Miniature solid-state laser radar and data processing method therefor

A miniature solid-state laser radar, comprising a laser emitter, an imaging lens, an imaging sensor, and a control and data processing apparatus, wherein

• the laser emitter is used to emit linear laser;
• the imaging lens is used to collect reflected laser light and image same on the imaging sensor;
• the imaging lens is an asymmetric optical lens which has an asymmetric focusing characteristic;
• an equivalent focal length of the imaging lens in a direction of a connecting line between the laser emitter and the imaging lens is greater than an equivalent focal length in a direction which is perpendicular to the connecting line between the laser emitter and the imaging lens;
• the imaging sensor receives the light focused through the imaging lens and images the same;
• the control and data processing apparatus is used to control the laser emitter to work, receive imaging data of the imaging sensor and perform a structural light method to finally acquire point cloud data in a space environment, wherein the structural light method comprises laser light extraction and triangulation solving;
• the laser light extraction is configured to compare two adjacent frames of imaging data of the imaging sensor;
• when a difference between two frames of acquired pixel data is greater than a specified threshold, the pixel is determined to be located in a laser light candidate region;
• and the triangulation solving is configured to obtain three-dimensional coordinates of each sub-pixel point on the imaging sensor laser light candidate region through a triangulation measurement principle;
• after the light emitted by the laser emitter irradiates a surface of an object, the light is reflected by the surface of the object, is then received by the imaging lens, and is finally imaged on the imaging lens;
• and the laser emitter and the imaging sensor are both electrically connected with the control and data processing apparatus.