Lidar can be divided into single line lidar and multi line lidar LSD Lidaraccording to the number of lines.

Single line lidar refers to the radar whose harness sent by the laser source is single line, and the 2D LND Laser Scanner plane scanning diagram is obtained.

Multiline lidar refers to a laser rotary ranging radar that simultaneously transmits and receives multiple beams of laser. At present, there are mainly 4 lines, 8 lines, 16 lines, 32 lines, 64 lines and 128 lines in the market. Multiline lidar can recognize the height information of objects and obtain the 3D scanning map of the surrounding environment.

At present, industrial AGV / AMR obstacle avoidance is mainly based on single line lidar.

Compared with multi line lidar, single line lidar responds faster in angular frequency and sensitivity, and is very accurate in testing the distance and accuracy of surrounding obstacles. However, the single line radar can only scan in a planar manner, can not measure the height of objects, and has no function of 3D modeling.  In contrast, 3D lidar can scan three-dimensional space and output dense 3D point clouds, providing richer information support for AGV / AMR real-time positioning, navigation and obstacle avoidance, and detecting obstacles around the vehicle body and ground terrain changes to the greatest extent. On the other hand, 3D lidar has the advantages of strong detection ability of low reflectivity objects, strong anti-interference ability of ambient light, strong penetration ability of rain, fog, snow and dust, and can be used in indoor and outdoor complex scenes. With the deepening of AGV application, the application of 3D multi line lidar will be the trend in the future, but at present, single line is still the mainstream of application, because for most scenes of AGV / AMR application, single line lidar is enough to meet its obstacle avoidance requirement。