Receiving and transmitting optical path system, laser radar and vehicle

Abstract

The utility model discloses a transceiver optical path system, a laser radar and a vehicle. The receiving and transmitting light path system comprises a transmitting unit, two receiving units, a beam splitter prism and two first reflectors, and the beam splitter prism is arranged on a laser light path transmitted by the transmitting unit and can divide laser into a first light path and a second light path which are different in direction; the two first reflectors are in one-to-one correspondence with the two receiving units, one first reflector is arranged on the first light path and located between the beam splitter prism and a first measured object, the other first reflector is arranged on the second light path and located between the beam splitter prism and a second measured object, and each first reflector comprises a reflecting area and a light transmitting area; the light transmitting area can allow laser to pass through, and the reflecting area can reflect the laser reflected by the first measured object or the second measured object to the corresponding receiving unit. According to the utility model, two detected objects in different directions can be detected through one receiving and transmitting light path system, the installation space of the receiving and transmitting light path system is reduced, and the cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of radar detection, and particularly relates to a light emitting and receiving optical path system, a lidar and a vehicle. Background Art

[0002] In the related art, when a lidar detects a target object, omnidirectional detection is generally achieved by multiple detection modules that detect in different directions. However, the cooperation between the laser transceiver component and the reflection component can often only detect a target object in a specific direction. Therefore, in order to achieve detection in two directions, it is usually necessary to additionally add detection modules, which results in a large space occupied by the detection modules and increases the device cost. Summary of the Utility Model

[0003] The utility model aims to at least solve one of the technical problems existing in the prior art. For this purpose, the utility model provides a light emitting and receiving optical path system, which can detect two target objects in different directions, avoids additionally adding a light emitting and receiving optical path system, thereby reducing the installation space of the light emitting and receiving optical path system and saving the device cost.

[0004] The utility model also provides a lidar and a vehicle having the above light emitting and receiving optical path system.

[0005] According to a first aspect of the utility model, there is provided a light emitting and receiving optical path system, comprising: a transmitting unit, two receiving units, a beam splitting prism and two first reflectors. The beam splitting prism is disposed on the laser optical path emitted by the transmitting unit and is configured to split the laser into a first optical path and a second optical path with different directions. The first optical path is directed to a first target object, and the second optical path is directed to a second target object. The two first reflectors correspond to the two receiving units one by one. One of the first reflectors is disposed on the first optical path and between the beam splitting prism and the first target object, and the other first reflector is disposed on the second optical path and between the beam splitting prism and the second target object. The first reflector includes a reflection area and a light transmission area. The light transmission area is configured to allow the laser to pass through, and the reflection area is configured to reflect the laser reflected by the first target object or the second target object to the corresponding receiving unit.

[0006] A light emitting and receiving optical path system according to an embodiment of the utility model has at least the following beneficial effects:

[0007] When detecting two objects to be measured in different directions, the laser emitted by the emitting unit can be divided into a first optical path and a second optical path in different directions after passing through the beam splitting prism. The first optical path passes through the light-transmitting area of one of the first reflecting mirrors and is directed towards the first object to be measured. After being reflected by the first object to be measured, the laser is directed towards the reflecting area of the first reflecting mirror, and one of the receiving units receives the laser reflected from the reflecting area, thereby realizing the detection of the first object to be measured; the second optical path passes through the light-transmitting area of the other first reflecting mirror and is directed towards the second object to be measured. After being reflected by the second object to be measured, the laser is directed to the reflecting area of the first reflecting mirror, and the other receiving unit receives the laser reflected from the reflecting area, thereby realizing the detection of the second object to be measured. This enables the light emitting and receiving optical path system to detect two objects to be measured in different directions, avoiding the setting of an additional light emitting and receiving optical path system, thereby reducing the installation space of the light emitting and receiving optical path system and saving device costs.

[0008] According to some embodiments of the present invention, the first reflecting mirror has an incident surface and an exit surface. The incident surface is located on the side of the first reflecting mirror facing the beam splitting prism, and the exit surface is located on the side of the first reflecting mirror facing away from the beam splitting prism. The receiving unit is provided on one side of the exit surface of the first reflecting mirror.

[0009] According to some embodiments of the present invention, the first reflecting mirror has an incident surface and an exit surface. The incident surface is located on the side of the first reflecting mirror facing the beam splitting prism, and the exit surface is located on the side of the first reflecting mirror facing away from the beam splitting prism. The receiving unit is provided on one side of the incident surface of the first reflecting mirror. The light emitting and receiving optical path system further includes a second reflecting mirror, and the second reflecting mirror is provided between the first reflecting mirror and the receiving unit to reflect the laser from the reflecting area to the receiving unit.

[0010] According to some embodiments of the present invention, the first reflecting mirror can rotate around the length direction or the width direction, and the second reflecting mirror can rotate around the height direction.

[0011] According to some embodiments of the present invention, the first reflecting mirror can rotate around the height direction, and the second reflecting mirror can rotate around the length direction or the width direction.

[0012] According to some embodiments of the present invention, the first reflecting mirror includes two reflecting areas, and the two reflecting areas are respectively located at both ends of the light-transmitting area.

[0013] According to some embodiments of the present utility model, the light emitting and receiving optical path system further includes a rotating mirror, which is disposed between the first object to be measured and the first reflector corresponding to the first object to be measured, or between the second object to be measured and the first reflector corresponding to the second object to be measured, or rotating mirrors are respectively disposed between the first object to be measured and the first reflector corresponding to the first object to be measured, and between the second object to be measured and the first reflector corresponding to the second object to be measured. The rotating mirror can change the direction of the laser by rotation.

[0014] According to some embodiments of the present utility model, the transmitting unit includes a laser emitter and a collimating mirror group, and the collimating mirror group is disposed on the laser optical path emitted by the laser emitter.

[0015] According to some embodiments of the present utility model, the receiving unit includes a laser receiver, a filter mirror and a shaping mirror group, and the shaping mirror group, the filter mirror and the laser receiver are sequentially arranged at intervals along the laser optical path reflected by the first reflector.

[0016] According to the second aspect of the present utility model, there is provided a lidar, including the light emitting and receiving optical path system disclosed in the first aspect of the present utility model.

[0017] The lidar according to the embodiments of the present utility model has at least the following beneficial effects:

[0018] The lidar is provided with a light emitting and receiving optical path system. When the lidar detects an object to be measured, the lidar can detect two objects to be measured in different directions, avoiding the setting of an additional lidar, thereby reducing the installation space of the lidar and saving the device cost.

[0019] According to the third aspect of the present utility model, there is provided a vehicle, including the lidar disclosed in the second aspect of the present utility model.

[0020] A vehicle according to the embodiments of the present utility model has at least the following beneficial effects:

[0021] The vehicle is provided with a lidar, so that the lidar can detect the distance position between the object to be measured and the vehicle. The vehicle can perform corresponding avoidance or following operations according to the position detected by the lidar, and the lidar can detect two objects to be measured in different directions, enabling the vehicle to reduce the number of lidars installed, thereby improving the aesthetic appearance of the vehicle and saving the device cost of the lidar.

[0022] According to some embodiments of the present utility model, the lidars are respectively disposed at both ends of the vehicle in its width direction, and one of the lidars can detect the front side of the vehicle and one side in its width direction, and the other lidar can detect the front side of the vehicle and the other side in its width direction.

[0023] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present utility model. Brief Description of the Drawings

[0024] The present utility model will be further described below in conjunction with the drawings and embodiments, where:

[0025] Figure 1 is a schematic diagram of a light emitting and receiving optical path system according to an embodiment of the present utility model;

[0026] Figure 2 is a schematic diagram of a light emitting and receiving optical path system according to another embodiment of the present utility model;

[0027] Figure 3 is a schematic diagram of a light emitting and receiving optical path system according to another embodiment of the present utility model;

[0028] Figure 4 is a schematic diagram of a lidar and a vehicle according to an embodiment of the present utility model.

[0029] Reference Signs:

[0030] Light emitting and receiving optical path system 10; First object to be measured 20; Second object to be measured 30;

[0031] Transmitting unit 100; Laser transmitter 110; Collimating lens group 120;

[0032] Receiving unit 200; Laser receiver 210; Filter lens 220; Shaping lens group 230;

[0033] Beam splitting prism 300; First optical path 310; Second optical path 320;

[0034] First reflecting mirror 400; Reflecting area 410; Translucent area 420; Incident surface 430; Exit surface 440;

[0035] Second reflecting mirror 500; Rotating mirror 600;

[0036] Lidar 1000; Vehicle 2000. Detailed Description of the Embodiments

[0037] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model and should not be construed as limiting the present utility model.

[0038] In the description of the present utility model, it should be understood that with regard to the orientation description, such as the upper, lower, inner, outer, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0039] In the description of the present utility model, if the first and second are described only for the purpose of distinguishing technical features, it should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0040] In the description of the present utility model, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0041] In the related art, when a lidar detects a target object, it generally achieves omnidirectional detection through multiple detection modules that detect in different directions. However, the cooperation between the laser transceiver component and the reflection component can often only detect the target object in a specific direction. Therefore, in order to achieve detection in two directions, it is usually necessary to additionally increase the detection module, resulting in a relatively large space occupied by the detection module and an increase in device cost.

[0042] For this reason, some embodiments of the present utility model propose a light emission and reception optical path system. Referring to Figure 1 , the light emission and reception optical path system 10 includes a transmitting unit 100 and a receiving unit 200. The receiving unit 200 can receive the laser emitted from the transmitting unit 100. Specifically, the transmitting unit 100 includes a laser emitter 110 and a collimating lens group 120. The collimating lens group 120 is disposed on the laser optical path emitted by the laser emitter 110. The collimating lens group 120 can shape the emitted light into the required form, making the direction and trajectory of the light easier to track and analyze.

[0043] It can be understood that in some embodiments of the present utility model, referring to Figure 1 , the light emission and reception optical path system 10 includes a beam splitting prism 300. The beam splitting prism 300 is disposed on the laser optical path emitted by the laser emitter 110 and is configured to be able to split the laser into a first optical path 310 and a second optical path 320 with different directions. The first optical path 310 is directed towards the first target object 20, and the second optical path 320 is directed towards the second target object 30, thereby achieving the effect of emitting the light emitted by the same laser emitter 110 towards two target objects, and further being able to detect the first target object 20 and the second target object 30.

[0044] It can be understood that in some embodiments of the present utility model, the beam splitting prism 300 includes two triangular prisms. When the transmittance of the beam splitting prism 300 is 50% and the reflectance is also 50%, the optical paths in two directions are perpendicular to each other, and the ranging capabilities for the objects to be measured are the same; when the transmittance increases, the reflectance will decrease, and the optical power of the laser beam directed towards the first object to be measured 20 is greater, so that the ranging capability for the first object to be measured 20 will become stronger, while the ranging capability for the second object to be measured 30 will become weaker. Thus, the beam splitting prism 300 can adaptively adjust the transmittance according to the different distances of the objects to be measured, so that the beam splitting prism 300 has different detection capabilities in two directions.

[0045] For example, when both the transmittance and reflectance of the beam splitting prism 300 are 50%, the optical powers of the first optical path 310 and the second optical path 320 relative to the laser emitted by the laser emitter 110 will be reduced by 50% respectively. To ensure that the first optical path 310 and the second optical path 320 can detect the object to be measured under normal optical power, in this embodiment, the optical power of the laser emitter 110 can be increased. In this embodiment, the optical power of the laser emitter 110 can be increased from 65w to 130w, so as to reduce the optical power loss caused by the beam splitting of the light source by the beam splitting prism 300.

[0046] It can be understood that in some embodiments of the present utility model, referring to Figure 1 , the transceiver optical path system 10 includes two first reflectors 400, and the two first reflectors 400 correspond to the first object to be measured 20 and the second object to be measured 30 one by one. Specifically, one of the first reflectors 400 is disposed on the first optical path 310 and is located between the beam splitting prism 300 and the first object to be measured 20, and the other first reflector 400 is disposed on the second optical path 320 and is located between the beam splitting prism 300 and the second object to be measured 30. The first reflector 400 is used to reflect the laser reflected by the object to be measured to the receiving unit 200, and the distance to the object to be measured is measured by measuring the propagation time of the laser to the object to be measured.

[0047] It can be understood that in some embodiments of the present utility model, referring to Figure 1 , the first reflector 400 includes a reflection area 410 and a light transmission area 420. The light transmission area 420 is configured to allow the laser to pass through, and the reflection area 410 is configured to reflect the laser reflected by the first object to be measured 20 or the second object to be measured 30 to the corresponding receiving unit 200. It should be noted that in some embodiments, the light transmission area 420 can be a transparent optical element, such as: a glass lens, etc. The reflection area 410 can be a non-transparent optical element, such as: a plane mirror, etc.

[0048] In this embodiment, the number of reflection areas 410 is two. The two reflection areas 410 are respectively located at both ends of the light-transmitting area 420. The laser emitted by the laser emitter 110 is split into a first optical path 310 and a second optical path 320 by the beam-splitting prism 300. The light rays along the first optical path 310 and the second optical path 320 respectively pass through the two light-transmitting areas 420, so as to respectively irradiate the first object to be measured 20 and the second object to be measured 30. Then, the two reflection areas 410 respectively reflect the light rays reflected by the first object to be measured 20 and the second object to be measured 30 to the two receiving units 200. The distance to the object to be measured is measured by measuring the propagation time of the laser to the object to be measured. At the same time, the receiving unit 200 can generate an image of the object to be measured according to the light rays of the laser.

[0049] It can be understood that in some embodiments of the present invention, referring to Figure 1 , the first reflecting mirror 400 has an incident surface 430 and an exit surface 440. The incident surface 430 is located on the side of the first reflecting mirror 400 facing the beam-splitting prism 300, and the exit surface 440 is located on the side of the first reflecting mirror 400 facing away from the beam-splitting prism 300. Thus, the laser emitted by the laser emitter 110 enters the first reflecting mirror 400 from the incident surface 430 and exits the first reflecting mirror 400 from the exit surface 440, so that the laser passes through the light-transmitting area 420. Then, after the laser is reflected by the object to be measured, it returns to the exit surface 440 of the first reflecting mirror 400 and is reflected by the reflection area 410 to the receiving unit 200.

[0050] It can be understood that in some embodiments of the present invention, referring to Figure 2 , the light-emitting and receiving optical path system 10 further includes a second reflecting mirror 500. The second reflecting mirror 500 is disposed between the first reflecting mirror 400 and the receiving unit 200 to reflect the laser from the reflection area 410 to the receiving unit 200. Since the installation space of the light-emitting and receiving optical path system 10 has diversity, the receiving unit 200 can be adaptively adjusted according to the installation space. In this embodiment, the angle of the second reflecting mirror 500 can be adjusted so that the laser from the reflection area 410 is reflected to the receiving unit 200, and then the light-emitting and receiving optical path system 10 can be adapted to various types of installation spaces.

[0051] It can be understood that in some embodiments of the present invention, referring to Figure 3, the optical transceiver system 10 further includes a rotating mirror 600. The rotating mirror 600 is disposed between the first object to be measured 20 and the first reflecting mirror 400 corresponding to the first object to be measured 20. The rotating mirror 600 is polygonally arranged and rotates along its own axis to reflect the laser passing through the light transmission area 420. The rotating mirror 600 can be adaptively rotated and adjusted according to the moving position of the first object to be measured 20, so that the laser can continuously irradiate the first object to be measured 20; and when the rotating mirror 600 needs to irradiate another object to be measured, it can rotate to change the optical path direction of the laser, so that the laser can continuously irradiate another object to be measured.

[0052] In this embodiment, referring to Figure 3 , the number of the rotating mirrors 600 is two. The two rotating mirrors 600 are respectively disposed between the first object to be measured 20 and the first reflecting mirror 400 corresponding to the first object to be measured 20, and between the second object to be measured 30 and the first reflecting mirror 400 corresponding to the second object to be measured 30, so that the optical transceiver system 10 can continuously irradiate the first object to be measured 20 and the second object to be measured 30, and can detect different objects to be measured in two directions.

[0053] It can be understood that in some embodiments of the present invention, referring to Figure 2 and Figure 3 , the number of the receiving units 200 is two. The two receiving units 200 respectively correspond to the two first reflecting mirrors 400 one by one. The receiving unit 200 is disposed on one side of the exit surface 440 of the first reflecting mirror 400. The first optical path 310 and the second optical path 320 are respectively reflected by the first object to be measured 20 and the second object to be measured 30, and are respectively incident on the two reflection areas 410, so that the laser is respectively incident on the two receiving units 200 through the reflection areas 410.

[0054] It can be understood that in some embodiments of the present invention, referring to Figure 2 and Figure 3 , the receiving unit 200 includes a laser receiver 210, a filter 220 and a shaping lens group 230. The shaping lens group 230, the filter 220 and the laser receiver 210 are sequentially arranged at intervals along the optical path of the laser reflected from the first reflecting mirror 400. The shaping lens group 230 is used to perform beam shrinking and shaping on the light, so that the reflected light after shaping can be effectively received by the laser receiver 210 better. In some embodiments, the shaping lens group 230 is composed of multiple lenses, and the light is shaped by the multiple lenses to be able to change the shape or size of the light beam according to application requirements. The filter 220 is used to allow light of a specific required color to pass through while blocking stray light of other colors, so that the effect of the laser receiver 210 receiving light is better.

[0055] When the optical transceiver path system 10 of the embodiment of the present utility model measures the distances to the measured objects located in two different directions, the laser emitted by the laser transmitter 110 can be shaped into the required form by the collimating lens group 120 and then projected onto the beam splitting prism 300. The laser is configured into a first optical path 310 and a second optical path 320 with different directions. The light of the first optical path 310 is projected onto one of the first mirrors, enters the first mirror 400 from the incident surface 430, and exits the first mirror 400 from the exit surface 440, so that the laser passes through the light-transmitting area 420. Then, the laser is reflected by the rotating mirror 600 to the first measured object 20. The first measured object 20 reflects the laser to the reflection area 410. Then, the light reflected by the reflection area 410 is projected onto the second mirror 500 for reflection. Then, the reflected light is received by the laser receiver 210 after passing through the shaping lens group 230 and the filter lens 220 in sequence. The distance to the first measured object 20 is measured by measuring the propagation time of the laser to the first measured object 20. At the same time, the laser receiver 210 can generate an image of the first measured object 20 according to the light of the laser. The light of the second optical path 320 is projected onto the other first mirror, enters the first mirror 400 from the incident surface 430, and exits the first mirror 400 from the exit surface 440, so that the laser passes through the light-transmitting area 420. Then, the laser is reflected by the rotating mirror 600 to the second measured object 30. The first measured object 20 reflects the laser to the reflection area 410. Then, the light reflected by the reflection area 410 is received by the laser receiver 210 after passing through the shaping lens group 230 and the filter lens 220 in sequence. The distance to the second measured object 30 is measured by measuring the propagation time of the laser to the second measured object 30. At the same time, the laser receiver 210 can generate an image of the second measured object 30 according to the light of the laser. So far, the distance measurement and laser imaging of the first measured object 20 and the second measured object 30 can be realized only by the same laser transmitter 110 and collimating lens group 120, thereby reducing the assembly process and device cost of the laser transmitter 110 and the collimating lens group 120.

[0056] An embodiment of the second aspect of the present utility model provides a lidar 1000. The lidar 1000 includes a housing and an optical transceiver path system 10. The optical transceiver path system 10 is arranged inside the housing. The housing is used to protect the optical transceiver path system 10. The optical transceiver path system 10 can realize the distance measurement and laser imaging of the first measured object 20 and the second measured object 30 only by the same laser transmitter 110 and collimating lens group 120, thereby reducing the assembly process and device cost of the laser transmitter 110 and the collimating lens group 120. At the same time, the overall size of the lidar 1000 is reduced, the installation space occupied by it is saved, and the effect of miniaturizing the structure of the lidar 1000 is achieved.

[0057] Since the laser radar 1000 adopts all the technical solutions of the light transmitting and receiving circuit system 10 of the above-mentioned embodiment, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be repeated here.

[0058] The third embodiment of the utility model provides a vehicle 2000, referring to Figure 4 , including two laser radars 1000, which are respectively located at the two ends of the vehicle 2000 along its width direction. One of the laser radars 1000 can detect the front side of the vehicle 2000 and one side in its width direction, and the other laser radar 1000 can detect the front side of the vehicle 2000 and the other side in its width direction.

[0059] Specifically, the vehicle 2000 may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle 2000 may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle 2000 may be a gasoline vehicle or a new energy vehicle. When the vehicle 2000 is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0060] In this embodiment, refer to Figure 4 , the two laser radars 1000 are respectively located on the left and right sides of the vehicle 2000, and are symmetrically distributed along the front and rear directions of the vehicle 2000. The two laser radars 1000 cooperate to measure the distance and perform laser imaging on the objects to be measured on the front side and the left and right sides of the vehicle 2000. In the related art, since the laser detection equipment can only scan the objects to be measured in a single direction, the vehicle 2000 needs to be equipped with three laser detection equipment to respectively scan the objects to be measured on the left side, right side and front side of the vehicle 2000. The three laser detection equipment requires three laser emission components. However, the present application can realize detection in three directions through two light-emitting units. Compared with the laser detection equipment in the related art, the assembly process and device cost of the laser emitter 110 and the collimating lens group 120 are reduced.

[0061] Since the vehicle 2000 adopts all the technical solutions of the laser radar 1000 of the above-mentioned embodiment, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be repeated here.

[0062] The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A light transmitting and receiving circuit system, characterized in that: include: Transmitting unit; Two receiving units; A beam splitter prism is disposed on the laser light path emitted by the emitting unit and is configured to be able to split the laser into a first light path and a second light path with different directions, the first light path is emitted to the first object to be measured, and the second light path is emitted to the second object to be measured; Two first reflectors correspond one to one with the two receiving units, wherein one of the first reflectors is arranged on the first optical path and is located between the dichroic prism and the first object to be measured, and the other first reflector is arranged on the second optical path and is located between the dichroic prism and the second object to be measured, and the first reflector includes a reflective area and a light-transmitting area, the light-transmitting area is configured to allow laser to pass through, and the reflective area is configured to reflect the laser reflected by the first object to be measured or the second object to be measured to the corresponding receiving unit.

2. The light transmitting and receiving circuit system according to claim 1, characterized in that: The first reflector has an incident surface and an exit surface, the incident surface is located on the side of the first reflector facing the beam splitter prism, the exit surface is located on the side of the first reflector facing away from the beam splitter prism, and the receiving unit is arranged on one side of the exit surface of the first reflector.

3. The light transmitting and receiving circuit system according to claim 1, characterized in that: The first reflector has an incident surface and an exit surface, the incident surface is located on the side of the first reflector facing the beam splitter prism, and the exit surface is located on the side of the first reflector facing away from the beam splitter prism. The receiving unit is arranged on one side of the incident surface of the first reflector, and the light receiving and transmitting path system also includes a second reflector, which is arranged between the first reflector and the receiving unit to reflect the laser from the reflection area to the receiving unit.

4. The light transmitting and receiving circuit system according to claim 1, characterized in that: The first reflector includes two reflective areas, and the two reflective areas are respectively located at two ends of the light-transmitting area.

5. The light transmitting and receiving circuit system according to claim 1, characterized in that: The light receiving and transmitting path system also includes a rotating mirror, which is arranged between the first object to be measured and the first reflector corresponding to the first object to be measured, or between the second object to be measured and the first reflector corresponding to the second object to be measured, or between the first object to be measured and the first reflector corresponding to the first object to be measured, and between the second object to be measured and the first reflector corresponding to the second object to be measured, and the rotating mirror can change the direction of the laser by rotating.

6. The light transmitting and receiving circuit system according to claim 1, characterized in that: The emitting unit comprises a laser emitter and a collimating lens group, and the collimating lens group is arranged on the optical path of the laser emitted by the laser emitter.

7. The light transmitting and receiving circuit system according to claim 1, characterized in that: The receiving unit comprises a laser receiver, a filter and a shaping mirror group, and the shaping mirror group, the filter and the laser receiver are sequentially arranged at intervals along the optical path of the laser reflected from the first reflecting mirror.

8. A laser radar, characterized in that: It comprises the light transmitting and receiving circuit system as claimed in any one of claims 1 to 7.

9. A vehicle, characterized in that: Comprising a laser radar as described in claim 8.

10. The vehicle according to claim 9, characterized in that The laser radars are respectively provided at both ends of the vehicle in the width direction, one of which can detect the front side of the vehicle and one side in the width direction, and the other laser radar can detect the front side of the vehicle and the other side in the width direction.

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