Scanning system of multi-line laser radar, multi-line laser radar and scanning method

Abstract

The invention relates to a scanning system of a multi-line laser radar, the multi-line laser radar and a scanning method. The scanning system comprises a laser emitting unit; a laser shaping unit used for shaping light spots of the pulse type laser; an MEMS module used for changing the emission angle of the shaped laser in the vertical direction; a laser receiving unit used for shaping the laser returned by a measured object; a photoelectric conversion unit used for receiving the optical signal returned by the detected object, converting the optical signal into an electric signal, amplifying the electric signal and outputting the electric signal; and a calculation unit used for acquiring the emission angle information, controlling the laser emitting unit to emit laser, receiving the echo signal output by the photoelectric conversion unit, and calculating the distance of the measured object according to the laser emission time and the echo signal. By selecting the MEMS module, the detection of the three-dimensional environment around the laser radar can be realized only by one laser emitting unit and one receiving unit, and the cost and the structural complexity of the scanning system are reduced.

Description

technical field [0001] The invention relates to the technical field of laser detection, in particular to a multi-line laser radar scanning system, a multi-line laser radar and a scanning method. Background technique [0002] Lidar is a radar system that detects the distance, azimuth and other characteristic quantities of a target by emitting a laser beam. Because it can obtain the three-dimensional information of the target, it has the advantages of strong anti-interference ability and high resolution, so it occupies an important position in the field of automatic driving and robotics. [0003] Traditional mechanical scanning multi-line lidar generally uses multiple laser emitting units to measure multiple emission angles, resulting in high cost and complex structure of laser scanning radar. Contents of the invention [0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects that the mechanical scanning multi-line laser rada...

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Problems solved by technology

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects that the mechanical scanning multi-line laser radar in the prior art uses multiple laser emitting units to realize the measurement of multiple emission angles, resulting in high cost and complex structure of the laser scanning radar, thereby Provided are a multi-line lidar scanning system, multi-line lidar and scanning method

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