CN114942449A - Laser radar receiving system, laser radar and ranging intensity improving method - Google Patents

Abstract

The invention provides a laser radar receiving system, a laser radar and a ranging intensity improving method, relates to the technical field of laser radars, and aims to solve the problem that the signal-to-noise ratio of a received signal is degraded by the existing laser radar. The laser radar receiving system comprises a receiving lens and a photoelectric detector which are sequentially arranged along the return direction of a light path, and the photoelectric detector deviates from the focal plane of the receiving lens along the direction away from the receiving lens. The invention prevents the incident light with large angle from irradiating the photoelectric detector, ensures that the photoelectric detector can receive the central reflected signal light to the maximum extent, and simultaneously, when the receiving lens converges the near-end light, the converged light is in front of the focal plane, and the photoelectric detector is arranged at the rear end of the focal plane, thereby avoiding the stray signals more easily, and effectively improving the signal-to-noise ratio of the received signals.

Description

Laser radar receiving system, laser radar and ranging intensity improving method

Technical Field

The invention relates to the technical field of laser radars, in particular to a laser radar receiving system, a laser radar and a ranging intensity improving method.

Background

The principle of the laser scanning detection technology is as follows: based on the measurement of the time of flight of the laser beam and the emission of laser pulses at defined time intervals, the distance to the measured object is obtained by a timer calculating the time interval between the emission of a pulse and the reception of a pulse. The pulsed laser beam passes through a scanning component inside the ranging sensor to form a scan, and the contour curve of the detected object is determined by a series of received pulses.

At present, the optical paths of the laser scanning sensor use a transmitting-receiving separation optical path and a coaxial optical path. Specifically, the coaxial optical path is that the emitted light is emitted at the center of the receiving lens, reflected after irradiating the detection object, and then the signal is received. Because the window cover self transmission echo of laser radar installation to and there is rain, snow, fog to the problem that the strong signal reflection of near-end causes the interference, can make the receiving echo shine window cover or near-end rain, snow, fog production triggering distance's phenomenon, simultaneously, receive the influence that receiving detector self signal postpones, lead to when using detection device such as Silicon Photo multiplier, APD (Avalanche Diode), unable range finding of accomplishing the low coverage, so, lead to coaxial two-dimensional scanning laser radar's range finding ability can't realize breaking through. Moreover, the scheme of using the receiving and transmitting differential shaft for long-distance measurement still has the interference problem of rain, snow and fog at the near end, and meanwhile, the rotation of the receiving and transmitting differential shaft needs to be transmitted by a magnetic ring to influence the service life of the whole machine, or the cost is high due to the use of a large area array detector. Therefore, solving or improving the above problems and drawbacks is of great importance for the optical, mechanical, electrical, computational design and optimization of laser ranging devices.

The traditional schemes for reducing the range blind area include the following: 1. using amplifiers with different amplification factors to carry out gradual amplification, then extracting signals in the middle, and setting different thresholds to ensure the test of the near-end distance; 2. the sensitivity of the detector is changed by applying voltages with different strengths to the detector so as to ensure the test of the near-end distance; 3. light is split inside a receiving optical path, one part of the light is sent to a PIN (Positive-Intrinsic-Negative, P-type semiconductor-impurity-N-type semiconductor) detector, and the main light is sent to SiPM; 4. adopting a strong-weak multiple emission mode; 5. two threshold comparators are used for receiving the light path, one is high and the other is low, so that the near-end blind area is reduced; 6. and adding a diaphragm in the receiving lens, and reducing stray signals by using the limit of the diaphragm on light beams. Although the schemes can reduce the range blind area of the laser radar, the signal-to-noise ratio of the received signal is low.

Disclosure of Invention

The first objective of the present invention is to provide a laser radar receiving system to solve the technical problem that the existing laser radar degrades the signal-to-noise ratio of the received signal.

The laser radar receiving system provided by the invention comprises a receiving lens and a photoelectric detector which are sequentially arranged along the return direction of a light path, wherein the photoelectric detector deviates from the focal plane of the receiving lens along the direction far away from the receiving lens.

Further, the distance of the photoelectric detector from the focal plane is L, wherein L is (1/5-1/2). times.f, and f is the focal length of the receiving lens.

Further, the receiving lens includes a positive lens group and a negative lens group sequentially arranged in an optical path returning direction, the positive lens group is configured to focus the signal light returned by the detection object, and the negative lens group is configured to emit the light focused by the positive lens group to the photodetector.

Further, negative lens group includes a slice plano-concave lens and a slice biconcave lens that set gradually along the light path return direction, plano-concave lens's concave surface orientation positive lens group, and/or, positive lens group includes a slice plano-convex lens, plano-convex lens's plane orientation negative lens group.

Furthermore, the photoelectric detector is an array detector, the array detector comprises a plurality of pixels, the pixels are arranged in M rows and N columns, each row and column can be independently controlled to be turned on and turned off, M and N are integers, M is greater than 1, and N is greater than 1.

Further, the type of the photodetector is any one of MPPC (Multi-Pixel Photon Counter), SiPM, SPAD (Single Photon Avalanche Diode), and APD.

The laser radar receiving system has the beneficial effects that:

when the laser radar receiving system works, on one hand, after being received by the receiving lens, large-angle incident light rays can be scattered towards the outside of a receiving surface deviating from the photoelectric detector due to defocusing, so that the large-angle incident light rays cannot irradiate the photoelectric detector, and meanwhile, due to the defocusing arrangement of the photoelectric detector, the light rays received by a central view field are focused and scattered after passing through a focus, and the scattered light rays are matched with the outer contour of the photoelectric detector, so that the photoelectric detector can receive central reflected signal light to the maximum extent; on the other hand, the reflected noise signals of rain, snow and fog gathered at the near end are stronger than the target signals at the far end, meanwhile, when the receiving lens gathers the light rays at the near end, the gathered light can be in front of the focal plane, and the photoelectric detector is arranged at the rear end of the focal plane, so that the stray signals can be avoided more easily.

This laser radar receiving system can effectively improve the SNR of received signal through above-mentioned setting, and should set up and only change photodetector's position, need not to set up other parts to make laser radar receiving system's volume greatly reduced. Moreover, because the diaphragm is not needed to be arranged, the suppression of the diaphragm to the effective optical signal is also avoided, and the weakening of the intensity of the target signal is prevented. In addition, the laser radar receiving system can receive the stray signals and the target signals at the same time, not only is components such as a light splitting sheet and a threshold comparator not required to be arranged, but also multiple times of emission is not required, and the working efficiency of the laser radar receiving system is improved while the cost of the laser radar receiving system is reduced.

A second objective of the present invention is to provide a lidar to solve the technical problem that the existing lidar deteriorates the signal-to-noise ratio of the received signal.

The laser radar provided by the invention comprises an MEMS (Micro-Electro-Mechanical System) galvanometer, a transmitting unit, a main control unit and the laser radar receiving System, wherein the MEMS galvanometer, the transmitting unit and the laser radar receiving System are all electrically connected with the main control unit.

Further, the lidar further comprises a power supply unit configured to provide electrical energy to electrical components of the lidar.

The laser radar of the invention has the following beneficial effects:

when the laser radar works, the transmitting unit transmits light signals to the MEMS galvanometer, the MEMS galvanometer scans and transmits the light signals, part of the light passes through the window sheet and returns along a light path, the main light source irradiates to a detection target through the window sheet, the returned signals are received by the laser radar receiving system and sent to the main control unit, the main control unit times the detection signals to obtain detection distances, and the detection distances at multiple angles are arrayed and collected to form point cloud.

Through set up above-mentioned laser radar receiving system in laser radar, correspondingly, this laser radar has all advantages of above-mentioned laser radar receiving system, and the no longer giving unnecessary details herein one by one.

A third objective of the present invention is to provide a method for improving ranging strength, so as to solve the technical problem that the existing laser radar deteriorates the signal-to-noise ratio of the received signal, thereby causing the ranging strength to be low.

The invention provides a ranging intensity improving method, a laser radar receiving system avoids stray light when the photoelectric detector is used as an array detector, and the method comprises the following steps: the distance between the window sheet and the detection target is larger than the set distance; collecting a receiving signal by using a photoelectric detector, wherein the receiving signal comprises a front-end signal and a rear-end signal, the front-end signal is a stray signal, and the stray signal comprises a window sheet reflection signal and a reflection signal inside a laser radar receiving system; the back-end signal is a target signal; controlling the on and off of the rows and the columns of the photoelectric detector, respectively detecting the changes of the front end signals and the rear end signals, and turning off the rows and the columns with strong front end signals to weaken the front end signals; and opening the row with strong back-end signals to enhance the back-end signals, and finally leaving the row with the weakest front-end signals and the strongest back-end signals.

Further, in the step of controlling the opening and closing of the rows and columns of the photodetectors, the closing control is performed from the edge rows and columns of the photodetectors to the inside thereof.

The method for improving the ranging strength has the advantages that:

the ranging intensity improving method achieves the purpose of improving ranging intensity by enabling the laser radar receiving system to avoid stray light, and specifically comprises the following steps: after the photoelectric detector is installed, installing a window sheet, and enabling the distance between the window sheet and a detection target to be larger than a set distance; collecting and receiving stray signals at the front end and target signals at the rear end by using a photoelectric detector; by controlling the opening and closing of the rows and the columns of the photoelectric detector, the changes of the front end signal and the rear end signal are respectively detected, the rows and the columns with the strongest reflected signals of the window sheet are found, the rows and the columns are closed, meanwhile, the increase and the decrease of the target signals are observed, the optimal row and the column are found through switching, and the rows and the columns with the strongest signals of the front end are closed, so that the front end signals are weakened; and opening the row with strong rear-end signals to enhance the rear-end signals, and finally leaving the row with the weakest front-end signals and the strongest rear-end signals, so that the signal-to-noise ratio is ensured to be optimal, and the aim of improving the ranging strength is fulfilled. The mode of selectively turning off the rows and the columns of the photoelectric detectors can reduce the row and column pixels receiving stray light to the maximum extent, and meanwhile, the row and column pixels receiving effective signals can be turned on, so that the signal-to-noise ratio is improved to the maximum extent, and the purpose of improving the ranging intensity is further achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic diagram of a lidar provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a lidar receiving system according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a light path of a laser radar receiving system according to an embodiment of the present invention when receiving a normal angle light;

fig. 4 is a schematic light path diagram of a laser radar receiving system according to an embodiment of the present invention when receiving a large-angle light;

fig. 5 is a schematic structural diagram of a photodetector of a laser radar receiving system according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a received signal acquired by a photodetector of a laser radar receiving system according to an embodiment of the present invention;

fig. 7 is a flowchart illustrating a method for improving ranging strength according to an embodiment of the present invention.

Description of reference numerals:

010-lidar receiver systems; 020-MEMS galvanometer; 030-a transmitting unit; 040-main control unit;

100-receive lens; 200-a photodetector; 300-focal plane;

110-plano-convex lens; 120-plano-concave lens; 130-a biconcave lens;

210-picture element.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a schematic diagram of a laser radar according to this embodiment. As shown in fig. 1, the present embodiment provides a lidar comprising a MEMS galvanometer 020, a transmitting unit 030, a main control unit 040, and a lidar receiving system 010, wherein the MEMS galvanometer 020, the transmitting unit 030, and the lidar receiving system 010 are all electrically connected to the main control unit 040.

When the laser radar works, the transmitting unit 030 transmits light signals to the MEMS galvanometer 020, the MEMS galvanometer 020 performs scanning transmission, part of light passing through the window piece returns along a light path, the main light source irradiates to a detection target through the window piece, the signal is received by the laser radar receiving system 010 after returning, the echo signals are transmitted to the main control unit 040, the main control unit 040 performs timing on the detection signals to obtain detection distances, and the detection distances at multiple angles are arranged and collected to form point cloud.

In this embodiment, the lidar further comprises a power supply unit, wherein the power supply unit is configured to provide electrical energy to the electrical components of the lidar.

Through set up the power supply unit in laser radar, can realize the power supply to using the electric part in the laser radar to be convenient for laser radar's use.

It should be noted that the working principle of the lidar is available to those skilled in the art according to the prior art, and the working principle is not modified in this embodiment, so that the description is not repeated.

In the following text, the specific structure and the operation principle of the laser radar receiving system 010 will be described.

Fig. 2 is a schematic structural diagram of the laser radar receiving system 010 provided in this embodiment. As shown in fig. 2, the laser radar receiving system 010 of the present embodiment includes a receiving lens 100 and a photodetector 200 sequentially arranged in an optical path returning direction, wherein the photodetector 200 is offset from a focal plane 300 of the receiving lens 100 in a direction away from the receiving lens 100.

Fig. 3 is a schematic diagram of an optical path of the lidar receiving system 010 according to this embodiment when receiving a normal angle light, and fig. 4 is a schematic diagram of an optical path of the lidar receiving system 010 according to this embodiment when receiving a large angle light. As shown in fig. 3 and 4, when the laser radar receiving system 010 operates by deviating the photodetector 200 from the focal plane 300 of the receiving lens 100 by a distance in a direction away from the receiving lens 100, on one hand, after being received by the receiving lens 100, a large-angle incident light beam is scattered towards the outside of the receiving surface deviated from the photodetector 200 due to defocusing, specifically, referring to fig. 4, the large-angle incident light beam cannot be irradiated to the photodetector 200, and meanwhile, due to the defocusing arrangement of the photodetector 200, the light beam received in the central field of view is focused and scattered after passing through the focal point, and the scattered light beam is matched with the outer contour of the photodetector 200, thereby ensuring that the photodetector 200 can receive the central reflected signal light to the maximum extent; on the other hand, since the near-end collected rain, snow, and fog reflected noise signal is stronger than the far-end target signal, and meanwhile, when the receiving lens 100 collects the near-end light, the collected light is in front of the focal plane, as shown in fig. 4, and the photodetector 200 is disposed at the rear end of the focal plane, the stray signal is easier to avoid.

This laser radar receiving system 010 is through above-mentioned setting, can effectively improve the SNR of received signal, and should set up and only change photodetector 200's position, need not to set up other parts to make laser radar receiving system 010's volume greatly reduced. Moreover, because the diaphragm is not needed to be arranged, the suppression of the diaphragm to the effective optical signal is also avoided, and the weakening of the intensity of the target signal is prevented. In addition, this laser radar receiving system 010 can receive stray signal and target signal simultaneously, not only need not to set up parts such as beam splitter and threshold value comparator, moreover, still need not to carry out the transmission many times, when reducing laser radar receiving system 010's cost, has still improved laser radar receiving system 010's work efficiency.

In this embodiment, as shown in fig. 3, the focal plane 300 refers to a plane passing through the focal point F and perpendicular to the return direction of the optical path; in the viewing angles of fig. 3 and 4, the left end is the front end of the focal plane 300, i.e., the front end of the focal point F, and the right end is the rear end of the focal plane 300, i.e., the rear end of the focal point F.

Referring to fig. 3, in the present embodiment, the distance between the photodetector 200 and the focal plane 300 is L (1/5-1/2) × f, where f is the focal length of the receiving lens 100.

The distance from the photodetector 200 to the focal plane 300 is set to L, so that stray light received by the photodetector 200 is reduced, and effective light received by the photodetector 200 can be increased, thereby ensuring that the laser radar receiving system 010 is in a better working condition.

It should be noted that, in the present embodiment, f in the drawing is only an illustration of the focal length of the receiving lens 100, and in practical cases, the focal length is obtained by corresponding calculation, which is related to the lens parameters in the receiving lens 100. How to calculate the focal length is well known to those skilled in the art, and therefore, the description thereof is omitted.

With reference to fig. 3 and fig. 4, in the present embodiment, the receiving lens 100 includes a positive lens group and a negative lens group sequentially disposed along the optical path returning direction, wherein the positive lens group is configured to focus the signal light returned by the detection object, and the negative lens group is configured to emit the light focused by the positive lens group to the photodetector 200.

In the receiving lens 100, the positive lens group and the negative lens group are combined to form a positive focal length lens, and smooth receiving of light can be realized by using the receiving lens 100.

With reference to fig. 3 and fig. 4, in the present embodiment, the negative lens group includes a plano-concave lens 120 and a biconcave lens 130, which are sequentially disposed along the light path returning direction, wherein the concave surface of the plano-concave lens 120 faces the positive lens group.

The arrangement form of the negative lens group can realize effective focusing on light rays, and is simple in structure and low in cost.

With continued reference to fig. 3 and 4, in the present embodiment, the positive lens group includes a piece of plano-convex lens 110, and the plane of the plano-convex lens 110 faces the negative lens group.

Fig. 5 is a schematic structural diagram of a photodetector 200 of the laser radar receiving system 010 according to the present embodiment. As shown in fig. 5, in the present embodiment, the photodetector 200 is an array detector, and specifically, the array detector includes a plurality of pixels 210, where the plurality of pixels 210 are arranged in M rows and N columns, and each row and column can be independently controlled to be turned on and off, where M and N are integers, M > 1, and N > 1.

Through setting up photoelectric detector 200 as array detector for each row and each column of photoelectric detector 200 all can independently open and shut off, thereby makes laser radar receiving system 010 in use, can adjust the shutoff of ranks through the test of actual light path, in order to guarantee that photoelectric detector 200 can not receive stray signal as far as possible.

In addition, the photodetector 200 is an array detector, and the receiving intensity of the photodetector 200 can be controlled by controlling the switches of the rows and columns of the array detector, so that the lidar receiving system 010 of the embodiment can increase the dynamic range of the photodetector 200 by adjusting the intensity of the detection signal.

It should be noted that, in the conventional receiving optical path, in order to suppress stray light, a stop is usually added to suppress stray light, but this arrangement may reduce the intensity of the effective signal at the same time. In the present application, the intensity of the signal-to-noise ratio can be quantitatively measured by using an array detector, thereby selectively turning on and off the pixel 210.

With reference to fig. 5, in the present embodiment, M is 28, N is 28, and both the 28 rows and 28 columns of the photodetector 200 have separate control units, and 56 rows and columns are controlled to ensure that the photodetector 200 is not affected by the stray signals as much as possible. In other embodiments, M and N may also take other values.

As a specific embodiment, the side length of the photodetector 200 is 1mm, the size of the pixel 210 is 25 μm, and the gap is 10 μm; the focal length f of the receiving lens 100 is 25mm, and the photodetector 200 is disposed at a position 5mm behind the focal point, that is, L is 5 mm.

In this embodiment, the specific type of the photodetector 200 may be any one of MPPC, SiPM, SPAD, and APD.

The embodiment further provides a method for improving ranging intensity, wherein a laser radar receiving system 010 using the above-mentioned photoelectric detector 200 as an array detector avoids stray light, and the method comprises the following steps: the distance between the window sheet and the detection target is larger than the set distance; collecting a receiving signal by using a photoelectric detector 200, wherein the receiving signal comprises a front-end signal and a rear-end signal, the front-end signal is a stray signal, the stray signal comprises a window sheet reflection signal and a reflection signal inside a laser radar receiving system 010, and the rear-end signal is a target signal; controlling the on and off of the rows and columns of the photoelectric detector 200, respectively detecting the changes of the front end signal and the rear end signal, and turning off the rows and columns with strong front end signals to weaken the front end signals; and opening the row with strong back-end signals to enhance the back-end signals, and finally leaving the row with the weakest front-end signals and the strongest back-end signals.

The selective switching off of the rows and columns of the photodetector 200 can reduce the row and column pixels 210 that receive stray light to the maximum extent, and simultaneously, can turn on the row and column pixels 210 that receive effective signals, so that the signal-to-noise ratio is improved to the maximum extent, and the purpose of improving the ranging intensity is achieved.

Fig. 6 is a schematic diagram of a received signal collected by the photodetector 200 of the laser radar receiving system 010 according to this embodiment. As shown in fig. 6, the front-end signal is a spurious signal, the back-end signal is a target signal, and the abscissa is time. Through the arrangement, most of the received signals are target signals at the rear end, the maximization of the signal-to-noise ratio is realized, and the purpose of improving the ranging strength is achieved.

In this embodiment, in the step of controlling the row and column of the photo-detector 200 to be turned on and off, the turn-off control is performed from the edge row and column of the photo-detector 200 to the inside thereof. So set up, when promoting range finding intensity, can also improve light path efficiency of software testing.

Fig. 7 is a flowchart illustrating a method for enhancing ranging strength according to this embodiment. As shown in fig. 7, a specific embodiment of the method for improving ranging strength includes the following steps: s100: after the detector is installed, installing a window sheet, irradiating the window sheet on a detection target with a specified distance, and enabling the distance between the detection target and the window sheet to be more than 5 meters; s200: collecting the intensity of received signals, wherein the number of the received signals is two, the front end signals are window sheets and internal reflection signals, which are stray signals, and the rear end signals are detection target signals, which are target signals; s300: controlling the array detector, and performing turn-off control from the edge row to the inside to find the row and the column with the strongest reflected signals of the window sheets; s400: and turning off the row with strong reflected signals and turning on the row with strong target signals so as to finally leave the row with the weakest front-end signal and the strongest rear-end signal.

To sum up, laser radar receiving system, laser radar and range finding intensity lifting means that this application provided, on the one hand, based on MEMS galvanometer 020's laser radar, through the distance that changes photoelectric sensor and receiving lens 100, can reduce stray light better, and wherein, stray light includes: 1. internal reflection of the lidar receiving system 010; 2. rain, snow, fog at the near end; 3. interference of a large-angle sunlight noise light source; on the other hand, the laser radar based on the array detector can control the receiving intensity, the row and column pixels 210 receiving stray light are reduced to the maximum extent by selectively turning off the row and column, and meanwhile, the row and column pixels 210 receiving effective signals can be turned on, so that the signal-to-noise ratio is increased to the maximum extent, and the ranging intensity is improved.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the above embodiments, the descriptions of the orientations such as "left", "right", and the like are based on the drawings.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The laser radar receiving system is characterized by comprising a receiving lens (100) and a photoelectric detector (200) which are sequentially arranged along the return direction of a light path, wherein the photoelectric detector (200) deviates from a focal plane (300) of the receiving lens (100) along the direction far away from the receiving lens (100).

2. The lidar receiving system of claim 1, wherein the photodetector (200) is offset from the focal plane (300) by a distance L, (1/5-1/2) xf, where f is a focal length of the receiving lens (100).

3. The lidar receiving system according to claim 1, wherein the receiving lens (100) comprises a positive lens group and a negative lens group arranged in order in the optical path returning direction, the positive lens group is configured to focus the signal light returned from the detection target, and the negative lens group is configured to direct the light focused by the positive lens group to the photodetector (200).

4. The lidar receiving system of claim 3, wherein the negative lens group comprises a piece of plano-concave lens (120) and a piece of biconcave lens (130) arranged in sequence along the optical path return direction, the concave surface of the plano-concave lens (120) facing the positive lens group; and/or the positive lens group comprises a piece of plano-convex lens (110), and the plane of the plano-convex lens (110) faces the negative lens group.

5. The lidar receiving system according to any of claims 1 to 4, wherein the photodetector (200) is an array detector comprising a plurality of pixels (210), wherein the plurality of pixels (210) are arranged in M rows and N columns, each row and column being independently controllable to be turned on and off, wherein M and N are integers, and M > 1 and N > 1.

6. Lidar receiving system according to claim 5, wherein the photodetector (200) is of the type MPPC, SiPM, SPAD and APD.

7. Lidar receiver system according to any of claims 1 to 6, comprising a MEMS galvanometer (020), a transmitter unit (030), a master control unit (040), and wherein the MEMS galvanometer (020), the transmitter unit (030) and the lidar receiver system are all electrically connected to the master control unit (040).

8. The lidar of claim 7, further comprising a power supply unit configured to provide electrical energy to a powered component of the lidar.

9. A ranging intensity improving method, wherein stray light is avoided by using the laser radar receiving system of any one of claims 2 to 8, comprising the following steps:

the distance between the window sheet and the detection target is larger than the set distance;

collecting a receiving signal by using a photoelectric detector (200), wherein the receiving signal comprises a front-end signal and a rear-end signal, the front-end signal is a stray signal, and the stray signal comprises a window sheet reflection signal and a reflection signal inside a laser radar receiving system; the back-end signal is a target signal;

controlling the on and off of the rows and columns of the photoelectric detector (200), respectively detecting the changes of the front end signal and the rear end signal, and turning off the rows and columns with strong front end signals to weaken the front end signals; and opening the row with strong back-end signals to enhance the back-end signals, and finally leaving the row with the weakest front-end signals and the strongest back-end signals.

10. The method for improving ranging intensity according to claim 9, wherein the step of controlling the turning on and off of the rows of photo detectors (200) comprises controlling the turning off of the rows of photo detectors (200) from the edge of the rows to the inside of the rows.

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