CN217278914U - Light receiving detector and multi-line laser radar - Google Patents

Abstract

The application provides a light receiving detector and multi-line laser radar. The light receiving detector comprises a packaging shell, a circuit board and a plurality of APDs; the circuit board is packaged in the packaging shell, and the plurality of APDs are arranged on the circuit board in an array mode; the APDs at least comprise m APDs which are sequentially arranged at intervals along the same straight line, m laser beams emitted by a laser source of the multi-line laser radar have an angle of view and a focal length, the straight line where the m APDs are located is used for being arranged perpendicular to the central line of the angle of view at the distance from the laser source to the focal length, and the m APDs are used for being respectively and correspondingly arranged on the light paths of the m laser beams. The light receiving detector arranges at least m APDs on the circuit board in an array mode, the middle line of a field angle is used as a reference during debugging, m laser beams corresponding to the m APDs are debugged according to a calibration principle, and due to the fact that the design positions of the m APDs are determined, the debugging can be performed only by debugging the m laser beams corresponding to the m APDs, the debugging times are few, and the efficiency can be improved.

Description

Light receiving detector and multi-line laser radar

Technical Field

The application belongs to the technical field of radar detection, and particularly relates to a light receiving detector and a multi-line laser radar.

Background

The laser radar is a non-contact active optical ranging system, can stably and reliably detect a target object through light, and is used for acquiring information such as the distance and the position of the target object in space. For example, in the field of automobile unmanned driving, the laser radar can provide high-resolution point cloud data, and high-reliability guarantee is provided for the safety of unmanned driving.

The multiline type laser radar generally comprises a multiline transmitting system and a plurality of sets of receiving systems. The multi-line transmitting system is provided with a plurality of laser beam transmitting paths and used for transmitting a plurality of laser beams, the laser beams are converted into scanning light with a certain scanning view field after being scanned by the optical scanning piece, and the scanning light is transmitted to a detection target to realize detection. And the echo light beam of the detection target is finally received and converged by the receiving mirror, the echo light beam is converged to the photoelectric detector, the photoelectric detector is used as an important component of the optical receiver, and the main function of the photoelectric detector is to convert the received echo light beam signal into an electric signal so that the photoelectric signal processing board can process the electric signal to acquire the related parameters of the detection target. The multiple sets of receiving systems and the multiple lines of transmitting systems are arranged in a one-to-one correspondence mode.

In the production process of the laser radar, the specific gravity of the whole production process is up to 60-70% due to the debugging of the light path. How to make the transmitting system and the receiving system correspond one to one is the important factor in debugging work. Taking the prior art shown in fig. 1 as an example, which belongs to a 16-line lidar, the angular resolution is 2 °. Theoretically, for 16-line lidar, 16 LD plates constitute a transmitting system 100 ', and 16 APDs constitute a receiving system 200'. In the conventional optical path debugging process, the operator needs to adjust the transmitting system 100 'and the receiving system 200' one by one. Namely, the 1 st path of LD board is adjusted first, the amplitude of the 1 st path of APD board is adjusted after the light spot is determined, and the 2 nd path is debugged in sequence after the test requirement is met until the whole adjustment of the 16 paths is completed, namely, the adjustment is needed for 32 times in total. Therefore, the corresponding debugging process of the transmitting system and the receiving system in the existing laser radar is complicated, and the debugging efficiency is low.

Disclosure of Invention

An object of the embodiment of the application is to provide a light receiving detector and a multi-line laser radar, so as to solve the technical problem that the corresponding debugging process of a transmitting system and a receiving system in the multi-line laser radar in the prior art is complicated, and the debugging efficiency is low.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: the light receiving detector is applied to the multi-line laser radar and comprises a packaging shell, a circuit board and a plurality of APDs;

the circuit board is packaged in the packaging shell, and the APDs are arranged on the circuit board in an array mode;

the APDs at least comprise m APDs which are sequentially arranged at intervals along the same straight line, m laser beams emitted by a laser source of the multi-line laser radar have an angle of view and a focal length, the straight line where the m APDs are located is used for being arranged perpendicular to the central line of the angle of view at a distance from the laser source to the focal length, and the m APDs are used for being respectively and correspondingly arranged on the light paths of the m laser beams.

In one embodiment, the angular resolution of the m laser beams is set to α;

when m is an even number, the (m/2) th APD is used for being arranged on a midline of the field angle;

the m/2-1 and m/2+1 APDs are respectively used for corresponding to a laser beam at an angle of + alpha and a laser beam at an angle of-alpha;

the m/2-2 th APD and the m/2+2 th APD are respectively used for corresponding to the laser beam with the +2 alpha angle and the laser beam with the-2 alpha angle;

by analogy, the APDs 1 st and m-1 st are respectively used for the laser beam at the angle of + (m/2-1) alpha and the laser beam at the angle of- (m/2-1) alpha;

the mth one of the APDs is for a laser beam corresponding to an angle of- (m/2) alpha.

In one embodiment, the focal length is set to F;

setting the distance between the geometric center of the (m/2-1) th and (m/2 +1) th APDs and the geometric center of the (m/2) th APD to be a 1;

setting the distance between the geometric center of the (m/2-2) th APD and the geometric center of the (m/2 + 2) th APD to be a 2;

in analogy, the distances between the geometric centers of the 1 st APD and the m-1 st APD and the geometric center of the m/2 th APD are both set to be a (X-1);

the distance between the geometric center of the mth APD and the geometric center of the m/2 APD is aX;

then: a1 ═ Ftan α;

a2＝Ftan2α；

by analogy, a (X-1) ═ Ftan (X-1) α;

aX＝FtanXα。

in one embodiment, the angular resolution of the m laser beams is set to α;

when m is an odd number, the (m +1)/2 APDs are arranged on the middle line of the view angle;

the (m +1)/2-1 th APDs and the (m +1)/2+1 th APDs are respectively used for the laser beam at the + alpha angle and the laser beam at the-alpha angle;

the (m +1)/2-2 and (m +1)/2+2 APDs are respectively used for corresponding laser beams with the +2 alpha angle and laser beams with the-2 alpha angle;

by analogy, the APDs at 1 st and mth are for the laser beam at the angle corresponding to + (m +1/2) α and the laser beam at the angle of- (m +1/2) α, respectively.

In one embodiment, the focal length is set to F;

setting the distance between the geometric center of the (m +1)/2-1 th APD and the geometric center of the (m +1)/2+1 th APD to be a 1;

setting the distance between the geometric center of the (m +1)/2-2 th APD and the geometric center of the (m +1)/2+2 th APD to be a 2;

in analogy, the distances between the geometric centers of the 1 st APD and the m th APD and the geometric centers of the (m +1)/2 th APDs are set to be aX;

then: a1 ═ Ftan α;

a2＝Ftan2α；

by analogy, aX ═ FtanX α.

In one embodiment, the number of laser beams emitted by the laser source of the multiline lidar is n × m, the n × m laser beams diverge in a square cone shape, the angular resolution of the m laser beams in the same plane is α, and the angular resolution of the n laser beams in the same plane is β; wherein α and β are the same or different;

the number of the APDs is n multiplied by m, the n multiplied by m APDs are arranged on the circuit board according to a matrix mode of n rows and m columns, the m APDs in the same row are used for respectively corresponding to the m laser beams in the same plane, and the n APDs in the same column are used for respectively corresponding to the n laser beams in the same plane; wherein n and m are the same or different, n is an odd number or an even number, and m is an odd number or an even number.

In one embodiment, the number of APDs is n × m, where n and m are both even numbers, and n ═ m.

In an embodiment, the number of APDs is n × m, where n is 1 and m is an arbitrary integer.

In one embodiment, the laser beams emitted by the laser source of the multiline lidar are n rows, wherein the number of the laser beams in odd rows is m, the number of the laser beams in even rows is m + a or m-a, and the angular resolution of the laser beams in the same row is α;

the circuit board is provided with n rows of APDs, wherein the number of the APDs in the odd rows is m, the number of the APDs in the even rows is m + a or m-a, the APDs in the odd rows are used for respectively corresponding to the laser beams in the same odd rows, and the APDs in the even rows are used for respectively corresponding to the laser beams in the same even rows; wherein n and m are the same or different, n is an odd number or an even number, m is an odd number or an even number, and m > a.

The application provides a light receiving detector's beneficial effect lies in:

compared with the prior art, according to the light receiving detector provided by the application, the circuit board is packaged in the packaging shell, and the plurality of APDs are arranged on the circuit board in an array mode. The plurality of APDs at least comprise m APDs which are sequentially arranged at intervals along the same straight line, the straight line where the m APDs are located is used for being arranged on a central line perpendicular to the field angle at the distance from the laser source to the focal length, and the m APDs are used for being respectively and correspondingly arranged on the light paths of the m laser beams, so that the m APDs can receive the m laser beams which are understood as echo beams. The application provides a light receiving detector, through arranging at least m APDs on the circuit board with the array mode, this circuit board is packaged in packaging shell, use the central line of angle of vision as the benchmark during debugging, according to the scaling principle again, debug with m laser beam that the APDs correspond, because the design position of m APDs is confirmed, and only need to debug m laser beam corresponding to this m APDs can, its debugging number of times can reduce by a wide margin, debugging efficiency can improve.

It is also an object of the present application to provide a multiline lidar comprising a transmit system; and, a light receiving detector as described above;

wherein the emission system comprises a laser source for emitting at least m laser beams, the m laser beams emitted by the laser source having a field angle and a focal length;

the straight line where the m APDs of the light receiving detector are located is perpendicular to the central line of the field angle, the vertical distance between the straight line where the m APDs are located and the laser source is the focal length, and the m APDs are respectively and correspondingly arranged on the light paths of the m laser beams.

The beneficial effect in prior art is compared to the multi-thread laser radar that this application provided, compares in prior art beneficial effect in the light receiving detector that this application provided, and this is no longer repeated here.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic diagram of a prior art lidar;

fig. 2 is a schematic view of a light receiving detector and a laser source provided in an embodiment of the present application;

fig. 3 is a schematic view of a light receiving detector provided in an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

10. a circuit board; 20. APD; 30. a laser.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The light receiving detector and the laser radar provided in the embodiments of the present application will now be described.

Referring to fig. 2 and fig. 3, a light receiving detector provided in the present embodiment is applied to a multi-line lidar, and the light receiving detector includes a package housing, a circuit board 10, and a plurality of APDs 20.

The circuit board 10 is packaged in a package housing, and the APDs are arranged on the circuit board 10 in an array manner.

The APDs at least comprise m APDs which are sequentially arranged at intervals along the same straight line, m laser beams emitted by a laser source of the multi-line laser radar have an angle of view and a focal length, the straight line where the m APDs are located is used for being arranged at a central line which is perpendicular to the angle of view at a distance from the laser source to the focal length, and the m APDs are used for being respectively and correspondingly arranged on light paths of the m laser beams.

Compared with the prior art, according to the light receiving detector provided by the application, the circuit board 10 is packaged in the package shell, and the plurality of APDs are arranged on the circuit board 10 in an array manner. The plurality of APDs at least comprise m APDs which are sequentially arranged at intervals along the same straight line, the straight line where the m APDs are located is used for being arranged at the middle line which is perpendicular to the view angle at the distance which is the focal length from the laser source, and the m APDs are used for being respectively and correspondingly arranged on the light paths of the m laser beams, so that the m APDs can receive the m laser beams which are understood as echo beams.

The application provides a light receiving detector, through arranging at least m APDs on circuit board 10 with the array mode, this circuit board 10 encapsulates in packaging shell, uses the central line of angle of vision as the benchmark during debugging, according to the scaling principle again, debugs with m laser beam that m APDs correspond, because the design position of m APDs is confirmed, and only need to debug m laser beam corresponding to this m APDs can, its debugging number of times can reduce by a wide margin, debugging efficiency can improve.

In one embodiment, the angular resolution of the m laser beams is set to α, wherein:

when m is an even number, the m/2 APD is used for being arranged on a midline of an angle of view;

the m/2-1 th APD and the m/2+1 th APD are respectively used for corresponding to the laser beam with the + alpha angle and the laser beam with the-alpha angle;

the m/2-2 and the m/2+2 APDs are respectively used for corresponding laser beams with the +2 alpha angle and the-2 alpha angle;

by analogy, the 1 st and the m-1 st APDs are respectively used for the laser beam at the angle of + (m/2-1) alpha and the laser beam at the angle of- (m/2-1) alpha;

the mth APD is for the laser beam corresponding to the- (m/2) α angle.

For example, take 16-line laser radar as an example, wherein the transmitting system has a laser source capable of transmitting 16 laser beams, and the angular resolution of the 16 laser beams is 2 °. The default 8 th path of laser beam is arranged on the central line of the field angle, the default 8 th path of field angle is 0 degree, the default 7 th path of field angle is 2 degrees, and the default 9 th path of field angle is-2 degrees; by analogy, the field angle of the 1 st path is 14 degrees, the field angle of the 15 th path is-14 degrees, and the field angle of the 16 th path is 16 degrees.

In the above embodiment, the angular resolution of 16 laser beams is 2 °, and the difference between adjacent laser beams is 2 °. In other embodiments, the number of laser beams and the number of APDs may vary and may be any even number, for example 32 or 64.

In other embodiments, the angular difference between adjacent laser beams may be increased by a factor, preferably a positive integer. For example, taking a 16-line laser radar as an example, the default 8 th laser beam is set on the middle line of the field of view, the default 8 th field of view is 0 °, the default 7 th field of view is set to be 2 °, and the default 9 th field of view is-2 °; the field angle of the 6 th path is 4 degrees, and the field angle of the 9 th path is-4 degrees; the field angle of the 5 th path is 8 degrees, and the field angle of the 10 th path is-8 degrees; by analogy, the 8 th path points to the 1 st path, the angle difference between the adjacent laser beams is increased by 2 times, the 8 th path points to the 16 th path, and the angle difference between the adjacent laser beams is increased by 2 times.

Further, in this embodiment, the focal length is set to F, where:

setting the distance between the geometric center of the (m/2-1) th APD and the geometric center of the (m/2 +1) th APD to be a 1;

setting the distance between the geometric center of the (m/2-2) th APD and the geometric center of the (m/2 + 2) th APD to be a 2;

in analogy, setting the distance between the geometric center of the 1 st APD and the geometric center of the m-1 st APD and the geometric center of the m/2 th APD to be a (X-1);

the distance between the geometric center of the mth APD and the geometric center of the m/2 APD is aX;

then: a1 ═ Ftan α;

a2＝Ftan2α；

by analogy, a (X-1) ═ Ftan (X-1) α;

aX＝FtanXα。

by calculating the distance a1 between the geometric centers of the m/2-1 and m/2+1 APDs and the geometric center of the m/2 APDs, the distance a2 between the geometric centers of the m/2-2 and m/2+2 APDs and the geometric center of the m/2 APDs, and so on, until the distance a (X-1) between the geometric centers of the 1 st and m-1 APDs and the geometric center of the m/2 APDs, and the distance aX between the geometric center of the m APDs and the geometric center of the m/2 APDs are calculated, the even number of m APDs can be arranged on the circuit board 10 according to the calculated distances.

In one embodiment, the angular resolution of the m laser beams is set to α, wherein:

when m is an odd number, the (m +1)/2 APDs are arranged on the middle line of the field angle;

the (m +1)/2-1 th APDs and the (m +1)/2+1 th APDs are respectively used for corresponding to the laser beam at the + alpha angle and the laser beam at the-alpha angle;

the (m +1)/2-2 th APDs and the (m +1)/2+2 th APDs are respectively used for corresponding laser beams with the +2 alpha angle and laser beams with the-2 alpha angle;

by analogy, the 1 st and mth APDs are for the laser beam at the angle corresponding to + (m +1/2) α and the angle of- (m +1/2) α, respectively.

For example, take a 17-line laser radar as an example, wherein the transmitting system has a laser source capable of transmitting 17 laser beams, and the angular resolution of the 17 laser beams is 2 °. The default 9 th path of laser beam is arranged on the central line of the field angle, the default 9 th path of the field angle is 0 degree, the default 8 th path of the field angle is 2 degrees, and the default 10 th path of the field angle is-2 degrees; by analogy, the field angle of the 1 st path is 16 degrees, and the field angle of the 17 th path is-16 degrees.

In the above embodiment, the angular resolution of 17 laser beams is 2 °, and the difference between adjacent laser beams is 2 °. In other embodiments, the number of laser beams and the number of APDs may vary and may be any odd number, for example 33 or 65.

In other embodiments, the angular difference between adjacent laser beams may be increased by a factor, preferably a positive integer. For example, taking a 17-line laser radar as an example, the default 9 th laser beam is set on the middle line of the field of view, the default 9 th field of view is 0 °, the default 8 th field of view is set to be 2 °, and the default 10 th field of view is-2 °; the field angle of the 7 th path is 4 degrees, and the field angle of the 11 th path is-4 degrees; the field angle of the 6 th path is 8 degrees, and the field angle of the 12 th path is-8 degrees; by analogy, the 9 th path points to the 1 st path, the angle difference between the adjacent laser beams is increased by 2 times, the 9 th path points to the 16 th path, and the angle difference between the adjacent laser beams is increased by 2 times.

Further, in this embodiment, the focal length is set to F;

setting the distance between the geometric center of the (m +1)/2-1 th APD and the geometric center of the (m +1)/2+1 th APD to be a 1;

setting the distance between the geometric center of the (m +1)/2-2 th APD and the geometric center of the (m +1)/2+2 th APD to be a 2;

in analogy, the distances between the geometric centers of the 1 st and mth APDs and the geometric centers of the (m +1)/2 APDs are set to be aX;

then: a1 ═ Ftan α;

a2＝Ftan2α；

by analogy, aX ═ FtanX α.

By calculating the distance a1 between the geometric centers of the (m +1)/2-1 and (m +1)/2+1 th APDs and the geometric center of the (m +1)/2 nd APDs, the distance a2 between the geometric centers of the (m +1)/2-2 and (m +1)/2+2 th APDs and the geometric center of the (m +1)/2 th APDs, and so on, the distance aX between the geometric centers of the 1 st and m th APDs and the geometric center of the (m +1)/2 th APDs is calculated, and then the odd number of m APDs can be arranged on the circuit board 10 according to the calculated distance.

In embodiments of the present application, the array of APDs may be a single row or multiple rows. The rows may be regular matrices, preferably square matrices. Alternatively, the plurality of rows includes both odd and even rows.

In a preferred embodiment, the number of laser beams emitted by the laser source of the multiline lidar is n × m, the n × m laser beams diverge in a square cone shape, the angular resolution of the m laser beams in the same plane is α, and the angular resolution of the n laser beams in the same plane is β; wherein α and β are the same or different.

The number of the APDs is n × m, the n × m APDs are arranged on the circuit board 10 in a matrix manner of n rows and m columns, the m APDs in the same row are used for respectively corresponding to the m laser beams in the same plane, and the n APDs in the same column are used for respectively corresponding to the n laser beams in the same plane; wherein n and m are the same or different, n is an odd number or an even number, and m is an odd number or an even number.

In a preferred embodiment, the number of APDs is n × m, where n and m are both even numbers and n ═ m, then the APD array is a square array. In other embodiments, the number of APDs is n × m, where n and m are both odd numbers and n ═ m, then the APD array is a square array. In other embodiments, the number of APDs is n × m, where n is an even number and m is an odd number, and the APD array is a rectangular matrix. In other embodiments, the number of APDs is n × m, where n is an odd number and m is an even number, and the APD array is a rectangular array.

In a preferred embodiment, the number of APDs is n × m, where n is 1 and m is an arbitrary integer. Such as 16, 32 or 64 as described above, may be applied to 16, 32 or 64 line lidar.

In a preferred embodiment, the laser beam emitted by the laser source of the multiline lidar is n rows, wherein the odd rows are m laser beams, the even rows are m + a or m-a laser beams, and the angular resolution of the laser beams in the same row is α.

N rows of APDs are arranged on the circuit board 10, wherein the number of the APDs in the odd rows is m, the number of the APDs in the even rows is m + a or m-a, the APDs in the odd rows are used for respectively corresponding to the laser beams in the same odd rows, and the APDs in the even rows are used for respectively corresponding to the laser beams in the same even rows; wherein n and m are the same or different, n is an odd number or an even number, m is an odd number or an even number, and m > a.

Further preferably, a is equal to 1, and the odd line and the even line are separated by two adjacent values, so that the array is more concentrated.

It is another object of an embodiment of the present application to provide a multiline lidar including a transmitting system; and, a light receiving detector as above; the emitting system comprises a laser source, a laser processing unit and a control unit, wherein the laser source is used for emitting at least m laser beams, and the m laser beams emitted by the laser source have a field angle and a focal length; the straight line where the m APDs of the light receiving detector are located is perpendicular to the central line of the field angle, the vertical distance between the straight line where the m APDs are located and the laser source is a focal length, and the m APDs are respectively and correspondingly arranged on the light paths of the m laser beams.

The beneficial effect in prior art is compared to the multiline laser radar that this application provided, compares in prior art's beneficial effect in the light receiving detector that this application provided, and this is no longer repeated here.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a light receiving detector, is applied to multiline lidar which characterized in that:

the device comprises a packaging shell, a circuit board and a plurality of APDs;

the circuit board is packaged in the packaging shell, and the APDs are arranged on the circuit board in an array mode;

the APDs at least comprise m APDs which are sequentially arranged at intervals along the same straight line, m laser beams emitted by a laser source of the multi-line laser radar have an angle of view and a focal length, the straight line where the m APDs are located is used for being arranged perpendicular to the central line of the angle of view at a distance from the laser source to the focal length, and the m APDs are used for being respectively and correspondingly arranged on the light paths of the m laser beams.

2. A light receiving detector as claimed in claim 1, wherein:

setting the angular resolution of m laser beams as alpha;

when m is an even number, the (m/2) th APD is used for being arranged on a midline of the field angle;

the m/2-1 and m/2+1 APDs are respectively used for corresponding to a laser beam at an angle of + alpha and a laser beam at an angle of-alpha;

the m/2-2 th APD and the m/2+2 th APD are respectively used for corresponding to the laser beam with the +2 alpha angle and the laser beam with the-2 alpha angle;

by analogy, the APDs 1 st and m-1 st are respectively used for the laser beam at the angle of + (m/2-1) alpha and the laser beam at the angle of- (m/2-1) alpha;

the mth one of the APDs is for a laser beam corresponding to an angle of- (m/2) alpha.

3. A light receiving detector as claimed in claim 2, wherein:

setting the focal length to be F;

setting the distance between the geometric center of the (m/2-1) th and (m/2 +1) th APDs and the geometric center of the (m/2) th APD to be a 1;

setting the distance between the geometric center of the (m/2-2) th APD and the geometric center of the (m/2 + 2) th APD to be a 2;

in analogy, the distances between the geometric centers of the 1 st APD and the m-1 st APD and the geometric center of the m/2 th APD are both set to be a (X-1);

the distance between the geometric center of the mth APD and the geometric center of the m/2 APD is aX;

then: a1 ═ Ftan α;

a2＝Ftan2α；

by analogy, a (X-1) ═ Ftan (X-1) α;

aX＝FtanXα。

4. a light receiving detector as claimed in claim 1, wherein:

setting the angular resolution of the m laser beams as alpha;

when m is an odd number, the (m +1)/2 APDs are arranged on the midline of the field angle;

the (m +1)/2-1 th APDs and the (m +1)/2+1 th APDs are respectively used for a laser beam at a + alpha angle and a laser beam at a-alpha angle;

the (m +1)/2-2 and (m +1)/2+2 APDs are respectively used for corresponding laser beams with the angle of +2 alpha and laser beams with the angle of-2 alpha;

by analogy, the APDs at 1 st and m th are respectively used for the laser beam at the angle corresponding to + (m +1/2) α and the laser beam at the angle corresponding to- (m +1/2) α.

5. A light receiving detector as defined in claim 4, wherein:

setting the focal length to be F;

setting the distance between the geometric center of the (m +1)/2-1 th APD and the geometric center of the (m +1)/2+1 th APD to be a 1;

setting the distance between the geometric center of the (m +1)/2-2 th APD and the geometric center of the (m +1)/2+2 th APD to be a 2;

in analogy, the distances between the geometric centers of the 1 st APD and the m th APD and the geometric centers of the (m +1)/2 th APDs are set to be aX;

then: a1 ═ Ftan α;

a2＝Ftan2α；

by analogy, aX ═ FtanX α.

6. A light receiving detector as claimed in claim 1, wherein:

the laser beams emitted by the laser source of the multi-line laser radar are n multiplied by m, the n multiplied by m laser beams are diverged in a square cone shape, the angular resolution of the m laser beams in the same plane is alpha, and the angular resolution of the n laser beams in the same plane is beta; wherein α and β are the same or different;

the number of the APDs is n multiplied by m, the n multiplied by m APDs are arranged on the circuit board in a matrix mode of n rows and m columns, the m APDs in the same row are used for respectively corresponding to the m laser beams in the same plane, and the n APDs in the same column are used for respectively corresponding to the n laser beams in the same plane; wherein n and m are the same or different, n is an odd number or an even number, and m is an odd number or an even number.

7. A light receiving detector as defined in claim 6, wherein:

the number of APDs is n × m, where n and m are both even numbers, and n ═ m.

8. A light receiving detector as defined in claim 6, wherein:

the number of the APDs is n multiplied by m, wherein n is 1, and m is any integer.

9. A light receiving detector as claimed in claim 1, wherein:

the laser beams emitted by the laser source of the multi-line laser radar are n lines, wherein the number of the laser beams in the odd lines is m, the number of the laser beams in the even lines is m + a or m-a, and the angular resolution of the laser beams in the same line is alpha;

the circuit board is provided with n rows of APDs, wherein the number of the APDs in odd rows is m, the number of the APDs in even rows is m + a or m-a, the APDs in the odd rows are used for respectively corresponding to the laser beams in the same odd rows, and the APDs in the even rows are used for respectively corresponding to the laser beams in the same even rows; wherein n and m are the same or different, n is an odd number or an even number, m is an odd number or an even number, and m > a.

10. A multiline lidar characterized by:

comprises a transmitting system; and the number of the first and second groups,

a light receiving detector as claimed in any one of claims 1 to 9;

wherein the emission system comprises a laser source for emitting at least m laser beams, the m laser beams emitted by the laser source having a field angle and a focal length;

the straight line where the m APDs of the light receiving detector are located is perpendicular to the central line of the field angle, the vertical distance between the straight line where the m APDs are located and the laser source is the focal length, and the m APDs are respectively and correspondingly arranged on the light paths of the m laser beams.

Images