CN101251598A - Method and apparatus rapidly regulating lidar transmit-receive system light path coaxial - Google Patents

Abstract

The invention discloses a method and a device capable of realizing fast coaxial adjustment of a lidar transceiver system light path. The device comprises a receiving telescope, a laser, a first wedge-shaped optic flat plate, a second wedge-shaped optic flat plate and a drive step motor thereof and a computer, etc. The two wedge-shaped optic flat plates are driven to rotate by the motor under the control of the computer, thereby ensuring that the direction of an emergent light beam changes continuously within a certain tapered space angular range. The method and the device can realize convenient and fast coaxial adjustment of the lasing beam of a lidar and a receiving telescope system.

Description

The method of rapidly regulating lidar transmit-receive system light path coaxial and device

Technical field

The present invention relates to the light path coaxial calibration steps and the device of laser radar system.

Background technology

Laser radar is the product that traditional Radar Technology combines with modern laser.It with laser as electromagnetic radiation source, utilize return laser beam to find range and orientation, and come recognition object by the emission characteristics of position, radial velocity and target object, and embodied special emission, scanning, reception and signal processing technology, be a kind of very important active remote sensing instrument.Laser radar has many types, has by the purposes branch: target range laser radar, fire control laser radar, Tracking Recognition laser radar, multi-functional tactical laser radar, detect malicious laser radar, navigation laser radar, Mie scattering laser radar, Raman thermometric and steam laser radar, Doppler anemometry laser radar, atmosphere environment supervision laser radar etc.Any laser radar all comprises the system of transmitting and receiving, and laser radar is normally worked effectively, must guarantee at first that emission of lasering beam and receiving optics are coaxial.Traditional control method is to be fixed on the adjustable optical bench of three-dimensional with one 45 degree catoptron, realizes that by three dimension knobs of manual adjustments optical bench optics are coaxial.Very low, consuming time length of this method efficient and structural instability.At present, in order to make emission of lasering beam and telescope coaxial, the someone uses two stepper motors to control 45 degree catoptron orientation, realizes the scanning of emission of lasering beam thing and North and South direction respectively.Though this device has replaced manual shift, but efficient is not high equally, especially length consuming time such as (in transit jolt) under the bigger situation of the optical axis direction deviation of the optical axis direction of emission of lasering beam and receiving telescope, and this apparatus structure more complicated, higher to the accuracy requirement of machining.Use array type detector to realize the scheme that receive-transmit system is coaxial in addition abroad, but cost is higher as pick-up probe.We also investigate the data of other each laser research institutions, all do not find lidar transmit-receive light path simple and easy to do and the with low cost optical devices and the method thereof of collimation fast.

Summary of the invention

The technical problem to be solved in the present invention is to overcome existing deficiency of regulating the device and method of lidar transmit-receive system light path coaxial, and a kind of method blanket to all laser radar systems, conveniently rapidly regulating lidar transmit-receive system light path coaxial and device are provided.

Technical scheme of the present invention is as follows:

A kind of method of rapidly regulating lidar transmit-receive system light path coaxial, include receiving telescope and laser instrument, it is characterized in that in the emission light path of described laser instrument, the first wedge shape optical flat and the second wedge shape optical flat of the identical and reverse placement of the angle of wedge are installed, and adjust the position of rotation of the first wedge shape optical flat and the second wedge shape optical flat by the following method, realize laser instrument and receiving telescope light path coaxial:

1., initial adjustment, rotate the first wedge shape optical flat and the second wedge shape optical flat by computer program control step motor, the outgoing beam direction that makes laser instrument is earlier along the coarse scan of helix mode, in case receiving telescope collects behind the strong signal outgoing beam and uses circle instead and carefully sweep, the light signal that receiving telescope receives can occur corresponding to the outgoing beam the anglec of rotation also trapezoidal or parabola shaped curve of the rotational angle of promptly corresponding two wedge shape optical flats, the rotational angle of the first wedge shape optical flat and the second wedge shape optical flat is transferred to the position that light signal is positioned at trapezoidal centre or para-curve peak value, this moment laser instrument and receiving telescope light path in same plane and tentatively coaxial;

2., fine setting, under the outgoing beam anglec of rotation condition that does not change corresponding to described trapezoidal or parabolical centre position, rotate the first wedge shape optical flat and the second wedge shape optical flat by computer program control step motor, the outgoing beam direction is radially carefully swept in the plane, light path place of described laser instrument and receiving telescope, it also is the step curve of the rotational angle of corresponding two wedge shape optical flats with the angle of axis that the light signal that this moment, receiving telescope received can occur corresponding to outgoing beam, and same rotational angle with the first wedge shape optical flat and the second wedge shape optical flat transfers to light signal and is positioned at trapezoidal centre position;

3., the locking first wedge shape optical flat and the second wedge shape optical flat.

A kind of device of rapidly regulating lidar transmit-receive system light path coaxial, include the laser instrument of installing on receiving telescope and its lens barrel, it is characterized in that in the preceding emission light path of described laser instrument, the first wedge shape optical flat of the identical and reverse placement of the angle of wedge and the second wedge shape optical flat, beam expanding lens are installed, and the described first wedge shape optical flat and the second wedge shape optical flat are respectively by step motor drive.

The device of described a kind of rapidly regulating lidar transmit-receive system light path coaxial is characterized in that the identical and reverse placement of material, the angle of wedge of the first wedge shape optical flat and the second wedge shape optical flat, can rotate continuously, and the longitudinal section is circular.

Inventive principle

As shown in Figure 1a, first, second wedge shape optical flat 1 and 2 is not before rotating, and inclined-plane I is parallel with inclined-plane II, initial 0 position of 0 orientation corresponding rotation angle.After first, second wedge shape optical flat 1 and 2 rotations, incident beam is consulted Fig. 1 b through the whole optical path of first, second wedge shape optical flat 1 and 2, and is as follows by the process of incident state derivation outgoing state:

Known: locking angle; The refractive index n of wedge material; Light 1 is incident to the incident angle θ of the first wedge shape optical flat 1 ₁=α; The rotation angle β of the first wedge shape optical flat 1 ₁The rotation angle β of the second wedge shape optical flat 2 ₂

Light 1 is incident to the refraction angle θ of the first wedge shape optical flat 1 ₂, get according to refraction law:

sinθ ₂＝sinθ ₁/n (1)

The angle theta of refracted ray 1 ' and axis ₃, get by Fig. 1 b geometric relationship:

θ ₃＝α-θ ₂ (2)

Refracted ray 1 ' rotation angle equals the rotation angle β of the first wedge shape optical flat 1 ₁

Refracted ray 1 ' is to the incident angle θ of the second wedge shape optical flat 2 ₄, can get relational expression by finding the solution:

cosθ ₄＝cosθ ₃cosα+sinθ ₃sinαcos(β ₂-β ₁) (3)

Refracted ray 1 ' is to the refraction angle θ of the second wedge shape optical flat 2 ₅, get according to refraction law:

sinθ ₅＝nsinθ ₄ (4)

The angle theta of refracted ray 2 ' (being emergent ray) and axis, find the solution and can get by the geometric relationship of Fig. 1 c:

$\sec \mathrm{\&theta;}=\frac{{\cos \mathrm{\&theta;}}_5}{\cos \mathrm{\&alpha;}}+\frac{{\sin \mathrm{\&theta;}}_5}{\cos \mathrm{\&alpha;}}\sqrt{\frac{{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{\mathrm{\&theta;}}_3+{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\mathrm{\&alpha;}-2{\cos \mathrm{\&theta;}}_3\cos {\mathrm{\&theta;}}_4\cos \mathrm{\&alpha;}}{{[{\cos \mathrm{\&theta;}}_3\sin {\mathrm{\&theta;}}_5+\sin ({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_5)\cos \mathrm{\&alpha;}]}^2}-1}---\left(5\right)$

Emergent ray rotation angle β can get by finding the solution:

β＝β ₁-δβ (6)

Wherein:

$\cos \left(\mathrm{\&delta;\&beta;}\right)=\frac{\cos ({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_5)-\cos {\mathrm{\&theta;}}_3\cos \mathrm{\&theta;}}{{\sin \mathrm{\&theta;}}_3\sin \mathrm{\&theta;}}---\left(7\right)$

When | β ₂-β ₁| during＜π, δ β ∈ [0, pi/2); When | β ₂-β ₁| during＞π, δ β ∈ (pi/2,0].

Otherwise, known: locking angle; Light 1 is incident to the incident angle θ of the first wedge shape optical flat 1 ₁=α; Emergent ray (refracted ray 2 ') rotation angle β; The angle theta of emergent ray and axis can be tried to achieve the rotation angle β of the first wedge shape optical flat 1 ₁Rotation angle β with the second wedge shape optical flat 2 ₂Process is as follows:

Get by (1), (2) two formulas:

${\sin \mathrm{\&theta;}}_3=\sin \mathrm{\&alpha;}\sqrt{1-{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2\mathrm{\&alpha;}/n^2}-\sin \mathrm{\&alpha;\&alpha;}\cos /n---\left(8\right)$

${\cos \mathrm{\&theta;}}_3=\cos \mathrm{\&alpha;}\sqrt{1-{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2\mathrm{\&alpha;}/{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">n</figure-callout>}}^2}+{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2\mathrm{\&alpha;}/n---\left(9\right)$

Get by (4), (5) two formulas:

$\mathrm{se}{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">c</figure-callout>}}^2\mathrm{\&theta;}\frac{2\sec \mathrm{\&theta;}}{\cos \mathrm{\&alpha;}}\sqrt{1-{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">n</figure-callout>}}^2{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2{\mathrm{\&theta;}}_4}+\frac{1}{{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\mathrm{\&alpha;}}\left\{1\frac{{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2{\mathrm{\&theta;}}_3+{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\mathrm{\&alpha;}-2{\cos \mathrm{\&theta;}}_3\cos \mathrm{\&alpha;}\cos {\mathrm{\&theta;}}_4}{{[\cos {\mathrm{\&theta;}}_3+(\sqrt{1/n^2-{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2{\mathrm{\&theta;}}_4}-\cos {\mathrm{\&theta;}}_4)\cos \mathrm{\&alpha;}]}^2}\right\}=0---\left(10\right)$

Can try to achieve θ by (8), (9) and (10) formula ₄

Get by (4), (6) and (7) three formulas again:

$\cos ({\mathrm{\&beta;}}_1-\mathrm{\&beta;})=\frac{\cos {\mathrm{\&theta;}}_4\sqrt{1-{\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="S2008100234831E00011.png"\; state="\{\{state\}\}">n</figure-callout>}}^2{\sin }^2{\mathrm{\&theta;}}_4}+{n\sin }^2{\mathrm{\&theta;}}_4-\cos {\mathrm{\&theta;}}_3\cos \mathrm{\&theta;}}{{\sin \mathrm{\&theta;}}_3\sin \mathrm{\&theta;}}---\left(11\right)$

Can try to achieve β by following formula ₁

Get by (3) formula:

$\cos ({\mathrm{\&beta;}}_2-{\mathrm{\&beta;}}_1)=\frac{{\cos \mathrm{\&theta;}}_4-{\cos \mathrm{\&theta;}}_3\cos \mathrm{\&alpha;}}{{\sin \mathrm{\&theta;}}_3\sin \mathrm{\&alpha;}}---\left(12\right)$

Can try to achieve β by following formula ₂In case it can also be seen that by following formula θ is fixed, β ₁-β ₂It is exactly definite value.

Locking angle generally designs very for a short time, gets first approximation (5), (6) two formulas become:

θ(α，n，β ₁，β ₂)≈2α(n-1)|sin[(β ₂-β ₁)/2]| (13)

$\mathrm{\&beta;}(\mathrm{\&alpha;},n,{\mathrm{\&beta;}}_1,{\mathrm{\&beta;}}_2)\&ap;\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2\&PlusMinus;\mathrm{\&pi;}}{2}---\left(14\right)$

Work as β ₂＞β ₁The time, get "+"; Work as β ₂＜β ₁The time, get ".

Regulation 0＜β ₂-β ₁≤ π, (11), (12) two formulas become::

${\mathrm{\&beta;}}_1(\mathrm{\&alpha;},n,\mathrm{\&theta;},\mathrm{\&beta;})\&ap;\mathrm{\&beta;}+\mathrm{ar}\cos \left[\frac{\mathrm{\&theta;}}{2(n-1)\mathrm{\&alpha;}}\right]---\left(15\right)$

${\mathrm{\&beta;}}_2(\mathrm{\&alpha;},n,\mathrm{\&theta;},\mathrm{\&beta;})\&ap;\mathrm{\&beta;}+\mathrm{ar}\cos [-\frac{\mathrm{\&theta;}}{2(n-1)\mathrm{\&alpha;}}]---\left(16\right)$

Can make the rotation angle β of emergent ray rotation angle β by (13), (14) formula with the first wedge shape optical flat 1 ₁Rotation angle β with the second wedge shape optical flat 2 ₂Variation relation figure (referring to Fig. 2 a) and the angle theta of emergent ray and axis with the rotation angle β of the first wedge shape optical flat 1 ₁Rotation angle β with the second wedge shape optical flat 2 ₂Variation relation figure (referring to Fig. 2 b).

Can make the rotation angle β of the first wedge shape optical flat 1 by (15), (16) formula ₁With the variation relation figure of the angle theta of emergent ray rotation angle β and emergent ray and axis (a) and the rotation angle β of the second wedge shape optical flat 2 referring to Fig. 3 ₂Variation relation figure (referring to Fig. 3 b) with the angle theta of emergent ray rotation angle β and emergent ray and axis; Realize the change curve of the angle theta of specific emergent ray rotation angle β and emergent ray and axis, referring to Fig. 4 a (emergent ray scans along square), Fig. 5 a (emergent ray spiral scan) and Fig. 6 a (emergent ray radially scans), require the rotation angle β of the first wedge shape optical flat 1 ₁And the rotation angle β of the second wedge shape optical flat 2 ₂The respective change curve, referring to Fig. 4 b, Fig. 5 b and Fig. 6 b.

Basis of the present invention is a refraction law of utilizing light, and its key component is the optical flat of two rotating wedge shapes.Incident light is after installing through this, and the direction of outgoing beam is adjustable continuously in certain cone space angular range.Design the suitable angle of wedge, can guarantee that the emergent ray direction can be coaxial with telescope after wedge 1 and 2 is rotated suitable angle.In conjunction with circular and radially carefully sweep mode, the present invention can realize the coaxial adjusting to the lidar transmit-receive light path easily and quickly by spiral coarse scan.

The advantage that the present invention compared with prior art has is:

1) apparatus structure is very simple, and machining accuracy is less demanding, and cost is low;

2) applicability is strong, especially initially departs under the bigger situation at the transmitting-receiving light path light axis, need not blind accent or artificially estimates the beam path alignment situation, can realize coaxial adjusting rapidly automatically;

3) easy to use, regulate rapidly.

Description of drawings

Fig. 1 is the overall light path synoptic diagram of the present invention.

Fig. 1 a be first, second wedge shape optical flat 1 and 2 not the rotation before, inclined-plane I is parallel with inclined-plane II, initial 0 position of 0 orientation corresponding rotation angle;

Fig. 1 b is that incident beam was through the whole optical path of first, second wedge shape optical flat 1 and 2 after first, second wedge shape optical flat 1 and 2 rotated;

Fig. 1 C is the partial enlarged drawing of Fig. 1.

The angle of Fig. 2 emergent ray and axis and rotation angle are with the variation relation figure of the rotation angle of the first wedge shape optical flat 1 and 2.

Fig. 2 a is the rotation angle β of emergent ray rotation angle β with the first wedge shape optical flat 1 ₁Rotation angle β with the second wedge shape optical flat 2 ₂Variation relation figure;

Fig. 2 b is the rotation angle β of the angle theta of emergent ray and axis with the first wedge shape optical flat 1 ₁Rotation angle β with the second wedge shape optical flat 2 ₂Variation relation figure.

The rotation angle of Fig. 3 first wedge shape optical flat 1 and the second wedge shape optical flat 2 is with the angle of emergent ray and axis and the variation relation figure of rotation angle.

Fig. 3 a is the rotation angle β of the first wedge shape optical flat 1 ₁Variation relation figure with the angle theta of emergent ray rotation angle β and emergent ray and axis;

Fig. 3 b is the rotation angle β of the second wedge shape optical flat 2 ₂Variation relation figure with the angle theta of emergent ray rotation angle β and emergent ray and axis.

Fig. 4 emergent ray direction scans the variation diagram of the rotation angle of the first corresponding wedge shape optical flat 1 and the second wedge shape optical flat 2 along square.

Fig. 4 a is that emergent ray scans along square;

Fig. 4 b is the rotation angle β of the first wedge shape optical flat 1 ₁And the rotation angle β of the second wedge shape optical flat 2 ₂The respective change curve.

The variation diagram of the first wedge shape optical flat 1 of Fig. 5 emergent ray direction spiral scan correspondence and the rotation angle of the second wedge shape optical flat 2.

Fig. 5 a is the emergent ray spiral scan;

Fig. 5 b is the rotation angle β of the first wedge shape optical flat 1 ₁And the rotation angle β of the second wedge shape optical flat 2 ₂The respective change curve.

The variation diagram of the first wedge shape optical flat 1 of Fig. 6 emergent ray direction radial scan correspondence and the rotation angle of the second wedge shape optical flat 2.

Fig. 6 a is that emergent ray radially scans;

Fig. 6 b is the rotation angle β of the first wedge shape optical flat 1 ₁And the rotation angle β of the second wedge shape optical flat 2 ₂The respective change curve.

Fig. 7 regulates the overall index path of lidar transmit-receive system light path coaxial.

Fig. 8 regulates the principle schematic of lidar transmit-receive system light path coaxial.

The variation diagram of normalized signal when Fig. 9 circle and radial scan.

Fig. 9 a is signal not having to a trapezoidal or parabola shaped variation from beginning;

The trapezoidal variation of signal when Fig. 9 b is 55 ° for the outgoing beam rotation angle.

Embodiment

The invention will be further described below in conjunction with embodiment and accompanying drawing, but should not limit protection scope of the present invention with this.

1, as shown in Figure 7, apparatus of the present invention are inserted in the laser radar emission light path, initial transmitting-receiving light path disalignment, the angle of transmitting-receiving optical axis is δ θ, distance is Δ D.

2,1. initial adjustment is rotated wedge shape optical flat 1 and wedge shape optical flat 2 (α=0.5 °) by computer program control step motor, make the outgoing beam direction along the coarse scanning of helix mode, the pitch of helix is less than the reception spot diameter at a certain level altitude r place, i.e. r Δ θ＜2 (R _T+ R _L), Δ θ is a pitch; The pairing distance of processing signals was generally chosen 30km when r was collimation; R _T=(D _T+ r θ _FOV)/the 2nd is positioned at the radius that r place far field telescope receives the cross section, D _TBe the telescope bore, generally about 30cm, θ _FOVFor telescope receives field angle, generally in the mrad magnitude; R _L=(D _L+ r θ _L)/the 2nd is positioned at the spot radius of r place far-field emission lasing aperture, D _LBe to expand the spot diameter behind the bundle, generally about 2～3cm, θ _LFor expanding the laser beam divergence after restrainting, less than θ _FOV, the approximate Δ θ＜θ that requires of following formula for the purpose of guarding _FOVSuppose that receiving field angle is 2mrad, then Δ θ＜0.11 ° (shown in Fig. 5 and 8, Δ θ=0.1 of Fig. 5 °).Detector is in case when surveying the unexpected grow of the signal collect the r place, use circular close scanning instead, this moment, r place echoed signal can be from not having to a trapezoidal or parabola shaped variation (shown in Fig. 9 a) of beginning, the rotational angle of wedge shape optical flat 1 and 2 is transferred to the respective value that signal occupies trapezoidal centre position or parabola shaped peak, and calculate the outgoing beam rotation angle of this moment, this moment, the receive-transmit system optical axis was in same plane and tentatively coaxial.

3,2. finely tune do not changing 1) under the described outgoing beam rotation angle condition, rotating wedge shape optical flat 1 and 2 by computer program control step motor radially scans (shown in Fig. 6 and 8 the outgoing beam direction, Fig. 6 has supposed 1) make when described outgoing beam rotation angle is 55 °), this moment, signal also had a trapezoidal variation (shown in Fig. 9 b), and same rotational angle with wedge shape optical flat 1 and 2 transfers to signal and occupies trapezoidal centre position respective value.This moment, lidar transmit-receive system light path was coaxial.

4, locking wedge shape optical flat 1 and wedge shape optical flat 2.

Claims (3)

1, a kind of method of rapidly regulating lidar transmit-receive system light path coaxial, include receiving telescope and laser instrument, it is characterized in that in the emission light path of described laser instrument, the first wedge shape optical flat and the second wedge shape optical flat of the identical and reverse placement of the angle of wedge are installed, and adjust the position of rotation of the first wedge shape optical flat and the second wedge shape optical flat by the following method, realize laser instrument and receiving telescope light path coaxial:

1., initial adjustment, rotate the first wedge shape optical flat and the second wedge shape optical flat by computer program control step motor, the outgoing beam direction that makes laser instrument is earlier along the coarse scan of helix mode, in case receiving telescope collects behind the strong signal outgoing beam and uses circle instead and carefully sweep, the light signal that receiving telescope receives can occur corresponding to the outgoing beam the anglec of rotation also trapezoidal or parabola shaped curve of the rotational angle of promptly corresponding two wedge shape optical flats, the rotational angle of the first wedge shape optical flat and the second wedge shape optical flat is transferred to the position that light signal is positioned at trapezoidal or parabolical trapezoidal centre or para-curve peak value, this moment laser instrument and receiving telescope light path in same plane and tentatively coaxial;

2., fine setting, under the outgoing beam anglec of rotation condition that does not change corresponding to described trapezoidal or parabolical centre position, rotate the first wedge shape optical flat and the second wedge shape optical flat by computer program control step motor, the outgoing beam direction is radially carefully swept in the plane, light path place of described laser instrument and receiving telescope, it also is the step curve of the rotational angle of corresponding two wedge shape optical flats with the angle of axis that the light signal that this moment, receiving telescope received can occur corresponding to outgoing beam, and same rotational angle with the first wedge shape optical flat and the second wedge shape optical flat transfers to light signal and is positioned at trapezoidal centre position;

3., the locking first wedge shape optical flat and the second wedge shape optical flat.

2, a kind of device of rapidly regulating lidar transmit-receive system light path coaxial, include the laser instrument of installing on receiving telescope and its lens barrel, it is characterized in that in the preceding emission light path of described laser instrument, the first wedge shape optical flat of the identical and reverse placement of the angle of wedge and the second wedge shape optical flat, beam expanding lens are installed, and the described first wedge shape optical flat and the second wedge shape optical flat are respectively by step motor drive.

3, the device of a kind of rapidly regulating lidar transmit-receive system light path coaxial according to claim 1, it is characterized in that the identical and reverse placement of material, the angle of wedge of the first wedge shape optical flat and the second wedge shape optical flat, can rotate continuously, the longitudinal section is circular.

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