Lidar device and ranging adjustment method of the same

A LiDAR device, comprising:

• a laser beam emission module;
• a laser beam receiving module, comprising receiving units arranged into an array;
• and a control circuit respectively connected to the laser beam emission module and the laser beam receiving module, wherein the control circuit comprises a drive and conversion circuit, a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when executing the computer program, the processor correspondingly drives the drive and conversion circuit to implement operations comprising:
• obtaining position information of a receiving unit corresponding to a to-be-scanned emission unit, and querying a table to obtain an attenuation coefficient matching the receiving unit;
• calculating a number of continuous laser beam emissions or an emission power of the emission unit corresponding to the receiving unit in a frame of a scanning image based on the attenuation coefficient;
• driving the emission unit to emit a laser beam based on the number of emissions or the emission power, simultaneously driving the receiving unit corresponding to the emission unit to receive a corresponding echo laser beam signal, and superimposing the echo laser beam signal into corresponding histogram data;
• and
• determining distance information of a to-be-detected object based on the histogram data.