Laser radar receiving device, laser radar and echo processing method thereof

A technology of laser radar and receiving device, which is applied in the field of laser detection, can solve the problems of high implementation cost and immature devices, and achieve the effect of reducing system cost, reducing number, and balancing cost and performance

Active Publication Date: 2019-06-21
HESAI TECH CO LTD
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Problems solved by technology

[0004] Different from traditional multi-line laser radar, solid-state laser radar means that no mechanical scanning device is used. It usually adopts optical

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  • Laser radar receiving device, laser radar and echo processing method thereof
  • Laser radar receiving device, laser radar and echo processing method thereof
  • Laser radar receiving device, laser radar and echo processing method thereof

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[0043] In order to make the above-mentioned objectives, features and beneficial effects of the present invention more obvious and understandable, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0044] reference figure 1 with figure 2 , figure 1 It is a schematic diagram of the receiving end of a lidar, figure 2 Yes figure 1 A schematic diagram of the correspondence between the detection unit 121 at the receiving end of the lidar and each outgoing laser beam 111 in the two-dimensional outgoing lattice generated by the transmitting end of the lidar is shown.

[0045] In some embodiments, the receiving end of the lidar may include an area array detector 12 and a c...

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Abstract

The present invention provides a laser radar receiving device, laser radar and an echo processing method thereof. The laser radar receiving device comprises a convergence module and a detection modulewhich are arranged in order along a receiving optical path; the convergence module is suitable for receiving and converging laser echo; and the detection module is suitable for detection of the laserecho converged by the convergence module. The detection module comprises a first linear array detector and a second linear array detector which respectively comprise a plurality of detection units ina linear array mode, and the linear array directions of the first linear array detector and the second linear array detector form a predetermined inclined angle. The laser radar comprises a transmitting device and the laser radar receiving device provided by the embodiment of the invention. The laser radar receiving device, the laser radar and the echo processing method thereof can reduce the number of detection units and can enhance the anti-interference performances of the laser radar.

Description

technical field [0001] The invention relates to the technical field of laser detection, in particular to a laser radar receiving device, a laser radar and an echo processing method thereof. Background technique [0002] Lidar is the most important core sensor in the fields of autonomous driving and surveying and mapping. It is generally based on the time-of-flight method, that is, to measure the time interval between the emitted and received light pulses to obtain the target distance. [0003] As far as the current market is concerned, the lidar used in the field of driverless driving is mainly multi-line lidar. The traditional multi-line laser radar needs to be equipped with multiple sets of laser transmitters and receivers. When working, multiple sets of transmitters and receivers obtain the distance of each point in three-dimensional space relative to itself through rotational scanning, which often means slower image acquisition speed and Shorter equipment life. [000...

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Application Information

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IPC IPC(8): G01S7/486G01S7/487G01S7/495G01S17/08
CPCG01S7/495G01S17/08G01S7/487G01S7/486
Inventor 王瑞向少卿
Owner HESAI TECH CO LTD
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