Long-distance obstacle perception sensor based on line structured light

The invention discloses a long-distance obstacle perception sensor based on line structured light. The long-distance obstacle perception sensor based on the line structured light comprises a laser transmitter, a laser range finder, a CCD imaging system and a computer, wherein the laser transmitter is used for transmitting the line structured light to a measured target area under the control of the computer; the laser range finder is used for measuring the distance from the laser transmitter to a transmitted line structured light bar; the CCD imaging system is used for capturing part of scattered light of the measured target area and sending the scattered light to the computer; the computer obtains the intensity of reflection laser of a detected object through measuring the amplitude of a received laser pulse, the distance of the detected object is obtained through the laser range finder, then an obtained line structured light image is processed through an image processing system, and target information is obtained. By means of the long-distance obstacle perception sensor based on the line structured light, for meeting the detection and recognition requirement of an automated vehicle on obstacles under an off-road condition, a novel line structured light visual sensor is adopted, and water hazards and concave and convex obstacles hectometer farthest away from the front of the vehicle are detected and recognized all day long.