Laser transmitting and receiving system, radar device and sweeping robot

Abstract

The utility model relates to the technical field of laser detection, and provides a laser transmitting and receiving system, a radar device and a sweeping robot, the laser transmitting and receiving system comprises a transmitting assembly and a receiving assembly, the transmitting assembly comprises a transmitting optical module, the transmitting optical module comprises a transmitting lens group, and the transmitting optical module further comprises a first diaphragm; the transmitting lens group and the first diaphragm are matched to shape the laser light into a plurality of linear light, and each linear light is arranged along the first direction. The receiving assembly comprises a detection module and a receiving optical module, and the receiving optical module is arranged to be capable of transmitting the echo laser with the preset wavelength to the detection module according to the preset range. The detection module is provided with a receiving area for correspondingly receiving each linear light, each receiving area is arranged along the first direction, and the transmitting assembly and the receiving assembly are arranged along the first direction. The laser transmit-receive system can increase the accuracy of target object detection.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a laser transceiver system, a radar device and a sweeping robot. Background Art

[0002] In recent years, lidar (LiDAR) has been widely used in a variety of fields, including autonomous vehicles, industrial applications, drones, robotics, and 3D mapping. LiDAR primarily consists of a transmitting system, a receiving system, and an information processing system. Using a laser as a light source, LiDAR emits detection light toward a target. This light is reflected by obstacles and then picked up by a receiving system. This reflected light is processed by the information processing system to determine the target's attitude, distance, orientation, and shape, enabling tracking and identification.

[0003] However, the accuracy of detecting target objects using the cooperation between the transmitting system and the receiving system in the related art needs to be improved. Utility Model Content

[0004] The present application provides a laser transceiver system, a radar device and a sweeping robot. The laser transceiver system can improve the accuracy of detecting target objects.

[0005] The first aspect of the present application provides a laser transceiver system, comprising a transmitting component and a receiving component, wherein the transmitting component is capable of emitting laser light, and the transmitting component includes a transmitting optical module, which is located on the propagation path of the laser light. The transmitting optical module includes at least one transmitting lens group with positive optical focal length and one transmitting lens group with negative optical focal length, and the transmitting optical module also includes a first aperture, and the transmitting lens group and the first aperture cooperate to shape the laser light into a plurality of linear light rays, each of which is arranged along a first direction, and the range covered by the plurality of linear light rays forms a detection area of ​​the laser light. The receiving component includes a detection module and a receiving optical module, which is located on the propagation path of the echo laser, and the receiving optical module is configured to transmit the echo laser of a predetermined wavelength to the detection module according to a predetermined range. The detection module is provided with a receiving area corresponding to each linear light ray, and each receiving area is arranged along the first direction, and the transmitting component and the receiving component are arranged along the first direction.

[0006] According to the laser transceiver system of the first aspect of the present application, the transmitting optical module is provided with a transmitting lens group with positive optical power and a transmitting lens group with negative optical power. The transmitting lens group of the transmitting optical module is capable of shaping the laser light so that the laser light forms a predetermined detection area. By providing a first aperture, the laser light can be shaped into a linear light, so that the detection light distribution within the detection area is more uniform, thereby uniformly scanning the target object and improving the accuracy of the scanning target object.

[0007] The receiving optical module filters out scattered light during laser light propagation, reducing the impact of scattered light and increasing detection accuracy. It also shapes the laser light so that it is delivered to the detection module within a predetermined range, ensuring that the detection module can fully receive the reflected laser light.

[0008] In addition, when detecting at close range, it can avoid the phenomenon of bending and deviation of the light received on the detection module due to optical distortion.

[0009] In summary, the laser transceiver system of the present application can improve the accuracy of detecting target objects.

[0010] In one possible implementation, the emitting optical module includes a first emitting lens group and a second emitting lens group, each of the first emitting lens group and the second emitting lens group is provided with at least one lens, the first emitting lens group and the second emitting lens group are spaced apart along the second direction, the first emitting lens group is close to the emission position of the laser light, the optical focal length of the first emitting lens group is positive, and the optical focal length of the second emitting lens group is negative.

[0011] In an embodiment of the present application, by setting a first emitting lens group and a second emitting lens group, the laser light can be first processed to reduce the divergence angle and then processed to expand the divergence angle, so as to shape the laser light into a predetermined detection range.

[0012] In one possible implementation, the focal length of the transmitting optical module is 2-3 mm.

[0013] In the embodiment of the present application, by determining the focal length of the emitting optical module, the specific range of the detection area can be determined according to the ratio between the effective focal length of the optical module and the emission size when the emitting component emits laser light.

[0014] In a possible implementation, the total optical length of the transmitting optical module is less than or equal to 25 mm.

[0015] In the embodiment of the present application, by limiting the total optical length of the emitting optical module and coordinating the focal length of the emitting optical module, the parameters of each lens can be flexibly set, so that the structure of the entire emitting optical module is compact and compatible with smaller devices.

[0016] In one possible implementation, the lenses of the first emitting lens group and the second emitting lens group are both spherical lenses, and the full field of view of the emitting optical module is 150°.

[0017] In the embodiment of the present application, by adopting a spherical lens as the lens, the production cost can be reduced, and by setting the full field of view angle of the transmitting optical module to 150°, it can adapt to a wider range of detection.

[0018] In one possible implementation, the lens apertures of the first emitting lens group and the second emitting lens group are less than or equal to 12 mm.

[0019] In the embodiment of the present application, the aperture of the lens is reasonably set so that the aperture of the lens can satisfy the passage of all laser light and minimize the volume of the lens.

[0020] In one possible implementation, the receiving optical module includes at least one receiving lens group with positive optical focal length and one receiving lens group with negative optical focal length. The receiving optical module also includes a second aperture. The receiving lens group and the second aperture cooperate to focus the echo laser on the detection module.

[0021] In the embodiment of the present application, the laser light is shaped into linear light by cooperating with the receiving lens group and the second aperture, so that the shape distribution of the received target object is more uniform and accurate.

[0022] In one possible implementation, the receiving optical module includes a first receiving lens group and a second receiving lens group spaced apart along the second direction, each of the first receiving lens group and the second receiving lens group is provided with at least one lens, the second receiving lens group is close to the detection module, the optical focal length of the second receiving lens group is positive, and the optical focal length of the first receiving lens group is negative.

[0023] In the embodiment of the present application, the echo laser first passes through the first receiving lens group to reduce the field angle, and then passes through the second receiving lens group to converge, and is shaped into light within a predetermined range.

[0024] In a possible implementation, the focal length of the receiving optical module is 3-4 mm.

[0025] In the embodiment of the present application, by determining the focal length of the receiving optical module, the angular range of the receiving area can be determined according to the ratio between the effective focal length of the receiving optical module and the receiving size when the detection module receives the laser.

[0026] In a possible implementation, the total optical length of the receiving optical module is less than or equal to 33 mm.

[0027] In the embodiment of the present application, by limiting the total optical length of the receiving optical module and coordinating the focal length of the receiving optical module, the parameters of each lens of the receiving optical module can be flexibly set, so that the structure of the entire receiving optical module is compact and can be compatible with smaller devices.

[0028] In a possible implementation, the lens apertures of the first receiving lens group and the second receiving lens group are less than or equal to 21 mm.

[0029] In the embodiment of the present application, the aperture of the lens is reasonably set so that the aperture of the lens can satisfy the passage of the echo laser within the receiving optical path range and minimize the volume of the lens.

[0030] In a possible implementation, the receiving optical module further includes a filter, which is located between the receiving optical module and the detection module. The filter is configured to allow light within an angle range of 25° with the second direction to pass through.

[0031] In the embodiment of the present application, by setting a filter, it is possible to filter stray light such as ambient light and scattered light, so that the detection module receives light at an angle of 25°.

[0032] In one possible implementation, the emitting assembly further includes a light source module, on which a plurality of emitting units are provided. The plurality of emitting units are arranged at intervals, and each emitting unit is capable of emitting laser light toward a predetermined range.

[0033] In the embodiment of the present application, a plurality of emitting units are provided, each emitting unit being capable of emitting light within a predetermined range, and the plurality of emitting units working together can emit laser light with a predetermined detection range.

[0034] In a possible implementation, the plurality of emitting units are arranged in a plurality of rows and columns according to an array, and the emitting units in two adjacent rows are parallel, and the emitting units in two adjacent columns are also parallel.

[0035] In the embodiment of the present application, by arranging the generating units regularly, the distribution of light emitted by the multiple emitting units is also relatively regular, which facilitates the control of turning on the emitting units.

[0036] In one possible implementation, the emitting unit is a VCSEL light source, the divergence angle of light emitted by a single emitting unit is within 23°, and the interval between two adjacent emitting units is less than or equal to 63 μm.

[0037] In the embodiment of the present application, the VCSEL light source has the advantages of high efficiency, high reliability and compact structure, and by setting the divergence angle of the emitting unit and the distance between two adjacent emitting units, the emitted light between two adjacent emitting units is not affected by each other.

[0038] In a possible implementation, the detection module includes a plurality of detection units, the plurality of detection units are arranged at intervals, and at least one detection unit is used to receive light emitted by a corresponding emission unit.

[0039] In the embodiment of the present application, by providing a detection unit, it is possible to receive the light emitted by the emission unit.

[0040] In a possible implementation, the plurality of detection units are arranged in a plurality of rows and columns according to an array, and the detection units in two adjacent rows are parallel, and the detection units in two adjacent columns are also parallel.

[0041] In the embodiment of the present application, by arranging the detection units according to a certain pattern, a corresponding relationship is formed with the emission units so as to control the activation of the detection units.

[0042] In a possible implementation, at least two rows of emission units form an emission channel, and at least four rows of detection units correspondingly receive light emitted by one emission channel.

[0043] In an embodiment of the present application, the emission units of the emission channel can be turned on at the same time to increase the detection efficiency. The light emitted by one emission channel is received by four rows of detection units, so that the echo laser is received more fully and the detection accuracy is guaranteed.

[0044] In one possible implementation, multiple transmission channels can be turned on in sequence according to a predetermined time sequence to scan a predetermined range, and detection units for receiving corresponding transmission channels are also turned on in sequence according to the predetermined time sequence.

[0045] In an embodiment of the present application, by turning on multiple emission channels in sequence according to a predetermined timing, and by turning on the detection units in sequence according to a predetermined timing, the entire detection area can be scanned and the light crosstalk between channels can be reduced.

[0046] A second aspect of the present application provides a radar device comprising the above-mentioned laser transceiver system.

[0047] A third aspect of the present application provides a sweeping robot comprising the above-mentioned radar device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0049] Figure 1 is a structural diagram of a laser transceiver system provided in an embodiment of the present application;

[0050] Figure 2 is a cross-sectional view of a transmitting assembly provided in an embodiment of the present application;

[0051] Figure 3 It is a structural diagram of the transmitting assembly provided in an embodiment of the present application;

[0052] Figure 4 is a cross-sectional view of a receiving assembly provided in an embodiment of the present application;

[0053] Figure 5 is a structural diagram of a light source module provided in an embodiment of the present application;

[0054] Figure 6 It is a structural diagram of the detection module provided in an embodiment of the present application.

[0055] Reference numerals:

[0056] 10. Emission assembly; 11. Light source module; 111. Emission unit; 12. Emission optical module; 121. First emission lens group; 122. Second emission lens group; 123. First aperture;

[0057] 20. Receiving assembly; 21. Detection module; 211. Detection unit; 22. Receiving optical module; 221. First receiving lens group; 222. Second receiving lens group; 23. Second aperture; 24. Filter. DETAILED DESCRIPTION

[0058] In the existing technology, the laser radar's transmitting system, receiving system and information processing structure cooperate with each other to achieve target detection. In the related technology, the transmitting system and receiving system of the laser radar are set independently of each other. The transmitting system transmits detection light toward the target, and the receiving system receives the light reflected back by the obstacle for detection. The transmitting system and the receiving system are both provided with a light propagation structure for transmitting light, so that the approximate propagation path of the emitted light is: the light propagation structure of the transmitting system-obstacle-the light propagation structure of the receiving system-the detection module of the receiving system. The light propagation structure can serve as an adjustment structure in the light propagation process, and can adjust the irradiation range and propagation direction of the light so that the light can be irradiated on the target structure.

[0059] However, the light emitted by the transmitting system in the related art is uneven, which can easily lead to uneven light distribution when the light is irradiated to scan obstacles, thus affecting scanning accuracy. Furthermore, the light propagation structure in the related art is mainly a lens structure, and light scattering occurs after propagation through the lens. This scattered light acts as stray light and, when received by the receiving system, affects detection accuracy.

[0060] In addition, there is usually a certain distance between the transmitting system and the receiving system. In the case of long-distance detection, there will be no problem, but in the case of close-range detection, there will be pixel offset. The number of pixels offset can be calculated according to the formula =arctan(baseline / I), H = f , n = H / s, where is radians, baseline is the distance between the two optical axes of the transceiver system (also known as the baseline), I is the measured distance, f is the focal length of the receiving optical module, n is the number of offset pixels, and s is the pixel size of the detection module. When laser light reflected from a target enters the detection module, a light spot band of received light is formed on the detection module. However, the arrangement direction of the transmitting and receiving systems in the related art is perpendicular to the direction of the light spot band formed on the detection module. Therefore, when the lidar in the related art detects targets at close range, the detection light received by the detection module is prone to pixel offset in the arrangement direction of the transmitting and receiving systems. This makes the light spot band received by the receiving system prone to bending and other distortions in other directions. This in turn leads to a longer blind spot when detecting targets at close range, which is not conducive to detecting close-range targets.

[0061] To address the above issues, the present application provides a laser transceiver system that can shape the laser light emitted by the transmitting component so that the light irradiating the target is linear, making the light propagation more orderly and thus reducing optical distortion. Furthermore, the present application also reconfigures the arrangement of the transmitting and receiving components. When detecting close-range targets, the detection light received by the detection module will not bend in the vertical direction, making it less likely to have blind spots when detecting close-range targets.

[0062] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0063] Figure 1 3 is a schematic structural diagram of a laser transceiver system provided in an embodiment of the present application, wherein the direction indicated by the X-axis is parallel to the first direction, and the direction indicated by the Y-axis is parallel to the second direction.

[0064] See Figure 1 As shown, the embodiment of the present application provides a laser transceiver system that can be used in a radar detection device for detecting a target. The laser transceiver system of the present application includes a transmitting component 10 and a receiving component 20 arranged at intervals. The transmitting component 10 can emit laser light, and the receiving component 20 can receive light reflected by an obstacle (target object) (in the embodiment of the present application, the laser light reflected by the obstacle is referred to as "echo laser").

[0065] The transmitting assembly 10 includes a transmitting optical module 12, which is located on the propagation path of the laser light. The laser light can be transmitted through the transmitting optical module 12. The transmitting optical module 12 includes at least one transmitting lens group with positive optical focal length and one transmitting lens group with negative optical focal length. When the laser light passes through the transmitting lens group with positive optical focal length, the transmitting lens group can reduce the divergence angle of the laser light. When the laser light passes through the transmitting lens group with negative optical focal length, the transmitting lens group can expand the divergence angle of the laser light.

[0066] The emitting optical module 12 also includes a first aperture 123, which is arranged between adjacent emitting lens groups, or the first aperture 123 is arranged between the target object and the emitting lens group, or the first aperture 123 is arranged between the emitting lens group and the laser light source. During the propagation of the laser light, it can act together through the first aperture 123 and the emitting lens group.

[0067] In this embodiment, the first aperture 123 is a linear aperture. The emitting lens group and the first aperture 123 cooperate to shape the laser light irradiated on the target object into a plurality of linear light rays, and by setting the parameters of the linear aperture, the linear light rays can be extended along the first direction. The area covered by the plurality of linear light rays forms the detection area of ​​the laser light emitted by the emitting component 10.

[0068] The receiving component 20 includes a detection module 21 and a receiving optical module 22 . The receiving optical module 22 is located on the propagation path of the echo laser and is configured to transmit the echo laser of a predetermined wavelength to the detection module 21 within a predetermined range.

[0069] It should be noted that light scattering will occur after the laser light passes through the optical module, and what the detection module 21 actually needs to detect is the main light of the laser light (laser light of a predetermined wavelength). The scattered light of the laser light is located at the edge of the laser light bead. The scattered light at the edge of the laser light has a different wavelength from the main light of the laser light. By utilizing this feature, the structure of the receiving optical module 22 can be set to have the function of filtering out scattered light.

[0070] The detection module 21 is provided with a receiving area corresponding to each linear light, and the area covered by the receiving area corresponding to each linear light is the receiving area of ​​the detection module 21 for receiving the echo laser.

[0071] In this embodiment, each receiving area extends along the first direction, and the transmitting component 10 and the receiving component 20 are also arranged along the first direction.

[0072] According to the laser transceiver system provided in the embodiment of the present application, the transmitting optical module 12 is provided with a transmitting lens group with positive and negative optical focal lengths. The laser light can be irradiated toward the target object after the divergence angle is expanded by the transmitting lens group with negative optical focal length and the divergence angle is reduced by the transmitting lens group with positive optical focal length. In this way, the transmitting lens group of the transmitting optical module 12 can shape the laser light so that the laser light forms a predetermined detection area, and by setting the first aperture 123, the laser light can be shaped into a linear light, so that the detection light distribution in the detection area is more uniform, so as to evenly scan the target object, improve the accuracy when scanning the target object, and increase the imaging accuracy of the detection module 21.

[0073] When light from the predetermined detection area strikes and reflects the target, the echoed laser light enters the receiving optical module 22. This module filters out scattered light during the laser light's propagation, reducing the impact of scattered light and increasing detection accuracy. Furthermore, the receiving optical module 22 shapes the laser light so that it is delivered to the detection module 21 within the predetermined range. This ensures that the detection module 21 can fully receive the echoed laser light, resulting in a more accurate image of the target.

[0074] Furthermore, the transmitting assembly 10 emits linear light rays arranged along a first direction, and the detection module 21 is provided with a receiving area corresponding to each linear light ray. The detection module 21 also receives linear light rays along the first direction. By arranging the transmitting assembly 10 and the receiving assembly 20 along the first direction, the arrangement direction of the transmitting assembly 10 and the receiving assembly 20 is aligned with the imaging direction of the light rays received by the detection module 21. During close-range detection, if there is pixel offset, the light rays on the detection module 21 will still be offset along the first direction, reducing the offset in other directions. This, in turn, reduces the bending and other offset phenomena of the light rays received by the detection module 21, thereby increasing the accuracy of target detection.

[0075] Exemplarily, the transmitting optical module 12 has an transmitting optical axis, the transmitting lens group of the transmitting optical module 12 is arranged along the transmitting optical axis, and the optical axes of all lenses of the transmitting optical module 12 coincide with the transmitting optical axis. The receiving optical module 22 has a receiving optical axis, and the optical axes of all lenses of the receiving optical module 22 mentioned below coincide with the receiving optical axis. Figure 1 , Figure 1 Here, H1 is the transmitting optical axis of the transmitting optical module 12 , and H2 is the receiving optical axis of the receiving optical module 22 .

[0076] In some possible implementations, the emitting optical axis and the receiving optical axis are arranged in parallel, and both the emitting optical axis and the receiving optical axis are perpendicular to the first direction.

[0077] Figure 2is a cross-sectional view of the transmitting assembly 10 provided in an embodiment of the present application, Figure 3 is a schematic structural diagram of the transmitting assembly 10 provided in an embodiment of the present application, wherein Figure 2 , the direction indicated by the Y axis is parallel to the second direction, and the direction indicated by the Z axis is parallel to the third direction.

[0078] Please combine Figures 1 to 3 As shown, in some feasible embodiments, the emission optical module 12 includes a first emission lens group 121 and a second emission lens group 122, the first emission lens group 121 is provided with at least one lens L1, and the second emission lens group 122 is provided with at least one lens L2, the first emission lens group 121 and the second emission lens group 122 are spaced apart along a second direction, and the second direction is parallel to the extension direction of the emission optical axis.

[0079] In some examples, the first emitting lens group 121 is close to the emission position of the laser light, and the second emitting lens group 122 is set away from the emission position of the laser light relative to the first emitting lens group 121. The optical focal length of the first emitting lens group 121 is positive, and the optical focal length of the second emitting lens group 122 is negative. Therefore, the first emitting lens group 121 can reduce the field of view angle of the laser light, and the second emitting lens group 122 can expand the field of view angle of the laser light.

[0080] In some examples, the optical power of the emitting optical module 12 is related to the optical power of the first emitting lens group 121 and the second emitting lens group 122. For example, if φ is the optical power of the emitting optical module 12, φ1 is the optical power of the second emitting lens group 122, and φ2 is the optical power of the first emitting lens group 121, then φ = φ1 + φ2 - dφ1φ2, where d is the distance between the image-side principal point of the second emitting lens group 122 and the object-side principal point of the first emitting lens group 121. As can be seen above, φ1 < 0, φ2 > 0, so the optical power of the emitting optical module 12 in this embodiment is φ > 0.

[0081] In some examples, the lenses of the first emitting lens group 121 and the second emitting lens group 122 are both spherical lenses, and the full field of view of the emitting optical module 12 is 150°.

[0082] In some examples, the first emitting lens group 121 and the second emitting lens group 122 are both provided with multiple lenses. For example, in this embodiment, the first emitting lens group 121 and the second emitting lens group 122 are both provided with three lenses, the optical axes of all lenses coincide with the emitting optical axis, and the six lenses are arranged at intervals along the direction of the optical axis.

[0083] When the emitting optical module 12 transmits light, due to the spherical setting of the lens and the large field of view angle setting, the laser light is prone to large optical distortion after passing through the emitting optical module 12, causing the light to deviate from the predetermined trajectory, resulting in part of the light being unable to accurately return to the detection module 21, thereby affecting the accuracy of target detection.

[0084] In the embodiment of the present application, the first emitting lens group 121 and the second emitting lens group 122 are both provided with multiple lenses, and the multiple lenses can cooperate with each other. For example, the first emitting lens group 121 and the second emitting lens group 122 are each provided with three lenses. Through the cooperation between the lenses, the optical focal length of the first emitting lens group 121 is positive and the optical focal length of the second emitting lens group 122 is negative, which can reduce the optical distortion caused by the spherical mirror and the excessive field of view angle.

[0085] In some practicable embodiments, the focal length of the entire emitting optical module 12 is set to 2-3 mm. Depending on the actual situation, the focal length can be set to any value within this range, for example, the focal length of the emitting optical module 12 can be 2.0 mm, 2.1 mm, 2.2 mm, 2.3 mm, 2.4 mm, 2.5 mm, 2.6 mm, 2.7 mm, 2.8 mm, 2.9 mm, or 3.0 mm. By setting the focal length of the emitting optical module 12 to 2-3 mm, the viewing angle of the laser light can be further limited, making the detection area of ​​the laser light more accurate.

[0086] It should be noted that if Figure 3 After the laser light passes through the emitting optical module 12, a detection area can be formed. When the laser light is emitted from the emitting optical module 12, it has a vertical emission field of view and a horizontal emission field of view. The vertical emission field of view and the horizontal emission field of view limit the detection range of the detection area.

[0087] The sizes of the vertical emission field of view and the horizontal emission field of view depend on two parameters, namely the emission size of the laser light and the effective focal length of the emission optical module 12 .

[0088] For example, you can use and Indicates the horizontal and vertical emission field angles that the emission optical module should meet. and They are the horizontal emission size and vertical emission size of the laser light emitted by the emission component respectively; is the effective focal length of the transmitting optical module, then, = / , = / .

[0089] In some examples, when the focal length of the emission optical module 12 is 2-3 mm, the effective focal length of the emission optical module 12 can be selected to be 2.2 mm, and the is 4.58, set is 3.438, at this time = / =4.58 / 2.2=2π / 3, = / =3.438 / 2.2=π / 2. It is understandable that =2π / 3 including Exactly equal to 2π / 3 and approximately equal to 2π / 3, =π / 2 including Exactly equal to π / 2 and approximately equal to π / 2.

[0090] As can be seen from the above, by using the emission optical module 12 provided in this embodiment, the emission optical module 12 can satisfy the emission field angle V1 equal to 120° in the horizontal direction and the emission field angle V2 equal to 90° in the vertical direction.

[0091] In some feasible embodiments, the laser transceiver system is applied to a radar device. The application field of the radar device is relatively wide. It can be used not only on large equipment such as automobiles, airplanes, etc., but also on small equipment, such as some small robots. The laser transceiver system provided in the embodiment of the present application is compatible with large equipment and small robots. For example, the laser transceiver system provided in the embodiment of the present application can be applied to the field of sweeping robots.

[0092] To accommodate the size of a sweeping robot, the structure of the laser transceiver system of the present application needs to be as compact as possible. Therefore, when the total focal length of the transmitting optical module 12 is 2-3 mm, the total optical length of the transmitting optical module 12 is set to be less than or equal to 25 mm. It should be noted that the total optical length of the transmitting optical module 12 is the length along the second direction. As a result, the volume of the transmitting optical module 12 in the second direction is relatively small, making the volume of the entire laser transceiver system small.

[0093] In some examples, when the total focal length of the emitting optical module 12 is determined, the total optical length of the emitting optical module 12 can be reasonably set according to actual conditions, so that the parameters of each lens of the emitting optical module 12 can be set according to actual conditions.

[0094] In some embodiments, the total optical length of the transmitting optical module 12 is 25 mm, and the total focal length of the transmitting optical module 12 is 2.2 mm. The focal lengths of all lenses of the transmitting optical module 12, from the lens farthest from the target to the lens closest to the target, can be 9.883 mm, 8.163 mm, -20.257 mm, 4.629 mm, -11.617 mm, and -4.917 mm, respectively. By setting specific parameters of the transmitting optical module 12, including the total optical length, focal length, and focal length of each lens, the volume of the transmitting optical module 12 can be reduced.

[0095] It should be noted that the curvature radius and thickness of each lens of the emission optical module 12, as well as the distance between two adjacent lenses, can be set according to actual conditions and are not further limited here.

[0096] In some examples, the lens apertures of the first emitting lens group 121 and the second emitting lens group 122 are less than or equal to 12 mm.

[0097] It is worth mentioning that when the emitting assembly 10 emits laser light, to ensure that the laser light is fully irradiated onto the lens of the emitting optical module 12, the lens of the emitting optical module 12 has a critical emission aperture. When the lens aperture is at the critical emission aperture, the laser light is fully irradiated onto the lens of the emitting optical module 12. To ensure that the emitting optical module 12 can transmit all the laser light, the effective aperture of the emitting optical module 12 is set to be greater than or equal to the critical emission aperture.

[0098] Figure 4 It is a cross-sectional view of the receiving component 20 provided in an embodiment of the present application.

[0099] Please combine Figure 1 and Figure 4 As shown, in some feasible embodiments, the receiving optical module 22 includes at least one receiving lens group with positive optical focal length and one receiving lens group with negative optical focal length. The receiving lens group with negative optical focal length can reduce the field of view angle of the echo laser, and the receiving lens group with positive optical focal length can converge the echo laser.

[0100] Exemplarily, the position of the receiving lens group can be set to achieve a transmission mode for the echo laser. For example, by setting the receiving lens group with positive optical focal length between the receiving lens group with negative optical focal length and the detection module 21, the echo laser first passes through the receiving lens group with negative optical focal length, and the laser light achieves a reduced field of view angle. After the laser light is emitted from the receiving lens group with negative optical focal length, it can enter the receiving lens group with positive optical focal length. At this time, the receiving lens group with positive optical focal length can converge the laser light. Therefore, the echo laser needs to undergo field of view angle reduction and convergence processing in sequence during transmission.

[0101] In addition, the receiving lens group with negative optical focal length can be set between the receiving lens group with positive optical focal length and the detection module 21, so that the echo laser first passes through the receiving lens group with positive optical focal length to converge the laser light. After the laser light is emitted from the receiving lens group with positive optical focal length, it can enter the receiving lens group with negative optical focal length. At this time, the receiving lens group with negative optical focal length can reduce the field of view angle of the laser light. Therefore, when the echo laser is transmitted, it needs to undergo convergence processing and field of view angle reduction processing in sequence before being emitted to the detection module 21.

[0102] The receiving optical module 22 further includes a second aperture 23 , which is a linear aperture. The receiving lens group and the second aperture 23 cooperate to shape the echo laser into a linear light.

[0103] It should be noted that the position of the second aperture 23 is not limited. For example, the second aperture 23 can be set between two adjacent lenses of the receiving lens group, or the second aperture 23 can be set between the receiving lens group and the detection module 21.

[0104] In some examples, the receiving optical module 22 includes a first receiving lens group 221 and a second receiving lens group 222 spaced apart along the second direction, the first receiving lens group 221 is provided with at least one lens L3, and the second receiving lens group 222 is provided with at least one lens L4. The echo laser can be irradiated to the detection module 21 after passing through the first receiving lens group 221 and the second receiving lens group 222.

[0105] Exemplarily, the first receiving lens group 221 may have two lenses L3 spaced apart, the second receiving lens group 222 may have four lenses L4 spaced apart, at least one of the four lenses of the second receiving lens group 222 may be a positive lens, and the optical axes of the six lenses may coincide with the receiving optical axis.

[0106] Exemplarily, the second receiving lens group 222 is arranged closer to the detection module 21 relative to the first receiving lens group 221, and the optical focal length of the second receiving lens group 222 is positive, and the optical focal length of the first receiving lens group 221 is negative. In this way, the echo laser undergoes field of view angle reduction processing and convergence processing once before being transmitted to the detection module 21.

[0107] For example, the optical power of the receiving optical module 22 is related to the optical power of the first receiving lens group 221 and the second receiving lens group 222. For example, if 1 as the optical power of the first receiving lens group 221, 2 as the optical power of the second receiving lens group 222, then = 1+ 2-d1 1 2, where d1 is the distance between the image-side principal point of the first receiving lens group 221 and the object-side principal point of the second receiving lens group 222. When the focal power is positive, it is greater than zero; when the focal power is negative, it is less than zero, that is, 1<0, 2>0, so the optical focal length of the receiving optical module 22 in this embodiment is >0.

[0108] In some examples, the first receiving lens group 221 and the second receiving lens group 222 are both provided with multiple lenses, and the multiple lenses cooperate with each other so that the optical distortion of the entire receiving optical module 22 matches the optical distortion of the transmitting optical module 12, so that the receiving optical module 22 can accurately receive the echo laser.

[0109] In some implementations, the focal length of the receiving optical module 22 is 3-4 mm. Depending on the actual situation, the focal length can be set to any value within this range, for example, the focal length of the receiving optical module 22 can be 3.0 mm, 3.1 mm, 3.2 mm, 3.3 mm, 3.4 mm, 3.5 mm, 3.6 mm, 3.7 mm, 3.8 mm, 3.9 mm, or 4.0 mm. By setting the focal length of the receiving optical module 22 to 3-4 mm, the viewing angle of the laser light is further limited to achieve optical distortion matching with the transmitting optical module 12, so that the echo laser can be fully received by the detection module 21.

[0110] It is worth mentioning that, corresponding to the detection area of ​​the transmitting optical module 12, the receiving optical module 22 also has a receiving area. A reasonable setting of the receiving area can receive the echo laser reflected by the obstacle.

[0111] The receiving area has a horizontal receiving field of view and a vertical receiving field of view that must meet the conditions for receiving laser light. The size of the horizontal receiving field of view and the vertical receiving field of view also depends on two parameters: the receiving size of the detection module 21 and the effective focal length of the receiving optical module 22.

[0112] For example, you can use and Indicates the horizontal receiving field angle and vertical receiving field angle that the receiving optical module 22 should meet, and are the horizontal receiving size and vertical receiving size of the detection module 21 respectively; is the effective focal length of the receiving optical module 22, then = / , = / .

[0113] In some examples, the effective focal length of the receiving optical module 22 can be selected in the range of 3-4 mm, for example, the effective focal length of the receiving optical module 22 is selected to be 3.65 mm, and Set to 7.64, Set to 5.733, then, = / =7.64 / 3.65=2π / 3, = / =5.733 / 3.65=π / 2, it can be understood that =2π / 3 including Exactly equal to 2π / 3 and approximately equal to 2π / 3. =π / 2 including Completely equal to π / 2 and approximately equal to π / 2. The cooperation of the receiving optical module 22 and the detection module 21 under the above parameters can ensure that the receiving optical module 22 meets a 120° receiving field of view in the horizontal direction and a 90° receiving field of view in the vertical direction, so that the field of view between the transmitting optical module 12 and the receiving optical module 22 corresponds.

[0114] In some feasible embodiments, in order to be compatible with some smaller devices, such as the sweeping robot mentioned above, the structure of the laser transceiver system needs to be set as compact as possible. To achieve the compactness of the laser transceiver system structure, when determining the focal length range of the receiving optical module 22, the total optical length of the receiving optical module 22 can also be determined. In this embodiment, the total optical length of the receiving optical module 22 is set to be less than or equal to 33 mm. The total optical length of the receiving optical module 22 is also the length along the second direction. In this way, the volume of the receiving optical module 22 in the second direction is relatively small, making the volume of the entire laser transceiver system small.

[0115] It should be noted that when the focal length of the receiving optical module 22 is determined, the total optical length of the receiving optical module 22 and the parameters of each lens can be reasonably set according to the focal length.

[0116] For example, in some examples, when the focal length of the receiving optical module 22 is 3.65 mm and the total optical length of the receiving optical module is 33 mm, the focal lengths of the lenses from the lens farthest from the detection module 21 to the lens close to the detection module 21 can be 15.197 mm, 14.937 mm, 14.261 mm, 1358.653 mm, -15.805 mm and -13.992 mm respectively.

[0117] By setting the specific parameters of the receiving optical module 22, including the total optical length, focal length, and focal length of each lens, not only can the volume of the receiving optical module 22 be reduced, but the optical distortion of the receiving optical module 22 can also be matched with the optical distortion of the transmitting optical module 12.

[0118] In some examples, the lens apertures of the first receiving lens group 221 and the second receiving lens group 222 are less than or equal to 21 mm.

[0119] The detection module has a range for receiving light, and the lens of the receiving optical module 22 has a receiving critical aperture. When the aperture of the lens is the receiving critical aperture, the receiving critical aperture of the lens is equivalent to the range of the detection module for receiving light. On this basis, the effective aperture of the receiving optical module 22 is set to be greater than or equal to the receiving critical aperture.

[0120] In addition to the echo laser, the light received by the receiving optical module 22 may also contain stray light such as ambient light. If the receiving optical module 22 transmits more ambient light, when more ambient light is irradiated to the detection module 21, the detection result of the detection module 21 will be distorted.

[0121] In order to avoid distortion of the detection results, in some examples, the receiving optical module 22 of the present application further includes a filter 24, which is located between the receiving optical module 22 and the detection module 21. Both stray light and echoed laser light need to pass through the filter 24 before entering the detection module 21. The filter 24 can be set to limit the passage of light with a wavelength within a predetermined range, and light with a wavelength outside the predetermined range is blocked by the filter 24. In this way, by setting the filter 24, other light except laser light can be restricted from entering the detection module 21, thereby solving the problem of stray light entering the detection module 21 and distorting the detection results.

[0122] For example, when light propagates through a lens, it scatters. The scattered light is generally located at the outermost edge of the light transmission path. The information transmitted by the scattered light is weaker, and the scattered light can provide blurred detection information to the detection module 21, interfering with the detection results. Therefore, in some implementations, the filter 24 is configured to only allow light within a predetermined range to pass through, filtering out the scattered light. In this way, the light allowed to pass through the filter 24 is within a 25° angle range with respect to the second direction.

[0123] Figure 5 is a structural diagram of the light source module 11 provided in an embodiment of the present application, Figure 6 It is a structural diagram of the detection module 21 provided in an embodiment of the present application.

[0124] Please combine Figure 1 、 Figure 5 and Figure 6 In some possible implementations, the emitting assembly 10 further includes a light source module 11, which is capable of emitting laser light. The light source module 11 is provided with a plurality of emitting units 111, which are spaced apart, and each emitting unit 111 is capable of emitting laser light toward a predetermined range. By providing a plurality of emitting units 111, each emitting unit 111 being capable of emitting laser light beyond a predetermined range, the plurality of emitting units 111 can cooperate to emit laser light having a predetermined detection area.

[0125] For example, the multiple transmitting units 111 can be arranged according to a predetermined pattern, for example, the multiple transmitting units 111 can be arranged in multiple rows and columns according to an array, and each row and each column is provided with multiple spaced transmitting units 111. The transmitting units 111 in two adjacent rows are parallel, and the transmitting units 111 in two adjacent columns are also parallel.

[0126] It is worth mentioning that the multiple emitting units 111 in the same column are arranged along the first direction, and the emitting units 111 in the same column are arranged along the third direction, which is perpendicular to the first direction and the second direction.

[0127] Exemplarily, the multiple transmitting units 111 are arranged in a matrix array.

[0128] Exemplarily, the emitting unit 111 is a vcsel (Vertical-Cavity Surface-Emitting Laser) light source, and the divergence angle of light emitted by a single emitting unit 111 is within a range of 23°.

[0129] It should be noted that the laser light emitted by the emitting unit 111 is located at the center of the main light when it propagates. The laser light emitted by the emitting unit 111 can be irradiated onto the lens of the emitting optical module 12. When the laser light is irradiated onto the first lens of the emitting optical module 12 (the lens of the first emitting lens group 121 close to the emitting unit 111).

[0130] In addition, the angle between the light rays of the larger pupil point and the smaller pupil point is greater than 23°, so as to meet the requirement of the 23° divergence angle of the emitting unit 111 .

[0131] Exemplarily, the spacing between two adjacent transmitting units 111 in each row is equal, and the spacing between two adjacent transmitting units 111 in each column is also equal. The specific spacing needs to be determined according to actual needs.

[0132] Exemplarily, the spacing between each transmitting unit 111 and the adjacent transmitting unit 111 in the same row is equal to the spacing between each transmitting unit 111 and the adjacent transmitting unit 111 in the same column, so that the spacing between any two adjacent transmitting units 111 in the same row and column is equal.

[0133] Exemplarily, the interval between two adjacent emission units 111 is less than or equal to 63 μm.

[0134] For example, the total number of transmitting units 111 is not limited, and the number of transmitting units 111 in each row and the number of transmitting units 111 in each column can be equal or different. In some implementations, 64 transmitting units 111 can be set in each row and 72 transmitting units 111 can be set in each column, so that 64 transmitting units 111 are formed. An array of 72 transmitting units 111.

[0135] In some possible implementations, the detection module 21 includes a plurality of detection units 211 , the plurality of detection units 211 are arranged at intervals, and at least one detection unit 211 is configured to receive light emitted by a corresponding emission unit 111 .

[0136] For example, the detection unit 211 is a SPAD (Single Photon Avalanche Diode), and the size of a single SPAD unit is 30.24 30.24μm.

[0137] For example, in order to achieve a one-to-one correspondence between the detection unit 211 and the emission unit 111, the arrangement of the detection unit 211 is consistent with the arrangement of the emission unit 111. For example, multiple detection units 211 are arranged in multiple rows and columns according to an array, and two adjacent rows of detection units 211 are parallel, and two adjacent columns of detection units 211 are also parallel.

[0138] Exemplarily, two adjacent detection units 211 in the same row are arranged at equal intervals, and two adjacent detection units 211 in the same column are arranged at equal intervals.

[0139] Exemplarily, when the transmitting units 111 are arranged in a matrix array, the detecting units 211 are also arranged in a matrix array.

[0140] In some possible implementations, the detection units 211 corresponding to the laser light emitted by each emitting unit 111 in the same row are also located in the same row. Therefore, each row of emitting units 111 corresponds to at least one row of detection units 211 to receive the laser light.

[0141] For example, in order to ensure that the laser light from each emitting unit 111 can be fully received after being reflected, multiple detection units 211 may be used to receive the laser light from one emitting unit 111 .

[0142] For example, in this embodiment, two detection units 211 are used to receive the laser light from one emitting unit 111. Alternatively, two adjacent detection units 211 in the same row may be used to receive the laser light from one reflecting unit, or detection units 211 corresponding to two adjacent rows may be used to receive the laser light from one reflecting unit. In this embodiment, two adjacent rows of detection units 211 are used to receive the laser light from one reflecting unit.

[0143] In some achievable embodiments, multiple emitting units 111 are arranged in a row along a first direction. When actually turning the laser light on and off, at least one row of emitting units 111 can be used as an emitting channel. The number of emitting channels is determined by the number of rows of emitting units 111. When controlling the emission of laser light, all emitting units 111 in an emitting channel are controlled to be turned on or off simultaneously. When an emitting channel is turned on, the laser light emitted by it passes through the emitting optical module 12, and the light beam is arranged linearly in the angular domain. The number of emitting channels turned on corresponds to the size of the detection area scanned by the laser light. When all emitting channels are turned on, the linear laser light can scan the entire detection area.

[0144] It should be noted that when each row of emitting units 111 corresponds to two rows of detecting units 211 for receiving light, and when a row of emitting units 111 serves as an emitting channel, each emitting channel corresponds to two rows of detecting units 211 for receiving light.

[0145] For example, one transmission channel may be controlled to be turned on at a time, and the time intervals between the two transmission channels being turned on are equal. In this way, all transmission channels may be turned on in sequence according to a predetermined timing.

[0146] For example, the order of opening the emission channels is not limited. It can start from the emission channel located at the top in the third direction and open in sequence along the third direction, or it can start from the emission channel located at the bottom in the third direction and open in sequence along the third direction.

[0147] By setting at least one row of emission units 111 as an emission channel, the emission units 111 in each emission channel can be turned on at the same time, and the light of the emission channel is shaped by the emission optical module 12 to form linear light within the angle domain, which can be irradiated onto the target object.

[0148] By opening different emission channels in sequence according to a predetermined time sequence, the laser beam can be scanned across the entire 120 90° detection area.

[0149] When the transmitting channels are turned on in sequence according to a predetermined timing, the detection units 211 corresponding to the laser light received from the transmitting channels are also turned on in sequence, thereby receiving the laser light emitted by the corresponding transmitting channels, thereby reducing light crosstalk between channels.

[0150] It should be noted that the above-mentioned formation of an emission channel by a row of emission units 111 is only one embodiment. In another feasible embodiment, two adjacent rows of emission units 111 are used as an emission channel, and the corresponding six rows of detection units 211 are used to receive the laser light emitted by the emission channel.

[0151] A second aspect of an embodiment of the present application provides a radar device, which includes the laser transceiver system described above.

[0152] A third aspect of the embodiments of the present application provides a sweeping robot, which includes the above-mentioned radar device.

[0153] 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.

[0154] In the description of this application, it should be understood that the terms "including" and "having" and any variations thereof used in the embodiments of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or apparatuses.

[0155] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," "fixed," etc. should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration. They can be directly connected or indirectly connected through an intermediate medium. They can also refer to internal connections between two elements or interactions between two elements. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances. In addition, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A laser transceiver system, characterized in that: include: An emitting assembly (10), the emitting assembly (10) being capable of emitting laser light, the emitting assembly (10) comprising an emitting optical module (12), the emitting optical module (12) being located on a propagation path of the laser light; The emission optical module (12) comprises at least one emission lens group with positive optical power and one emission lens group with negative optical power, and the emission optical module (12) further comprises a first aperture (123). The emission lens group and the first aperture (123) cooperate to shape the laser light into a plurality of linear light rays, each of which is arranged along a first direction, and the range covered by the plurality of linear light rays forms a detection area of ​​the laser light. A receiving component (20), the receiving component (20) comprising a detection module (21) and a receiving optical module (22), the receiving optical module (22) being located on a propagation path of the echo laser after being reflected by an obstacle, the receiving optical module (22) being configured to transmit the echo laser of a predetermined wavelength to the detection module (21) within a predetermined range; The detection module (21) is provided with a receiving area corresponding to each linear light, each receiving area is arranged along a first direction, and the transmitting component (10) and the receiving component (20) are arranged along the first direction.

2. The laser transceiver system according to claim 1, characterized in that: The emission optical module (12) includes a first emission lens group (121) and a second emission lens group (122), wherein the first emission lens group (121) and the second emission lens group (122) are each provided with at least one lens, the first emission lens group (121) and the second emission lens group (122) are spaced apart along a second direction, the first emission lens group (121) is close to the emission position of the laser light, the optical focal length of the first emission lens group (121) is positive, and the optical focal length of the second emission lens group (122) is negative.

3. The laser transceiver system according to claim 2, characterized in that: The focal length of the emission optical module (12) is 2-3 mm.

4. The laser transceiver system according to claim 3, characterized in that: The total optical length of the emission optical module (12) is less than or equal to 25 mm.

5. The laser transceiver system according to claim 2, characterized in that: The lenses of the first emitting lens group (121) and the second emitting lens group (122) are both spherical lenses, and the full field angle of view of the emitting optical module (12) is 150°.

6. The laser transceiver system according to claim 2, characterized in that: The lens apertures of the first emitting lens group (121) and the second emitting lens group (122) are less than or equal to 12 mm.

7. The laser transceiver system according to claim 2, characterized in that: The receiving optical module (22) comprises at least one receiving lens group with positive optical power and one receiving lens group with negative optical power. The receiving optical module (22) further comprises a second aperture (23). The receiving lens group and the second aperture (23) cooperate to converge the echo laser on the detection module.

8. The laser transceiver system according to claim 7, characterized in that: The receiving optical module (22) comprises a first receiving lens group (221) and a second receiving lens group (222) spaced apart along a second direction, wherein the first receiving lens group (221) and the second receiving lens group (222) are each provided with at least one lens, the second receiving lens group (222) is close to the detection module (21), the optical focal length of the second receiving lens group (222) is positive, and the optical focal length of the first receiving lens group (221) is negative.

9. The laser transceiver system according to claim 7, characterized in that: The focal length of the receiving optical module (22) is 3-4 mm.

10. The laser transceiver system according to claim 9, characterized in that: The total optical length of the receiving optical module (22) is less than or equal to 33 mm.

11. The laser transceiver system according to claim 8, characterized in that: The lens apertures of the first receiving lens group (221) and the second receiving lens group (222) are less than or equal to 21 mm.

12. The laser transceiver system according to any one of claims 2 to 11, characterized in that: The receiving optical module (22) further comprises a filter (24), wherein the filter (24) is located between the receiving optical module (22) and the detection module (21), and the filter (24) is configured to allow light within an angle range of 25° with the second direction to pass through.

13. The laser transceiver system according to claim 1, characterized in that: The emitting assembly (10) further comprises a light source module (11), wherein a plurality of emitting units (111) are provided on the light source module (11), the plurality of emitting units (111) are arranged at intervals, and each of the emitting units (111) is capable of emitting laser light towards a predetermined range.

14. The laser transceiver system according to claim 13, characterized in that: The plurality of emission units (111) are arranged in a plurality of rows and columns according to an array, the emission units (111) of two adjacent rows are parallel, and the emission units (111) of two adjacent columns are also parallel.

15. The laser transceiver system according to claim 14, characterized in that: The emitting unit (111) is a VCSEL light source, and the divergence angle of light emitted by a single emitting unit (111) is within the range of 23°.

16. The laser transceiver system according to claim 15, characterized in that: The interval between two adjacent emission units (111) is less than or equal to 63 μm.

17. The laser transceiver system according to claim 13, characterized in that: The detection module (21) comprises a plurality of detection units (211), the plurality of detection units (211) are arranged at intervals, and at least one of the detection units (211) is used to receive light emitted by a corresponding emission unit (111).

18. The laser transceiver system according to claim 17, characterized in that: The plurality of detection units (211) are arranged in a plurality of rows and columns according to an array, the detection units (211) in two adjacent rows are parallel, and the detection units (211) in two adjacent columns are also parallel.

19. The laser transceiver system according to claim 18, characterized in that: At least one row of the emission units (111) forms an emission channel, the emission units in each emission channel can be turned on simultaneously, and at least two rows of the detection units (211) correspondingly receive light emitted by one emission channel.

20. The laser transceiver system according to claim 19, characterized in that: The plurality of transmitting channels can be turned on in sequence according to a predetermined time sequence to scan a predetermined range, and the detection units for receiving the corresponding transmitting channels are also turned on in sequence according to the predetermined time sequence.

21. A radar device, characterized in that: Comprising the laser transceiver system according to any one of claims 1-20.

22. A sweeping robot, characterized in that: Comprising the radar apparatus as claimed in claim 21.

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