Signal receiving device, method and lidar system

A signal receiving method, performed by the signal receiving apparatus, wherein the signal receiving apparatus comprises:

• a plurality of N groups of photosensitive units, each group of photosensitive units including a plurality of photosensitive units, wherein the N groups of photosensitive units are configured to receive a echo light beams and output corresponding sampling data;
• a data selection module connected to the N groups of photosensitive units and configured to select target sampling data according to a pixel ranging requirement;
• and
• a calculation module connected to the data selection module and configured to perform echo data processing and calculation based on the target sampling data to obtain a pixel result, and
• wherein the signal receiving method comprising:
• allocating target sampling data to a pixel according to a pixel ranging requirement, the target sampling data being sampling data output by a target photosensitive unit group;
• and
• determining a pixel result of the pixel according to the target sampling data.

A LiDAR system, comprising a signal receiving apparatus, wherein the signal receiving apparatus comprises:

• a plurality of N groups of photosensitive units, each group of photosensitive units including a plurality of photosensitive units, wherein the N groups of photosensitive units are configured to receive a echo light beams and output corresponding sampling data;
• a data selection module connected to the N groups of photosensitive units and configured to select target sampling data according to a pixel ranging requirement;
• and
• a calculation module connected to the data selection module and configured to perform echo data processing and calculation based on the target sampling data to obtain a pixel result.