Multi-line laser radar and data point cloud processing method thereof

The invention relates to a multi-line laser radar and a data point cloud processing method thereof. The multi-line laser radar comprises a rotatable rotating base and a plurality of laser transmitting and receiving modules arranged on the rotating base in the circumferential direction. The laser transmitting and receiving module comprises a laser transmitting array which comprises a plurality of laser transmitters arranged in an array, the laser transmitters are used for transmitting emergent laser, and the emergent laser is reflected by a detection target to generate reflected laser; and the laser detection array comprises a plurality of laser detectors which are arranged in an array, the laser detectors are used for receiving reflected laser, and a plurality of laser emitters which are correspondingly arranged along the circumferential direction among the plurality of laser emitting arrays included in the plurality of laser emitting and receiving modules respectively have different emitting angles. Accordin