阅读说明：本技术 一种多线激光雷达及其驱动方法 (Multi-line laser radar and driving method thereof ) 是由 胡小波 陈鼎文 于 2019-07-19 设计创作，主要内容包括：本发明实施例公开了一种多线激光雷达及其驱动方法。该多线激光雷达包括至少一个旋转台和位于旋转台上的至少一组激光收发单元,激光收发单元包括两个阵列激光发射器、一个阵列激光探测器、光学接收结构和光学接收结构,多个激光发射器出射的多个激光光束经光学出射结构照射到外界；每个阵列激光发射器中的多个激光发射器出射的多个激光光束,经外界反射后形成多个反射光束,多个反射光束经光学接收结构一一对应入射至多个激光探测器中。本发明实施例解决了多线激光雷达的探测精度受体积限制的问题,保证了探测精度的同时多线激光雷达具备较小的体积,同时降低了多线激光雷达中激光发射器和激光探测器的角度调试难度。(The embodiment of the invention discloses a multi-line laser radar and a driving method thereof. The multi-line laser radar comprises at least one rotating platform and at least one group of laser receiving and transmitting units positioned on the rotating platform, wherein each laser receiving and transmitting unit comprises two array laser transmitters, an array laser detector, an optical receiving structure and an optical receiving structure, and a plurality of laser beams emitted by the plurality of laser transmitters are irradiated to the outside through the optical emitting structure; a plurality of laser beams emitted by a plurality of laser emitters in each array laser emitter form a plurality of reflected beams after being reflected by the outside, and the plurality of reflected beams are incident into a plurality of laser detectors in a one-to-one correspondence mode through an optical receiving structure. The embodiment of the invention solves the problem that the detection precision of the multi-line laser radar is limited by the volume, ensures the detection precision, has smaller volume, and reduces the angle debugging difficulty of a laser transmitter and a laser detector in the multi-line laser radar.)

1. Multiline lidar comprising at least one rotary stage and at least one set of laser transceiver units located on the rotary stage, the laser transceiver units comprising:

the array laser transmitter comprises two array laser transmitters, wherein each array laser transmitter comprises a plurality of laser transmitters arranged in an array;

the array laser detector comprises a plurality of laser detectors arranged in an array;

the optical emergent structure is positioned on emergent light paths of the laser emitters, and a plurality of laser beams emitted by the laser emitters irradiate the outside through the optical emergent structure;

and the optical receiving structure is positioned on the receiving light path of the plurality of laser detectors, a plurality of laser beams emitted by the plurality of laser emitters in each array laser emitter form a plurality of reflected beams after being reflected by the outside, and the plurality of reflected beams are incident into the plurality of laser detectors in a one-to-one correspondence manner through the optical receiving structure.

2. The multiline lidar of claim 1 wherein the number of said lasers in each of said lasertransceiving units is equal to the number of said lasers in each of said array lasers or the number of said lasers is equal to the sum of the number of said lasers in both of said array lasers.

3. Multiline lidar according to claim 1, including a said turret and a plurality of said lidar units on said turret;

each array laser transmitter further comprises a transmitting plate, and a plurality of laser transmitters arranged in an array are arranged on the transmitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;

the optical emergent structure comprises two emission reflector groups and two emission collimating lens groups, and laser beams emitted by a plurality of laser emitters of each array laser emitter are irradiated to the outside through one emission reflector group and one emission collimating lens group;

the optical receiving structure comprises a receiving collimating lens group, a plurality of laser beams emitted by a plurality of laser emitters in each array laser emitter form a plurality of reflected beams after being reflected by the outside, and the plurality of reflected beams are incident into the plurality of laser detectors in a one-to-one correspondence manner through the receiving collimating lens group.

4. Multiline lidar according to claim 1, comprising one said turret and two said sets of laser transceiver units on said turret;

and the laser emission directions of the two groups of laser receiving and transmitting units are deviated from each other.

5. Multiline lidar according to claim 4,

the array laser transmitter also comprises a transmitting plate, and a plurality of laser transmitters arranged in an array are arranged on the transmitting plate; the array laser detector further comprises a receiving plate, and the laser detectors arranged in an array are arranged on the receiving plate.

6. Multiline lidar according to claim 5,

each array laser transmitter comprises one transmitting plate, four transmitting plates in two groups of laser transmitting and receiving units are arranged in parallel, and two array laser transmitters in the same group of laser transmitting and receiving units are respectively positioned on one side of the two transmitting plates, which is away from the transmitting plates in the other group of laser transmitting and receiving units;

the array laser detector comprises one receiving plate and two receiving plates in the two groups of laser receiving and transmitting units, and the two receiving plates are positioned on two sides of the rotating shaft of the rotating platform, which deviate from each other.

7. The multiline lidar of claim 5 further comprising two said transmitter boards, wherein each said array laser transmitter shares one said transmitter board with one said array laser transmitter in another set of said laser transceiver units, and two said array laser transmitters sharing one said transmitter board are respectively disposed on two side surfaces of said transmitter boards facing away from each other;

each array laser detector comprises one receiving plate, and two receiving plates in the two groups of laser transceiving units are positioned on two sides of the rotating shaft of the rotating platform, which deviate from each other.

8. Multiline lidar according to claim 6 or 7,

the laser transmitters in the same laser transceiver unit are distributed in a direction vertical to the rotary table, and the laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups in the direction vertical to the rotary table;

the laser receiving and transmitting units are arranged on the rotating platform, the laser detectors in the laser receiving and transmitting units are distributed in the direction perpendicular to the rotating platform, and the laser detectors in the laser receiving and transmitting units are different from one another in the direction perpendicular to the rotating platform, and the laser detectors in the laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups.

9. A method of driving a multiline lidar according to any one of claims 1 to 8, the method comprising:

driving two array laser transmitters in each group of laser transceiving units to enable a plurality of laser transmitters arranged in an array in each array laser transmitter to transmit laser beams through an optical emergent structure;

and receiving a plurality of reflected light beams formed by the laser beams after being reflected by the outside by corresponding to the optical receiving structures in the laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detectors in a one-to-one correspondence manner.

10. The driving method according to claim 9, wherein the number of the laser detectors in each group of the laser transceiver units is equal to the number of the laser transmitters in each of the array laser transmitters;

the driving of the two array laser transmitters in each group of laser transceiver units to enable the multiple laser transmitters arranged in an array in each array laser transmitter to transmit laser beams through the optical emergent structure includes:

driving the two array laser transmitters in each group of laser transceiving units to enable the plurality of laser transmitters arranged in an array in each array laser transmitter to sequentially transmit the laser beams through the optical emergent structure;

the receiving, by an optical receiving structure in the laser transceiver unit, a plurality of reflected light beams formed by the laser beam after being reflected from the outside, and the one-to-one incidence of the plurality of reflected light beams to a plurality of laser detectors in the array laser detector, includes:

and sequentially receiving a plurality of reflected light beams formed by the laser beams after being reflected by the outside through an optical receiving structure corresponding to the laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detector in a one-to-one correspondence manner.

Technical Field

The embodiment of the invention relates to a laser radar technology, in particular to a multi-line laser radar and a driving method thereof.

Background

The multiline laser radar is one kind of laser radar, and has the working principle that laser beams are first transmitted to a target, then signals reflected from a target object are received and compared with the transmitted signals, and relevant information of the target can be obtained.

In the field of automatic driving, laser radar is a focus of attention because of its wide application. For a multiline lidar, the higher the number of lines, the higher the detection accuracy, but the number of lines of the beam is limited by volume. Specifically, when the number of lines needs to be increased, the number of laser transmitters on the transmitting plate is generally increased or the number of the transmitting plates is increased, so that the volume of the product is not well controlled; meanwhile, the number of the laser transmitters is increased, the laser transmitters are densely arranged, so that the design difficulty of the transmitting plate is increased, and the angle debugging difficulty of the laser transmitters is correspondingly increased; furthermore, the aperture of the optical structure including the lens needs to be enlarged accordingly, thereby increasing the volume of the entire lidar.

Disclosure of Invention

The invention provides a multi-line laser radar and a driving method thereof, which are used for ensuring that the multi-line laser radar has smaller volume and reducing the angle debugging difficulty of a laser transmitter and a laser detector in the multi-line laser radar.

In a first aspect, an embodiment of the present invention provides a multiline lidar, including at least one rotating platform and at least one set of laser transceiver units located on the rotating platform, where the laser transceiver units include:

the array laser transmitter comprises two array laser transmitters, wherein each array laser transmitter comprises a plurality of laser transmitters arranged in an array;

the array laser detector comprises a plurality of laser detectors arranged in an array;

the optical emergent structure is positioned on emergent light paths of the laser emitters, and a plurality of laser beams emitted by the laser emitters irradiate the outside through the optical emergent structure;

and the optical receiving structure is positioned on the receiving light path of the plurality of laser detectors, a plurality of laser beams emitted by the plurality of laser emitters in each array laser emitter form a plurality of reflected beams after being reflected by the outside, and the plurality of reflected beams are incident into the plurality of laser detectors in a one-to-one correspondence manner through the optical receiving structure.

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

Optionally, the laser processing system comprises a rotating platform and a group of laser transceiver units positioned on the rotating platform;

each array laser transmitter further comprises a transmitting plate, and a plurality of laser transmitters arranged in an array are arranged on the transmitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;

the optical emergent structure comprises two emission reflector groups and two emission collimating lens groups, and laser beams emitted by a plurality of laser emitters of each array laser emitter are irradiated to the outside through one emission reflector group and one emission collimating lens group;

the optical receiving structure comprises a receiving collimating lens group, a plurality of laser beams emitted by a plurality of laser emitters in each array laser emitter form a plurality of reflected beams after being reflected by the outside, and the plurality of reflected beams correspondingly enter the plurality of laser detectors through the receiving collimating lens group one by one.

Optionally, the laser processing system comprises one rotating platform and two groups of laser transceiver units positioned on the rotating platform;

and the laser emission directions of the two groups of laser receiving and transmitting units are deviated from each other.

Optionally, the array laser transmitter further includes a transmitting plate, and the plurality of laser transmitters arranged in an array are disposed on the transmitting plate; the array laser detector further comprises a receiving plate, and the laser detectors arranged in an array are arranged on the receiving plate.

Optionally, each array laser transmitter includes one transmitting plate, four transmitting plates in two groups of laser transceiver units are arranged in parallel, and two array laser transmitters in the same group of laser transceiver units are respectively located on one side of the two transmitting plates away from the transmitting plate in the other group of laser transceiver units;

the array laser detector comprises one receiving plate and two receiving plates in the two groups of laser receiving and transmitting units, and the two receiving plates are positioned on two sides of the rotating shaft of the rotating platform, which deviate from each other.

Optionally, the laser transmitter module further includes two emitting plates, each of the array laser transmitters shares one emitting plate with one of the array laser transmitters in another group of the laser transceiver units, and the two array laser transmitters sharing one emitting plate are respectively disposed on two side surfaces of the emitting plates facing away from each other;

each array laser detector comprises one receiving plate, and two receiving plates in the two groups of laser transceiving units are positioned on two sides of the rotating shaft of the rotating platform, which deviate from each other.

Optionally, the plurality of laser transmitters in the same laser transceiver unit are distributed in a direction perpendicular to the rotary table, and in the direction perpendicular to the rotary table, the plurality of laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups;

the laser receiving and transmitting units are arranged on the rotating platform, the laser detectors in the laser receiving and transmitting units are distributed in the direction perpendicular to the rotating platform, and the laser detectors in the laser receiving and transmitting units are different from one another in the direction perpendicular to the rotating platform, and the laser detectors in the laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups.

In a second aspect, an embodiment of the present invention further provides a driving method for a multiline lidar according to any one of the first aspects, including:

driving two array laser transmitters in each group of laser transceiving units to enable a plurality of laser transmitters arranged in an array in each array laser transmitter to transmit laser beams through an optical emergent structure;

and receiving a plurality of reflected light beams formed by the laser beams after being reflected by the outside by corresponding to the optical receiving structures in the laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detectors in a one-to-one correspondence manner.

Optionally, in each group of the laser transceiver units, the number of the laser detectors is equal to the number of the laser transmitters in each array laser transmitter;

the driving of the two array laser transmitters in each group of laser transceiver units to enable the multiple laser transmitters arranged in an array in each array laser transmitter to transmit laser beams through the optical emergent structure includes:

driving the two array laser transmitters in each group of laser transceiving units to enable the plurality of laser transmitters arranged in an array in each array laser transmitter to sequentially transmit the laser beams through the optical emergent structure;

the receiving, by an optical receiving structure in the laser transceiver unit, a plurality of reflected light beams formed by the laser beam after being reflected from the outside, and the one-to-one incidence of the plurality of reflected light beams to a plurality of laser detectors in the array laser detector, includes:

and sequentially receiving a plurality of reflected light beams formed by the laser beams after being reflected by the outside through an optical receiving structure corresponding to the laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detector in a one-to-one correspondence manner.

According to the multi-line laser radar and the driving method thereof provided by the embodiment of the invention, at least one rotating platform is arranged, and at least one group of laser receiving and transmitting units are arranged on the rotating platform, wherein each group of laser receiving and transmitting units is provided with two array laser transmitters, one array laser detector, an optical emergent structure and an optical receiving structure, and the two array laser transmitters and the array laser detector are used for receiving and transmitting laser beams, so that the environment detection is realized. Meanwhile, because the two array laser transmitters are provided with the plurality of laser transmitters, each group of laser receiving and transmitting units can realize multi-line laser detection, and the detection precision of the multi-line laser radar can be improved through the combination of the two array laser transmitters and the plurality of groups of laser receiving and transmitting units; furthermore, the laser transmitters in each group of laser transmitting and receiving units can be arranged at relatively low density, so that the angle debugging difficulty of the laser transmitters is reduced. The multi-line laser radar provided by the embodiment of the invention can improve the laser detection precision by increasing the number of laser lines, ensure that the multi-line laser radar has smaller volume and reduce the angle debugging difficulty of a laser transmitter and a laser detector in the multi-line laser radar.

Drawings

Fig. 1 is a schematic structural diagram of a multiline lidar according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of another multiline lidar according to an embodiment of the present invention;

FIG. 3 is a schematic view of a laser detector arrangement of the multiline lidar shown in FIG. 2;

FIG. 4 is a schematic diagram of a laser transmitter arrangement of the multiline lidar of FIG. 2;

FIG. 5 is a schematic view of a laser detector arrangement of the multiline lidar of FIG. 2;

FIG. 6 is a schematic diagram of a laser transmitter arrangement of the multiline lidar of FIG. 2;

FIG. 7 is a schematic structural diagram of another multiline lidar according to an embodiment of the present invention;

FIG. 8 is a flowchart of a driving method of a multiline lidar according to an embodiment of the present invention;

fig. 9 is a flowchart of another driving method of the multiline lidar according to an embodiment of the present invention.

The system comprises a 10-rotating platform, a 20-laser transceiving unit, a 21-array laser transmitter, a 210-transmitting plate, a 211-laser transmitter, a 22-array laser detector, a 220-receiving plate, a 221-laser detector, a 23-optical emergent structure, a 231-transmitting reflector group, a 232-transmitting collimating lens group, a 24-optical receiving structure and a 241-receiving collimating lens group.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The existing multi-line laser radar is generally provided with a plurality of laser transmitters and a plurality of laser detectors on a transmitting plate and a receiving plate respectively, and laser beams transmitted by the laser transmitters are utilized for detection, so that multi-line laser detection is realized. And the line number of multi-thread laser radar has decided laser radar's detection precision, and the mode that increases the line number is only the quantity that increases laser emitter usually on the expelling plate, and the quantity that increases laser emitter can increase expelling plate and the optical structure's that corresponds volume to make laser radar's volume increase, perhaps, can increase laser emitter's the density that sets up, thereby increase laser emitter's the angle debugging degree of difficulty. Therefore, the method of simply increasing the number of laser transmitters to increase the number of lines is limited by the size of the whole laser radar and the angle debugging difficulty of the laser radar, and the detection precision of the laser radar is difficult to improve.

To this end, an embodiment of the present invention provides a multiline lidar, which includes at least one rotating platform and at least one set of laser transceiver units located on the rotating platform, where the laser transceiver units include: the array laser transmitter comprises two array laser transmitters, wherein each array laser transmitter comprises a plurality of laser transmitters arranged in an array; the array laser detector comprises a plurality of laser detectors arranged in an array; the optical emergent structure is positioned on an emergent light path of the plurality of laser emitters, and a plurality of laser beams emitted by the plurality of laser emitters irradiate the outside through the optical emergent structure; the optical receiving structure is positioned on a receiving light path of the laser detectors, a plurality of laser beams emitted by the laser emitters in each array laser emitter form a plurality of reflected beams after being reflected by the outside, and the plurality of reflected beams are incident into the laser detectors in a one-to-one correspondence mode through the optical receiving structure.

Among at least a set of laser transceiver unit, owing to set up two array laser emitter, an array laser detector and optics outgoing structure and optics receiving structure, every array laser emitter can utilize a plurality of laser emitter that its array was arranged to send multi-thread detection laser beam to can realize the outgoing of multi-thread detection laser beam through optics outgoing structure, array laser detector then can utilize a plurality of laser detector that its array was arranged, receive the external reflected beam that forms through reflection laser detection beam through optics receiving structure one-to-one, thereby carry out the environmental detection. The rotating platform is used for bearing the laser transceiver units and driving the laser transceiver units to rotate in the horizontal direction, so that each group of laser transceiver units realizes scanning detection in the horizontal direction. It should be noted that, the plurality of laser transmitters arranged in an array in each laser transceiver unit may be distributed at different positions in the vertical direction, so that the detection laser beams emitted by the plurality of laser transmitters in each laser transceiver unit may be divergently propagated on a vertical plane, that is, the detection surface of each laser transceiver unit at a fixed time is a vertical plane, and the rotation of each group of laser transceiver units on the horizontal plane is realized by the driving of the rotary table, thereby realizing the three-dimensional detection of the space by the laser radar.

Since the plurality of laser transmitters in each array laser transmitter can scan on the vertical plane, the whole laser transceiver unit can increase the detection accuracy of the vertical plane. And receive the reflected beam of the laser beam that two array laser emitter sent by single array laser detector, can reduce array laser detector's occupation space, through each array laser emitter, array laser detector and optics outgoing structure and optics receiving structure in the reasonable setting every group laser transceiver unit, can make full use of the space of revolving stage to reduce whole multi-line laser radar's volume. In addition, the number of the laser emitters in each array laser emitter can be relatively small, and the arrangement density of the laser emitters and the laser detectors is small, so that the debugging difficulty of the emission angle of each laser emitter can be greatly reduced.

The multi-line laser radar provided by the embodiment of the invention is provided with at least one rotating platform, and at least one group of laser receiving and transmitting units are arranged on the rotating platform, wherein each group of laser receiving and transmitting units is provided with two array laser transmitters, one array laser detector, an optical emergent structure and an optical receiving structure, and the two array laser transmitters and the array laser detectors are used for receiving and transmitting laser beams, so that the environment detection is realized. Meanwhile, because the two array laser transmitters are provided with the plurality of laser transmitters, each group of laser receiving and transmitting units can realize multi-line laser detection, and the detection precision of the multi-line laser radar can be improved through the combination of the two array laser transmitters and the plurality of groups of laser receiving and transmitting units; furthermore, the laser transmitters in each group of laser transmitting and receiving units can be arranged at relatively low density, so that the angle debugging difficulty of the laser transmitters is reduced. The multi-line laser radar provided by the embodiment of the invention can improve the laser detection precision by increasing the number of laser lines, ensure that the multi-line laser radar has smaller volume and reduce the angle debugging difficulty of a laser transmitter and a laser detector in the multi-line laser radar.

The above is the core idea of the present invention, and the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a multiline lidar according to an embodiment of the present invention, referring to fig. 1, the multiline lidar includes a turntable 10 and a set of laser transceiver units 20 on the turntable 10; the laser transceiver unit 20 includes: two array laser emitters 21, each array laser emitter 21 comprising a plurality of laser emitters 211 arranged in an array; an array laser detector 22, wherein the array laser detector 22 comprises a plurality of laser detectors 221 arranged in an array; the optical emitting structure 23 is located on an emitting light path of the plurality of laser emitters 211, and a plurality of laser beams emitted by the plurality of laser emitters 211 irradiate the outside through the optical emitting structure 23; the optical receiving structure 24 is located on the receiving optical path of the plurality of laser detectors 221, the plurality of laser beams emitted by the plurality of laser emitters 211 in each array laser emitter 21 are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams are incident into the plurality of laser detectors 221 through the optical receiving structure 24 in a one-to-one correspondence manner.

Each array laser emitter 21 further includes an emitting plate 210, and a plurality of laser emitters 211 arranged in an array are disposed on the emitting plate 210; the array laser detector 22 further includes a receiving plate 220, and a plurality of laser detectors 221 arranged in an array are disposed on the receiving plate 220; the optical emission structure 23 includes two emission mirror groups 231 and two emission collimating lens groups 232, and laser beams emitted from the plurality of laser emitters 211 of each array laser emitter 21 are irradiated to the outside through one emission mirror group 231 and one emission collimating lens group 232; the optical receiving structure 24 includes a receiving collimating lens set 241, and a plurality of laser beams emitted from the plurality of laser emitters 211 in each array laser emitter 22 are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams are incident into the plurality of laser detectors 221 through the receiving collimating lens set 241 in a one-to-one correspondence manner.

Specifically, when the number of the laser emitters of the array laser emitter and the number of the laser detectors in the array laser detector are set, the source of the reflected light beam actually received by the laser detector needs to be considered and designed. Optionally, in each group of laser transceiver units, the number of the laser detectors may be equal to the sum of the numbers of the laser transmitters in the two array laser transmitters, that is, the laser detectors in the array laser detectors correspond to all the laser transmitters in the two array laser transmitters one to one, and are configured to receive the reflected light beams reflected by the laser beams emitted by the laser transmitters in a one-to-one correspondence manner, so as to implement laser detection. It should be noted here that although all the laser transmitters and all the laser detectors are in one-to-one correspondence, in the actual driving process, the laser transmitters do not emit laser beams simultaneously, but each corresponding laser transmitter and laser detector emits a laser beam and receives a reflected beam in one detection period, and at this time, interference of adjacent laser detectors during simultaneous detection can be avoided.

Or, the number of the laser detectors may be equal to the number of the laser emitters in each array laser emitter, that is, each laser detector may receive a reflected light beam reflected by a laser beam emitted by each of the two array laser emitters, that is, the laser detectors may be used in common to perform laser detection. Of course, the common mode of the laser detectors mostly adopts time-sharing detection or wavelength-sharing detection, where the time-sharing detection refers to that two laser emitters sharing the same laser detector emit laser beams at different times and are received by corresponding laser detectors at different times, the laser detectors determine the position information of the external object according to the time, the phase, and the like of the received reflected beams, the wavelength-sharing detection refers to that the wavelengths of the laser beams emitted by the two laser emitters sharing the same laser detector are different, and the laser detectors determine the corresponding laser emitters by analyzing the wavelengths and determine the position information of the external object according to the time, the phase, and the like of the reflected beams.

Fig. 2 is a schematic structural diagram of another multiline lidar according to an embodiment of the present invention, referring to fig. 2, which includes a turntable 10 and two sets of laser transceiver units 20 on the turntable 10; the laser emitting directions of the two groups of laser transceiver units 20 are away from each other.

Two sets of laser transceiving units 20 opposite to each other are arranged in the multi-line laser radar, so that the space on the rotary table 10 can be fully utilized, and the space waste caused by arrangement of a single set of laser transceiving units is avoided. Simultaneously, two objects in the direction deviating from each other on the horizontal plane can be detected and scanned simultaneously through the mutual deviation of the laser emission directions of the two groups of laser receiving and transmitting units, so that the detection area at a single moment is ensured, and the overall detection frequency is increased.

Further, referring to fig. 2, the array laser emitter 21 further includes an emitting plate 210, and a plurality of laser emitters 211 arranged in an array are disposed on the emitting plate 210; the array laser detector 22 further includes a receiving plate 220, and a plurality of laser detectors 221 arranged in an array are disposed on the receiving plate 220. Optionally, each array laser transmitter 21 includes one transmitting plate 210, four transmitting plates 210 in two groups of laser transceiver units 20 are arranged in parallel, and two array laser transmitters 21 in the same group of laser transceiver units 20 are respectively located on one side of the two transmitting plates 210 away from the transmitting plate 210 in the other group of laser transceiver units 20; the array laser detector 22 includes a receiving plate 220, and two receiving plates 220 of the two sets of laser transceiver units 20 are located at two sides of the rotation axis of the turntable 10, which are away from each other.

Fig. 3 is a schematic diagram of an arrangement of laser detectors of the multi-line lidar shown in fig. 2, and fig. 4 is a schematic diagram of an arrangement of laser transmitters of the multi-line lidar shown in fig. 2, referring to fig. 2 and 3, wherein the plurality of laser transmitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and the plurality of laser transmitters 211 in different laser transceiver units 20 are alternately staggered one by one in the direction perpendicular to the turntable 10. Referring to fig. 2 and 4, the plurality of laser detectors 221 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and the plurality of laser detectors 221 in different laser transceiver units 20 are alternately shifted one by one in the direction perpendicular to the turntable 10.

Fig. 5 is a schematic diagram of an arrangement of laser detectors of the multiline lidar shown in fig. 2, and fig. 6 is a schematic diagram of an arrangement of laser transmitters of the multiline lidar shown in fig. 2, and referring to fig. 2 and 5, alternatively, a plurality of laser transmitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the rotary table 10, and a plurality of laser transmitters 211 in different laser transceiver units 20 are alternately shifted in groups in the direction perpendicular to the rotary table 10. Referring to fig. 2 and 6, the plurality of laser detectors 221 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and the plurality of laser detectors 221 in different laser transceiver units 20 are alternately shifted in groups in the direction perpendicular to the turntable 10.

It should be noted that, in the multi-line laser radar, through the one-to-one alternative dislocation or the group-to-group alternative dislocation, it can be ensured that the laser transmitters 211 in the same group of laser transceiver units are located at different positions in the direction perpendicular to the rotary table 10, and meanwhile, the laser transmitters 211 in different groups of laser transceiver units are also located at different positions in the direction perpendicular to the rotary table 10, so that it is ensured that the laser transmitters in the multi-line laser radar can obtain more detection points in the vertical direction of the detection surface, and the detection accuracy is increased.

Fig. 7 is a schematic structural diagram of another multiline lidar according to an embodiment of the present invention, and referring to fig. 7, optionally, the multiline lidar further includes two transmitting plates 210, each array laser transmitter 21 shares one transmitting plate 210 with one array laser transmitter 21 in another group of laser transceiver units 20, and the two array laser transmitters 21 sharing one transmitting plate 210 are respectively disposed on two side surfaces of the transmitting plates 210 facing away from each other; each array laser detector 22 includes a receiving plate 220, and two receiving plates 220 of the two sets of laser transceiver units 20 are located on both sides of the rotation axis of the turntable 10 facing away from each other.

At this time, the positions of the laser transmitters 211 in each group of laser transceiver units 20 in the vertical direction are all different, and after the transmitting angle of each laser transmitter 211 is adjusted, it can be ensured that the transmitting direction of the laser emitted by each laser transmitter 211 is different. In the rotation process of the rotating platform 10, the positions of the projection points of the plurality of laser transmitters in each group of laser transceiver units 20 on the scanning surface are all different, so that the scanning points on the scanning surface can be increased, and the information of the object on the scanning surface can be acquired more precisely, i.e. the detection precision can be increased.

Similar to the multiline lidar shown in fig. 2, the multiline lidar shown in fig. 7 may also be configured such that a plurality of laser transmitters in the same laser transceiver unit are distributed in a direction perpendicular to the turntable, and in the direction perpendicular to the turntable, the plurality of laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups; the laser detectors in the same laser transceiver unit are distributed in a direction perpendicular to the turntable, and in the direction perpendicular to the turntable, the laser detectors in different laser transceiver units are alternately staggered one by one or alternately staggered in groups, which is not described herein again.

The invention also provides a driving method of the multi-line laser radar, and the method is used for driving any one of the multi-line laser radars provided by the embodiment of the invention. Fig. 8 is a flowchart of a driving method of the multiline lidar according to an embodiment of the present invention, and referring to fig. 1 and 8, the driving method includes:

s110, driving two array laser transmitters in each group of laser transceiving units to enable a plurality of laser transmitters arranged in an array in each array laser transmitter to transmit laser beams through an optical emergent structure;

the laser emitters in the two array laser emitters are arranged in an array mode, and are distributed at different positions in the direction perpendicular to the rotating table, and the laser emitting direction of each laser emitter is different at the moment, so that the object on one vertical surface can be scanned and detected.

And S120, receiving a plurality of reflected light beams formed by the laser beams after being reflected by the outside through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detectors in a one-to-one correspondence manner.

When the laser beam is emitted to an external object, the laser beam is reflected, and the formed reflected beam is incident into the multi-line laser radar through the optical receiving structure. And, through reasonable setting optical receiving structure, can make a plurality of reflected beams correspond and incide to a plurality of laser detector in, acquire the information of detecting the object by laser detector. Meanwhile, through comparing and analyzing the emergent laser beam and the reflected beam, the information such as the position, the distance and the like of the detected object can be judged, and the environment detection is realized. The embodiment of the invention has the beneficial effects of the multi-line laser radar due to the adoption of the multi-line laser radar provided by the embodiment.

In the actual driving process of the multi-line radar, the driving method needs to be adjusted according to the quantity proportion of the laser transmitters and the laser detectors in each group of laser transceiving units. When the number of the laser detectors in each group of laser transceiver units is equal to the number of the laser transmitters in each array of laser transmitters, two laser transmitters need to share one laser detector. In view of the above, the embodiment of the present invention further provides a driving method for a multiline laser radar. Fig. 9 is a flowchart of another driving method of the multiline lidar according to an embodiment of the present invention, and referring to fig. 1 and 9, the driving method includes:

s210, driving two array laser transmitters in each group of laser transceiving units to enable a plurality of laser transmitters arranged in an array in each array laser transmitter to sequentially transmit the laser beams through an optical emergent structure;

in the process, all the laser transmitters in each group of laser transceiver units emit laser beams in respective detection periods, so that interference does not exist among the laser transmitters. It should be noted here that, during the actual driving process, the two array laser transmitters may alternatively emit the laser beams for detection, and the laser transmitters in the same array laser transmitter do not sequentially emit the laser beams according to the positional order, alternatively, when the laser transmitters in the same array laser transmitter sequentially emit the laser beams, the laser transmitters in non-adjacent positions are preferably sequentially emitted. Illustratively, for the first array of laser emitters including four laser emitters (numbered as a1, a2, a3 and a 4), and the second array of laser emitters including four laser emitters (numbered as b1, b2, b3 and b 4), the laser beams can be emitted sequentially in the order of a1-b4-a3-b2-a4-b1-a2-b 3. At the moment, the correspondingly received laser detectors are sequentially changed, so that the condition that the same laser detector receives the reflected light beams in two adjacent detection periods can not occur, and the detection accuracy is ensured.

S220, sequentially receiving a plurality of reflected light beams formed by the laser beams after being reflected by the outside through the optical receiving structures in the corresponding laser receiving and transmitting units, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detectors in a one-to-one correspondence mode.

As in the above example, during each detection period, the laser transmitter emits a laser beam, and correspondingly, the laser detector receives an external reflected beam. And because two array laser emitter of same group can set up to the gauge point difference, therefore the object precision that detects through laser detector improves, cooperates the rotation of revolving stage simultaneously, can realize the three-dimensional scanning of environment and detect.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.