Lidar is the most effective means for real-time environmental awareness. Based on the demand of multi-channel perception lidar with large amount of data, real-time data transmission and miniaturization, a multi-channel parallel signal acquisition and processing system was designed based on FPGA and DSP. A self-developed three-dimensional lidar was designed, including mechanical scanning, linear array detection, data acquisition and control system. The system was implemented and verified in the three-dimensional point cloud imaging experiments. In this system, FPGA was responsible for multi-channel lidar data acquisition, control and transmission. DSP was used for data calculation and uploading the point cloud data to the upper computer through the network to realize the real-time display of point cloud. The experiments of lidar show that the proposed real-time data acquisition system could meet the requirements of point cloud calculation at 2 Mpts/s, with real time data acquisition and procession at 20 fps. The rapid calculation of lidar point cloud of the environment and obstacles is realized. It can be applied to automatic driving, navigation obstacle avoidance, perimeter security and etc.