WO2022062469A1 - 一种激光雷达 - Google Patents

一种激光雷达 Download PDF

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Publication number
WO2022062469A1
WO2022062469A1 PCT/CN2021/097803 CN2021097803W WO2022062469A1 WO 2022062469 A1 WO2022062469 A1 WO 2022062469A1 CN 2021097803 W CN2021097803 W CN 2021097803W WO 2022062469 A1 WO2022062469 A1 WO 2022062469A1
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WIPO (PCT)
Prior art keywords
light
unit
lidar
target object
receiving
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PCT/CN2021/097803
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English (en)
French (fr)
Inventor
张瓯
朱亚平
丁鼎
Original Assignee
杭州欧镭激光技术有限公司
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Priority claimed from CN202022144707.3U external-priority patent/CN212460048U/zh
Priority claimed from CN202011024438.5A external-priority patent/CN112034487A/zh
Application filed by 杭州欧镭激光技术有限公司 filed Critical 杭州欧镭激光技术有限公司
Priority to JP2023518803A priority Critical patent/JP2023542383A/ja
Priority to EP21870853.5A priority patent/EP4220229A1/en
Publication of WO2022062469A1 publication Critical patent/WO2022062469A1/zh

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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Definitions

  • the present invention relates to the technical field of radar, in particular to a laser radar.
  • the 2D laser scanning radar can obtain the distance information of each reflective target in a plane when working, so that the vehicle loaded with the radar can calculate the distribution of each object in the plane and help it avoid collisions while driving.
  • the 2D laser scanning radar it is necessary to give the 2D laser scanning radar an additional function to detect the target object in the height direction ahead to help determine whether the highest point of the vehicle can pass through the front area. If it is realized by adding a laser emitting unit and a laser receiving unit at the same time, it will obviously increase the complexity and cost of the system.
  • the purpose of the present invention is to provide a laser radar with simple structure, low cost and capable of detecting target objects in additional directions.
  • the invention discloses a laser radar, comprising: a transmitting unit and a first receiving unit, wherein the transmitting unit is used to emit laser light, the light emitted by the transmitting unit is emitted to a first target object, and reaches the surface of the first target object. performing reflection, the first receiving unit is configured to receive the light reflected from the first target object,
  • the lidar further includes a light splitting unit and a second receiving unit;
  • the light splitting unit is arranged in the light outgoing direction of the emitting unit, and is used for dividing the laser light emitted by the emitting unit into a first line of light and a second line of light with a preset angle, wherein the first line of light is along the first line of light.
  • One direction is emitted toward the first target object, and the second path light is emitted toward the second target object along a second direction at a preset angle with the first direction;
  • the second receiving unit is configured to receive the second path light reflected from the second target object.
  • the second receiving unit is arranged in a coaxial direction of the second direction.
  • the lidar further includes a processing unit, the processing unit is connected to the transmitting unit, the first receiving unit and the second receiving unit, and the processing unit is used for receiving according to the first receiving unit and the second receiving unit the laser light received by the unit, calculate the first distance between the laser radar and the first target object and the second distance between the laser radar and the second target object;
  • the processing unit is configured to calculate the height of the second target object relative to the lidar according to the second distance and the preset angle.
  • the light splitting unit is a light splitting prism.
  • the beam splitting prism is formed by combining two triangular prisms.
  • the light splitting unit includes a half mirror and a reflector
  • the half mirror is used to divide the laser light emitted by the emitting unit into a first light line and a second light line that are perpendicular to each other, and the reflector is used to reflect the second light line, so that the reflected light is The second light ray and the first light ray form the predetermined angle.
  • the light splitting unit includes a diaphragm and a mirror group
  • the diaphragm is used to divide the laser light emitted by the emitting unit into a first line of light and a second line of light that are parallel to each other, and the reflector group is used to reflect the second line of light, so that the reflected light is The second light ray and the first light ray form the predetermined angle.
  • the emission unit includes a laser diode and an emission objective lens, and the emission objective lens is used for collimating the light emitted by the laser diode;
  • the first receiving unit includes a first receiving objective lens and a first avalanche photodiode, and the first receiving objective lens is used for converging the light reflected from the first target object to the first avalanche photodiode;
  • the second receiving unit includes a second receiving objective lens and a second avalanche photodiode, and the second receiving objective lens is used for condensing the light reflected from the second target object to the second avalanche photodiode.
  • the preset angle is greater than 0 degrees and less than 45 degrees.
  • the lidar further includes a rotating unit, and the rotating unit is configured to drive the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit to rotate in the circumferential direction.
  • the beneficial effect is that the light emitted by the emission unit is divided by the light splitting unit, so that the light emitted by one emission unit can detect the target objects in two directions without additional Increasing the launch unit reduces the complexity of the system and reduces the cost of the device.
  • FIG. 1 is a schematic diagram of a laser radar and its optical path according to the present invention
  • FIG. 2 is a schematic diagram of the structure and optical path of a laser radar in a specific embodiment
  • FIG. 3 is a schematic structural diagram of the beam splitting prism in FIG. 2 .
  • first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
  • word “if” as used herein can be interpreted as "at the time of” or “when” or “in response to determining.”
  • the present invention provides a laser radar, which includes:
  • the emitting unit is used for emitting laser light.
  • the emission unit includes a laser diode 110 and an emission objective lens 120 , and the emission objective lens 120 is used for collimating the laser light generated by the laser diode 110 .
  • the emission objective lens 120 is preferably a convex lens.
  • the light splitting unit is arranged in the light outgoing direction of the emitting unit, and is used for dividing the laser light emitted by the emitting unit into a first line of light and a second line of light with a preset angle, wherein the first line of light is along the first line of light.
  • One direction is emitted toward the first target object, and the second path light is emitted toward the second target object along a second direction at a predetermined angle with the first direction.
  • the first target object and the second target object may be independent objects in different directions, or may be different parts of a whole object.
  • the preset angle is greater than 0 degrees and less than 45 degrees.
  • the light splitting unit includes a light splitting prism 300 , and the incident laser light can be divided into two paths of light at any angle by changing the angle of the prism.
  • the beam splitting prism 300 may be formed by combining two triangular prisms 310 and 320 .
  • the light splitting unit includes a half mirror and a reflector.
  • the half mirror is used to divide the laser light emitted by the emitting unit into a first light line and a second light line that are perpendicular to each other, and the reflector is used to reflect the second light line, so that the reflected light is The second light ray and the first light ray form the predetermined angle.
  • the reflector may be a plane reflector or a reflector prism, which can be flexibly set by those skilled in the art as required.
  • the light splitting unit includes a diaphragm and a mirror group.
  • the light barrier is a light-shielding part with two light-transmitting holes on it, which is used to divide the laser light emitted by the emitting unit into a first line of light and a second line of light that are parallel to each other, and the mirror group is used to The second light ray is reflected, so that the reflected second light ray and the first light ray form the preset angle.
  • the mirror group may be composed of two angled mirrors.
  • the first receiving unit is configured to receive the first path of light reflected from the first target object.
  • the first receiving unit includes a first receiving objective lens 220 and a first avalanche photodiode 210 (APD), and the first receiving objective lens 220 is used to transmit the light from the first target The first light rays reflected by the object converge to the first avalanche photodiode 210 .
  • the first receiving objective lens 220 is preferably a convex lens.
  • the first avalanche photodiode 210 may be a single avalanche photodiode, or may be an array composed of avalanche photodiodes. Specifically, those skilled in the art can flexibly set as required.
  • the second receiving unit is configured to receive the second path light reflected from the second target object.
  • the second receiving unit is arranged coaxially with the second light beam exiting from the light splitting unit, so as to achieve better receiving effect.
  • the second receiving unit includes a second receiving objective lens 420 and a second avalanche photodiode 410, and the second receiving objective lens 420 is used to The second light rays converge to the second avalanche photodiode 410 .
  • the second receiving objective lens 420 is preferably a convex lens.
  • the second avalanche photodiode 410 may be a single avalanche photodiode, or may be an array composed of avalanche photodiodes. Specifically, those skilled in the art can flexibly set as required.
  • the lidar further comprises;
  • the rotating unit is used to drive the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit to rotate in the circumferential direction, so as to realize the detection of the target object in the circumferential direction.
  • the rotating unit may include a rotating motor and a support base, the rotating motor drives the support base to rotate directly or through a transmission structure, and the transmitting unit, the light splitting unit, the first receiving unit and the second receiving unit are fixedly arranged on the support base.
  • the processing unit is connected with the transmitting unit, the first receiving unit and the second receiving unit, and the processing unit is used for calculating the laser radar and the laser light according to the laser light received by the first receiving unit and the second receiving unit.
  • the first distance and the second distance can be determined according to the time of laser transmission and reception and the setting positions of each unit in the radar, which are common knowledge in the art and will not be repeated here.
  • the processing unit is preferably a single-chip microcomputer.
  • the radar may also be provided with a transmission unit, which is connected to the transmitting unit, the first receiving unit and the second receiving unit, and transmits the information transmitted and received by the radar to an external terminal in a wired or wireless manner.
  • the device performs computing processing.
  • the lidar of the present invention preferably, can be used on a vehicle, such as an AVG car, to detect objects in the forward direction of the car through the first beam of light, and detect objects in the height direction in front of the car through the second beam of light , so as to analyze whether the obstacle at the upper end of the front of the car (generally a structure similar to a door frame) is lower than the height of the car, and then judge whether the car can pass safely.
  • a vehicle such as an AVG car

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种激光雷达，包括：发射单元、第一接收单元，发射单元用于发出激光光线，发射单元发出的光线出射向第一目标物体，并在第一目标物体表面进行反射，第一接收单元用于接收自第一目标物体反射的光线，激光雷达还包括分光单元和第二接收单元；分光单元设置于发射单元的光线出射方向，用于将发射单元发出的激光光线分成呈预设角度的第一路光线和第二路光线，其中，第一路光线沿第一方向出射向第一目标物体，第二路光线沿与第一方向呈预设角度的第二方向出射向第二目标物体；第二接收单元用于接收自第二目标物体反射的第二路光线。该雷达可以在不增加光源的情况下，实现对不同方向目标物体的探测。

Description

一种激光雷达 技术领域
本发明涉及雷达技术领域，尤其涉及一种激光雷达。
背景技术
现有技术中，2D激光扫描雷达工作时可以获得一个平面内各反射目标的距离信息，从而装载有雷达的载具可以计算出平面内各物体的分布情况，帮助其在行驶中避开碰撞。现在有一个问题是在工作区域内除了平面内的障碍物，还有一些高度上的“门槛”，可能会导致载具的上端与障碍物发生碰撞。因此，需要给2D激光扫描雷达一个额外功能，来对前方高度方向的目标物体进行探测，以帮助判断载具的最高处能否通过前方区域。如果通过同时新增激光发射单元和激光接收单元的方式来实现，显然会增加系统的复杂程度和成本。
因此，需要开发一种结构简单、成本较低且能对额外方向上目标物体进行探测的激光雷达。
发明内容
为了克服上述技术缺陷，本发明的目的在于提供一种结构简单、成本较低且能对额外方向上目标物体进行探测的激光雷达。
本发明公开了一种激光雷达，包括：发射单元、第一接收单元，所述发射单元用于发出激光光线，所述发射单元发出的光线出射向第一目标物体，并在第一目标物体表面进行反射，所述第一接收单元用于接收自所述第一目标物体反射的光线，
所述激光雷达还包括分光单元和第二接收单元；
所述分光单元设置于所述发射单元的光线出射方向，用于将所述发射单元发出的激光光线分成呈预设角度的第一路光线和第二路光线，其中，第一路光线沿第一方向出射向第一目标物体，第二路光线沿与所述第一方向呈预设角度的第二方向出射向第二目标 物体；
所述第二接收单元用于接收自所述第二目标物体反射的第二路光线。
优选地，所述第二接收单元设置于所述第二方向的同轴方向。
优选地，所述激光雷达还包括处理单元，所述处理单元与所述发射单元、第一接收单元和第二接收单元连接，所述处理单元用于根据所述第一接收单元和第二接收单元接收的激光光线，计算所述激光雷达与所述第一目标物体的第一距离和所述激光雷达与所述第二目标物体的第二距离；
所述处理单元用于根据第二距离和所述预设角度，计算所述第二目标物体相对于所述激光雷达的高度。
优选地，所述分光单元为分光棱镜。
优选地，所述分光棱镜由两个三角棱镜组合形成。
优选地，所述分光单元包括半透半反镜和反射镜；
所述半透半反镜用于将所述发射单元发出的激光光线分成相互垂直的第一路光线和第二路光线，所述反射镜用于对第二路光线进行反射，使反射后的第二路光线与第一光线呈所述预设角度。
优选地，所述分光单元包括光栏和反射镜组；
所述光栏用于将所述发射单元发出的激光光线分成相互平行的第一路光线和第二路光线，所述反射镜组用于对所述第二路光线进行反射，使反射后的第二路光线与第一光线呈所述预设角度。
优选地，所述发射单元包括激光二极管和发射物镜，所述发射物镜用于对所述激光二极管发出的光线进行准直；
所述第一接收单元包括和第一接收物镜和第一雪崩光电二极管，所述第一接收物镜用于将自所述第一目标物体反射的光线汇聚至所述第一雪崩光电二极管；
所述第二接收单元包括和第二接收物镜和第二雪崩光电二极管，所述第二接收物镜用于将自所述第二目标物体反射的光线汇聚至所述第二雪崩光电二极管。
优选地，所述预设角度大于0度且小于45度。
优选地，所述激光雷达还包括旋转单元，所述旋转单元用于带动所述发射单元、分光单元、第一接收单元和第二接收单元周向旋转。
采用了上述技术方案后，与现有技术相比，有益效果在于，采用分光单元对发射单元发出的光线进行分光，使得一个发射单元发出的光线可以对两个方向的目标物体进行 探测，无需额外增加发射单元，降低了系统的复杂程度，降低了装置的成本。
附图说明
图1为本发明激光雷达及其光路的示意图；
图2为一具体实施例中激光雷达的结构及光路的示意图；
图3为图2中分光棱镜的结构示意图。
附图标记：
110-激光二极管，120-发射物镜，210-第一雪崩光电二极管，220-第一接收物镜，300-分光棱镜，310、320-三角棱镜，410-第二雪崩光电二极管，420-第二接收物镜。
具体实施方式
以下结合附图与具体实施例进一步阐述本发明的优点。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
在本发明的描述中，需要理解的是，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，除非另有规定和限定，需要说明的是，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是机械连接或电连接，也可以是两个元件内部的连通，可以是直接相连，也可以通过中间媒介间接相连，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。
在后续的描述中，使用用于表示元件的诸如“模块”、“部件”或“单元”的后缀仅为了有利于本发明的说明，其本身并没有特定的意义。因此，“模块”与“部件”可以混合地使用。
参见附图1-3，本发明提供了一种激光雷达，其包括：
-发射单元
所述发射单元用于发出激光光线。具体地，参见附图2，所述发射单元包括激光二极管110和发射物镜120，所述发射物镜120用于对激光二极管110产生的激光光线进行准直。所述发射物镜120优选为凸透镜。
-分光单元
所述分光单元设置于所述发射单元的光线出射方向，用于将所述发射单元发出的激光光线分成呈预设角度的第一路光线和第二路光线，其中，第一路光线沿第一方向出射向第一目标物体，第二路光线沿与所述第一方向呈预设角度的第二方向出射向第二目标物体。所述第一目标物体和第二目标物体可以是不同方向上的独立的物体，也可以是一整个物体中的不同部分。优选地，所述预设角度大于0度且小于45度。
参见附图2，在本实施例中，所述分光单元包括分光棱镜300，可以通过改变棱镜的角度来将入射的激光分成任意角度的两路光。参见附图3，所述分光棱镜300可以由两个三角棱镜310、320组合而成。
在一些实施例中，所述分光单元包括半透半反镜和反射镜。所述半透半反镜用于将所述发射单元发出的激光光线分成相互垂直的第一路光线和第二路光线，所述反射镜用于对第二路光线进行反射，使反射后的第二路光线与第一光线呈所述预设角度。所述反射镜可以是平面反射镜，也可以是反射棱镜，本领域技术人员可以根据需要灵活设置。
在一些实施例中，所述分光单元包括光栏和反射镜组。所述光栏为其上具有两个透光孔的遮光部件，用于将所述发射单元发出的激光光线分成相互平行的第一路光线和第二路光线，所述反射镜组用于对所述第二路光线进行反射，使反射后的第二路光线与第一光线呈所述预设角度。所述反射镜组可以由两个呈一定角度的反射镜组成。
-第一接收单元
所述第一接收单元用于接收自所述第一目标物体反射的第一路光线。参见附图2，在本实施例中，所述第一接收单元包括第一接收物镜220和第一雪崩光电二极管210(APD)，所述第一接收物镜220用于将自所述第一目标物体反射的第一路光线汇聚至所述第一雪崩光电二极管210。所述第一接收物镜220优选为凸透镜。所述第一雪崩光电二极管210可以是单个的雪崩光电二极管，也可以是雪崩光电二极管组成的阵列，具体的，本领域技术人员可以根据需要灵活设置。
-第二接收单元
所述第二接收单元用于接收自所述第二目标物体反射的第二路光线。优选地，所述第二接收单元与从分光单元出射的第二路光线同轴设置，以实现更好的接收效果。参见附图2，在本实施例中，所述第二接收单元包括第二接收物镜420和第二雪崩光电二极管410，所述第二接收物镜420用于将自所述第二目标物体反射的第二路光线汇聚至所述第二雪崩光电二极管410。所述第二接收物镜420优选为凸透镜。所述第二雪崩光电二极管410可以是单个的雪崩光电二极管，也可以是雪崩光电二极管组成的阵列，具体的，本领域技术人员可以根据需要灵活设置。
优选地，所述激光雷达还包括；
-旋转单元
所述旋转单元用于带动所述发射单元、分光单元、第一接收单元和第二接收单元周向旋转，以实现周向目标物体的探测。所述旋转单元可以包括旋转电机和支承座，所述旋转电机直接或通过传动结构带动支承座旋转，所述发射单元、分光单元、第一接收单元和第二接收单元固定设置于支承座上。
-处理单元
所述处理单元与所述发射单元、第一接收单元和第二接收单元连接，所述处理单元用于根据所述第一接收单元和第二接收单元接收的激光光线，计算所述激光雷达与所述第一目标物体的第一距离和所述激光雷达与所述第二目标物体的第二距离。第一距离和第二距离可以根据激光发射与接收的时间及各个单元在雷达中的设置位置确定，这些均为本领域公知常识，这里不再赘述。优选地，用于根据第二距离和所述预设角度，计算所述第二目标物体相对于所述激光雷达的高度，这里的高度可以理解为，将第一路光线和第二路光线所在的平面作为竖直平面，根据激光雷达与所述第二目标物体的第二距离和预设角度，可以计算出第二目标物体相对与第一路光线的竖直高度。所述处理单元优选为单片机。
在一些实施例中，所述雷达也可以设置一传输单元，与发射单元、第一接收单元和第二接收单元连接，将其发射与接收的信息通过有线或无线的方式传输至一外部的终端设备进行计算处理。
本发明的激光雷达，优选的，可以用于车辆上，例如AVG小车上，通过第一路光线对小车前进方向上的物体进行探测，通过第二路光线对小车前方高度方向上的物体进行探测，从而分析出小车前方上端的障碍物(一般是类似于门框的结构)是否低于小车的高度，进而判断小车是否可以安全通过。
应当注意的是，本发明的实施例有较佳的实施性，且并非对本发明作任何形式的限制，任何熟悉该领域的技术人员可能利用上述揭示的技术内容变更或修饰为等同的有效实施例，但凡未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何修改或等同变化及修饰，均仍属于本发明技术方案的范围内。

Claims (10)

  1. 一种激光雷达，包括：发射单元、第一接收单元，所述发射单元用于发出激光光线，所述发射单元发出的光线出射向第一目标物体，并在第一目标物体表面进行反射，所述第一接收单元用于接收自所述第一目标物体反射的光线，其特征在于，
    所述激光雷达还包括分光单元和第二接收单元；
    所述分光单元设置于所述发射单元的光线出射方向，用于将所述发射单元发出的激光光线分成呈预设角度的第一路光线和第二路光线，其中，第一路光线沿第一方向出射向第一目标物体，第二路光线沿与所述第一方向呈预设角度的第二方向出射向第二目标物体；
    所述第二接收单元用于接收自所述第二目标物体反射的第二路光线。
  2. 如权利要求1所述的激光雷达，其特征在于，
    所述第二接收单元设置于所述第二方向的同轴方向。
  3. 如权利要求1所述的激光雷达，其特征在于，
    所述激光雷达还包括处理单元，所述处理单元与所述发射单元、第一接收单元和第二接收单元连接，所述处理单元用于根据所述第一接收单元和第二接收单元接收的激光光线，计算所述激光雷达与所述第一目标物体的第一距离和所述激光雷达与所述第二目标物体的第二距离；
    所述处理单元用于根据第二距离和所述预设角度，计算所述第二目标物体相对于所述激光雷达的高度。
  4. 如权利要求1所述的激光雷达，其特征在于，
    所述分光单元为分光棱镜。
  5. 如权利要求4所述的激光雷达，其特征在于，
    所述分光棱镜由两个三角棱镜组合形成。
  6. 如权利要求1所述的激光雷达，其特征在于，
    所述分光单元包括半透半反镜和反射镜；
    所述半透半反镜用于将所述发射单元发出的激光光线分成相互垂直的第一路光线和第二路光线，所述反射镜用于对第二路光线进行反射，使反射后的第二路光线与第一光线呈所述预设角度。
  7. 如权利要求1所述的激光雷达，其特征在于，
    所述分光单元包括光栏和反射镜组；
    所述光栏用于将所述发射单元发出的激光光线分成相互平行的第一路光线和第二路光线，所述反射镜组用于对所述第二路光线进行反射，使反射后的第二路光线与第一光线呈所述预设角度。
  8. 如权利要求1所述的激光雷达，其特征在于，
    所述发射单元包括激光二极管和发射物镜，所述发射物镜用于对所述激光二极管发出的光线进行准直；
    所述第一接收单元包括和第一接收物镜和第一雪崩光电二极管，所述第一接收物镜用于将自所述第一目标物体反射的光线汇聚至所述第一雪崩光电二极管；
    所述第二接收单元包括和第二接收物镜和第二雪崩光电二极管，所述第二接收物镜用于将自所述第二目标物体反射的光线汇聚至所述第二雪崩光电二极管。
  9. 如权利要求1所述的激光雷达，其特征在于，
    所述预设角度大于0度且小于45度。
  10. 如权利要求1所述的激光雷达，其特征在于，
    所述激光雷达还包括旋转单元，所述旋转单元用于带动所述发射单元、分光单元、第一接收单元和第二接收单元周向旋转。
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