Lidar system and method

1. A Lidar system comprising:

an emitting apparatus comprising a plurality of lasers arranged in a plurality of columns and configured to emit laser beams;

a receiving apparatus comprising a plurality of detectors configured to receive echo beams of emitted laser beams; and

a rotor configured to rotate the emitting apparatus and the receiving apparatus about a rotating shaft;

wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner and are parallel with the rotating shaft, and lasers of the first and second groups are spaced by a same interval; and

wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

2. The Lidar system of claim 1 , wherein the plurality of lasers are non-uniformly disposed along a vertical field of view of the Lidar system.

3. The Lidar system of claim 2 , wherein lasers disposed at a middle part of the emitting apparatus are denser than lasers disposed at an upper part of the emitting apparatus.

4. The Lidar system of claim 3 , wherein a concentration of the plurality of lasers first increases and then decreases along a vertical direction from a highest laser to a lowest laser of the plurality of lasers.

5. The Lidar system of claim 2 , wherein the laser beams emitted by the emitting apparatus include a sparser concentration of emitted laser beams at each of two ends of the vertical field of view and a denser concentration of emitted laser beams towards a center of the vertical field of view.

6. The Lidar system of claim 1 , further comprising a supporting body vertically disposed within the Lidar and configured to support the plurality of lasers.

7. The Lidar system of claim 1 , further comprising a focusing lens assembly configured to converge the echo beams onto the plurality of detectors; and a distance between the receiving apparatus and a focal point of the focusing lens assembly is smaller than a half of a focal depth of the focusing lens assembly.

8. The Lidar system of claim 1 , further comprising a collimating lens assembly configured to expand a spot diameter of an emitted laser beam and reduce a divergence angle of the emitted laser beam.

9. The Lidar system of claim 8 , further comprising a focusing lens assembly configured to converge the echo beams onto the plurality of detectors, wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line connecting a center of the collimating lens assembly to a center of the focusing lens assembly.

10. The Lidar system of claim 1 , wherein the plurality of lasers are configured to simultaneously emit a plurality of laser beams with different propagation directions.

11. The Lidar system of claim 10 , wherein the plurality of laser beams have a uniform angular distribution.

12. The Lidar system of claim 1 , wherein the plurality of lasers are configured to simultaneously emit a plurality of laser beams with a same propagation direction.

13. The Lidar system of claim 1 , further comprising a rotation cavity containing the emitting apparatus and the receiving apparatus.

14. The Lidar system of claim 13 , further comprising a first circuit board disposed at a bottom part of the rotation cavity and a second circuit board disposed below the first circuit board.

15. The Lidar system of claim 14 , wherein a rotary encoder is disposed on the first circuit board.

16. The Lidar system of claim 14 , further comprising a wireless power receiver fixedly connected to the bottom part of the rotation cavity.

17. The Lidar system of claim 14 , further comprising a stator, wherein the second circuit board is fixed on the stator.

18. The Lidar system of claim 1 , wherein the second group of lasers are disposed at positions corresponding to middle points of intervals of the first group of lasers.

19. The Lidar system of claim 18 , wherein the second group of lasers has a fewer number of lasers than the first group of lasers.

20. The Lidar system of claim 1 , further comprising a light filter disposed of an upstream of the plurality of detectors.

21. The Lidar system of claim 1 , further comprising a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.

22. A Lidar system comprising:

an emitting apparatus comprising:

a supporting body disposed along a vertical direction of the Lidar system;

a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns; and

a collimating lens assembly configured to reduce a divergence angle of emitted laser beams;

a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams onto the plurality of detectors; and

a rotor configured to rotate the emitting apparatus and the receiving apparatus about a rotating shaft;

wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner and are parallel with the rotating shaft, and lasers of the first and second groups are spaced by a same interval; and

wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

23. The Lidar system of claim 22 , wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line connecting a center of the collimating lens assembly to a center of the focusing lens assembly.

24. The Lidar system of claim 23 , wherein the plurality of lasers are non-uniformly disposed along a vertical field of view of the Lidar system.

25. The Lidar system of claim 24 , wherein lasers disposed at a middle part of the emitting apparatus are denser than lasers disposed at an upper part of the emitting apparatus.

26. The Lidar system of claim 25 , wherein a concentration of the plurality of lasers first increases and then decreases along a vertical direction from a highest laser to a lowest laser of the plurality of lasers.

27. The Lidar system of claim 23 , wherein the plurality of columns further comprises a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.

28. A Lidar system comprising:

an emitting apparatus comprising a supporting body disposed along a vertical direction of the Lidar system and a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns;

a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams into the plurality of detectors;

a rotor configured to rotate the supporting body and the receiving apparatus about a rotating shaft;

a rotation cavity containing the emitting apparatus and the receiving apparatus;

a first circuit board disposed at a bottom part of the rotation cavity;

a second circuit board disposed below the first circuit board; and

a base to which the second circuit board is fixed;

wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner and are parallel with the rotating shaft, and lasers of the first and second groups are separated by a same interval; and

wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

29. The Lidar system of claim 28 , wherein the plurality of lasers are non-uniformly disposed along a vertical field of view of the Lidar system.

30. A Lidar system comprising:

an emitting apparatus comprising:

a supporting body disposed along a vertical direction of the Lidar system;

a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns; and

a collimating lens assembly configured to reduce a divergence angle of the emitted laser beam;

a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams into the plurality of detectors, wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line connecting a center of the collimating lens assembly to a center of the focusing lens assembly; and

a rotor configured to rotate the supporting body and the receiving apparatus about a rotating shaft,

wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner and are parallel with the rotating shaft, and lasers of the first and second groups are separated by a same interval;

wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers; and

wherein the plurality of columns further comprises a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.