Multiline lidar

A multiline lidar, comprising:

• a laser emitting array configured to emit multi-beam laser;
• a laser receiving array configured to receive multiplexed laser echoes reflected by a target object;
• an echo sampling device configured to sample the multiplexed laser echoes in a time division multiplexing manner and output a sampling data stream;
• a control system coupled to the laser emitting array, the laser receiving array, and the echo sampling device, respectively, wherein the control system is configured to control operations of the laser emitting array and the laser receiving array, and determine measurement data according to the sampling data stream;
• an output device configured to output the measurement data;
• an emitting collimation optical system disposed on an outgoing light side of the laser emitting array and configured to collimate the multi-beam laser emitted by the laser emitting array;
• and
• a laser receiving focusing system disposed on an incident light side of the laser receiving array and configured to focus the multiplexed laser echoes reflected by the target object,
• wherein the emitting collimation optical system comprises a collimation emitting lens, the laser receiving focusing system comprises a focus receiving lens, and both of the collimation emitting lens and the focus receiving lens are fixed to an arcuate surface;
• and
• wherein the laser receiving focusing system further comprises a fourth lens, a fifth lens, and a sixth lens which are successively coaxially arranged along the incident light;
• the sixth lens is a positive meniscus lens, curved surfaces of the sixth lens are bent toward a position where the laser emitting array is located, the fifth lens is a negative meniscus lens, curved surfaces of the fifth lens are bent toward an emitting direction of the laser emitting array;
• the fourth lens is a positive meniscus lens, and curved surfaces of the fourth lens are bent toward the emitting direction of the laser emitting array.