The present disclosure provides a lidar system. The lidar system includes: an optical rotating mirror and at least two laser transceiving modules. Each laser transceiving module includes a transmitting unit and a receiving unit. The transmitting unit is configured to transmit a laser signal. The optical rotating mirror is configured to rotate around a rotating axis in a vertical direction, receive the laser signal and adjust a direction of the laser signal during rotation, and reflect the laser signal to a target object. The laser signal is diffusely reflected on the target object, which produces an echo signal. The echo signal is reflected by the optical rotating mirror and is then received by the receiving unit. The receiving unit includes a plurality of detectors arranged in an array.