CN106249251A - Three-dimensional laser radar system - Google Patents
Three-dimensional laser radar system Download PDFInfo
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- CN106249251A CN106249251A CN201610797607.6A CN201610797607A CN106249251A CN 106249251 A CN106249251 A CN 106249251A CN 201610797607 A CN201610797607 A CN 201610797607A CN 106249251 A CN106249251 A CN 106249251A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of three-dimensional laser radar system, including: the three-dimensional laser radar of multiple separate settings；The plurality of three-dimensional laser radar is respectively used to detect the different azimuth of target object surrounding, to obtain the initial coordinate system positional information of corresponding detecting object；The directional bearing angle sum of the plurality of three-dimensional laser radar is more than or equal to 360 degree；Fixing device, for keeping the relative position relation between the plurality of three-dimensional laser radar to keep constant, and keeps the plurality of three-dimensional laser radar constant with the relative position relation of target location；And control device, for according to the relative position relation of the plurality of three-dimensional laser radar and target location by described initial coordinate system positional information unification to the coordinate system with described target location as zero, to obtain the test data under single coordinate system.Above-mentioned three-dimensional laser radar system has low cost and the advantage that target object surrounding can be carried out 360 degree of detections.
Description
Technical field
The present invention relates to technical field of laser detection, particularly relate to a kind of three-dimensional laser radar system.
Background technology
Traditional three-dimensional laser radar mostly is laser radar based on phased laser array technology, involves great expense.Further, laser
Phased-array technique can only adjust the shooting angle of laser in limited angular range, thus cannot enter target object surrounding
Row detection comprehensively.
Summary of the invention
Based on this, it is necessary to provide a kind of low cost and target object surrounding can be carried out the three of 360 degree of detections
Dimension laser radar system.
A kind of three-dimensional laser radar system, including: multiple three-dimensional laser radars；The plurality of three-dimensional laser radar is the most only
Erect and put；The plurality of three-dimensional laser radar is respectively used to detect the different azimuth of target object surrounding, to obtain
Obtain the initial coordinate system positional information of corresponding detecting object；The directional bearing angle sum of the plurality of three-dimensional laser radar more than or
Equal to 360 degree；Fixing device, is connected with the plurality of three-dimensional laser radar, be used for keeping the plurality of three-dimensional laser radar it
Between relative position relation keep constant, and keep the relative position relation of the plurality of three-dimensional laser radar and target location not
Become；And control device, it is connected with the plurality of three-dimensional laser radar respectively, is used for receiving described initial coordinate system positional information
And obtain the relative position relation of the plurality of three-dimensional laser radar and target location；Described control device is additionally operable to according to described
Multiple three-dimensional laser radars arrive unified for described initial coordinate system positional information with described with the relative position relation of target location
Target location is in the coordinate system of zero, to obtain the test data under single coordinate system.
Wherein in an embodiment, described control device also includes compensating unit, for the overlay region to test data
Territory compensates.
Wherein in an embodiment, described fixing device includes multiple fixed cell；Each fixed cell is for one
Individual three-dimensional laser radar is fixed；The plurality of fixed cell is for being fixed on same water by the plurality of three-dimensional laser radar
In plane.
Wherein in an embodiment, described fixing device includes housing and fixed cell；Described fixed cell and institute
State multiple three-dimensional laser radar to be arranged in described housing；Described fixed cell is used for fixing the plurality of three-dimensional laser radar
And keep the relative position relation between the plurality of three-dimensional laser radar constant；With described three-dimensional laser radar on described housing
Corresponding position is provided with opening, for the discrepancy of laser.
Wherein in an embodiment, the plurality of three-dimensional laser radar is phase type based on face battle array optical detector
Three-dimensional laser radar；Described three-dimensional laser radar includes: Laser emission drive circuit, is used for generating laser signal；Laser emission
Device array, is connected with described Laser emission drive circuit；Described arrangement of laser emitters includes multiple generating laser, for
Different azimuth launches laser signal described in multichannel；The plurality of generating laser is disposed on the same plane；Laser ranging unit
Array, including multiple laser ranging unit, is carried out solely for the laser signal reflecting the detecting object in directional bearing
Vertical sampling；The plurality of laser ranging unit is disposed on the same plane；Described laser ranging unit is additionally operable to according to sampling
Laser signal determine the relative distance information between described detecting object and described laser ranging unit；And control circuit,
It is connected with described laser ranging cell array, to receive the relative distance information of each described laser ranging unit output；Described control
Circuit processed for by described relative distance information unification to world coordinate system with obtain described detecting object initial coordinate system
Positional information.
Wherein in an embodiment, described three-dimensional laser radar also includes: Laser emission collimating array, is arranged on described
The emergent light side of arrangement of laser emitters, collimates for the laser signal launching described arrangement of laser emitters；And
Laser pick-off collimator apparatus, is arranged on the incident illumination side of described laser ranging cell array, for reflecting described detecting object
The laser signal returned is focused.
Wherein in an embodiment, described Laser emission collimating array includes multiple independent transmitting collimation unit；Often
Individual described transmitting collimation unit and a described generating laser are correspondingly arranged；Described transmitting collimation unit includes being parallel to described
The collimation wafer of arrangement of laser emitters place plane.
Wherein in an embodiment, described laser pick-off collimator apparatus includes lens barrel and is fixed on described lens barrel use
In the collimation wafer that the laser signal reflected is focused；Described collimation wafer is multiple and is spaced along incident illumination direction
Arrange；Described lens barrel is tapered stepped along described incident illumination direction, and described collimation wafer is arranged on the shoulder rank of described lens barrel
Position.
Wherein in an embodiment, described three-dimensional laser radar also includes first circuit board and second circuit board；Described
Laser emission drive circuit, described arrangement of laser emitters and described laser ranging cell array are arranged at described first circuit
On plate；Described control circuit is arranged on described second circuit board.
Wherein in an embodiment, also include the temperature sensor being connected with described control circuit；Described temperature sensing
Device is for gathering the temperature signal of described three-dimensional laser radar；Described control circuit is additionally operable to according to described temperature signal described
Initial coordinate system positional information is corrected the initial coordinate system positional information after rear output calibration.
Above-mentioned three-dimensional laser radar system, is provided with multiple three-dimensional laser radar, with respectively to target object surrounding
Different azimuth carry out detection obtain corresponding detecting object initial coordinate system position.The directional bearing of multiple three-dimensional laser radars
Angle sum is more than or equal to 360 degree, such that it is able to target object surrounding carries out 360 degree of detections.Fixing device is then used for
Ensure that the relative position relation of multiple three-dimensional laser radar keeps constant and keeps multiple three-dimensional laser radar and target location
Relative position relation is constant.Therefore, controlling device can be according to the relative position relation of three-dimensional laser radar Yu target location, will
The initial coordinate system positional information unification of each detecting object is in the coordinate system with target location as initial point, to obtain single coordinate
Test data under Xi, complete the detection of the comprehensive spreadability to target object surrounding.Use above-mentioned three-dimensional laser radar system
System, the requirement to three-dimensional laser radar is relatively low, thus greatly reduces cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
The accompanying drawing of other embodiments is obtained according to these accompanying drawings.
Fig. 1 is the structured flowchart of the three-dimensional laser radar system in an embodiment；
Fig. 2 is the structured flowchart of the three-dimensional laser radar in an embodiment；
Fig. 3 is the decomposing schematic representation of the three-dimensional laser radar in an embodiment；
Fig. 4 is the arrangement schematic diagram of the multiple three-dimensional laser radars in an embodiment；
Fig. 5 is the front view of the fixing device in an embodiment；
Fig. 6 is the side view of the fixing device in Fig. 5；
Fig. 7 is the top view of the fixing device in Fig. 5.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structured flowchart of the three-dimensional laser radar system 10 in an embodiment.This three-dimensional laser radar system is used for
Realize 360 degree of detections of the surrounding to target object.Target object can be stationary body, it is also possible to for the thing in motion
Body, such as unmanned plane, automobile, mobile robot etc., thus the surrounding of target object is carried out 360 degree of scan perception, with
Guarantee the barrier etc. that target object can be avoided in surrounding in motor process in time.See Fig. 1, this three-dimensional laser thunder
Reach system 10 include three-dimensional laser radar 100, fixing device 100 and control device 300.
Three-dimensional laser radar 100 is multiple.Multiple separate settings of three-dimensional laser radar 100.And multiple three-dimensionals swash
The different azimuth of target object surrounding is detected by optical radar 100 respectively, to obtain the detecting object in search coverage
Initial coordinate system positional information.Detecting object namely the object detected by three-dimensional laser radar 100, three-dimensional can be swashed by it
The laser that optical radar 100 is launched blocks, thus forms reflection laser and received by three-dimensional laser radar 100.Three-dimensional laser thunder
Reach the 100 relative distance relations that i.e. can determine that detecting object and three-dimensional laser radar 100 according to the laser that reflects, and according to
This relative distance relation tries to achieve the initial coordinate system positional information of correspondence.The initial coordinate system of this initial coordinate system position relationship can
World coordinates is all used, it is also possible to set up independent coordinate system according to respective position relationship with unified.Multiple three-dimensional laser thunders
The directional bearing angle sum reaching 100 is more than or equal to 360 degree, thus realizes 360 degree of detections to target object surrounding.Logical
Cross multiple three-dimensional laser radar 100 and carry out 360 degree to target object surrounding detections, can reduce three-dimensional laser radar
Performance requirement.Therefore, three-dimensional laser radar 100 can use the most conventional laser radar 100 to realize, and then can realize
Low cost.
Fig. 2 is the structured flowchart of the three-dimensional laser radar 100 in an embodiment, and Fig. 3 is the three-dimensional laser in an embodiment
The decomposing schematic representation of radar 100.This three-dimensional laser radar 100 is phase type three-dimensional laser thunder based on face battle array optical detector
Reach.This three-dimensional laser radar 100 includes that Laser emission drive circuit 110, arrangement of laser emitters 120, Laser emission collimate battle array
Row 130, laser pick-off collimator apparatus 140, laser ranging cell array 150, control circuit 160, temperature sensor 170, output
Device 180 and supply unit 190.Wherein, Laser emission drive circuit 110, arrangement of laser emitters 120 and laser ranging list
Element array 150 is arranged on first circuit board 102；Control circuit 160, temperature sensor 170, output device 180 and electricity
Source apparatus 190 is arranged on second circuit board 104.By optical system and control circuit system are separately positioned on different
On circuit board, it is simple to reduce interference each other, improve system stability.
Laser emission drive circuit 110 is used for generating laser signal.In the present embodiment, Laser emission drive circuit 110
Also the laser signal generated can be modulated, the laser signal modulated with output.
Arrangement of laser emitters 120 is used for receiving the laser signal of Laser emission drive circuit 110 output, and to emission
This laser signal.Arrangement of laser emitters 120 includes multiple generating laser 122.Multiple generating lasers are arranged on same flat
The various location in face.Each generating laser is to emission one road laser signal.In the present embodiment, multiple generating lasers
122 peripheries being distributed in laser ranging cell array 150 in the form of a ring.Laser ranging cell array 150 then includes multiple sharp
Ligh-ranging unit (not shown).Laser ranging cell array 150 is that chip-scale is integrated.The quantity of generating laser 122 and
The quantity of the laser ranging unit in laser ranging cell array 150 can be adjusted as required.In the present embodiment, swash
Light emitter arrays 120 is provided with 8 generating lasers 122.It is positioned at the generating laser 122 of first circuit board 102 plane
And the quantity of laser ranging unit is adjustable, so that it is controlled to measure the some cloud density obtained, and then can be according to not sympathizing with
Condition, different accuracy demand carry out different settings.
Laser emission collimating array 130 is arranged on the emergent light side of arrangement of laser emitters 120, for generating laser
The laser signal that array 120 sends collimates.Laser emission collimating array 130 includes multiple independent transmitting collimation unit
132.Each transmitting collimation unit 132 is correspondingly arranged with a generating laser 122, thus launches this generating laser 122
Laser signal collimate.In the present embodiment, launching collimation unit 132 can be collimation wafer.Collimation wafer is parallel to
The plane at arrangement of laser emitters 120 place.In other examples, multiple transmitting collimation unit 132 can also be by solid
Determine device and be fixed one entirety of formation according to default relative position relation, in order to install.
Laser pick-off collimator apparatus 140 is arranged on the incident illumination side of laser ranging cell array 150, for detecting object
The laser signal reflected is focused, and samples to be fed through in laser ranging cell array 150.Laser pick-off collimates
Device 140 includes lens barrel 142 and collimation wafer 144.Collimation wafer 144 is fixed in lens barrel 142, for swashing of reflecting
Optical signal is focused.Collimation wafer 144 can be multiple, and arranges along interval, incident illumination direction.In the present embodiment, lens barrel
142 is tapered stepped along incident illumination direction.Collimation wafer 144 is then arranged on the position, shoulder rank of lens barrel 142.By swashing
Light-receiving collimator apparatus 140 is set to gradually-reducing shape, is conducive to being acquired the laser signal reflected.
Laser ranging cell array 150 carries out independent sample for the laser signal reflecting detecting object.Laser
Distance measuring cell array 150 includes multiple laser ranging unit.Multiple laser ranging unit are similarly disposed at the difference of a plane
Position.In the present embodiment, laser ranging cell array 150 and arrangement of laser emitters 120 are arranged on same plane, at it
In his embodiment, laser ranging cell array 150 can also be separately positioned on two parallel putting down with arrangement of laser emitters 120
On face.Laser ranging unit can according to the laser signal received determine between detecting object with laser ranging unit relative
Range information, and export to control circuit 160.Laser emission drive circuit 110 can also be entered by laser ranging cell array 150
Row controls, to control its output target laser signal.
Control circuit 160 receives the relative distance information of laser ranging cell array 150 output, and this relative distance is believed
Breath is unified in world coordinate system to obtain the initial coordinate system positional information of target measurement object, thus completes ranging process.
Unified for the relative distance information of the acquisition process to world coordinate system can be used existing control technology real by control circuit 160
Existing, do not repeat.In the present embodiment, the sampling process of laser ranging cell array 150 can also be entered by control circuit 160
Row controls, so that it is sampled according to the setting of control circuit 160, gathers successively and completes work of finding range.Control circuit
160 by the relative distance information received unified to world coordinate system to obtain initial coordinate system positional information, and will obtain
Data message is fused into a data set.By ICP, (Iterative Closest Point, searches control circuit 160 with regard near point
Rope method) calculate the initial coordinate system positional information that three-dimensional laser radar 100 is measured.
In the present embodiment, three-dimensional laser radar 100 also includes temperature sensor 170.Temperature sensor 170 is for three
The temperature of dimension laser radar 100 exports to control circuit 160 after carrying out sampling and obtain temperature signal.Control circuit 160 basis
The initial coordinate system positional information obtained is corrected by this temperature signal.Specifically, storage it is provided with in control circuit 160 single
Unit.Memory element is used for storing temperature correction table.Temperature correction table stores the correction parameter corresponding to different temperatures.Therefore,
Control circuit 160 removes to search in temperature correction table the correction parameter of correspondence according to the temperature signal that temperature sensor 170 collects,
Thus initial coordinate system positional information is corrected.
Initial coordinate system positional information after correction is exported to controlling device by control circuit 160 by output device 180
300 and other external equipments.Output device 180 can be wireless communication module or wired output port, it is also possible to simultaneously
Wireless communication module and wired output port are set.Such as, output device 180 can be USB interface (USB 2.0 and USB
3.0 etc.), WIFI module, bluetooth module, 2.4G wireless module, 5G wireless module and ethernet port etc..
Supply unit 190 is for providing working power to three-dimensional laser radar 100.Supply unit 190 can be built-in
Independent removable power module, it is also possible to be the power module including chargeable medium.
Above-mentioned three-dimensional laser radar 100 is without getting final product the distribution of barrier in measurement space in the case of rotating.Relatively
For traditional three-dimensional laser radar, it is without arranging rotary part, and structure is relatively easy and is not easy abrasion, and product is stable
Better performances, such that it is able to improve the stability of three-dimensional laser radar system 10 and extend its service life.
Fixing device 200 is connected with multiple three-dimensional laser radars 100, is used for keeping between multiple three-dimensional laser radar 100
Phase position relation keep constant, and keep three-dimensional laser radar 100 constant with the relative position relation of target location.Pass through
Guarantee that the relative position relation between three-dimensional laser radar 100 and between three-dimensional laser radar 100 and target location keeps not
Become, it is simple to control device 200 and carry out data process, to improve data processing speed, improve result of detection delivery efficiency.In this reality
Executing in example, target location is the center of multiple three-dimensional laser radar 100.Further, the phase of this center and target object
Holding same to position relationship is constant.In other examples, target location can be adjusted according to actual needs.One
In embodiment, fixing device 200 includes multiple fixed cell.Each fixed cell is for entering a three-dimensional laser radar 100
Row is fixing, and multiple three-dimensional laser radar 100 is each attached in same level.Fig. 4 is the multiple three-dimensionals in an embodiment
The arrangement schematic diagram of laser radar 100.See the arrangement schematic diagram of multiple three-dimensional laser radar 100 for convenience clearly, by multiple three-dimensionals
Laser radar 100 is peeled away from target object namely automobile, and Gu Tuzhong does not provides the schematic diagram of fixing device 200.Multiple
Three-dimensional laser radar 100 can be fixed on the surrounding of target object by the dispersion of multiple fixed cells, to enter different orientation
Row detection.
Multiple three-dimensional laser radars 100 can also be combined by fixing device 200, is integrally attached to mesh as one
The position (such as top) easily surrounding detected on mark object.Fig. 5 is the fixing device 200 in an embodiment
Front view, Fig. 6 is the side view of Fig. 5, and Fig. 7 is the top view of Fig. 5.This fixing device 200 includes housing 210 and fixed cell
(not shown).It is internal that fixed cell and multiple three-dimensional laser radar 100 are arranged at housing 210.Fixed cell is used for fixing
Three-dimensional laser radar 100 also keeps the relative position relation between multiple three-dimensional laser radar 100 constant.With three on housing 210
The position of dimension laser radar 100 correspondence is provided with opening 220, for the discrepancy of laser.In the present embodiment, housing 210 is cylinder
Body.In other examples, housing 210 can also be the multi-faceted column of spheroid or other rules.
Control device 300 for being connected with multiple three-dimensional laser radars 100.Control device 300 is used for receiving each three-dimensional and swashs
The initial coordinate system positional information of optical radar 100 output.Control device 300 and also can obtain each three-dimensional laser radar 100 and target
The relative position relation of position.Control the initial coordinate system position letter that device 300 will be able to obtain according to this relative position relation
Breath is unified in the coordinate system with target location as zero, to obtain the test data under single coordinate system, completes mesh
Comprehensive spreadability detection of mark object surrounding.In one embodiment, control device 300 and also include compensating unit, for right
Overlapping region in test data compensates, to improve the accuracy of test.Control device 300 and can be fixed on target object
On, can be that the remote control terminal arranged independent of target object is set.
Above-mentioned three-dimensional laser radar system 10, is provided with multiple three-dimensional laser radar 100, around respectively to target object
The different azimuth of environment carries out detection and obtains the corresponding initial coordinate system position detecting thing.The spy of multiple three-dimensional laser radars 100
Interception angle sum is more than or equal to 360 degree, thus target object surrounding carries out 360 degree of detections.Fixing device 200 is used
Keep constant in the relative position relation ensureing multiple three-dimensional laser radars 100 and keep multiple three-dimensional laser radar 100 and mesh
The relative position relation of cursor position is constant.Therefore, controlling device 300 can be according to three-dimensional laser radar 100 and target location
Relative position relation, by the initial coordinate system positional information unification of each detection thing to the coordinate system with target location as initial point,
To obtain the test data under single coordinate system, complete the detection of the comprehensive spreadability to target object surrounding.Use above-mentioned
Three-dimensional laser radar system 10, requires relatively low to the 100 of three-dimensional laser radar, thus greatly reduces cost.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a three-dimensional laser radar system, it is characterised in that including:
Multiple three-dimensional laser radars；The separate setting of the plurality of three-dimensional laser radar；The plurality of three-dimensional laser radar divides
The different azimuth of target object surrounding Yong Yu not detected, to obtain the initial coordinate system position of corresponding detecting object
Information；The directional bearing angle sum of the plurality of three-dimensional laser radar is more than or equal to 360 degree；
Fixing device, is connected with the plurality of three-dimensional laser radar, for keeping the phase between the plurality of three-dimensional laser radar
Position relationship is kept constant, and keeps the plurality of three-dimensional laser radar constant with the relative position relation of target location；With
And
Control device, be connected with the plurality of three-dimensional laser radar respectively, be used for receiving described initial coordinate system positional information also
Obtain the relative position relation of the plurality of three-dimensional laser radar and target location；Described control device is additionally operable to according to described many
Individual three-dimensional laser radar arrives unified for described initial coordinate system positional information with described mesh with the relative position relation of target location
Mark is set in the coordinate system of zero, to obtain the test data under single coordinate system.
Three-dimensional laser radar system the most according to claim 1, it is characterised in that described control device also includes compensating list
Unit, for compensating the overlapping region of test data.
Three-dimensional laser radar system the most according to claim 1, it is characterised in that described fixing device includes multiple fixing
Unit；Each fixed cell is for being fixed a three-dimensional laser radar；The plurality of fixed cell is for by described many
Individual three-dimensional laser radar is fixed in same level.
Three-dimensional laser radar system the most according to claim 1, it is characterised in that described fixing device include housing and
Fixed cell；Described fixed cell and the plurality of three-dimensional laser radar are arranged in described housing；Described fixed cell is used
In fixing the plurality of three-dimensional laser radar and keep the relative position relation between the plurality of three-dimensional laser radar constant；Institute
State and be provided with opening, for the discrepancy of laser with described three-dimensional laser radar corresponding position on housing.
Three-dimensional laser radar system the most according to claim 1, it is characterised in that the plurality of three-dimensional laser radar is
Phase type three-dimensional laser radar based on face battle array optical detector；Described three-dimensional laser radar includes:
Laser emission drive circuit, is used for generating laser signal；
Arrangement of laser emitters, is connected with described Laser emission drive circuit；Described arrangement of laser emitters includes multiple laser
Emitter, for launching laser signal described in multichannel to different azimuth；The plurality of generating laser is disposed on the same plane；
Laser ranging cell array, including multiple laser ranging unit, for reflecting the detecting object in directional bearing
Laser signal carry out independent sample；The plurality of laser ranging unit is disposed on the same plane；Described laser ranging unit
It is additionally operable to the relative distance letter determining between described detecting object and described laser ranging unit according to the laser signal sampled
Breath；And
Control circuit, is connected with described laser ranging cell array, with receive each described laser ranging unit output relative away from
From information；Described control circuit for by described relative distance information unification to world coordinate system to obtain described detecting object
Initial coordinate system positional information.
Three-dimensional laser radar system the most according to claim 5, it is characterised in that described three-dimensional laser radar also includes:
Laser emission collimating array, is arranged on the emergent light side of described arrangement of laser emitters, for described generating laser
The laser signal of array emitter collimates；And
Laser pick-off collimator apparatus, is arranged on the incident illumination side of described laser ranging cell array, for described detecting object
The laser signal reflected is focused.
Three-dimensional laser radar system the most according to claim 6, it is characterised in that described Laser emission collimating array includes
Multiple independent transmitting collimation unit；Each described transmitting collimation unit and a described generating laser are correspondingly arranged；Described
Launch the collimation wafer that collimation unit includes being parallel to described arrangement of laser emitters place plane.
Three-dimensional laser radar system the most according to claim 6, it is characterised in that described laser pick-off collimator apparatus includes
Lens barrel and be fixed on described lens barrel the collimation wafer for the laser signal reflected is focused；Described collimation crystalline substance
Sheet is multiple and arranges along interval, incident illumination direction；Described lens barrel is tapered stepped along described incident illumination direction, described standard
Straight wafer is arranged on the position, shoulder rank of described lens barrel.
Three-dimensional laser radar system the most according to claim 5, it is characterised in that described three-dimensional laser radar also includes
One circuit board and second circuit board；Described Laser emission drive circuit, described arrangement of laser emitters and described laser ranging list
Element array is arranged on described first circuit board；Described control circuit is arranged on described second circuit board.
Three-dimensional laser radar system the most according to claim 9, it is characterised in that also include with described control circuit even
The temperature sensor connect；Described temperature sensor is for gathering the temperature signal of described three-dimensional laser radar；Described control circuit
It is additionally operable to, according to described temperature signal, described initial coordinate system positional information is corrected the initial coordinate after rear output calibration
It it is positional information.
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