Laser transmitting and receiving system, laser radar and sweeping robot
By adopting a combination design of lasers, reflectors and lenses in the laser transceiver system, and using reflection zones and filters to isolate the optical path, the problem of large size of the laser transceiver system in the prior art is solved, and the system is miniaturized and signal quality is improved.
Patent Information
- Application Number
- CN202422353769.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-08-15
- Estimated Expiration
- 2034-09-26
AI Technical Summary
In the existing laser transceiver system, the emission and reception light paths are coaxialized by using a single lens or a central opening of the lens group, resulting in a large system size, which is not conducive to miniaturization.
Using a combined design of a laser, a first reflector, a second reflector, a receiving lens and a laser detector, the first reflector is arranged in an inclined manner in the give way opening of the receiving lens, and the emitted and return laser beams are separated by the first and second reflectors, and the optical path path is optimized by combining the filter and the isolation component.
The compact layout of the laser transceiver system is realized, which reduces space consumption, facilitates miniaturization, and improves signal quality and detection accuracy.
Smart Images
Figure CN223229748U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of laser radar, and in particular to a laser transceiver system, a laser radar and a sweeping robot. Background Art
[0002] The laser transceiver system uses a laser beam as an information carrier, transmitting a laser signal toward a target object and receiving an echo signal reflected from the target object. By comparing and processing the received echo signal with the transmitted signal, it obtains relevant information about the target object (such as distance, direction, height, speed, posture, and shape), thereby achieving detection, tracking, and identification of the target object.
[0003] The laser transceiver system needs to be isolated between the transmitting optical path and the receiving optical path to avoid signal interference between the transmitting optical path and the receiving optical path. Related technologies usually use a single lens or a lens group with a central opening, a built-in transmitting optical path to achieve coaxiality between the transmitting optical path and the receiving optical path, and isolate the transmitting optical path from the receiving optical path. However, this method makes the overall volume of the laser transceiver system very large, which is not conducive to the miniaturization of the laser transceiver system. Utility Model Content
[0004] The present application aims to at least solve the technical problem in the prior art of using a single lens or a lens group with a central opening, and a built-in transmitting optical path to achieve coaxiality between the transmitting optical path and the receiving optical path, which is not conducive to the miniaturization of the laser transceiver system.
[0005] In the first aspect, the present application provides a laser transceiver system, including a laser, a first reflector, a second reflector, a receiving lens and a laser detector; the laser is used to emit an emission laser beam, the first reflector is used to reflect the emission laser beam to the first reflection area of the second reflector, the first reflection area is used to reflect the emission laser beam to the detection object, the second reflection area of the second reflector is used to reflect the return laser beam reflected by the detection object to the receiving lens, and the laser detector is used to receive the return laser beam transmitted by the receiving lens; the receiving lens is provided with a clearance opening, the first reflector is arranged in the clearance opening and is inclined to the central axis of the receiving lens.
[0006] According to one embodiment of the present application, the laser emits the emitted laser beam along a first optical axis, the first reflector is arranged on the first optical axis and inclined to the first optical axis; the central axis of the receiving lens is arranged on a second optical axis perpendicular to the first optical axis, the second reflector is arranged on the second optical axis and inclined to the second optical axis, and the laser detector receives the return laser beam transmitted along the second optical axis.
[0007] According to an embodiment of the present application, the clearance opening is formed by being recessed from a side of the receiving lens toward the laser.
[0008] According to one embodiment of the present application, the first reflection area is the projection area of the first reflection element on the reflection surface of the second reflection element along the second optical axis, and the second reflection area is the area outside the first reflection area on the reflection surface of the second reflection element.
[0009] According to one embodiment of the present application, a collimating lens is provided between the laser and the first reflector in the direction of the first optical axis, and in the direction of the second optical axis, a distance d1 between the first reflector and the second reflector is smaller than a focal length f1 of the collimating lens.
[0010] According to one embodiment of the present application, it also includes a first filter arranged between the second reflector and the detection object, and the first filter is inclined at an angle of 5° to 10° with the direction parallel to the second optical axis; and / or, it also includes a second filter arranged along the second optical axis between the receiving lens and the laser detector.
[0011] According to one embodiment of the present application, a first isolation portion is provided between the emitting laser beam reflected by the first reflecting member to the first reflecting area and the returning laser beam reflected by the second reflecting area to the receiving lens; a second isolation portion is provided between the emitting laser beam reflected by the first reflecting area to the detection object and the returning laser beam reflected by the detected object and returned to the second reflecting area.
[0012] In a second aspect, the present application provides a laser radar, comprising the laser transceiver system, a base and an outer cover as described in any of the above embodiments, wherein the outer cover is provided on the base to accommodate the laser transceiver system therein.
[0013] According to one embodiment of the present application, in a laser radar, the laser, the first reflector, the receiving lens and the laser detector are fixedly mounted on the base; the second reflector is mounted on a rotating bracket, and the rotating bracket can rotate around the second optical axis relative to the base.
[0014] On the third aspect, the present application also provides a sweeping robot, comprising the laser radar of any of the above embodiments.
[0015] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:
[0016] The first reflector is arranged at the clearance opening of the receiving lens and is inclined to the central axis of the receiving lens, so that the emitted laser beam can be transmitted from one side of the clearance opening to the first reflector and reflected to the first reflection area of the second reflector and then reflected outward. The external return laser beam is reflected by the second reflection area of the second reflector and can be transmitted to the receiving lens. The first reflector is embedded in the clearance opening of the receiving lens, so that the layout structure of the optical elements in the laser transceiver system is more compact, which is conducive to the miniaturization of the laser transceiver system.
[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
[0019] Figure 1 This is a schematic diagram of the structure of a laser transceiver system provided by an embodiment of the present application;
[0020] Figure 2 Schematic diagram of the optical path of the laser transceiver system provided in an embodiment of the present application;
[0021] Figure 3 is a structural diagram of a laser transceiver system provided by another embodiment of the present application;
[0022] Figure 4 2 is a schematic structural diagram of a first isolation portion and a second isolation portion provided in an embodiment of the present application;
[0023] Figure 5 Schematic diagram of the structure of the laser radar provided in the embodiment of the present application;
[0024] Figure 6 This is a schematic diagram of the structure of the laser radar provided in an embodiment of the present application without the base and outer cover;
[0025] Figure 7 This is a schematic structural diagram of the laser radar provided by an embodiment of the present application, with the base and outer cover removed and the laser radar cut in half;
[0026] Figure 8 It is a structural diagram of the sweeping robot provided in an embodiment of the present application.
[0027] Reference numerals:
[0028] 111. Laser; 112. Collimating lens;
[0029] 120, first reflector; 130, second reflector; 131, first reflective area; 132, second reflective area; 140, receiving lens; 141, clearance opening; 150, laser detector; 161, first filter; 162, second filter;
[0030] 210, fixing seat; 211, first light output section; 212, second light input section;
[0031] 310, first isolation portion; 311, second light output segment;
[0032] 320, second isolation portion; 321, third light output segment; 3211, notch;
[0033] 330, light guide cover; 331, first light input section;
[0034] 410, base; 420, outer cover;
[0035] 510, power source; 520, rotating bracket; 530, transmission belt;
[0036] a. First optical axis; b. Second optical axis;
[0037] 10. LiDAR;
[0038] 1. Autonomous mobile equipment. DETAILED DESCRIPTION
[0039] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.
[0040] Reference below Figures 1-8 Describe the laser transceiver system, laser radar and sweeping robot according to the embodiments of the present application.
[0041] like Figure 1-Figure 3 As shown, the laser transceiver system includes a laser 111 , a first reflector 120 , a second reflector 130 , a receiving lens 140 and a laser detector 150 .
[0042] The laser 111 is used to emit a laser beam.
[0043] The laser beam can be in the 800-1000nm band to ensure better penetration in outdoor environments; it can also be in the band above 1000nm. Compared with the 800-1000nm band, this band has better penetration in harsh environments such as smoke and dust, which should also be allowed in actual selection.
[0044] In actual implementation, the laser 111 may be a VECSEL (Vertical External Cavity Surface Emitting Laser), a semiconductor laser (Laser Diode) or a solid-state laser (Solid-State Laser), and this application does not impose any restrictions.
[0045] like Figure 1 As shown, the second reflective member 130 includes a first reflective area 131 and a second reflective area 132 .
[0046] The first reflective area 131 and the second reflective area 132 are defined as different areas of the same reflective surface of the second reflective member 130 .
[0047] The first reflective region 131 of the second reflective element 130 is used to reflect the emitted laser beam reflected by the first reflective element 120 to the detection object.
[0048] The second reflective area 132 of the second reflector 130 is used to reflect the returning laser beam reflected by the detected object to the receiving lens 140 , and the laser detector 150 is used to receive the returning laser beam transmitted by the receiving lens 140 .
[0049] It should be noted that the return laser beam reflected by the detected object is reflected by the second reflection area 132 of the second reflection element 130, and is also reflected by the first reflection area 131 of the second reflection element 130. However, this part of the return laser beam reflected by the first reflection area 131 of the second reflection element 130 will not be directed to the receiving lens 140, and naturally will not be received by the laser detector 150.
[0050] The receiving lens 140 defines a clearance opening 141 . The first reflective element 120 is disposed in the clearance opening 141 and is inclined to the central axis of the receiving lens 140 .
[0051] In this embodiment, the first reflection area 131 of the second reflection element 130 is configured to emit the laser beam reflected by the first reflection element 120 toward the detection object; the second reflection area 132 of the second reflection element 130 is configured to reflect the return laser beam reflected by the detection object to the receiving lens 140, and then the receiving lens 140 guides the return laser beam to the laser detector 150.
[0052] The first reflector 120 is disposed at the opening 141 of the receiving lens 140 , which reduces the space occupied by the first reflector 120 in the laser transceiver system, reduces the volume of the laser transceiver system, and facilitates miniaturization of the laser transceiver system.
[0053] like Figure 1and Figure 2 As shown, in some embodiments, the laser 111 emits a laser beam along the first optical axis a, the first reflector 120 is arranged on the first optical axis a and inclined to the first optical axis a; the central axis of the receiving lens 140 is arranged on the second optical axis b perpendicular to the first optical axis a, the laser detector 150 receives the return laser beam transmitted along the second optical axis b, and the second reflector 130 is arranged on the second optical axis b and inclined to the second optical axis b.
[0054] Specifically, the first reflector 120 can be set at an angle of 45° to the first optical axis a; the second reflector 130 can also be set at an angle of 45° to the second optical axis b, and the first reflective area 131 and the second reflective area 132 of the second reflector 130 can both be opposite to the first reflector 120.
[0055] This can optimize the propagation paths of the emitted laser beam and the returned laser beam, ensuring that the emitted laser beam and the returned laser beam form a common optical path with a 90° turn from the first reflector (receiving lens), the second reflector to the outside, thereby facilitating the miniaturization design of the laser transceiver system.
[0056] like Figure 1 As shown, in actual implementation, the first reflective area 131 is the projection area of the first reflector 120 on the reflective surface of the second reflector 130 along the second optical axis b, and the second reflective area 132 is the area outside the first reflective area 131 on the reflective surface of the second reflector 130. At the same time, the first reflector 120 and the second reflector 130 can be reflectors or structures with reflective surfaces, which is not limited in this embodiment.
[0057] In actual implementation, the clearance opening 141 is formed by being recessed from the side of the receiving lens 140 facing the laser 111 .
[0058] like Figure 2 As shown, in some embodiments, along the first optical axis a, a collimating lens 112 is provided between the laser 111 and the first reflector 120 , and along the second optical axis b, a distance d1 between the first reflector 120 and the second reflector 130 is smaller than the focal length f1 of the collimating lens 112 .
[0059] In this example, the design of a larger focal length f1 allows the laser beam to be better focused and collimated after passing through the collimating lens 112 , while reducing the divergence angle.
[0060] In the existing laser transceiver system, the laser 111 is set on the top cover and emits the laser beam vertically downward, which makes it difficult to compress the height of the laser 111; however, in this example, the laser 111 is set on one side to emit the laser beam horizontally, and the distance d1 between the first reflector 120 and the second reflector 130 on the second optical axis b is smaller than the focal length f1 of the collimating lens 112, which can make the laser transceiver system smaller in the vertical direction than the existing laser transceiver system and more compact in structure.
[0061] like Figure 2 As shown, in some embodiments, the laser transceiver system further includes a first filter 161 disposed between the second reflector 130 and the detection object, and the first filter 161 is inclined at an angle of 5° to 10° with respect to the direction parallel to the second optical axis b.
[0062] In this embodiment, the first filter 161 is used to filter stray light in the environment and only allows light of the target wavelength (ie, the returning laser beam) to enter, blocking light of other wavelengths to reduce interference between ambient light and stray light.
[0063] In some embodiments, the laser transceiver system further includes a second filter 162 disposed between the receiving lens 140 and the laser detector 150 along the second optical axis b.
[0064] In this embodiment, the laser beam will diverge after being reflected or scattered by the environment. The receiving lens 140 is used to converge the returning laser beam to ensure that the returning laser beam is concentrated at the receiving end of the laser detector 150 after passing through the second filter 162.
[0065] At the same time, the second filter 162 is also used to filter out stray light in the environment, ensuring that only light of the target wavelength (i.e., the returning laser beam) can pass through. This helps to improve signal quality and detection accuracy.
[0066] In actual implementation, the signal processing component may convert the received optical signal into an electrical signal, and process and analyze the signal to generate detection data. The signal processing component may be a SPAD (Single Photon Avalanche Diode) sensor.
[0067] In actual implementation, the wavelength of the emitted laser beam emitted by the laser 111 is 800nm~1000nm; the receiving lens 140 is an injection-molded or glass Fresnel lens, and the surface of the receiving lens 140 is coated with an anti-reflection film in the 800nm~1000nm band; the first reflector 120 and the second reflector 130 are injection-molded or glass reflectors, and the reflecting surfaces of the first reflector 120 and the second reflector 130 are coated with a reflective film; the optical surface of the second reflector 130 material is coated with a corresponding reflective film; the first filter 161 and the second filter 162 are glass filters, and the filtering band of the first filter 161 and the second filter 162 is 800nm~1000nm.
[0068] like Figure 3 and Figure 4 As shown, in some embodiments, a first isolation portion 310 is provided between the emitted laser beam reflected by the first reflective element 120 to the first reflective area 131 and the returned laser beam reflected by the second reflective area 132 to the receiving lens 140; a second isolation portion 320 is provided between the emitted laser beam reflected by the first reflective area 131 to the detection object and the returned laser beam reflected by the detection object and returned to the second reflective area 132.
[0069] The first isolation portion 310 can prevent crosstalk between the emitted laser beam reflected by the first reflective element 120 to the first reflective region 131 and the returned laser beam reflected by the second reflective region 132 to the receiving lens 140 .
[0070] The second isolation portion 320 can prevent crosstalk between the emitted laser beam reflected by the first reflective region 131 to the detection object and the returned laser beam reflected by the detection object and returned to the second reflective region 132 .
[0071] In this embodiment, through the first isolation portion 310 and the second isolation portion 320, the emitted laser beam and the returned laser beam can be separated in the first reflection area 131 and the second reflection area 132 of the second reflection element 130, thereby avoiding interference of the emitted laser beam on the returned laser beam, thereby improving the quality of the detection signal and enhancing the detection performance.
[0072] like Figure 7 As shown, in a specific implementation, the laser transceiver system further includes: a fixing base 210 .
[0073] A cavity is provided in the fixing seat 210, and a first light output segment 211 is provided in the horizontal direction of the cavity; the first isolation part 310 and the second isolation part 320 can be an aperture, and the second light output segment 311 is provided in the first isolation part 310, and the third light output segment 321 is provided in the second isolation part 320.
[0074] The second light output section 311 is inserted into the cavity, the second light output section 311 is connected to the first light output section 211 , and the outer wall surface of the second light output section 311 matches the clearance opening 141 of the receiving lens 140 .
[0075] More specifically, the laser 111 and the collimating lens 112 are sequentially arranged in the first light output section 211, the first reflector 120 is arranged in the second light output section 311, the third light output section 321 is provided with a notch 3211, the second reflector 130 is arranged against the notch 3211, and the first reflective area 131 of the second reflector 130 is arranged in the notch 3211, and the second reflective area 132 of the second reflector 130 is arranged outside the notch 3211.
[0076] The second light output section 311 is located in a first direction of the first light output section 211 , the third light output section 321 is located in a second direction of the second light output section 311 , and the first direction and the second direction are not collinear.
[0077] In this embodiment, the first light output segment 211, the second light output segment 311 and the third light output segment 321 can allow the laser beam to be turned and emitted, thereby folding the laser beam optical path to reduce the straight length of the laser beam, which is conducive to the miniaturization of the laser radar.
[0078] The laser transceiver system further includes a light guide cover 330 .
[0079] The light guide cover 330 is mounted outside the third light output section 321, and defines a first light input section 331 between the light guide cover 330 and the outer wall surface of the third light output section 321. The second reflector 130 is disposed between the inner wall surface of the light guide cover 330 and the notch 3211 of the third light output section 321. The cavity defines a second light input section 212 in the vertical direction that is connected to the first light input section 331. The second filter 162 and the laser detector 150 are sequentially disposed in the second light input section 212.
[0080] like Figure 5-Figure 7 As shown, the present application also proposes a laser radar including the laser transceiver system of any of the above embodiments, a base 410 and an outer cover 420, wherein the outer cover 420 is covered on the base 410 to accommodate the laser transceiver system therein.
[0081] In this embodiment, the outer cover 420 and the base 410 can effectively protect the laser transceiver system and prevent it from being directly exposed to the external environment.
[0082] It should be noted that due to the varying reflectivity and roughness of different target objects, the laser beam, after passing through cover 420, will generate light at different angles along the surface of the target object and diffusely reflect back to cover 420. Cover 420 can be a light-transmitting cover or a cover made of an opaque material. In the case of an opaque cover, an opening can be provided in the opaque cover to allow the laser beam to pass through.
[0083] In some embodiments, the laser 111, the first reflector 120, the receiving lens 140 and the laser detector 150 are fixedly mounted on the base 410; the second reflector 130 is mounted on the rotating bracket 520, and the rotating bracket 520 can rotate relative to the base 410 around the second optical axis b.
[0084] In a specific implementation, the second isolation part 320 of the laser transceiver system is fixedly connected to the rotating bracket 520, the light input port of the third light output segment 321 is opposite to the light output port of the second light output segment 311, the third light output segment 321 is fixedly connected to the rotating bracket 520, the second light output segment 311 is fixedly connected to the fixed base 210, and the rotating bracket 520 is sleeved outside the fixed base 210 and can rotate relative to the fixed base 210 through a bearing.
[0085] The output end of the power source 510 is in transmission connection with the outer wall surface of the rotating bracket 520 so as to drive the rotating bracket 520 to rotate. When the power source 510 drives the rotating bracket 520 to rotate, the rotation of the rotating bracket 520 will drive the third light output segment 321 to rotate relative to the second light output segment 311. After being reflected by the first reflector 120, the laser beam will be guided from the light outlet of the second light output segment 311 to the light inlet of the third light output segment 321. When emitted from the light outlet of the third light output segment 321, it can perform 360° scanning detection of the external environment in the horizontal direction to cover a wider detection range.
[0086] In actual implementation, the power source 510 can be a motor, whose output shaft is connected to the outer wall of the rotating bracket 520 through a transmission belt 530. Alternatively, the motor stator is fixedly connected to the base 410, and the motor rotor is fixedly connected to the rotating bracket 520, so that the rotating bracket 520 can rotate relative to the base 410.
[0087] like Figure 8 As shown, the present application also provides a sweeping robot, comprising the laser radar of any of the above embodiments.
[0088] The robot vacuum cleaner includes a laser radar 10 and an autonomous mobile device 1. The laser radar 10 is mounted on the autonomous mobile device 1. For example, it may be mounted above the autonomous mobile device 1 to detect obstacles in the environment surrounding the autonomous mobile device 1. The specific structure and function of the laser radar 10 can be found in the above embodiments and will not be detailed here.
[0089] The autonomous mobile device 1 is a device installed on any type of mobile body capable of autonomous movement, such as a mobile vehicle.
[0090] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.
[0091] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.
[0092] In the description of this application, "first feature" and "second feature" may include one or more of the features.
[0093] In the description of this application, “plurality” means two or more.
[0094] In the description of the present application, a first feature being “on” or “under” a second feature may include the first and second features being in direct contact with each other, or the first and second features being in contact with each other not directly but via another feature therebetween.
[0095] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
[0096] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.
Claims
1. A laser transceiver system, characterized in that: It includes a laser, a first reflector, a second reflector, a receiving lens and a laser detector; the laser is used to emit a laser beam, the first reflector is used to reflect the laser beam to the first reflective area of the second reflector, the first reflective area is used to reflect the laser beam to the detection object, the second reflective area of the second reflector is used to reflect the return laser beam reflected by the detection object to the receiving lens, and the laser detector is used to receive the return laser beam transmitted by the receiving lens; the receiving lens is provided with a clearance opening, the first reflector is arranged in the clearance opening and is inclined to the central axis of the receiving lens.
2. The laser transceiver system according to claim 1, characterized in that: The laser emits the emitted laser beam along a first optical axis, the first reflector is arranged on the first optical axis and inclined to the first optical axis; the central axis of the receiving lens is arranged on a second optical axis perpendicular to the first optical axis, the second reflector is arranged on the second optical axis and inclined to the second optical axis, and the laser detector receives the return laser beam transmitted along the second optical axis.
3. The laser transceiver system according to claim 2, characterized in that: The clearance opening is formed by being recessed from a side of the receiving lens toward the laser.
4. The laser transceiver system according to claim 2, characterized in that: Along the first optical axis, a collimating lens is provided between the laser and the first reflector; along the second optical axis, a distance d1 between the first reflector and the second reflector is smaller than a focal length f1 of the collimating lens.
5. The laser transceiver system according to claim 2, characterized in that: The first reflection area is a projection area of the first reflection element on the reflection surface of the second reflection element along the second optical axis, and the second reflection area is an area on the reflection surface of the second reflection element other than the first reflection area.
6. The laser transceiver system according to claim 2, characterized in that: It also includes a first filter arranged between the second reflector and the detection object, and the first filter is inclined at an angle of 5° to 10° with a direction parallel to the second optical axis; and / or, it also includes a second filter arranged between the receiving lens and the laser detector along the second optical axis.
7. The laser transceiver system according to claim 1, characterized in that: A first isolation portion is provided between the emitting laser beam reflected by the first reflecting member to the first reflecting area and the returning laser beam reflected by the second reflecting area to the receiving lens; a second isolation portion is provided between the emitting laser beam reflected by the first reflecting area to the detection object and the returning laser beam reflected by the detected object and returned to the second reflecting area.
8. A laser radar, characterized in that: The invention comprises the laser transceiver system according to any one of claims 1 to 7, a base and an outer cover, wherein the outer cover is provided on the base to accommodate the laser transceiver system therein.
9. The laser radar according to claim 8, characterized in that The laser, the first reflector, the receiving lens and the laser detector are fixedly mounted on the base; the second reflector is mounted on a rotating bracket, and the rotating bracket can rotate around the second optical axis relative to the base.
10. A sweeping robot, characterized in that: Comprising a laser radar according to claim 8 or 9.