Laser emission system and laser radar

Abstract

The invention relates to the technical field of laser, in particular to a laser emission system and a laser radar, and the laser emission system comprises an emission module which is used for emitting scanning laser; the light beam adjusting module is arranged on one side of the transmitting module and used for changing the light beam direction of the partial scanning laser emitted by the transmitting module; the first collimation module is used for collimating the scanning laser emitted by the emission module to form a first scanning light beam; the light beam direction of the partial scanning laser is changed through the light beam adjusting module, so that a second scanning light beam is formed; the receiving module is used for receiving at least one of first detection light formed by reflecting the first scanning light beam through the to-be-detected target and second detection light formed by reflecting the second scanning light beam through the to-be-detected target; the light beam adjusting module is arranged on one side of the transmitting module, the projection direction of part of the scanning laser is changed, the energy of the second detection light received by the receiving module is improved, and therefore the detection effect of the system on the close-range blind area is improved.

Description

Technical Field

[0001] The present application relates to the field of laser technology, and in particular, to a laser emission system and a lidar. Background Art

[0002] A lidar mainly includes a transmitting device and a receiving device. It is a system that emits a laser beam from the lidar to a target to be detected, and the target reflects part of the laser energy to the receiving device, thereby detecting characteristic quantities such as the position and speed of the target, and is widely used in the field of laser detection.

[0003] However, the near-blind area of the lidar is an important parameter that needs attention. The larger the blind area, the more difficult it is to accurately detect the near-range information. In a radar system where the transmitting device and the receiving device are placed parallel to each other, when the distance between the two devices is farther, the blind area problem becomes more serious. The light energy emitted to a near-range detection target enters the field of view angle of the receiving device at a relatively large angle, and the focusing position point of the echo signal collected by the receiving device will deviate from the photodetector in the horizontal and depth directions and fall behind the photodetector. Therefore, the energy of the returned near-range echo received by the photodetector is extremely low, resulting in a large blind area for the detection radar.

[0004] Therefore, an improved laser emission system is needed to solve at least one of the above-mentioned problems in the prior art. Summary of the Invention

[0005] The present application provides a laser emission system, including at least one set of magnetic modules, including a transmitting module for emitting scanning laser light;

[0006] A beam adjustment module is arranged on one side of the transmitting module and is used to change the beam direction of part of the scanning laser light emitted by the transmitting module;

[0007] A first collimation module is arranged on the outgoing light path of the scanning laser light and is used to collimate the scanning laser light emitted by the transmitting module to form a first scanning beam; and is used to collimate part of the scanning laser light whose beam direction is changed by the beam adjustment module to form a second scanning beam;

[0008] A receiving module is used to receive at least one of the first detection light formed by the reflection of the first scanning beam by the target to be detected and the second detection light formed by the reflection of the second scanning beam by the target to be detected.

[0009] Further, the beam adjustment module is a reflecting mirror; the reflecting surface of the reflecting mirror can receive part of the scanning laser light emitted by the transmitting module from the side.

[0010] Further, the emission module includes a laser generator; the laser generator is configured to emit scanning laser towards the target to be detected, and the beam adjustment module is disposed on one side of the laser generator.

[0011] Further, the receiving module includes a photodetector and a second collimation module; at least one of the second detection light and the first detection light can be collimated by the second collimation module and then projected onto the photodetector, and the photodetector is configured to receive at least one of the second detection light and the first detection light.

[0012] Further, the optical axis of the first collimation module is arranged parallel to the optical axis of the second collimation module.

[0013] Further, the first collimation module includes a first lens.

[0014] Further, the first collimation module includes a first lens.

[0015] Further, the first collimation module and the second collimation module are arranged with the same structure.

[0016] Further, it further includes a filter cover; the filter cover includes a first space and a second space which are separated up and down, the emission module is placed in the first space, and the receiving module is placed in the second space.

[0017] Further, the emission light source of the laser generator is located in a light source plane parallel to the vertical optical axis direction of the first collimation module, the reverse extension line of the second scanning beam forms a virtual light source with the light source plane, and when the reflecting surface of the beam adjustment module is arranged parallel to the optical axis of the first collimation module, the reflecting surface of the beam adjustment module is located in the middle between the virtual light source and the emission light source.

[0018] This application also provides a lidar, including the laser emission system as described above.

[0019] The laser emission system provided by this application has at least the following technical effects:

[0020] The laser emission system in this application includes: a transmission module for emitting scanning laser; a beam adjustment module disposed on one side of the transmission module for changing the beam direction of a part of the scanning laser emitted by the transmission module; a first collimation module for collimating the scanning laser emitted by the transmission module to form a first scanning beam; and for collimating a part of the scanning laser whose beam direction is changed by the beam adjustment module to form a second scanning beam; a receiving module for receiving at least one of the first detection light formed by the reflection of the first scanning beam by the target to be detected and the second detection light formed by the reflection of the second scanning beam by the target to be detected; furthermore, by disposing the beam adjustment module on one side of the transmission module, the beam projection direction of a part of the scanning laser can be changed by the beam adjustment module, thereby increasing the energy of the second detection light received by the receiving module, and thus improving the detection effect and detection accuracy of the system for the near - distance blind area. Description of the Drawings

[0021] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 : Schematic diagram of the overall structure of the laser emission system provided by the embodiment of the present invention;

[0023] Figure 2 : Schematic diagram of the positions of the virtual light source and the emitted light source provided by the embodiment of the present invention;

[0024] Figure 3 : Schematic diagram of the relevant dimension markings in the overall structure of the laser emission system provided by the embodiment of the present invention;

[0025] Among them, the reference numerals in the drawings correspond to:

[0026] 1 - transmission module, 2 - beam adjustment module, 3 - receiving module, 4 - filter cover, 10 - target to be detected, 11 - laser generator, 12 - first collimation module, 13 - virtual light source, 14 - emitted light source, 31 - photodetector, 32 - second collimation module. Detailed Embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0029] The embodiments will be described below with reference to the accompanying drawings, and the accompanying drawings do not limit the content of the invention recorded in the claims.

[0030] Please refer to Figures 1-3 , an embodiment of the present application provides a laser emission system, including: a transmitting module 1 for emitting scanning laser; a beam adjustment module 2 disposed on one side of the transmitting module 1 for changing the beam direction of a part of the scanning laser emitted by the transmitting module 1; a first collimation module 12 disposed on the outgoing light path of the scanning laser for collimating the scanning laser emitted by the transmitting module 1 to form a first scanning beam; and for collimating a part of the scanning laser whose beam direction is changed by the beam adjustment module 2 to form a second scanning beam; a receiving module 3 for receiving at least one of the first detection light formed by the reflection of the first scanning beam by the target to be detected 10 and the second detection light formed by the reflection of the second scanning beam by the target to be detected 10.

[0031] Thus, the laser emission system in this embodiment includes: a transmitting module 1 for emitting scanning laser; a beam adjustment module 2 disposed on one side of the transmitting module 1 for changing the beam direction of a part of the scanning laser emitted by the transmitting module 1; a first collimation module 12 for collimating the scanning laser emitted by the transmitting module 1 to form a first scanning beam; and for collimating a part of the scanning laser whose beam direction is changed by the beam adjustment module 2 to form a second scanning beam; a receiving module 3 for receiving at least one of the first detection light formed by the reflection of the first scanning beam by the target to be detected 10 and the second detection light formed by the reflection of the second scanning beam by the target to be detected 10; furthermore, by disposing the beam adjustment module 2 on one side of the transmitting module 1, the beam adjustment module 2 can change the beam projection direction of a part of the scanning laser, improving the energy of the second detection light received by the receiving module 3, thereby improving the detection effect and detection accuracy of the system for the short-distance blind area.

[0032] It should be noted that the receiving module 3 is used to receive at least one of the first detection light formed by the reflection of the first scanning beam by the target to be detected 10 and the second detection light formed by the reflection of the second scanning beam by the target to be detected 10. It can be understood that the receiving module 3 can definitely receive the first detection light formed by the reflection of the first scanning beam by the target to be detected 10. Regarding the reception of the second detection light, after adding the beam adjustment module 2, the energy of the second detection light received by the receiving module 3 is improved.

[0033] Specifically, the first scanning beam is projected onto the target to be detected 10 to form a first light spot 101, and the second scanning beam is projected onto the target to be detected 10 to form a second light spot 102.

[0034] Specifically, the first collimation module 12 includes a first collimating mirror 121 and a second collimating mirror 122 arranged in sequence. Among them, the first collimating mirror 121 is used to receive the scanning laser emitted by the transmitting module 1 and perform a first collimation process on it, and the second collimating mirror 122 is used to receive the scanning laser after the first collimation process and perform a second collimation process on it, thereby improving the collimation effect of the first collimation module 12 on the received scanning laser.

[0035] Specifically, the number of lenses included in the first collimation module 12 is not limited.

[0036] In some embodiments, the beam adjustment module 2 is a reflecting mirror; the reflecting surface of the reflecting mirror can receive the scanning laser emitted by the transmitting module 1 from the side.

[0037] Specifically, the reflecting mirror is disposed above the transmitting module 1.

[0038] In the embodiments of the present application, by setting the beam adjustment module 2 as a mirror, and the reflecting surface of the mirror can receive a part of the scanning laser emitted by the emitting module 1, thereby changing the beam projection direction of a part of the scanning laser, so as to increase the energy of the second detection light received by the receiving module 3, thereby improving the detection effect and detection accuracy of the system for the short-distance blind area.

[0039] In some embodiments, the emitting module 1 includes a laser generator 11; the laser generator 11 is used to emit scanning laser towards the target 10 to be detected, and the beam adjustment module 2 is arranged on one side of the laser generator 11.

[0040] Specifically, the laser generator 11 can be a semiconductor laser emitting device or an optical fiber laser emitting device.

[0041] In other embodiments, the beam adjustment module 2 further includes a moving component, and the moving component can drive the mirror to move relative to the laser generator 11. Furthermore, the vertical distance between the reflecting surface of the mirror and the laser generator 11 can be adjusted through the moving component, thereby changing the beam projection direction of the partial scanning laser, so that the receiving module 3 can receive sufficient energy of the second detection light, improving the detection effect and detection accuracy of the system for the short-distance blind area.

[0042] Furthermore, the beam adjustment module 2 can further include a rotating component. After the moving component adjusts the vertical distance between the reflecting surface of the mirror and the laser generator 11, the rotating component can drive the mirror to rotate relative to the laser generator 11. Furthermore, the angle between the reflecting surface of the mirror and the projection direction of the light emitted by the laser generator 11 can be adjusted through the rotating component. Further, the beam projection direction of the scanning laser is changed, and further, the energy of the second detection light received by the receiving module 3 is increased.

[0043] In some embodiments, the receiving module 3 includes a photodetector 31 and a second collimation module 32; at least one of the second detection light and the first detection light can be collimated by the second collimation module 32 and then projected onto the photodetector 31, and the photodetector 31 is used to receive at least one of the second detection light and the first detection light.

[0044] Specifically, the photodetector 31 can be arranged below the emitting module 1, and the photodetector 31 includes a single device or devices arranged in an array to receive and process at least one of the second detection light and the first detection light.

[0045] Specifically, the single device can be an avalanche photodiode (APD). It should be noted that APD is a special optoelectronic conversion device, and its working principle is based on the avalanche effect; when light irradiates on the APD, electron-hole pairs will be generated, and an avalanche effect will be formed under the action of an electric field, thereby generating a large amount of photocurrent.

[0046] Furthermore, the arrayed devices may be silicon photomultipliers (SiPMs). It should be noted that SiPMs are a new type of single-photon detector that utilizes a micron-scale pixel structure to simultaneously detect the presence of a single photon, thereby achieving high-sensitivity detection of weak light signals.

[0047] Specifically, the second collimation module 32 can perform real-time collimation adjustment on at least one of the second detection light and the first detection light, so that the adjusted laser can be accurately projected onto the light detector 31, thereby improving the overall detection effect and detection accuracy of the system.

[0048] Specifically, the second collimating module 32 includes a third collimating mirror 321 and a fourth collimating mirror 322 which are arranged in sequence, wherein the third collimating mirror 321 is used to receive at least one of the second detection light and the first detection light, and perform a first collimation process on it, and the fourth collimating mirror 322 is used to receive at least one of the second detection light and the first detection light after the first collimation process, and perform a second collimation process on it, thereby improving the collimation effect of the second collimating module 32 on at least one of the received second detection light and the first detection light, and further improving the overall detection effect and detection accuracy of the system.

[0049] In some embodiments, the optical axis of the first collimation module 12 is arranged parallel to the optical axis of the second collimation module 32.

[0050] Specifically, the second collimation module 32 is disposed below the first collimation module 12.

[0051] Specifically, the laser emission system also includes a rotating device, the rotating shaft of which is respectively connected to the emission module 1, the first collimation module 12, the beam adjustment module 2 and the receiving module 3, thereby being able to drive the emission module 1, the first collimation module 12, the beam adjustment module 2 and the receiving module 3 to rotate synchronously, thereby realizing a 360° rotation of the laser emission system.

[0052] In the embodiment of the present application, by setting the optical axis of the first collimation module 12 parallel to the optical axis of the second collimation module 32, the overall structure of the laser emission system is simple and compact, so that the rotating device can drive the emission module 1, the first collimation module 12, the beam adjustment module 2 and the receiving module 3 to rotate synchronously, thereby realizing a 360° rotation of the laser emission system, thereby improving the detection range and detection accuracy of the laser emission system.

[0053] In some embodiments, the first collimation module 12 and the second collimation module 32 are configured with the same structure.

[0054] In the embodiments of the present application, by setting the first collimation module 12 and the second collimation module 32 to have the same structure, the simplicity of the overall structure of the laser emission system and the convenience of assembly are improved.

[0055] In some embodiments, the first collimation module 12 includes a first lens.

[0056] Specifically, the first lens can be a spherical lens, an aspherical lens, or a cylindrical lens.

[0057] Specifically, the first collimation module 12 may further include a spherical lens, an aspherical lens, a wedge mirror, or a cylindrical lens.

[0058] In the embodiments of the present application, the first collimation module 12 may include two first lenses arranged in sequence, thereby collimating the scanning laser emitted by the emission module 1 through the first lens, and further improving the focusing and collimation of the first scanning beam and the second scanning beam after passing through the first collimation module 12, ensuring that the first scanning beam and the second scanning beam can accurately irradiate the target to be detected 10 along a predetermined trajectory.

[0059] In other embodiments, the first collimation module 12 may be a mirror group. Specifically, the mirror group includes a plane mirror, a galvanometer, or a rotating mirror.

[0060] In other embodiments, the first collimation module 12 may also be a beam splitter group. Specifically, the beam splitter group includes a beam splitter, a polarization beam splitter, a central reflection lens, or a combined beam splitter.

[0061] In some embodiments, the second collimation module 32 includes a second lens.

[0062] Specifically, the second lens can be a spherical lens, an aspherical lens, or a cylindrical lens.

[0063] In the embodiments of the present application, the second collimation module 32 may include two second lenses arranged in sequence, thereby collimating at least one of the first detection light and the second detection light through the second lens, and further improving the focusing and collimation of at least one of the first detection light and the second detection light after passing through the second collimation module 32, ensuring that at least one of the first detection light and the second detection light can accurately irradiate the receiving module 3 along a predetermined trajectory.

[0064] In other embodiments, the second collimation module 32 may be a mirror group. Specifically, the mirror group includes a plane mirror, a galvanometer, or a rotating mirror.

[0065] In other embodiments, the second collimation module 32 may also be a beam splitter group. Specifically, the beam splitter group includes a beam splitter, a polarization beam splitter, a central reflection lens, or a combined beam splitter.

[0066] In some embodiments, the laser emission system further includes a filter cover 4; the filter cover 4 includes a first space and a second space which are partitioned up and down, the emission module 1 is placed in the first space, and the receiving module 3 is placed in the second space.

[0067] Specifically, the first collimation module 12 and the beam adjustment module 2 are also arranged in the first space. The filter cover 4 is used to filter out unnecessary external light and only allow light of a specific wavelength to pass through, so that the lidar can accurately measure and analyze the object information of the target 10 to be detected.

[0068] Furthermore, the filter cover 4 can also help protect components such as the emission module 1, the receiving module 3, the first collimation module 12, and the beam adjustment module 2 inside the laser emission system, thereby improving the performance of the laser emission system and extending its service life.

[0069] In some embodiments, the outgoing light source 14 of the laser generator 11 is located in a light source plane parallel to the vertical optical axis direction of the first collimation module 12. The reverse extension line of the second scanning beam forms a virtual light source 13 with the light source plane. When the reflecting surface of the beam adjustment module 2 is arranged parallel to the optical axis of the first collimation module 12, the reflecting surface of the beam adjustment module 2 is located in the middle between the virtual light source 13 and the outgoing light source 14.

[0070] Specifically, when the reflecting surface of the beam adjustment module 2 is arranged parallel to the optical axis of the first collimation module 12, the distance between the virtual light source 13 and the outgoing light source 14 is denoted as X. X is directly proportional to the first set distance and the second set distance respectively, and inversely proportional to the blind area distance to be improved.

[0071] Furthermore, the first set distance is denoted as D, D is the distance between the optical axis of the first collimation module 12 and the optical axis of the second collimation module 32. The second set distance is denoted as F, F is the focal length of the optical system of the first collimation module 12. The blind area distance is denoted as L, L is the distance between the first collimation module 12 and the target 10 to be detected.

[0072] As Figure 3 shown, specifically, the optical axis of the first collimation module 12 is arranged parallel to the optical axis of the second collimation module 32, and the set optical axis spacing is D. Then, D / L can be calculated.

[0073] Furthermore, X / F = D / L. Then, X = F×D / L can be determined. The beam adjustment module 2 is arranged above the laser generator 11, and the reflecting surface of the beam adjustment module 2 is located in the middle between the virtual light source 13 and the outgoing light source 14. Then, the distance between the beam adjustment module 2 and the laser generator 11 is X / 2.

[0074] Embodiment 1

[0075] Please refer to Figures 1-3, this embodiment provides a laser emission system, including: a transmitting module 1 for emitting scanning laser; a beam adjustment module 2 disposed on one side of the transmitting module 1 for changing the beam direction of a part of the scanning laser emitted by the transmitting module 1; a first collimation module 12 disposed on the emission optical path of the scanning laser for collimating the scanning laser emitted by the transmitting module 1 to form a first scanning beam; and for collimating a part of the scanning laser whose beam direction is changed by the beam adjustment module 2 to form a second scanning beam; a receiving module 3 for receiving at least one of the first detection light formed by the reflection of the first scanning beam by the target to be detected 10 and the second detection light formed by the reflection of the second scanning beam by the target to be detected 10.

[0076] The laser emission system further includes a filter cover 4. Inside the filter cover 4, there are a first space and a second space which are partitioned up and down. The transmitting module 1, the first collimation module 12 and the beam adjustment module 2 are placed in the first space, and the receiving module 3 is placed in the second space.

[0077] The transmitting module 1 includes a laser generator 11 for emitting scanning laser to the target to be detected 10; the first collimation module 12 includes a first collimating mirror 121 and a second collimating mirror 122, and the first collimating mirror 121 and the second collimating mirror 122 are sequentially disposed on the emission optical path of the scanning laser.

[0078] The short-distance blind area to be measured of the laser emission system is L, and in the laser emission system, the horizontal distance between the laser generator 11 and the first collimation module 12 is set as F.

[0079] The receiving module 3 includes a photodetector 31 and a second collimation module 32. The photodetector 31 is symmetrically disposed below the laser generator 11. The second collimation module 32 is arranged with the same structure as the first collimation module 12, and the second collimation module 32 is symmetrically disposed below the first collimation module 12, that is, to ensure that the optical axis of the first collimation module 12 is parallel to the optical axis of the second collimation module 32, and the vertical distance between the optical axis of the first collimation module 12 and the optical axis of the second collimation module 32 is set as D.

[0080] The beam adjustment module 2 can be a reflecting mirror. The reflecting surface of the reflecting mirror is fixedly disposed above the laser generator 11, and the reflecting surface of the reflecting mirror is parallel to the optical axis of the first collimation module 12. Then the vertical distance between the reflecting surface of the reflecting mirror and the laser generator 11 is X, and X = F×D / 2×L.

[0081] Embodiment Two

[0082] Please refer to Figures 1-3, in this embodiment, according to the actual application scenario of the laser emission system and the specific set parameters of the laser emission system, the specific distance between the reflecting surface of the mirror in the laser emission system and the laser generator 11 is determined. The same parts as in Embodiment 1 will not be described herein again.

[0083] The blind area distance to be improved measured by the laser emission system is 2m. The focal length of the optical system of the first collimation module 12 in the laser emission system is 80mm, and the vertical distance between the optical axis of the first collimation module 12 and the optical axis of the second collimation module 32 is set to 27mm. It can be determined as 27mm / 2m. Then, according to the principle of similar triangles, it can be known that X / 80mm. So X = 27mm × 80mm / 2m = 1.08mm.

[0084] When the reflecting surface of the mirror is placed parallel to the optical axis direction of the first collimation module 12, the position of the reflecting surface of the mirror is at X / 2 = 0.54mm.

[0085] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments.

[0086] It should be noted that all the features recorded in this application (including the technical features recorded in different embodiments) can be combined arbitrarily under reasonable circumstances, and the new technical solutions formed by the combination are within the protection scope of this application.

[0087] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser emission system, characterized in that: include: A transmitting module (1), used for emitting scanning laser; A beam adjustment module (2), arranged on one side of the transmitting module (1), and used to change the beam direction of a portion of the scanning laser emitted by the transmitting module (1); A first collimating module (12) is arranged on the outgoing optical path of the scanning laser, and is used to collimate the scanning laser emitted by the transmitting module (1) to form a first scanning beam; and is used to collimate a portion of the scanning laser whose beam direction is changed by the beam adjusting module (2) to form a second scanning beam; The receiving module (3) is used to receive at least one of a first detection light formed by the first scanning light beam being reflected by the target to be detected (10) and a second detection light formed by the second scanning light beam being reflected by the target to be detected (10).

2. The laser emission system according to claim 1, characterized in that: The light beam adjustment module (2) is a reflector; The reflective surface of the reflector is capable of receiving the scanning laser emitted by the transmitting module (1) from the side portion.

3. The laser emission system according to claim 2, characterized in that: The transmitting module (1) comprises a laser generator (11); The laser generator (11) is used to emit scanning laser light toward the target (10) to be detected, and the light beam adjustment module (2) is arranged on one side of the laser generator (11).

4. The laser emission system according to claim 3, characterized in that: The receiving module (3) comprises a light detector (31) and a second collimation module (32); At least one of the second detection light and the first detection light can be collimated by the second collimation module (32) and then projected onto the light detector (31). The optical detector (31) is used to receive at least one of the second detection light and the first detection light.

5. The laser emitting system according to claim 4, characterized in that: The optical axis of the first collimation module (12) is arranged in parallel with the optical axis of the second collimation module (32).

6. The laser emitting system according to claim 5, characterized in that: The first collimation module (12) and the second collimation module (32) are arranged with the same structure.

7. The laser emitting system according to claim 5, characterized in that: The first collimating module (12) comprises a first lens.

8. The laser emitting system according to claim 4, characterized in that: The second collimating module (32) comprises a second lens.

9. The laser emitting system according to any one of claims 1 to 8, characterized in that: Also includes a filter cover (4); The filter cover (4) comprises a first space and a second space which are separated from each other in an upper and lower manner; the transmitting module (1) is arranged in the first space, and the receiving module (3) is arranged in the second space.

10. The laser emitting system according to claim 5, characterized in that: The exit light source of the laser generator (11) is located (14) in a light source plane parallel to the vertical optical axis direction of the first collimating module (12); the reverse extension line of the second scanning light beam and the light source plane form a virtual light source (13); and when the reflection surface of the light beam adjustment module (2) is arranged parallel to the optical axis of the first collimating module (12), the reflection surface of the light beam adjustment module (2) is located in the middle between the virtual light source (13) and the exit light source (14).

11. A laser radar, characterized in that: The laser radar includes the laser emission system described in claims 1-10.

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