A multi-line lidar

Abstract

The present invention provides a multi-line laser radar, comprising: a rotor for rotating when the laser radar works, a plurality of emission windows are arranged on the surface of the rotor; a plurality of lasers for emitting laser, the lasers are arranged inside the rotor. By arranging multiple emission windows on the surface of the rotor for rotating when the lidar works, the multiple laser beams emitted by the multiple lasers disposed inside the rotor are emitted through multiple emission windows, and the multiple laser beams are more uniformly distributed. It is emitted by multiple emission windows, and the laser radar is observed from a fixed position. The number of laser pulses received per unit time will be greatly reduced compared to when only one emission window is used. Under the condition of ensuring human eye safety, a single laser pulse The energy can be improved, so that the ranging performance of lidar is improved, and the ranging of lidar is more accurate.

Description

technical field [0001] The invention belongs to the field of radar, in particular to a multi-line laser radar. Background technique [0002] As a high-precision active 3D imaging sensor, lidar has the characteristics of high resolution and less interference from the environment, and is widely used in unmanned vehicles, drones and other fields. Lidar measures distance by measuring the time difference between the emitted light and the light reflected from the surface of the object. [0003] Lidar calculates distance by measuring the time-of-flight of light pulses in space. Typically, rotating lidars emit laser light from an optical window. As the lidar rotates, it emits lasers in different vertical directions to obtain stereo distance information. The ranging performance of LiDAR depends to a large extent on the energy level of the laser pulse. At the same time, lidar needs to meet the Class 1 level defined by the laser product safety standard IEC 60825-1, that is, human ey...

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Problems solved by technology

[0004] However, the existing rotating lidar has the characteristic that the light emitting direction is relatively concentrated. When the laser radar emission window is rotated to the observer's side, the multi-line laser beams are emitted concentratedly, and the number of laser pulses received by the human eye per unit time is relatively small. many

When calculating the laser eye-safe pulse threshold, a lower pulse threshold is obtained, and the ranging performance of the lidar is limited by the lower eye-safe threshold

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