the current signal output ends of the laser detection module for analyzing and processing the current signals output by the laser detection module. When the laser detection module comprises multiple current signal output ends, the signal processing module comprises multiple analog signal processing circuits and a digital signal processing circuit; the multiple analog signal processing circuits correspond to the multiple current signal output ends of the laser detection module one by one, the input ends of the multiple analog signal processing circuits are connected with the multiple current signal output ends one by one, and the output ends of the multiple analog signal processing circuits are connected with the digital signal processing circuit; or the signal processing module comprises a signal gating unit, an analog signal processing circuit and a digital signal processing circuit connected in sequence; the input end of the signal gating unit is connected with the multiple current signal output ends of the laser detection module, the signal gating unit is used for selecting one of the multiple current signal output ends and outputting the selected current signal to the analog signal processing circuit, the input end of the analog signal processing circuit is connected with the output end of the signal gating unit, and the output end of the analog signal processing circuit is connected with the digital signal processing circuit; when the laser detection module comprises one current signal output end, the signal processing module comprises an analog signal processing circuit and a digital signal processing circuit connected in sequence; the input end of the analog signal processing circuit is connected with the current signal output end, and the output end of the analog signal processing circuit is connected with the digital signal processing circuit. The analog signal processing circuit is used for amplifying the current signal and converting the current signal into an analog voltage signal, comparing the analog voltage signal with a preset threshold voltage, converting the analog voltage signal into a digital signal, and outputting the digital signal to the digital signal processing circuit.

10. A laser receiving circuit, characterized by: The laser detection module comprises at least one two-dimensional detector array, and the two-dimensional detector array comprises M rows and N columns of laser detectors; M and N are positive integers, M is greater than or equal to 2, and N is greater than or equal to 2. The two-dimensional detector array is divided into K detection units along the row direction, each of the detection units including m K laser detectors along the column direction, each of the detection units including m K laser detectors along the column direction, wherein m K *K=M, K, m K and n are positive integers, and 2≤K<M, 2≤m K <M, n=1, 2…N; the anodes of the m K laser detectors in the same detection unit are electrically connected and led to a common anode terminal, and the common anode terminal is connected with the anode driving voltage output terminal; the m K laser detectors in the K detection units in the nth column are one-to-one corresponding, forming m K laser detector groups, and the N column laser detectors of the two-dimensional detector array form m K *N laser detector groups; the cathodes of the m K laser detectors in the same laser detector group are electrically connected and led to a common cathode terminal, and the common cathode terminal is connected with the cathode driving voltage output terminal.

11. A lidar, comprising: The laser detection module comprises at least one two-dimensional detector array, and the two-dimensional detector array comprises M rows and N columns of laser detectors; M and N are positive integers, M is greater than or equal to 2, and N is greater than or equal to 2. The laser emission circuit comprises: The laser emission module comprises one or more laser emitters. The emission driving circuit is connected with the laser emitters in the laser emission module and is used for driving the laser emitters to emit laser signals. The laser detector is used for receiving laser signals reflected by target objects after the laser signals emitted by the laser emitters. ​ When the laser emission module comprises at least one emitter array, the emitter array comprises a plurality of the laser emitters arranged in an array, the emission drive circuit is used for address-driven light emission of a plurality of the laser emitters in the emitter array; the laser detection module comprises at least one detector array, the detector array comprises a plurality of the laser detectors arranged in an array; a plurality of the laser detectors in the detector array receive the laser signal reflected by the target object after the laser signal emitted by the laser emitters under the address-driven of the receiving drive circuit, and convert the received laser signal into a current signal.

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