Laser transmitting and receiving system, laser radar and robot

Abstract

The utility model provides a laser transmit-receive system, a laser radar and a robot, the laser transmit-receive system comprises a laser, a laser detector and a reflector group, the reflector group comprises a first reflector body and a second reflector body, the first reflector body is arranged in a center hole of the second reflector body, and the first reflector body and the second reflector body are arranged in a crossed manner; the laser is used for emitting laser beams to the first reflecting mirror body, and the first reflecting mirror body is used for reflecting the emitted laser beams; the second reflector body is used for reflecting a returned laser beam of the emitted laser beam, and the laser detector is used for receiving the returned laser beam reflected by the second reflector body. According to the laser transmitting and receiving system, the laser radar and the robot, the first reflector body and the second reflector body of the reflector group perform reflective light path turning on the emitted laser beam and the received laser beam, so that the light path is coaxial and folded, the size can be reduced through light path turning, and a contribution can be made for realizing miniaturization and high integration level.

Description

Technical Field

[0001] This application relates to the field of optical technologies, and in particular, to a laser transceiver system, a lidar, and a robot. Background Art

[0002] In traditional lidar devices, the transceiver system uses the same reflector to achieve coaxial emission and reception optical paths. Since the same reflector is used for laser emission and reception, during the optical path transmission, the emitted laser stray light will affect the reception optical path, and a black component needs to be used for physical isolation between the emission optical path and the reception optical path. Thus, the volume and cost of the transceiver system increase accordingly, and the large occlusion situation also limits the field of view and optical efficiency. Summary of the Invention

[0003] To solve the existing technical problems, this application provides a laser transceiver system, a lidar, and a robot, which can reduce the volume and cost.

[0004] To achieve the above object, the technical solution of the embodiment of this application is implemented as follows:

[0005] On the one hand, the embodiment of this application provides a laser transceiver system, including a laser, a laser detector, and a reflector group. The reflector group includes a first reflector body and a second reflector body. A central hole is opened at the center of the second reflector body, and the first reflector body is disposed in the central hole and intersects with the second reflector body; the laser is used to emit an emission laser beam to the first reflector body, and the first reflector body is used to reflect the emission laser beam to a detection object; the second reflector body is used to reflect a return laser beam to the laser detector, the return laser beam is the return laser beam after the emission laser beam irradiates the detection object, and the laser detector is used to receive the return laser beam reflected by the second reflector body.

[0006] In one of the embodiments, the first reflector body has a first reflection surface, the second reflector body has a second reflection surface, the first reflection surface and the second reflection surface are planes and are perpendicular to each other.

[0007] In one of the embodiments, the first reflection surface is larger than the spot size of the laser beam emitted by the laser; the central hole avoids the emission laser beam, so that the emission laser beam irradiates the first reflection surface from one side of the second reflector body and is reflected by the first reflection surface to the other side of the second reflector body.

[0008] In one embodiment, the first mirror body is fixed at the central hole through a structural member; alternatively, the mirror group is integrally formed, and the first mirror body is injection-molded at the central hole of the second mirror body.

[0009] In one embodiment, the first mirror body is disposed obliquely to the first optical axis along which the emitted laser beam of the laser travels; the second mirror body is disposed obliquely to the third optical axis along which the returned laser beam travels toward the laser detector.

[0010] In one embodiment, it further includes a transceiver lens disposed between the mirror group and the detected object. The mirror group and the transceiver lens are disposed on the second optical axis. The first optical axis and the third optical axis are perpendicular to the second optical axis, and the first optical axis and the third optical axis are on the same straight line and on both sides of the second optical axis.

[0011] In one embodiment, the transceiver lens includes a transmitting lens portion, a receiving lens portion, and an isolation portion. The transmitting lens portion is located at the center, the receiving lens portion is located at the periphery, and the isolation portion is disposed between the transmitting lens portion and the receiving lens portion; the transmitting lens portion correspondingly transmits the laser beam reflected by the first mirror body, and the receiving lens correspondingly transmits the laser beam to the second mirror body.

[0012] In one embodiment, the transmitting lens portion is a spherical or aspherical lens, the receiving lens portion is a spherical or aspherical lens, and the isolation portion is an annular black member.

[0013] In one embodiment, the focal length of the transmitting lens portion is equal to the focal length of the receiving lens portion.

[0014] In one embodiment, the distance between the laser and the mirror group on the first optical axis is equal to the distance between the mirror group and the laser detector on the third optical axis.

[0015] In one embodiment, it further includes a diffraction grating or a filter. The diffraction grating or the filter is disposed on the third optical axis and between the mirror group and the laser detector.

[0016] On the other hand, an embodiment of the present application provides a lidar, including the aforementioned laser transceiver system, a base, and an outer cover. The outer cover is disposed on the base to cover the laser transceiver system therein.

[0017] In one embodiment, the laser is fixed inside the top of the outer cover; the laser detector is fixed on the base.

[0018] In one embodiment, the laser transceiver system further includes a transceiver integrated lens disposed between the mirror group and the detection object. The mirror group and the transceiver integrated lens are disposed on a second optical axis, and the laser and the laser detector are respectively disposed on both sides of the second optical axis. The lidar further includes a rotating member rotatable about a rotation axis, the rotation axis passing through the laser and the laser detector, and the mirror group and the transceiver integrated lens are fixed to the rotating member.

[0019] In one embodiment, the space between the laser and the first mirror body is sealed with a sleeve; and / or, the space between the transceiver integrated lens and the second mirror body is sealed with a black component.

[0020] On the other hand, an embodiment of the present application provides a robot, including the lidar described above.

[0021] The laser transceiver system, lidar, and robot of the present application at least have the following beneficial effects: In the laser transceiver system, lidar, and robot of the present application, the first mirror body and the second mirror body of the mirror group perform reflective optical path turning on the emitted laser beam and the received laser beam, achieving coaxial and folded optical paths. The optical path turning can reduce the volume and contribute to the miniaturization and high integration of the optical system, optimizing the overall system architecture. The emission optical path and the reception optical path are respectively reflected by the first mirror body and the second mirror body, which can relatively reduce the use of physical isolation black components for isolating the emission optical path and the reception pipeline, and the volume and cost of the laser transceiver system are reduced accordingly. Description of the Drawings

[0022] Figure 1 It is a schematic block diagram of the structure of the laser transceiver system according to an embodiment of the present application;

[0023] Figure 2 It is Figure 1 a three-dimensional structure schematic diagram of the mirror group in

[0024] Figure 3 It is Figure 2 a top view structure schematic diagram of the mirror group in

[0025] Figure 4 It is Figure 2 a front view structure schematic diagram of the mirror group in

[0026] Figure 5 It is Figure 2 a rear view structure schematic diagram of the mirror group in

[0027] Figure 6 It is Figure 1 an axial sectional structure schematic diagram of the transceiver integrated lens in

[0028] Figure 7 Schematic diagram of the frame structure of a lidar according to an embodiment of the present application;

[0029] Figure 8 Schematic three-dimensional structure diagram of a lidar according to an embodiment of the present application;

[0030] Figure 9 Along Figure 7 Schematic cross-sectional structure diagram in the A-A direction in

[0031] Figure 10 Schematic top view structure diagram of a robot according to an embodiment of the present application.

[0032] The reference numerals of each component in the figure are as follows:

[0033] Laser transceiver system 100;

[0034] Mirror group 10 (wherein, the first mirror body 11, the second mirror body 12; the first reflecting surface 111; the second reflecting surface 121, the central hole 122);

[0035] Transceiving integrated lens 20 (wherein, the transmitting lens part 21, the receiving lens part 22, the isolation part 23);

[0036] Laser 30, laser detector 40, diffraction grating 50; rotating member 60; sleeve 70;

[0037] Detected object 200;

[0038] Base 300, outer cover 400;

[0039] Lidar 800; autonomous mobile device 900;

[0040] First optical axis A1, second optical axis A2, third optical axis A3. Detailed implementation manners

[0041] The technical solution of the present application will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit the implementation of this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0043] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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, and thus should not be construed as a limitation to the present application. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0044] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0045] Please refer to Figure 1 , which is a structural block diagram of a laser transceiver system 100 according to an embodiment of the present application. The laser transceiver system 100 includes a laser 30, a mirror group 10, a transceiver lens 20, a laser detector 40, and a diffraction grating 50. The mirror group 10 includes a first mirror body 11 and a second mirror body 12. The first mirror body 11 and the second mirror body 12 are arranged crosswise. The laser 30 is configured to emit an emitted laser beam to the first mirror body 11, and the first mirror body 11 is configured to reflect the emitted laser beam; the second mirror body 12 is configured to reflect the returned laser beam after the emitted laser beam irradiates a detection object 200, and the laser detector 40 is configured to receive the returned laser beam reflected by the second mirror body 12. The transceiver lens 20 includes an emission lens portion 21 and a reception lens portion 22. The emission lens portion 21 corresponds to the first mirror body 11, and the reception lens portion 22 corresponds to the second mirror body 12. The emitted laser beam to the detection object 200 is reflected by the first mirror body 11 and then passes through the emission lens portion 21, and the returned laser beam of the detection object 200 passes through the reception lens portion 22 and then is reflected by the second mirror body 12.

[0046] Please refer to in combination with Figures 2 to 5, which is a schematic structural diagram of the mirror group 10 in an embodiment of the present application. The mirror group 10 includes a first mirror body 11 and a second mirror body 12. The first mirror body 11 is located at the central position of the second mirror body 12, and the first mirror body 11 and the second mirror body 12 are cross - arranged in a cross shape. The first mirror body 11 and the second mirror body 12 adopt high - precision mirrors, so that the mirror group 10 is a double - high - precision mirror. Among them, the first mirror body 11 is used to reflect the emitted laser beam, and the second mirror body 12 is used to reflect the returned laser beam. The first mirror body 11 and the second mirror body 12 are arranged at an angle, so that the emitted laser beam from the laser and the received laser beam reflected to the laser detector are respectively located on different sides of the mirror group 10, reducing the mutual influence between the emitted laser beam and the received laser beam.

[0047] Specifically, the first mirror body 11 has a first reflection surface 111, and the second mirror body 12 has a second reflection surface 121. The first reflection surface 111 and the second reflection surface 121 are planes and are at an angle to each other. The first reflection surface 111 is the light - emitting surface of the receiving laser, and a corresponding reflective film is plated; the second reflection surface 121 is the surface for receiving diffuse reflected light, and a corresponding reflective film is plated. Preferably, the angle between the first reflection surface 111 and the second reflection surface 121 is 90°, that is, the first reflection surface 111 and the second reflection surface 121 are perpendicular to each other.

[0048] More specifically, a central hole 122 is opened at the center of the second mirror body 12, and the first mirror body 11 is arranged in the central hole 122. The first mirror body 11 can be square or oval, and the shape of the first reflection surface 111 needs to be larger than the size of the laser emission spot (i.e., the spot size of the emitted laser beam); the second mirror body 12 can be square or oval, and the shape of the central hole 122 needs to avoid the emitted laser beam of the laser, so that the emitted laser beam can be completely irradiated onto the first reflection surface 111 from one side of the second mirror body 12 and be reflected by the first reflection surface 111 to the other side of the second mirror body 12. In the illustrated embodiment, both the first mirror body 11 and the second mirror body 12 are square, and the central hole 122 is oval.

[0049] The mirror group 10 can be an assembly or an integrally formed part. That is, the first mirror body 11 can be fixed or formed at the position of the central hole 122 of the second mirror body 12 by means of structural parts or injection molding.

[0050] During use, the first reflection surface 111 of the first mirror body 11 is inclined at 45° to the optical axis of the emitted laser beam (i.e., Figure 9The first optical axis A1 shown in [figure] can achieve a 90° turn of the emission optical path after being reflected by the first reflecting surface 111; the second mirror body 12 forms a 90° angle with the first mirror body 11, and the second reflecting surface 121 of the second mirror body 12 forms a 45° angle with the optical axis of the returned laser beam (i.e., Figure 9 the second optical axis A2 shown in [figure]), and can achieve a 90° turn of the return optical path after being reflected by the second reflecting surface 121. The emission laser beam from the laser and the returned laser beam going to the laser detector are respectively located on both sides of the mirror group 10. That is to say, the optical components before the mirror group 10 from the laser 30 and the optical components after the mirror group 10 to the laser detector 40 are respectively arranged on both sides of the mirror group 10, making the optical path structure more compact and facilitating the miniaturization of the laser transceiver system and the lidar.

[0051] The laser 30 can adopt a VECSEL laser (vertical cavity surface emitting laser), and the wavelength of the VECSEL laser is in the range of 800 - 1000 nm. The laser 30 can be a surface array / point light source, and outputs a laser beam with a certain divergence angle, and transmits in space at a certain divergence angle.

[0052] The laser detector 40 can adopt a SPAD (Single Photon Avalanche Diode) sensor.

[0053] The diffraction grating 50 filters the optical path of non - required bands. In other embodiments, the diffraction grating 50 can be replaced by other diffraction devices. Or, the diffraction grating 50 is replaced by a filter.

[0054] The laser 30 emits a laser beam to the first mirror body 11, and the first mirror body 11 reflects the emitted laser beam and transmits it to the emission lens part 21 of the transceiver lens 20; the emission laser beam is emitted outward to the detection object 200 and is diffusely reflected and returned by the detection object 200; the returned laser beam of the detection object 200 is transmitted to the receiving lens part 22 of the transceiver lens 20 and is transmitted after being reflected by the second mirror body 12; the returned laser beam is filtered by the diffraction grating 50 and then received by the laser detector 40. In the above process, the laser beam emitted to the detection object 200 and the laser beam returned by the detection object 200 pass through the mirror group 10 and the transceiver lens 20, and are coaxially transmitted between the mirror group 10 and the detection object 200.

[0055] In the laser transceiver system 100, the first mirror body 11 of the mirror group 10 receives the laser beam diverged from the laser 30, so that the emitted laser beam of the laser 30 is reflected and turned by 90°; the emitted laser beam passes through the emission lens part 21 of the integrated transceiver lens 20, and the emitted light spot is a collimated light spot; the laser beam is emitted to the detection object 200 and diffusely reflected back, and the diffusely reflected return laser beam is received through the receiving lens part 22 of the integrated transceiver lens 20; after the second mirror body 12 receives the diffuse reflection light, it passes through the diffraction grating 50 for filtering and then reaches the laser detector 40. The design of the laser transceiver system 100 greatly simplifies the optical path layout and reduces the system volume. Please refer to Figures 6 to 8 , which is a schematic structural diagram of a lidar according to an embodiment of the present application. The lidar includes a laser transceiver system 100, a base 300 and a housing 400. The housing 400 is covered on the base 300 to form a hollow sealed cover, and the laser transceiver system 100 is covered inside. The laser 30 of the laser transceiver system 100 is fixed on the inner side of the top of the housing 400; the laser detector 40 is fixed on the inner side of the base 300. More specifically, the housing 400 can be an airtight PC / acrylic plastic airtight cover or an open cover. The top of the housing 400 is used to fix the light source of the laser 30, and the laser transceiver system 100 can be covered inside by using the housing 400 and the base 300.

[0056] Among them, the first mirror body 11 of the mirror group 10 is arranged obliquely to the first optical axis A1 of the laser 30; the mirror group 10 and the integrated transceiver lens 20 are arranged on the second optical axis A2, and the second mirror body 12 of the mirror group 10 is arranged obliquely to the second optical axis A2; the second mirror body 12 of the mirror group 10 is arranged obliquely to the third optical axis A3 of the laser detector 40, and the diffraction grating 50 is arranged on the third optical axis A3 and between the second mirror body 12 and the laser detector 40. Among them, both the first optical axis A1 and the third optical axis A3 are perpendicular to the second optical axis A2, and the first optical axis A1 and the third optical axis A3 are on the same straight line and on both sides of the second optical axis A2.

[0057] The mirror group 10 and the transceiver lens 20 need to rotate to achieve 360-degree scanning. The mirror group 10 and the transceiver lens 20 are installed on the rotating member 60. The rotating member 60 can be driven by a power source to drive the mirror group 10 and the transceiver lens 20 to rotate together around a rotation axis perpendicular to the second optical axis A2. Since the laser 30 and the laser detector 40 are fixed and do not rotate, and the rotation axis of the rotating member 60 is perpendicular to the second optical axis A2, that is, the rotation axis is collinear with the first optical axis A1 and the second optical axis A2 and passes through the laser 30 and the laser detector 40. Therefore, during the rotation of the mirror group 10 and the transceiver lens 20 on the rotating member 60 around the rotation axis, no matter what angle they rotate around the rotation axis, the first mirror body 11 of the mirror group 10 can receive the emitted laser beam transmitted along the first optical axis A1 from the laser 30, and the second mirror body 12 can transmit the returned laser beam along the third optical axis A3 to the laser detector 40, which can ensure that the emission and reception are carried out on the same plane, thereby realizing 360-degree laser scanning.

[0058] In the above laser transceiver system 100, the mirror group 10 ensures that the laser 30 and the laser detector 40 are located at the same rotation axis center on the rotating bracket (not shown in the figure). The laser 30, the first mirror body 11, and the emission lens part 21 are laser emission components. The laser 30 and the first mirror body 11 can be hermetically fixed by black parts such as the sleeve 70. The reception lens part 22, the second mirror body 12, the diffraction grating 50, and the laser detector 40 are laser reception components. The reception lens part 22 and the second mirror body 12 can be hermetically fixed by black parts (not marked).

[0059] As Figure 9 shown in, the laser beam emitted by the laser 30 is refracted after passing through the first mirror body 11. The first mirror body 11 is installed in a manner inclined to the first optical axis A1 and the second optical axis A2. The incident light enters the first reflection surface 11 at a certain incident angle θ1, and then is reflected at the exit angle θ2. The exit ray and the incident ray are on both sides of the normal line respectively, so as to control the incident angle θ1 and the exit angle θ2, and a 90° turn of the optical path can be realized (that is, a 90° turn from the first optical axis A1 to the second optical axis A2).

[0060] The laser beam is collimated by the emission lens part 21 and then emitted outside the lidar. After passing through the outer cover 400, it propagates outward. After propagating to the detection object 200, due to the different reflectivities and roughnesses of different objects, diffuse reflected light at different angles is generated on the surface of the detection object 200, and the light beam is diffusely reflected back into the lidar and back to the laser transceiver system 100.

[0061] The diffraction grating 50 filters the influence of light on the received signal. The filtered light beam is transmitted to the laser detector 40, and the laser detector 40 processes the received optical signal and converts it into corresponding required information. In this way, the detection function of the lidar is realized.

[0062] The light emitted by the laser 30 is reflected by the first mirror body 11 and turned by 90° to the emission lens part 21 of the transceiver integrated lens 20. The focal length of the lens of the emission lens part 21 is f1. The turning relationship of the first mirror body 11 needs to satisfy f1 = L1 + L3, where L1 is the distance between the laser 30 and the mirror group 10 on the first optical axis A1, and L2 is the distance between the laser detector 40 and the mirror group 10 on the third optical axis A3. L1 affects the height of the lidar. Controlling L1 can effectively control the overall height of the lidar and achieve overall miniaturization. After the light is emitted, the emitted light beam reaches the external detection object 200 through the outer cover 400 and then returns to the laser transceiver system 100 for light collection. The focal length of the lens of the receiving lens part 22 of the transceiver integrated lens 20 is f2. The turning relationship of the second mirror body 12 needs to satisfy f2 = L2 + L3, where L3 is the distance between the mirror group 10 and the transceiver integrated mirror 20 on the second optical axis A2. Since f1 = f2, then L1 = L2. Therefore, L3 affects the height of the lidar. Controlling L3 can effectively control the overall height of the lidar and achieve overall miniaturization.

[0063] The brief working process of the above lidar is as follows: The laser 30 emits laser light of a specific wavelength through the control circuit, which successively passes through the first mirror body 11 that turns the emission optical path and the emission lens part 21 for collimating the optical path. The collimated light emitted reaches the detection object 200 and generates diffuse reflected light; the receiving lens part 22 focuses the received light and returns it to the second mirror body 12; the second mirror body 12 receives the generated diffuse reflected light, turns the optical path by 90° through reflection, filters out non-required band light by the diffraction grating 50, and finally reaches the laser detector 40 for signal processing.

[0064] This application also provides an embodiment of a robot. Please refer to Figure 10 , the robot includes a lidar 800 and an autonomous mobile device 900. The lidar 800 is provided on the autonomous mobile device 900, for example, above the autonomous mobile device 900, and is used to collect obstacles in the surrounding environment of the autonomous mobile device 900. Among them, for the specific structure and function of the lidar 800, reference can be made to the above embodiment, which will not be elaborated here one by one; the autonomous mobile device 900 is a device installed on any type of mobile body that can move autonomously, such as a vehicle, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, a personal mobile device, an airplane, a drone, a ship, or a robot, etc.

[0065] It should be noted thatFigure 10 The embodiments shown below illustrate the robots of the present application by taking a floor cleaning robot equipped with a lidar 800 as an example. The lidar 800 is applicable to other robots that need to navigate based on surrounding environment information, such as delivery robots for another example.

[0066] The present application provides a laser transceiver system, a lidar, and a robot. By using a mirror group to perform a reflective optical path turning for the emitted laser beam and the received laser beam, the coaxiality and folding of the optical path are achieved, and the optical path turning can reduce the volume. The transceiver integrated lens combines laser emission and reception, making the structure more compact, reducing the system complexity and manufacturing cost. The diffraction grating realizes optical path isolation and simultaneously filters signals for the laser detector, improving the detection accuracy and range. The optical path isolation technology of the transceiver integrated lens and the diffraction grating effectively solves the problem of mutual interference between the emission and reception optical paths in traditional coaxial lidars, improves the signal quality and system stability to enhance the performance and reliability of the lidar, and thus improves the detection performance of the lidar. In summary, the mirror group laser transceiver system, lidar, and robot of the present application can contribute to the miniaturization and high integration of the optical system, optimize the overall system architecture, improve the comprehensive performance of the lidar, and broaden the application scenarios.

[0067] It should be noted that in this text, the term "including", "comprising", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article, or device including such element.

[0068] As described above, the above are only the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A laser transceiver system, characterized in that: It includes a laser, a laser detector and a reflector group, the reflector group includes a first reflector body and a second reflector body, the center of the second reflector body is provided with a center hole, the first reflector body is arranged in the center hole and is arranged crosswise with the second reflector body; the laser is used to emit a transmission laser beam to the first reflector body, the first reflector body is used to reflect the transmission laser beam to the detection object; the second reflector body is used to reflect the return laser beam to the laser detector, the return laser beam is the return laser beam after the transmission laser beam irradiates the detection object, and the laser detector is used to receive the return laser beam reflected by the second reflector body.

2. The laser transceiver system according to claim 1, characterized in that: The first reflector body has a first reflective surface, the second reflector body has a second reflective surface, and the first reflective surface and the second reflective surface are planes and perpendicular to each other.

3. The laser transceiver system according to claim 2, characterized in that: The first reflecting surface is larger than the spot size of the laser beam emitted by the laser; the central hole avoids the emitted laser beam, so that the emitted laser beam is irradiated from one side of the second reflecting mirror body to the first reflecting surface, and is reflected by the first reflecting surface to the other side of the second reflecting mirror body.

4. The laser transceiver system according to claim 1, characterized in that: The first reflector body is fixed at the center hole through a structural member; or, the reflector assembly is integrally formed, and the first reflector body is injection-molded at the center hole of the second reflector body.

5. The laser transceiver system according to claim 1, characterized in that: The first reflector body is arranged to be inclined with respect to the first optical axis of the emitted laser beam of the laser; and the second reflector body is arranged to be inclined with respect to the third optical axis of the returned laser beam transmitted to the laser detector.

6. The laser transceiver system according to claim 5, characterized in that: It also includes a transceiver lens arranged between the reflector group and the detection object, the reflector group and the transceiver lens are arranged on the second optical axis, the first optical axis and the third optical axis are perpendicular to the second optical axis, the first optical axis and the third optical axis are on the same straight line and are located on both sides of the second optical axis.

7. The laser transceiver system according to claim 6, characterized in that: The transmitting and receiving integrated lens includes a transmitting lens portion, a receiving lens portion and an isolating portion, wherein the transmitting lens portion is located at the center, the receiving lens portion is located at the periphery, and the isolating portion is arranged between the transmitting lens portion and the receiving lens portion; the transmitting lens portion corresponds to transmitting the laser beam reflected from the first reflector body, and the receiving lens corresponds to transmitting the laser beam to the second reflector body.

8. The laser transceiver system according to claim 7, characterized in that: The transmitting lens part is a spherical or aspherical lens, the receiving lens part is a spherical or aspherical lens, and the isolating part is an annular black piece.

9. The laser transceiver system according to claim 8, characterized in that: The focal length of the transmitting lens unit is equal to the focal length of the receiving lens unit.

10. The laser transceiver system according to claim 6, characterized in that: The distance between the laser and the reflector group on the first optical axis is equal to the distance between the reflector group and the laser detector on the third optical axis.

11. The laser transceiver system according to claim 6, characterized in that: It also includes a diffraction grating or a filter, which is arranged on the third optical axis and located between the reflector group and the laser detector.

12. A laser radar, characterized in that: The invention comprises the laser transceiver system according to any one of claims 1 to 11, a base and an outer cover, wherein the outer cover is arranged on the base to cover the laser transceiver system therein.

13. The laser radar according to claim 12, characterized in that: The laser is fixed on the inner side of the top of the outer cover; and the laser detector is fixed on the base.

14. The laser radar according to claim 12, characterized in that: The laser transceiver system also includes a transceiver-integrated lens arranged between the reflector group and the detection object, the reflector group and the transceiver-integrated lens are arranged on a second optical axis, and the laser and the laser detector are respectively arranged on both sides of the second optical axis; the laser radar also includes a rotating part that can rotate around a rotation axis, the rotation axis passes through the laser and the laser detector, and the reflector group and the transceiver-integrated lens are fixed on the rotating part.

15. The laser radar according to claim 13, characterized in that: The laser and the first reflector body are sealed by a sleeve; and / or the transceiver integrated lens and the second reflector body are sealed by a black piece.

16. A robot, characterized in that: Comprising a laser radar according to any one of claims 12 to 15.

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