Multi-line laser radar

1. A multi-line laser radar, comprising:

a first radar component that comprises:

n lasers,

an optical collimating unit,

a scanning rotating mirror, and

a detector,

wherein n is an integer greater than 1 and each laser of the n lasers is configured to emit one laser beam to the optical collimating unit;

wherein the optical collimating unit is configured to collimate n laser beams, and the collimated n laser beams are incident on a target reflector of the scanning rotating mirror, wherein the scanning rotating mirror comprises a rotation axis and m reflectors rotating around the rotation axis, a rotation plane of the rotation axis is perpendicular to an arrangement direction of the collimated n laser beams, the target reflector is a particular reflector of the m reflectors and that is currently rotated to a position opposite to an emergent direction of the collimated n laser beams, and m is an integer greater than 1;

wherein the target reflector is configured to reflect the received collimated n laser beams, wherein the reflected n laser beams are incident on a detection area of the first radar component, and at least two reflectors existing in the m reflectors have different reflection angles for a same laser beam; and

wherein the detector is configured to receive echo signals of the reflected n laser beams in the detection area.

2. The multi-line laser radar according to claim 1 , wherein an included angle between a normal line of a plane on which an i th reflector of the m reflectors is located and a straight line on which the rotation axis is located is α+(i−1)γ, wherein 0°<α≤90°, γ=n−1, ε 1 , ε 1 is a vertical angular resolution of the first radar component, and i is a positive integer less than or equal to m.

3. The multi-line laser radar according to claim 1 , wherein the first radar component further comprises: n optical fibers, and the n lasers are in a one-to-one correspondence with the n optical fibers; and

wherein each optical fiber of the n optical fibers is configured to export the laser beam emitted by the laser to the optical collimating unit.

4. The multi-line laser radar according to claim 3 , wherein a light outlet point of each optical fiber is located on a focal plane of the optical collimating unit.

5. The multi-line laser radar according to claim 3 , wherein a fiber core spacing d between two adjacent optical fibers in the n optical fibers is:

d=f ×tan(ε 1 ),

wherein f is a focal length of the optical collimating unit, and ε 1 is a vertical angular resolution of the first radar component.

6. The multi-line laser radar according to claim 1 , wherein a receiving field of view φ of the detector is:

φ=σ[( n− 1)ε 1 +δ],

wherein σ is a preset tolerance factor, ε 1 is a vertical angular resolution of the first radar component, and δ is a divergence angle of the laser beam.

7. The multi-line laser radar according to claim 1 , wherein a quantity of scanning lines of the first radar component is K, and a vertical field of view θ of the first radar component is:

θ=( k− 1)ε 1 +δ,

wherein ε 1 is a vertical angular resolution of the first radar component, and δ is a divergence angle of the laser beam.

8. The multi-line laser radar according to claim 1 , wherein the n lasers work in a time-division mode.

9. The multi-line laser radar according to claim 1 , wherein an arrangement direction of the collimated n laser beams is a vertical direction.

10. A vehicle, including:

a multi-line laser radar including a first radar component configured to implement detection and scanning of obstacles in front of the vehicle, the first radar component comprising:

at least one laser,

an optical collimating unit configured to generate collimated laser beams,

a scanning rotating mirror, wherein the scanning rotating mirror comprises a rotation axis and a plurality of reflectors rotating around the rotation axis, and

a detector configured to receive echo signals in the detection area;

wherein each laser of the at least one laser is configured to emit a corresponding laser beam to the optical collimating unit;

wherein the optical collimating unit generates one or more collimated laser beams, which are directed at a target reflector of the scanning rotating mirror that is currently rotated to a position opposite to an emergent direction of the one or more collimated laser beams from the optical collimating unit;

wherein the target reflector is configured to reflect the one or more collimated laser beams towards the detector, and

wherein at least two reflectors have different reflection angles for a particular laser beam.

11. The vehicle of claim 10 , wherein the multi-line laser radar comprises a four-line laser radar.

12. The vehicle of claim 10 , wherein an included angle between a normal line of a plane on which an i th reflector is located and a straight line on which the rotation axis is located is α+(i−1)γ, wherein 0°<α≤90°, γ=(n−1)ε 1 , ε 1 is a vertical angular resolution of the first radar component, n is a total number of lasers in the at least one laser, and i is a positive integer less than or equal to a number of the plurality of reflectors in the scanning rotating mirror.

13. The vehicle of claim 10 , wherein a receiving field of view φ of the detector is:

φ=σ[( n− 1)ε 1 +δ],

wherein σ is a preset tolerance factor, ε 1 is a vertical angular resolution of the first radar component, n is a total number of lasers in the at least one laser, and δ is a divergence angle of the laser beam.

14. The vehicle of claim 10 , wherein the multi-line laser radar further includes a second radar component.

15. The vehicle of claim 14 , wherein the second radar component includes a number of lasers and a number of detectors, wherein the number of lasers is equal to the number of detectors.

16. The vehicle of claim 10 , wherein each laser of the at least one laser operates in accordance with a time-division mode.

17. A system for detecting obstacles using a multi-line radar, the system comprising:

a first radar component comprising:

at least one laser,

an optical collimating unit configured to generate collimated laser beams,

a scanning rotating mirror, wherein the scanning rotating mirror comprises a rotation axis and a plurality of reflectors rotating around the rotation axis, and

a detector configured to receive echo signals in the detection area;

wherein each laser of the at least one laser is configured to emit a corresponding laser beam to the optical collimating unit;

wherein the optical collimating unit generates one or more collimated laser beams, which are directed at a target reflector of the scanning rotating mirror that is currently rotated to a position opposite to an emergent direction of the one or more collimated laser beams;

wherein a target reflector is configured to reflect the one or more collimated laser beams towards the detector, and

wherein at least two reflectors have different reflection angles for a particular laser beam.

18. The system of claim 17 , the system further comprising:

a second radar component that includes a number of lasers and a number of detectors, wherein the number of lasers is equal to the number of detectors.

19. The system of claim 17 , wherein the at least two reflectors are configured to implement at least four lines of vertical resolution in the multi-line radar.

20. The system of claim 17 , wherein each laser of the at least one laser operates in accordance with a time-division mode.