US 12,169,253 B2
Lidar receiving apparatus, lidar system and laser ranging method
Shen Jiang, Shenzhen (CN)
Assigned to SUTENG INNOVATION TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SUTENG INNOVATION TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Aug. 20, 2023, as Appl. No. 18/235,877.
Application 18/235,877 is a continuation of application No. 17/264,544, granted, now 11,768,278, previously published as PCT/CN2020/080350, filed on Mar. 20, 2020.
Claims priority of application No. 201910576631.0 (CN), filed on Jun. 28, 2019.
Prior Publication US 2023/0400558 A1, Dec. 14, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 7/48 (2006.01); G01S 7/4861 (2020.01); G01S 7/487 (2006.01); G01S 7/489 (2006.01); G01S 17/10 (2020.01)
CPC G01S 7/4861 (2013.01) [G01S 7/487 (2013.01); G01S 7/489 (2013.01); G01S 17/10 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A lidar receiving apparatus, comprising:
a photodetector, which is configured to receive a reflected laser signal and to convert the reflected laser signal into a current signal when a bias voltage of the photodetector is greater than a breakdown voltage of the same;
a ranging circuit, which is connected with the photodetector, and configured to calculate distance data according to the current signal, wherein the distance data is calculated according to a flight time of the reflected laser signal;
a power control circuit, which is connected with the photodetector, and configured to control the bias voltage applied to the photodetector according to a predefined rule,
wherein the predefined rule comprises: at a receiving time of a stray reflected signal, the bias voltage of the photodetector is smaller than the breakdown voltage; and the receiving time of the stray reflected signal is a time at which a transmitted laser signal reaches the photodetector through a stray light path other than a ranging light path, and is correlated to a preset flight time of the stray reflected signal; and
a reference photodetector, wherein the reference photodetector is connected in parallel with the photodetector;
wherein the ranging circuit comprises:
a cancelling and trans-impedance amplifying circuit, which is connected with the photodetector and the reference photodetector, respectively, and configured to perform cancellation and trans-impedance amplification on both current signals output from the photodetector and the reference photodetector, and output voltage signals obtained after the cancellation and the trans-impedance amplification are performed; and
a second processing circuit, which is connected with the cancelling and trans-impedance amplifying circuit, and configured to calculate the distance data according to the voltage signals obtained after the cancellation and the trans-impedance amplification are performed.