A multi-line lidar and its driving method

Abstract

This invention relates to lidar technology, and more particularly to a multi-line lidar and its driving method. The multi-line lidar includes at least one rotating stage and at least one set of laser transceiver units located on the rotating stage. Each laser transceiver unit includes: an array of laser emitters, two arrays of laser detectors, an optical emission structure, and an optical receiving structure. Multiple laser beams emitted from the multiple laser emitters are emitted into the outside world through the optical emission structure. The multiple laser beams emitted from the multiple laser emitters in each array are reflected by the outside world to form multiple reflected beams. These reflected beams are then received by the optical receiving structure and incident one-to-one onto the multiple laser detectors in the two arrays of laser detectors. This invention solves the problem of the detection accuracy of multi-line lidar being limited by size, ensuring detection accuracy while maintaining a small size, and also reducing the difficulty of adjusting the angles of the laser emitters and laser detectors.

Description

[0001] This application is a divisional application of the invention patent application filed on July 19, 2019, with application number 201910656386.4 entitled "A multi-line lidar and its driving method". Technical Field

[0002] The embodiments of the present invention relate to lidar technology, and more particularly to a multi-line lidar and its driving method. Background Technology

[0003] Multi-line lidar is a type of lidar that uses multiple lasers to emit laser beams to detect the position, velocity, and other characteristics of a target. Its working principle is to first emit a detection laser beam towards the target, and then receive the signal reflected back from the target and compare it with the emitted signal to obtain relevant information about the target.

[0004] In the field of autonomous driving, LiDAR has become a hot topic due to its wide range of applications. For multi-line LiDAR, the higher the number of lines, the higher the detection accuracy; however, the number of lines is limited by size. Specifically, existing multi-line LiDAR systems, when needing to increase the number of lines, generally increase the number of laser emitters on the emitter board or increase the number of emitter boards themselves. This makes it difficult to control the product size. At the same time, increasing the number of laser emitters requires denser placement, which increases the design complexity of the emitter board and the difficulty of adjusting the angle of the laser emitters. Furthermore, the aperture of the optical structure, including the lens, also needs to be enlarged accordingly, thus increasing the overall size of the LiDAR. Summary of the Invention

[0005] This invention provides a multi-line lidar and its driving method to ensure that the multi-line lidar has a small size, while reducing the number of laser emitters and the difficulty of angle adjustment while maintaining the number of lines.

[0006] In a first aspect, embodiments of the present invention provide a multi-line lidar, including at least one rotating stage and at least one set of laser transceiver units located on the rotating stage, wherein the laser transceiver unit includes:

[0007] An array laser emitter comprising a plurality of laser emitters arranged in an array;

[0008] Two array laser detectors, each of which comprises multiple laser detectors arranged in an array;

[0009] An optical emission structure is located in the emission optical path of multiple laser emitters, through which multiple laser beams emitted from the multiple laser emitters are irradiated to the outside world;

[0010] An optical receiving structure is located on the receiving optical path of the plurality of laser detectors. The plurality of laser beams emitted by the plurality of laser emitters in each of the array laser emitters are reflected by the outside to form a plurality of reflected beams. The plurality of reflected beams can be incident one-to-one into the plurality of laser detectors in the two array laser detectors through the optical receiving structure.

[0011] Optionally, in each group of laser transceiver units, the number of laser transmitters is equal to the number of laser detectors in each of the array laser detectors, or the number of laser transmitters is equal to the sum of the number of laser detectors in the two array laser detectors.

[0012] Optionally, it includes one of the rotary tables and a set of the laser transceiver units located on the rotary table;

[0013] The array laser emitter further includes an emitting plate on which multiple laser emitters arranged in an array are disposed; each array laser detector further includes a receiving plate on which multiple laser detectors arranged in an array are disposed.

[0014] The optical emission structure includes an emission collimating lens group, through which the laser beams emitted by the multiple laser emitters of the array laser emitter illuminate the outside world;

[0015] The optical receiving structure includes two receiving reflector groups and two receiving collimating lens groups. Multiple laser beams emitted from multiple laser emitters in the array laser emitter are reflected by the outside to form multiple reflected beams. The multiple reflected beams are respectively incident on multiple laser detectors in each of the array laser detectors through one of the receiving reflector groups and one of the receiving collimating lens groups.

[0016] Optionally, it includes one of the rotary tables and two sets of the laser transceiver units located on the rotary table;

[0017] The laser emission directions of the two sets of laser transceiver units are opposite to each other.

[0018] Optionally, the array laser emitter further includes an emitting plate on which a plurality of laser emitters arranged in an array are disposed; the array laser detector further includes a receiving plate on which a plurality of laser detectors arranged in an array are disposed.

[0019] Optionally, the array laser emitter includes one emitting plate, and two of the emitting plates in the two sets of laser transceiver units are located on opposite sides of the rotation axis of the rotary table;

[0020] Each of the array laser detectors includes a receiving board, and the four receiving boards in the two sets of laser transceiver units are arranged in parallel to each other. The two array laser detectors in the same set of laser transceiver units are located on the side of the two receiving boards that are away from the receiving board in the other set of laser transceiver units.

[0021] Optionally, it also includes two receiving boards, each of the array laser detectors sharing one of the array laser detectors in another set of laser transceiver units, and the two array laser detectors sharing one receiving board are respectively disposed on two opposite sides of the receiving board;

[0022] Each of the array laser emitters includes one emitter plate, and two of the emitter plates in the two sets of laser transceiver units are located on opposite sides of the rotation axis of the rotary table.

[0023] Optionally, multiple laser emitters in the same laser transceiver unit are distributed in a direction perpendicular to the rotating platform, and in the direction perpendicular to the rotating platform, multiple laser emitters in different laser transceiver units are alternately staggered one by one or staggered in groups.

[0024] Multiple laser detectors in the same laser transceiver unit are distributed in a direction perpendicular to the rotating platform, and in the direction perpendicular to the rotating platform, multiple laser detectors in different laser transceiver units are alternately staggered one by one or staggered in groups.

[0025] In a second aspect, embodiments of the present invention also provide a driving method for a multi-line lidar, used to drive a multi-line lidar as described in any of the first aspects, the driving method comprising:

[0026] Drive the array laser emitter in each group of laser transceiver units, so that the multiple laser emitters arranged in the array emit laser beams through the optical emission structure respectively;

[0027] The optical receiving structure in the laser transceiver unit receives multiple reflected beams formed by the laser beam after external reflection, and directs these multiple reflected beams one-to-one into multiple laser detectors in the two array laser detectors.

[0028] Optionally, in each group of laser transceiver units, the number of laser emitters is equal to the number of laser detectors in each array laser detector;

[0029] The method of driving the array laser emitters in each group of laser transceiver units, causing the multiple laser emitters arranged in an array to emit laser beams through an optical emission structure, includes:

[0030] Drive the array laser emitter in each group of laser transceiver units, so that the multiple laser emitters arranged in an array in the array laser emitter sequentially emit the laser beam through the optical emission structure;

[0031] The step of receiving multiple reflected beams formed by the laser beam after external reflection through the optical receiving structure corresponding to the laser transceiver unit, and making the multiple reflected beams incident one-to-one into multiple laser detectors in the two array laser detectors, includes:

[0032] The optical receiving structure in the laser transceiver unit receives the multiple reflected beams formed by the laser beam after being reflected from the outside in sequence, and the multiple reflected beams are sequentially incident on the multiple laser detectors in the two array laser detectors in a one-to-one correspondence.

[0033] The multi-line lidar and its driving method provided in this invention embodiment, by setting at least one rotating stage and at least one set of laser transceiver units on the rotating stage, wherein each set of laser transceiver units is equipped with an array laser emitter, two array laser detectors, an optical emission structure, and an optical receiving structure, and uses one array laser emitter and two array laser detectors to transmit and receive laser beams, thereby realizing environmental detection. Simultaneously, since each of the two array laser detectors is equipped with multiple laser detectors, each set of laser transceiver units can use the two array laser detectors to form two laser detection groups, thereby increasing the detection accuracy of the multi-line lidar; furthermore, since the arrangement density of laser detectors in each set of laser transceiver units can be relatively small, the adjustment difficulty of the laser detectors is reduced. The multi-line lidar provided in this invention embodiment can increase the number of laser lines, thereby improving laser detection accuracy, while ensuring that the multi-line lidar has a small size and reducing the difficulty of angle adjustment of the laser emitter and laser detectors in the multi-line lidar. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a multi-line lidar provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of another multi-line lidar provided in an embodiment of the present invention;

[0036] Figure 3 yes Figure 2 The diagram shows the arrangement of laser emitters in a multi-line lidar system.

[0037] Figure 4 yes Figure 2 The diagram shows the arrangement of laser detectors in a multi-line lidar system.

[0038] Figure 5 yes Figure 2 The diagram shows the arrangement of laser emitters in a multi-line lidar system.

[0039] Figure 6 yes Figure 2 The diagram shows the arrangement of laser detectors in a multi-line lidar system.

[0040] Figure 7 This is a schematic diagram of the structure of another multi-line lidar provided in an embodiment of the present invention;

[0041] Figure 8 This is a flowchart of a driving method for a multi-line lidar provided in an embodiment of the present invention;

[0042] Figure 9 This is a flowchart of another driving method for a multi-line lidar provided in an embodiment of the present invention.

[0043] Among them, 10 is a rotating stage, 20 is a laser transceiver unit, 21 is an array laser emitter, 210 is an emitting plate, 211 is a laser emitter, 22 is an array laser detector, 220 is a receiving plate, 221 is a laser detector, 23 is an optical emission structure, 231 is an emission collimating lens group, 24 is an optical receiving structure, 241 is a receiving reflector group, and 242 is a receiving collimating lens group. Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0045] Existing multi-line lidar typically consists of multiple laser emitters and detectors mounted on a transmitter and receiver plate, respectively. Multiple laser emitters emit laser beams, and multiple detectors receive the reflected beams to perform environmental detection, achieving multi-line laser detection. The number of lines in a multi-line lidar determines its detection accuracy. Increasing the number of lines usually involves simply adding more laser emitters and detectors to the transmitter and receiver plates. However, increasing the number of laser emitters and detectors increases the size of the transmitter and receiver plates and the corresponding optical structures, thus increasing the lidar's overall size. Alternatively, it may increase the density of laser emitters and detectors, making angle adjustment more difficult. Therefore, simply increasing the number of laser emitters and detectors to increase the number of lines is limited by the overall size of the lidar and the difficulty of angle adjustment, making it difficult to improve the lidar's detection accuracy.

[0046] To address this, embodiments of the present invention provide a multi-line lidar, which includes at least one rotating stage and at least one set of laser transceiver units located on the rotating stage. Each laser transceiver unit includes: an array laser emitter comprising multiple laser emitters arranged in an array; two array laser detectors, each comprising multiple laser detectors arranged in an array; an optical emission structure located on the emission optical path of the multiple laser emitters, through which multiple laser beams emitted from the multiple laser emitters are illuminated to the outside; and an optical receiving structure located on the receiving optical path of the multiple laser detectors, through which multiple laser beams emitted from the multiple laser emitters in each array laser emitter are reflected by the outside to form multiple reflected beams, which are then incident one-to-one onto the multiple laser detectors in the two array laser detectors via the optical receiving structure.

[0047] In at least one set of laser transceiver units, an array laser emitter, two array laser detectors, an optical emission structure, and an optical receiving structure are incorporated. The array laser emitter can emit multi-line detection laser beams using multiple laser emitters arranged in an array, and the optical emission structure enables the emission of these multi-line detection laser beams. Each array laser detector can receive reflected beams formed by the reflected laser detection beams from the outside environment through the optical receiving structure, thereby performing environmental detection. A rotary stage is used to support the laser transceiver units and drive them to rotate horizontally, enabling each set of laser transceiver units to perform horizontal scanning detection. It should be noted that the multiple laser transmitters arranged in the laser transceiver unit are distributed at different positions in the vertical direction. Therefore, the detection laser beams emitted by multiple laser transmitters can diverge and propagate in a vertical plane. That is, the detection surface of each laser transceiver unit at a fixed time is a vertical plane. At the same time, the rotation of each group of laser transceiver units is achieved by driving the rotary table, thereby realizing the three-dimensional detection of space by the lidar.

[0048] Each laser transceiver unit contains one array laser emitter and two array laser detectors. The array laser emitters can be driven in a time-division, wavelength-division, or by doubling the number of laser emitters. This allows each array laser detector and emitter to form a laser detection group, where multiple emitters scan a vertical plane, and multiple detectors on the corresponding array laser detectors receive the reflected beams for detection. Clearly, each laser transceiver unit can double the number of lines, thus increasing the overall detection accuracy of the lidar. Furthermore, emitting the laser beam from a single array laser emitter reduces the space occupied by the array laser emitter. By rationally configuring the array laser emitters, detectors, optical output structures, and optical receiving structures in each transceiver unit, the space of the rotating stage can be fully utilized, thereby reducing the overall size of the multi-line lidar. Additionally, with the same number of lines, the number of detectors in each array laser detector can be relatively smaller, thus reducing the difficulty of laser detector debugging.

[0049] The multi-line lidar provided in this invention uses at least one rotating stage with at least one set of laser transceiver units. Each set of laser transceiver units includes an array laser emitter, two array laser detectors, an optical emission structure, and an optical receiving structure. By using the array laser emitter and two array laser detectors to transmit and receive laser beams, environmental detection is achieved. Furthermore, since each array laser detector has multiple detectors, each set of laser transceiver units can form two laser detection groups, thereby increasing the detection accuracy of the multi-line lidar. Additionally, the relatively low density of laser detectors in each set of laser transceiver units reduces the difficulty of laser detector adjustment. The multi-line lidar provided in this invention can increase the number of laser lines, thus improving laser detection accuracy, while maintaining a small size and reducing the difficulty of adjusting the angles of the laser emitter and laser detectors.

[0050] The above is the core idea of ​​this invention. The technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0051] Figure 1 This is a schematic diagram of the structure of a multi-line lidar provided in an embodiment of the present invention, for reference. Figure 1 The multi-line lidar includes a rotating stage 10 and a set of laser transceiver units 20 located on the rotating stage 10. The laser transceiver unit 20 includes: an array laser emitter 21, which includes multiple laser emitters 211 arranged in an array; two array laser detectors 22, each of which includes multiple laser detectors 221 arranged in an array; an optical emission structure 23 located on the emission optical path of the multiple laser emitters 211, through which multiple laser beams emitted by the multiple laser emitters 211 are illuminated to the outside; and an optical receiving structure 24 located on the receiving optical path of the multiple laser detectors 221, through which multiple laser beams emitted by the multiple laser emitters 221 in each array laser emitter 22 are reflected by the outside to form multiple reflected beams, which can be incident one-to-one into the multiple laser detectors 221 in the two array laser detectors 22 via the optical receiving structure 24.

[0052] The array laser emitter 21 further includes an emitting plate 210, on which multiple laser emitters 211 arranged in an array are disposed; each array laser detector 22 further includes a receiving plate 220, on which multiple laser detectors 221 arranged in an array are disposed; the optical emission structure 23 includes an emission collimating lens group 231, through which the laser beams emitted by the multiple laser emitters 221 of the array laser emitter 21 are illuminated to the outside; the optical receiving structure 24 includes two receiving reflector groups 241 and two receiving collimating lens groups 242, through which the multiple laser beams emitted by the multiple laser emitters 221 of the array laser emitter 22 are reflected by the outside to form multiple reflected beams, which are respectively incident on the multiple laser detectors 221 of each array laser detector 22 through a receiving reflector group 241 and a receiving collimating lens group 242.

[0053] In the laser transceiver unit shown in the figure, two array laser detectors need to form laser detection groups with array laser transmitters. Therefore, when setting up the array laser detectors and array laser transmitters, the overall size and the driving method of the array laser transmitters need to be considered when determining the number of laser transmitters and laser detectors. Optionally, in each laser transceiver unit, the number of laser transmitters can be equal to the sum of the number of laser detectors in the two array laser detectors. That is, the laser transmitters in the array laser transmitters correspond one-to-one with all the laser detectors in the two array laser transmitters, and the laser detectors receive the reflected beams from the laser beams emitted by the laser transmitters, thereby achieving laser detection. To distinguish the reflected beams between the two array laser detectors, wavelength division can be used for laser detection. Wavelength division detection means that the laser transmitters corresponding to the two array laser detectors emit lasers of different wavelengths. In this case, the laser detectors in each array laser detector can receive the reflected beams of the corresponding wavelengths, achieving environmental detection.

[0054] Alternatively, the number of laser emitters can be set equal to the number of laser detectors in each array laser detector. This means that the reflected beam from each laser emitter, after being reflected by external forces, can be received by one laser detector in each of the two array laser detectors, thus utilizing a shared laser emitter method for laser detection. This shared laser emitter method often employs time-division multiplexing, where the shared laser emitter emits laser beams at different times, and the corresponding two laser detectors receive the reflected beams at different times. By analyzing the reflected beams received at different times and their corresponding emitted laser beams, the position of external objects can be determined, achieving laser detection.

[0055] It should be noted that during laser detection, the laser emitter first emits a laser beam, and within a preset time, the laser detector receives the reflected beam. By analyzing the reception time or phase of the reflected beam, the location and detection of external objects can be achieved. In the actual driving process of the array laser emitter, multiple laser emitters do not emit laser beams simultaneously. The emission of the laser beam from each laser emitter is carried out in a time-division driving manner. That is, each group of laser emitters and laser receivers realizes the emission and reception of the laser beam within a detection cycle. In the next detection cycle, the next group of laser emitters and laser receivers performs laser detection. In the above embodiment, since each group of laser transceivers is equipped with one array laser emitter and two array laser detectors, it can be considered that each group of laser transceivers contains two groups of laser detectors. When the number of laser emitters is equal to the sum of the number of laser detectors in the two array laser detectors, the number of laser emitters is twice the number of laser emitters in a single group of laser detectors, thus increasing the number of detection lines and improving detection accuracy. Furthermore, since the two laser detection groups share a single array laser emitter and emitting plate, the size of the laser transceiver unit is reduced to some extent. In the embodiment using a shared laser emitter, each laser emitter corresponds to one laser detector in each of the two array laser detectors. The two laser detectors sharing the same laser emitter can alternately receive the reflected beams formed by the two laser beams emitted by the laser emitter. It is understandable that setting two laser detectors corresponding to one laser emitter can increase the scanning frequency of the laser on the external environment; in other words, it can also improve the detection accuracy. Moreover, the number of laser emitters in this embodiment is relatively small, resulting in a lower density of laser emitters on the emitting plate and laser detectors on the receiving plate, thereby reducing the difficulty of adjusting the angles of the laser emitters and laser detectors.

[0056] Figure 2 This is a schematic diagram of another multi-line lidar structure provided in an embodiment of the present invention, for reference. Figure 2 It includes a rotary table 10 and two sets of laser transceiver units 20 located on the rotary table 10; the laser emission directions of the two sets of laser transceiver units 20 are opposite to each other.

[0057] Setting up two sets of laser transceiver units 20 facing away from each other in a multi-line lidar system can make full use of the space on the rotary table 10 and avoid the space waste associated with setting up a single set of laser transceiver units. At the same time, by having the laser emission directions of the two sets of laser transceiver units facing away from each other, objects in two opposing directions on the horizontal plane can be detected and scanned simultaneously, ensuring the detection area at a single moment and increasing the overall detection frequency.

[0058] Further, refer to Figure 2 The array laser emitter 21 further includes an emitting plate 210, on which multiple laser emitters 211 arranged in an array are disposed; the array laser detector 22 further includes a receiving plate 220, on which multiple laser detectors 221 arranged in an array are disposed. Optionally, the array laser emitter 21 includes one emitting plate 210, and two of the two sets of laser transceiver units 20 are located on opposite sides of the rotation axis of the rotary table; each array laser detector 22 includes one receiving plate 220, and four receiving plates 220 in the two sets of laser transceiver units 20 are arranged parallel to each other, and two array laser detectors 22 in the same set of laser transceiver units 20 are respectively located on the side of two receiving plates 220 opposite to the receiving plate 220 in the other set of laser transceiver units 20.

[0059] Figure 3 yes Figure 2 The diagram shows the arrangement of laser emitters in a multi-line lidar system. Figure 4 yes Figure 2 The diagram shown illustrates the arrangement of laser detectors in a multi-line lidar system. (Refer to...) Figure 2 and Figure 3 Multiple laser emitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the rotating stage 10, and in this direction, the laser emitters 211 in different laser transceiver units 20 are alternately staggered. (Reference) Figure 2 and Figure 4 Multiple laser detectors 221 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the rotating stage 10, and in the direction perpendicular to the rotating stage 10, multiple laser detectors 221 in different laser transceiver units 20 are alternately staggered.

[0060] Figure 5 yes Figure 2 The diagram shows the arrangement of laser emitters in a multi-line lidar system. Figure 6 yes Figure 2 The diagram shown illustrates the arrangement of laser detectors in a multi-line lidar system. (Refer to...) Figure 2 and Figure 5 Optionally, multiple laser emitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the rotary table 10, and in this direction perpendicular to the rotary table 10, the multiple laser emitters 211 in different laser transceiver units 20 are alternately staggered in groups. (Reference) Figure 2 and Figure 6 Multiple laser detectors 221 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the rotating stage 10, and in the direction perpendicular to the rotating stage 10, multiple laser detectors 221 in different laser transceiver units 20 are staggered in groups.

[0061] It should be noted that in this multi-line lidar, by setting up alternating or group-alternating offsets, it can be ensured that the laser transmitters 211 in the same group of laser transceiver units are in different positions in the direction of the vertical rotating stage 10. At the same time, the laser transmitters 211 in different groups of laser transceiver units are also in different positions in the direction of the vertical rotating stage 10. This ensures that the laser transmitters in this multi-line lidar can obtain more detection points in the vertical direction of the detection surface, thereby increasing the detection accuracy.

[0062] Figure 7 This is a schematic diagram of another multi-line lidar provided in an embodiment of the present invention, for reference. Figure 7 Optionally, the multi-line lidar also includes two receiving plates 220. Each array laser detector 22 shares a receiving plate 220 with one array laser detector 22 in another set of laser transceiver units 20, and the two array laser detectors 22 sharing a receiving plate 220 are respectively disposed on two opposing sides of the receiving plate 220. Each array laser transmitter 21 includes a transmitting plate 210, and the two transmitting plates 210 in the two sets of laser transceiver units 20 are located on opposing sides of the rotation axis of the rotary table 10.

[0063] At this time, the laser emitters 211 in each group of laser transceiver units 20 are positioned differently in the vertical direction. Furthermore, after adjusting the emission angle of each laser emitter 211, it can be ensured that the laser emission direction emitted by each laser emitter 211 is different. During the rotation of the rotary table 10, the projection points of the multiple laser emitters 211 in each group of laser transceiver units 20 on the scanning surface are different. This increases the number of scanning points on the scanning surface, allowing for more precise acquisition of object information on the scanning surface, thus increasing the detection accuracy.

[0064] and Figure 2 The multi-line lidar shown is similar. Figure 7 The multi-line lidar shown can also be configured with multiple laser transmitters in the same laser transceiver unit distributed along the direction of the vertical rotating stage. In the direction of the vertical rotating stage, the multiple laser transmitters in different laser transceiver units are alternately staggered or staggered in groups. Multiple laser detectors in the same laser transceiver unit are distributed in the direction perpendicular to the rotating stage. In the direction of the vertical rotating stage, the multiple laser detectors in different laser transceiver units are alternately staggered or staggered in groups. This will not be elaborated further here.

[0065] The present invention also provides a driving method for a multi-line lidar, which is used to drive any of the multi-line lidars provided in the embodiments of the present invention. Figure 8 This is a flowchart of a driving method for a multi-line lidar provided in an embodiment of the present invention, with reference to... Figure 1 and Figure 8 The driving method includes:

[0066] S110, drive the array laser emitter in each group of laser transceiver units, so that the multiple laser emitters arranged in the array emit laser beams through the optical emission structure respectively;

[0067] Among them, the laser emitters in the array laser emitter are arranged in an array and distributed at different positions in the direction of the vertical rotating stage. At this time, the laser emitted by each laser emitter has a different laser emission direction, so that it can scan and detect objects on a vertical plane.

[0068] S120. Through the optical receiving structure in the corresponding laser transceiver unit, the laser beam is received to form multiple reflected beams after being reflected by the outside, and the multiple reflected beams are incident one-to-one into the multiple laser detectors in the two array laser detectors.

[0069] When a laser beam is emitted onto an external object, it is reflected. The resulting reflected beam is then incident on the multi-line lidar via an optical receiving structure. Furthermore, by appropriately configuring the optical receiving structure, multiple reflected beams can be incident one-to-one on multiple laser detectors within two arrays, allowing the laser detectors to acquire information about the detected object. Moreover, by comparing and analyzing the emitted and reflected laser beams, information such as the position and distance of the detected object can be determined, thus achieving environmental detection. This embodiment of the invention, by employing the multi-line lidar provided in the above embodiments, possesses the beneficial effects of the aforementioned multi-line lidar.

[0070] In practical multi-line radar driving processes, the driving method needs to be adjusted according to the ratio of laser transmitters to laser detectors in each laser transceiver unit. When the number of laser transmitters in each laser transceiver unit is equal to the number of laser detectors in each array laser detector, two laser detectors need to share one laser transmitter. To address this, this invention also provides a driving method for multi-line lidar. Figure 9 This is a flowchart of another driving method for a multi-line lidar provided in an embodiment of the present invention, see reference. Figure 1 and Figure 9 The driving method includes:

[0071] S210, drive the array laser emitter in each group of laser transceiver units, so that multiple laser emitters arranged in an array in the array laser emitter emit laser beams sequentially through the optical emission structure;

[0072] In an array laser emitter, the laser emitters do not emit laser beams simultaneously. Instead, each group of laser emitters and detectors has a detection cycle. Within the detection cycle, that group of laser emitters and detectors performs laser detection. In the next cycle, the next group of laser emitters and detectors performs laser detection. Therefore, sequential emission of laser beams means that multiple laser emitters emit laser beams within their corresponding detection cycles. It should be noted that the sequential emission of laser beams does not follow the positional order of the laser emitters. To avoid interference between adjacent laser emitters, the laser emitters and detectors in different detection cycles can be positioned so that they are not adjacent to each other.

[0073] S220. Through the optical receiving structure in the corresponding laser transceiver unit, the laser beam is received in sequence after being reflected by the outside, and the multiple reflected beams are sequentially incident on the multiple laser detectors in the two array laser detectors.

[0074] Sequentially receiving multiple reflected beams means that within a corresponding detection period, each laser detector in the two array laser detectors receives the reflected beams through an optical receiving structure. By comparing the reflected beams with the emitted beams, information such as the position of external objects can be determined. Furthermore, since each laser transceiver unit can be considered to have two laser detection groups, it can provide detection accuracy. Combined with the rotation of the rotating stage, it can achieve three-dimensional scanning detection of the environment.

[0075] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A multi-line lidar, characterized in that, It includes at least one rotary table and at least one set of laser transceiver units located on the rotary table, the laser transceiver units comprising: An array laser emitter comprising a plurality of laser emitters arranged in an array; Two array laser detectors are disposed on both sides of the array laser emitter, and each array laser detector includes multiple laser detectors arranged in an array. An optical emission structure is located in the emission optical path of multiple laser emitters, through which multiple laser beams emitted from the multiple laser emitters are irradiated to the outside world; An optical receiving structure is located on the receiving optical path of multiple laser detectors. Multiple laser beams emitted from multiple laser emitters in each array laser emitter are reflected by the outside to form multiple reflected beams. The multiple reflected beams can be incident one-to-one into multiple laser detectors in two array laser detectors through the optical receiving structure. The number of laser emitters is equal to the sum of the number of laser detectors in the two array laser detectors, and the laser emitters of the two array laser detectors emit lasers with different wavelengths.

2. The multi-line lidar according to claim 1, characterized in that, It includes a rotary table and a set of laser transceiver units located on the rotary table; The array laser emitter also includes an emitting plate, on which multiple laser emitters arranged in an array are disposed; Each of the arrayed laser detectors also includes a receiving plate, on which the plurality of laser detectors arranged in the array are disposed; The optical emission structure includes an emission collimating lens group, through which the laser beams emitted by the multiple laser emitters of the array laser emitter illuminate the outside world; The optical receiving structure includes two receiving reflector groups and two receiving collimating lens groups. Multiple laser beams emitted from multiple laser emitters in the array laser emitter are reflected by the outside to form multiple reflected beams. The multiple reflected beams are respectively incident on multiple laser detectors in each of the array laser detectors through one of the receiving reflector groups and one of the receiving collimating lens groups.

3. The multi-line lidar according to claim 1 or 2, characterized in that, It includes a rotating stage and two sets of laser transceiver units located on the rotating stage; the laser emission directions of the two sets of laser transceiver units are opposite to each other.

4. The multi-line lidar according to claim 3, characterized in that, The array laser emitter further includes an emitting plate on which a plurality of laser emitters are arranged in an array; the array laser detector further includes a receiving plate on which a plurality of laser detectors are arranged in an array.

5. The multi-line lidar according to claim 4, characterized in that, The array laser emitter includes one emitter plate and two emitter plates from the two sets of laser transceiver units, located on opposite sides of the rotation axis of the rotary table. Each of the array laser detectors includes a receiving board, and the four receiving boards in the two sets of laser transceiver units are arranged in parallel to each other. The two array laser detectors in the same set of laser transceiver units are located on the side of the two receiving boards that are away from the receiving board in the other set of laser transceiver units.

6. The multi-line lidar according to claim 4, characterized in that, It also includes two receiving boards, each of the array laser detectors and one of the array laser detectors in another set of laser transceiver units share one receiving board, and the two array laser detectors sharing one receiving board are respectively disposed on two opposite sides of the receiving board; Each of the array laser emitters includes one emitter plate, and two of the emitter plates in the two sets of laser transceiver units are located on opposite sides of the rotation axis of the rotary table.

7. The multi-line lidar according to claim 5 or 6, characterized in that, Multiple laser emitters in the same laser transceiver unit are distributed in a direction perpendicular to the rotating platform, and in the direction perpendicular to the rotating platform, multiple laser emitters in different laser transceiver units are alternately staggered or staggered in groups. Multiple laser detectors in the same laser transceiver unit are distributed in a direction perpendicular to the rotating platform, and in the direction perpendicular to the rotating platform, multiple laser detectors in different laser transceiver units are alternately staggered one by one or staggered in groups.

8. A driving method for a multi-line lidar, characterized in that, The driving method for driving the multi-line lidar as described in any one of claims 1-7 includes: Drive the array laser emitter in each group of laser transceiver units, so that the multiple laser emitters arranged in the array emit laser beams through the optical emission structure respectively; The optical receiving structure in the laser transceiver unit receives multiple reflected beams formed by the laser beam after external reflection, and the multiple reflected beams are incident one-to-one into multiple laser detectors in the two array laser detectors. In each group of laser transceiver units, the number of laser transmitters is equal to the number of laser detectors in each array laser detector; The method of driving the array laser emitters in each group of laser transceiver units, causing the multiple laser emitters arranged in an array to emit laser beams through an optical emission structure, includes: Drive the array laser emitter in each group of laser transceiver units, so that the multiple laser emitters arranged in an array in the array laser emitter sequentially emit the laser beam through the optical emission structure; The step of receiving multiple reflected beams formed by the laser beam after external reflection through the optical receiving structure corresponding to the laser transceiver unit, and making the multiple reflected beams incident one-to-one into multiple laser detectors in the two array laser detectors, includes: The optical receiving structure in the laser transceiver unit receives the multiple reflected beams formed by the laser beam after being reflected from the outside in sequence, and the multiple reflected beams are sequentially incident on the multiple laser detectors in the two array laser detectors in a one-to-one correspondence.

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