Multi-line laser radar

Abstract

The invention discloses multi-line laser radar, which comprises a control unit, and a transmitting unit, a receiving unit, a scanning unit, a wireless transmission unit and a power supply unit which are connected with the control unit. The control unit controls the transmitting unit to transmit by receiving trigger signals of the scanning unit at different angles; after the light irradiates a detected object, echo amplification is received through the receiving unit, then timing ranging is conducted on logic level signals, meanwhile, the reflectivity intensity is calculated according to the width of the level signals, and the control unit obtains three-dimensional point cloud in combination with angle information and distance information in the horizontal direction and the vertical direction. According to the invention, the characteristics of a plurality of pixels of an array detector are utilized, angle information is obtained through pixel positions, the array detector uses non-uniform micro-element size arrangement to obtain high-density central area test point clouds, and when the array detector is matched with a receiving lens, the lengths of the two ends of the detector are increased along with edge distortion, so that the uniformity of a receiving angle is facilitated.

Description

technical field [0001] The patent of the present invention relates to the technical field of laser detection, in particular to a multi-line laser radar. Background technique [0002] Laser scanning ranging radar can be used to detect the position, contour and speed of the target. The application field of laser ranging radar is gradually expanding, accurate measurement, navigation and positioning, safe obstacle avoidance, and it is beginning to be applied to unmanned driving technology. Laser scanning radar is the The emitted laser beam forms a scanning section through scanning emission, so as to test the characteristic information of the object to be tested. At present, the 3D scanning lidar is multi-layer scanning in the vertical direction, which can well reflect the characteristic information of the object to be measured, and is suitable for many fields, such as unmanned navigation and shape contour detection. [0003] The current 3D scanning lidar mostly adopts the multi...

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Problems solved by technology

[0003] The current 3D scanning lidar mostly adopts the multi-line scanning method, that is, multiple laser tubes are used to emit sequentially, and the structure is that multiple laser tubes are arranged vertically. receiving detectors to ensure that each receiving detector corresponds to the field of view angle of the emitting laser tube. Therefore, the installation and adjustment process is very complicated, which is not conducive to production and mass production. At the same time, because multiple receiving detectors and transmitting units The stacking makes the volume of the lidar with a higher number of lines doubled, and since each detector has the same size, how to make the point cloud information more dense in the central area in the vertical direction is also the current multi-line lidar intractable problem

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