Light beam coupling tracking and pointing method and device based on automatic adjusting optical fiber coupling module

Abstract

The invention belongs to the technical field of light beam coupling tracking and pointing, and particularly relates to a light beam coupling tracking and pointing method and device based on an automatic adjusting optical fiber coupling module, and the method comprises the steps: obtaining a cooperative target light beam, carrying out the shaping processing of the cooperative target light beam through an optical system, and carrying out the symmetric light splitting of the shaped cooperative target light beam through a spectroscope; the light beam is divided into a detection light path and a coupling light path; the position of a light spot on a detection light path is detected through a CMOS module, the center coordinate of the light spot is extracted, and the X-axis offset difference value and the Y-axis offset difference value of the center coordinate and the preset center position of the CMOS module are calculated; and calculating the adjusting quantity of the XYZ three-axis micro-motion execution mechanism through a closed-loop algorithm, controlling the micro-motion execution mechanism to drive the optical fiber coupling module to move in the corresponding axial direction, continuously collecting light spot position data of the CMOS module, and adjusting the adjusting parameters of the micro-motion execution mechanism in real time through data feedback. Therefore, the problems of high delay, limited accuracy and the like in the prior art are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of beam coupling and tracking, and particularly relates to a beam coupling and tracking method and device based on an automatic adjustment optical fiber coupling module. BACKGROUND

[0002] With the rapid development of optical communication, laser transmission and other fields, the precision and stability of the beam coupling and tracking technology as a core supporting technology directly affect the overall performance of the system. The market currently has higher requirements for the dynamic adaptation ability, fast response speed and long-term stability of beam coupling, and needs to achieve precise alignment of the coupling module and the light spot under complex working conditions.

[0003] However, the existing technology has the following key defects: the traditional beam coupling and tracking mostly adopts manual adjustment or semi-automatic adjustment mode, and the dynamic response precision for light spot deviation is insufficient, which is easily disturbed by environmental factors such as vibration and temperature drift; the shaping effect of the optical system is limited, and there is a lack of multi-stage adaptive beam processing mechanism, which is difficult to meet the coupling requirements of different divergence angles and light spot sizes of the cooperative target beam; the light spot detection and deviation calculation lack anti-interference processing, resulting in large coordinate extraction error, which further affects the adjustment precision; the adjustment mechanism is mostly single-axis or double-axis control, which cannot realize comprehensive deviation compensation in three-dimensional space, and lacks a closed-loop feedback optimization mechanism, which is difficult to maintain a long-term stable coupling state. With the wide application of optical communication, laser radar and other technologies, the market urgently needs high-precision and high-stability beam coupling and tracking technology, and the existing technology is difficult to support efficient application in complex scenarios due to high response delay, limited alignment precision and weak anti-interference ability. SUMMARY

[0004] The present application provides a beam coupling and tracking method and device based on an automatic adjustment optical fiber coupling module to solve the problems of high delay and limited precision in the prior art.

[0005] The first aspect of the present application provides a beam coupling and tracking method based on an automatic adjustment optical fiber coupling module, comprising the following steps: acquiring a cooperative target beam; shaping the cooperative target beam through an optical system, symmetrically splitting the shaped cooperative target beam through a beam splitter to divide the beam into a detection light path and a coupling light path; detecting the position of the light spot on the detection light path through a CMOS module, extracting the center coordinates of the light spot, and calculating the X-axis and Y-axis deviation values of the center coordinates from the preset center position of the CMOS module; based on the deviation values and the axis deviation values, calculating the adjustment amount of the XYZ three-axis micro-motion execution mechanism through a closed-loop algorithm, controlling the micro-motion execution mechanism to drive the optical fiber coupling module to move in the corresponding axis direction to offset the light spot deviation, and at the same time, continuously collecting the light spot position data of the CMOS module, adjusting the adjustment parameters of the micro-motion execution mechanism in real time through data feedback, and maintaining the relative position stability of the coupling module and the coupling light spot.

[0006] Preferably, the cooperative target beam is shaped using an optical system, including: constructing a multi-stage shaping optical system composed of a collimating lens, a beam expander, and an achromatic lens; determining the focal length parameters and relative spacing of each lens using the multi-stage shaping optical system based on the initial divergence angle and spot diameter of the cooperative target beam; and, based on the focal length parameters and relative spacing of each lens, compressing the divergence angle using the collimating lens, adjusting the spot size using the beam expander, and correcting chromatic aberration using the achromatic lens to output a shaped beam that meets the coupling requirements.

[0007] Preferably, the symmetrical beam splitting of the shaped cooperative target beam using a beam splitter includes: constructing a semi-transparent, semi-reflective beam splitter adapted to the wavelength; setting a symmetrical beam splitting ratio based on the semi-transparent, semi-reflective beam splitter, adjusting the incident angle between the beam splitter and the shaped beam so that the reflected light forms a detection optical path and the transmitted light forms a coupling optical path; and setting polarizers on the optical axes of the detection optical path and the coupling optical path respectively so that the polarization directions of the two beams are consistent.

[0008] Preferably, detecting the spot position on the detection optical path using a CMOS module and extracting the spot center coordinates includes: constructing a CMOS image sensing module; based on the CMOS image sensing module, setting an appropriate sampling frequency, processing the spot image acquired by the CMOS image sensing module, separating the spot area from the background area using an adaptive binarization threshold segmentation method, and clarifying the spot outline boundary; based on the spot outline boundary, extracting the spot center coordinates using the centroid method, and eliminating abnormally deviated coordinate data by comparing the coordinates of multiple consecutive frames, using the mean of the effective frame data as the target spot center coordinates.

[0009] Preferably, the formula for the center of gravity method is: ; in, The coordinates of the target center; For the first The x-coordinates of the points; For indicator functions; For the first The ordinates of the points.

[0010] Preferably, calculating the offset difference between the center coordinates and the preset center position of the CMOS module along the X-axis and Y-axis includes: constructing a weighted average algorithm and a vector subtraction algorithm; based on the weighted average algorithm, performing fusion calculation on multiple sets of coordinate data, and determining the preset center position of the CMOS module using a standard parallel cursor; establishing a two-dimensional rectangular coordinate system with the preset center position as the origin, and calculating the offset difference in the X-axis and Y-axis directions respectively using the vector subtraction algorithm to accurately quantify the direction and magnitude of the spot offset.

[0011] The second aspect embodiment of the present application provides a light beam coupling tracking device based on automatic adjustment of a fiber coupling module, comprising: an acquisition module configured to acquire a cooperative target light beam; a processing module configured to perform shaping processing on the cooperative target light beam through an optical system, perform symmetric splitting of the shaped cooperative target light beam through a beam splitter, and split the light beam into a detection light path and a coupling light path; a calculation module configured to detect the position of a light spot on the detection light path through a CMOS module, extract the center coordinates of the light spot, and calculate the offset difference values of the X-axis and the Y-axis of the center coordinates and the preset center position of the CMOS module; and a control module configured to calculate the adjustment amount of an XYZ three-axis micro-motion actuator based on the offset difference values and the axis offset difference values through a closed-loop algorithm, control the micro-motion actuator to drive the fiber coupling module to move in the corresponding axis direction, offset the light spot, continuously collect the light spot position data of the CMOS module, and adjust the adjustment parameters of the micro-motion actuator in real time through data feedback to maintain the relative position stability of the coupling module and the coupling light spot.

[0012] The third aspect embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a light beam coupling tracking method based on automatic adjustment of a fiber coupling module as described in the above embodiments.

[0013] The fourth aspect embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement a light beam coupling tracking method based on automatic adjustment of a fiber coupling module as described in the above embodiments.

[0014] The fifth aspect embodiment of the present application provides a computer program product comprising a computer program or instructions for implementing a light beam coupling tracking method based on automatic adjustment of a fiber coupling module as described in the above embodiments.

[0015] Therefore, the present application has the following beneficial effects: the embodiments of the present application realize accurate adaptation to different characteristic cooperative target light beams through a multi-stage shaping optical system, symmetric splitting design guarantees the consistency of the detection and coupling light paths, and the high-precision light spot detection and anti-interference coordinate extraction of the CMOS module provide reliable data basis for offset calculation; through the XYZ three-axis micro-motion actuator and the closed-loop feedback algorithm, accurate adjustment and dynamic compensation in a three-dimensional space are realized, effectively solving the limitations of traditional single-axis / dual-axis adjustment; the continuous data feedback and parameter optimization mechanism significantly improves the anti-interference ability and long-term stability of the system, while meeting the high alignment accuracy requirement, and reduces the influence of environmental factors on the coupling effect. Therefore, the problems of high delay and limited accuracy in the prior art are solved.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 This is a flowchart of a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module provided according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of a terminal architecture deployment according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a beam coupling and aiming device based on an automatically adjusting fiber optic coupling module provided in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of a beam coupling and aiming device based on an automatically adjusting fiber optic coupling module according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] The following description, with reference to the accompanying drawings, illustrates a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module, according to an embodiment of this application. Addressing the high latency issue mentioned in the background section, this application provides a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module. In this method, a multi-stage shaping optical system achieves precise adaptation to cooperative target beams with different characteristics; symmetrical beam splitting design ensures consistency between the detection and coupling optical paths; and high-precision spot detection and anti-interference coordinate extraction using a CMOS module provide a reliable data foundation for offset calculation. Through an XYZ three-axis micro-motion actuator and a closed-loop feedback algorithm, precise adjustment and dynamic compensation in three-dimensional space are achieved, effectively overcoming the limitations of traditional single-axis / dual-axis adjustment. Continuous data feedback and parameter optimization mechanisms significantly improve the system's anti-interference capability and long-term stability, meeting high alignment accuracy requirements while reducing the impact of environmental factors on the coupling effect. Thus, the problems of high latency and limited alignment accuracy in the prior art are solved.

[0026] Specifically, Figure 1 This is a schematic flowchart of a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module provided in an embodiment of this application.

[0027] like Figure 1 As shown, the beam coupling and aiming method based on an automatically adjusting fiber optic coupling module includes the following steps:

[0028] In step S101, the cooperative target beam is acquired.

[0029] Among them, the cooperative target beam refers to the incident beam with specific wavelength, divergence angle and spot characteristics that needs to be precisely connected with the fiber optic coupling module in application scenarios such as optical communication and laser transmission.

[0030] It is understood that the embodiments of this application, by accurately acquiring the target beam, provide the basic input for subsequent shaping processing, beam splitting detection, and coupling tracking, ensuring that the entire system performs targeted processing based on the characteristics of the target beam. Accurate acquisition of the initial parameters of the beam provides a basis for the parameter configuration of the multi-stage shaping optical system, avoiding poor shaping results caused by mismatch between beam characteristics and the optical system; at the same time, stable beam acquisition is a prerequisite for ensuring the synchronous operation of the detection optical path and the coupling optical path, laying the foundation for subsequent spot position detection, offset calculation, and dynamic adjustment, ensuring the continuity and accuracy of the coupling tracking process.

[0031] In step S102, the cooperative target beam is shaped by an optical system, and the shaped cooperative target beam is symmetrically split by a beam splitter, so that the beam is divided into a detection optical path and a coupling optical path.

[0032] Among them, shaping refers to optimizing and adjusting the divergence angle, spot size and chromatic aberration of the target beam through a combination of multiple optical lenses to make it meet the access requirements of the fiber optic coupling module; symmetrical beam splitting is to use a semi-transparent and semi-reflective beam splitter to evenly divide the shaped beam into two paths according to a preset ratio, which are used for spot detection and beam coupling respectively.

[0033] It is understood that the embodiments of this application use a multi-stage shaping optical system to perform personalized processing on cooperative target beams with different initial characteristics, effectively compressing the divergence angle, adjusting the spot size, and correcting chromatic aberration, thus solving the problem of limited shaping effect of traditional single optical elements. The symmetrical beam splitting design ensures the consistency of beam characteristics between the detection optical path and the coupling optical path, so that the detected spot position can truly reflect the actual situation of the coupling optical path, avoiding adjustment deviations caused by differences in the characteristics of the two beams. Polarizers are set on the two optical paths to further ensure the uniformity of beam polarization direction, improve the stability of subsequent detection and coupling, and provide a reliable guarantee for high-precision tracking and aiming.

[0034] For example, in a laser communication system, the initial divergence angle of the target beam is 10 mrad and the spot diameter is 2 mm. Through a multi-stage shaping optical system consisting of a collimating lens (focal length 50 mm), a beam expander (magnification 3x), and an achromatic lens (focal length 30 mm), the divergence angle is compressed to 3 mrad and the spot diameter is adjusted to 6 mm, while the beam chromatic aberration is corrected. Subsequently, a semi-transparent and semi-reflective beam splitter adapted to a 1550 nm wavelength is used to set a symmetrical beam splitting ratio of 1:1 and adjust the incident angle to 45° so that the reflected light forms the detection optical path and the transmitted light forms the coupling optical path. Polarizers are installed on the two optical axes to unify the beam polarization direction to horizontal polarization, laying the foundation for subsequent accurate detection and coupling.

[0035] In this embodiment, the cooperative target beam is shaped using an optical system, including: constructing a multi-stage shaping optical system composed of a collimating lens, a beam expander, and an achromatic lens; determining the focal length parameters and relative spacing of each lens based on the initial divergence angle and spot diameter of the cooperative target beam using the multi-stage shaping optical system; and outputting a shaped beam that meets the coupling requirements by compressing the divergence angle with the collimating lens, adjusting the spot size with the beam expander, and correcting the chromatic aberration with the achromatic lens, based on the focal length parameters and relative spacing of each lens.

[0036] It is understood that the embodiments of this application construct a multi-level shaping optical system, integrating three core functions: collimation, beam expansion, and achromatic correction, to achieve comprehensive optimization of the target beam. Lens parameters and spacing are precisely matched according to the initial characteristics of the beam, ensuring targeted divergence angle compression, spot size adjustment, and chromatic aberration correction, avoiding beam quality degradation caused by blind shaping. The collimating lens effectively reduces beam divergence and improves beam parallelism; the beam expanding lens flexibly adjusts the spot size according to coupling requirements; and the achromatic lens eliminates propagation deviations of different wavelengths of light. These three components work together to output a high-quality shaped beam, providing a guarantee for subsequent beam splitting and precise coupling, and solving the problem that traditional single-stage shaping cannot simultaneously address multi-dimensional optimization.

[0037] For example, in a certain lidar system, the initial divergence angle of the cooperative target beam is 8 mrad, and the spot diameter is 1.5 mm. It needs to be shaped into a suitable beam with a divergence angle ≤ 2 mrad and a spot diameter of 4 mm. First, a multi-stage shaping optical system is constructed. Through calculation, the focal length of the collimating lens is determined to be 40 mm, the magnification of the beam expander lens is 4x, and the focal length of the achromatic lens is 25 mm. The spacing between each lens is set to 50 mm and 35 mm respectively. The collimating lens first compresses the beam divergence angle to 2 mrad, and the beam expander lens magnifies the spot diameter from 1.5 mm to 6 mm. Then, the achromatic lens corrects the chromatic aberration caused by wavelength drift. Finally, a shaped beam with a divergence angle of 1.8 mrad, a spot diameter of 4 mm, and a chromatic aberration ≤ 0.1λ is output, which fully meets the access requirements of the lidar fiber optic coupling module.

[0038] In step S103, the position of the light spot on the detection optical path is detected by the CMOS module, the center coordinates of the light spot are extracted, and the offset difference between the center coordinates and the preset center position of the CMOS module on the X-axis and the offset difference on the Y-axis are calculated.

[0039] Among them, the center coordinates of the light spot refer to the two-dimensional coordinates of the geometric center of the light spot obtained by the centroid method after the light spot image of the detection optical path is acquired by the CMOS image sensing module, adaptive binarization threshold segmentation, and abnormal data removal.

[0040] It is understood that the embodiments of this application use high-frequency sampling and precise image processing of the CMOS module to capture the position of the light spot in the detection optical path in real time. The adaptive binarization threshold segmentation method can effectively separate the light spot from the background and avoid ambient light interference. The centroid method combined with multi-frame data averaging processing improves the extraction accuracy of the center coordinates of the light spot. At the same time, the preset center position is determined by standard parallel cursor, a two-dimensional rectangular coordinate system is established, and the offset difference between the X-axis and Y-axis is accurately calculated using vector subtraction algorithm to quantify the direction and magnitude of the light spot offset. This provides accurate position feedback information for the subsequent adjustment of the coupling module, solves the problems of low accuracy and fuzzy offset quantization in traditional light spot detection, and ensures the targeting and accuracy of the tracking adjustment.

[0041] For example, in a lidar beam coupling tracking scenario, a CMOS image sensing module with a resolution of 1920×1080 is constructed, and the sampling frequency is set to 100Hz. After the CMOS module acquires the spot image of the detection optical path, an adaptive binarization threshold segmentation algorithm is used to automatically determine the segmentation threshold based on the image grayscale histogram (dynamically adjusted within the range of 50-200), separating the spot area from the background area and clarifying the spot outline boundary. Based on this outline boundary, the centroid method is used to calculate the center coordinates of the spot. The coordinate data of 20 consecutive frames are compared, and abnormal data that deviate from the mean by more than 3 standard deviations are removed. The mean of the remaining valid frame data is taken as the center coordinates of the target spot (e.g., the calculated coordinates are (965, 543)). The preset center position of the CMOS module was determined to be (960, 540) using a standard parallel cursor with a wavelength of 632.8nm. A two-dimensional rectangular coordinate system was established with this position as the origin. The X-axis offset difference was calculated to be 5 pixels and the Y-axis offset difference was calculated to be 3 pixels using a vector subtraction algorithm. Combined with the CMOS pixel size of 5μm, the actual physical offset difference was calculated to be 25μm on the X-axis and 15μm on the Y-axis, thus accurately quantifying the spot offset.

[0042] In this embodiment, the method of detecting the position of the light spot on the detection optical path and extracting the center coordinates of the light spot by using a CMOS module includes: constructing a CMOS image sensing module; based on the CMOS image sensing module, setting an appropriate sampling frequency, processing the light spot image acquired by the CMOS image sensing module, separating the light spot area from the background area by an adaptive binarization threshold segmentation method, and clarifying the outline boundary of the light spot; based on the outline boundary of the light spot, extracting the center coordinates of the light spot using the centroid method, and eliminating abnormally deviated coordinate data by comparing the coordinates of multiple consecutive frames of images, and using the mean of the effective frame data as the center coordinates of the target light spot.

[0043] The CMOS image sensing module is a modular image acquisition device that integrates a CMOS image sensor chip, a matching drive / signal processing circuit, and an optical adapter component to convert optical signals into electrical signals and complete preliminary image data processing.

[0044] It is understood that the embodiments of this application, by constructing a high-performance CMOS image sensing module and combining it with an appropriate sampling frequency, ensure the real-time and completeness of spot image acquisition, and avoid the failure to capture dynamic spots in a timely manner due to excessively low sampling frequency; the adaptive binarization threshold segmentation method can automatically adjust the segmentation threshold according to different lighting conditions, effectively separating the spot from the background, and solving the problem that fixed threshold segmentation is not effective in complex environments; the centroid method for extracting center coordinates has sub-pixel accuracy, and combined with multi-frame data filtering and mean calculation, it further reduces the impact of random noise and abnormal data, improves the reliability and stability of the spot center coordinates, and provides high-precision data support for subsequent offset calculation.

[0045] It should be noted that the formula for the center of gravity method is as follows: ; in, The coordinates of the target center; For the first The x-coordinates of the points; For indicator functions; For the first The ordinates of the points.

[0046] For example, in an optical detection system, a CMOS image sensing module with a resolution of 1920×1080 is constructed, and the sampling frequency is set to 80Hz; after adaptive binarization thresholding, the acquired spot image is determined to contain 2000 pixels in the spot outline boundary; the weighted coordinates of each pixel are calculated using the centroid method, where... The range is 500-700 pixels. The range is 300-500 pixels. The value range is 0-255; the calculation results of 15 consecutive frames are compared, and two frames of abnormal data deviating from the mean by more than 3% are removed. The final coordinates of the target spot center are obtained as follows: Pixels, converted to actual physical coordinates after calibration The positioning accuracy reaches ±0.01mm.

[0047] In this embodiment, calculating the offset difference between the center coordinates and the preset center position of the CMOS module along the X-axis and Y-axis includes: constructing a weighted average algorithm and a vector subtraction algorithm; based on the weighted average algorithm, performing fusion calculation on multiple sets of coordinate data, and determining the preset center position of the CMOS module using a standard parallel cursor; establishing a two-dimensional rectangular coordinate system with the preset center position as the origin, and calculating the offset difference in the X-axis and Y-axis directions respectively using the vector subtraction algorithm to accurately quantify the direction and magnitude of the spot offset.

[0048] The weighted average algorithm assigns corresponding weights to each data point based on its importance, calculates the mean by summing the weighted values ​​and dividing by the total weights, thus accurately reflecting the actual impact of different data points.

[0049] It is understood that the embodiments of this application fuse multiple sets of coordinate data through a weighted average algorithm to reduce the random error of a single data point and improve the stability of the coordinate data; a standard parallel cursor is used to determine the preset center position to ensure the accuracy of the reference point and avoid calculation errors caused by reference offset; a coordinate system is established with the reference point as the origin, and the offset difference in the X-axis and Y-axis directions is directly quantified through a vector subtraction algorithm to clearly present the direction and magnitude of the light spot offset, providing a clear adjustment basis for the subsequent adjustment mechanism, solving the problems of fuzziness and insufficient precision in traditional offset calculation methods, and ensuring the pertinence and accuracy of the adjustment action.

[0050] For example, in fiber-optic coupling tracking, the CMOS module is first calibrated using standard parallel light with a wavelength of 632.8 nm to determine the physical coordinates of the preset center position. Ten sets of spot center coordinate data were fused using a weighted average algorithm. The weighting coefficients were set to 0.1-0.2 according to the data acquisition time (more recent data had higher weights). The fused spot center coordinates were then obtained. A two-dimensional rectangular coordinate system is established with the preset center as the origin. The X-axis offset difference is calculated using a vector subtraction algorithm. (Offset along the positive X-axis), the Y-axis offset difference is (Offset along the negative Y-axis) precisely quantifies the offset state of the light spot.

[0051] In step S104, based on the offset difference and the Y-axis offset difference, the adjustment amount of the XYZ three-axis micro-motion actuator is calculated by a closed-loop algorithm. The micro-motion actuator drives the fiber optic coupling module to move upward along the corresponding axis to counteract the spot offset. At the same time, the spot position data of the CMOS module is continuously collected. The adjustment parameters of the micro-motion actuator are adjusted in real time through data feedback to maintain the relative position stability between the coupling module and the coupled spot.

[0052] Among them, the closed-loop algorithm refers to combining the spot offset difference with the response characteristics of the adjustment mechanism to construct a feedback adjustment model and calculate the required adjustment amount in real time; the XYZ three-axis micro-motion actuator refers to a precision drive device with independent adjustment capabilities in the X, Y, and Z directions, which can drive the fiber optic coupling module to achieve position adjustment in three-dimensional space.

[0053] It is understood that the embodiments of this application convert the offset difference into a precise adjustment amount through a closed-loop algorithm, solving the problems of lag and insufficient accuracy in traditional open-loop adjustment; the XYZ three-axis micro-motion actuator realizes comprehensive adjustment in three-dimensional space, which can not only compensate for the spot offset in the X and Y axes, but also cope with the distance change in the Z axis, filling the limitations of traditional single-axis / dual-axis adjustment; the continuous data feedback and parameter adjustment mechanism forms a dynamic closed-loop control, enabling the system to respond to changes in spot offset in real time, quickly cancel interference, maintain a long-term stable coupling state, and significantly improve the anti-interference ability and stability of the system.

[0054] For example, in a high-precision laser coupling system, based on the calculated X-axis offset difference of +0.25mm and Y-axis offset difference of -0.12mm, the adjustment amount of the XYZ three-axis micro-motion actuator is calculated through a PID closed-loop algorithm: X-axis -0.25mm (reverse movement to offset offset), Y-axis +0.12mm, Z-axis 0mm (no distance offset). The actuator drives the fiber optic coupling module to move according to the adjustment amount, with a movement accuracy of ±0.001mm. At the same time, the CMOS module continuously collects spot position data at a frequency of 100Hz and feeds it back to the closed-loop algorithm in real time. When a tiny offset of ±0.05mm due to vibration of the spot is detected, the algorithm immediately adjusts the adjustment parameters and drives the actuator to compensate, so that the relative position deviation between the coupling module and the spot is always controlled within ±0.01mm, ensuring that the coupling efficiency is stable at over 95%.

[0055] According to the embodiments of this application, a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module is proposed. This method achieves precise adaptation of cooperative target beams with different characteristics through a multi-stage shaping optical system. Symmetrical beam splitting design ensures consistency between the detection and coupling optical paths. Combined with high-precision spot detection and anti-interference coordinate extraction using a CMOS module, a reliable data foundation is provided for offset calculation. Through an XYZ three-axis micro-motion actuator and a closed-loop feedback algorithm, precise adjustment and dynamic compensation in three-dimensional space are achieved, effectively overcoming the limitations of traditional single-axis / dual-axis adjustment. Continuous data feedback and parameter optimization mechanisms significantly improve the system's anti-interference capability and long-term stability, meeting high alignment accuracy requirements while reducing the impact of environmental factors on the coupling effect. Therefore, it solves the problems of high latency and limited alignment accuracy in existing technologies.

[0056] The following will illustrate a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module through a specific embodiment, such as... Figure 2 As shown, it includes:

[0057] The application scenario uses a formation of six multi-rotor drones for urban low-altitude power line inspection. Each drone in the formation has a wingspan of 1.2m and a payload capacity of ≤1kg. It performs infrared high-definition inspection of 110kV transmission lines within a 10km range. Real-time image transmission at a rate of 1Gbps (single frame infrared image data size ≥50MB) between drones within the formation is required. The core of the communication link is stable coupling with a 1550nm band laser (coupling interruption will result in data loss). Terminal architecture deployment, such as... Figure 3 As shown, the Y-axis micro-motion mechanism is stacked on top of the X-axis micro-motion mechanism's platform. The fiber optic coupling module is fixed on the end platform of the Y-axis mechanism. The control terminal is connected to the X / Y-axis micro-motion mechanism and the optical detection module through dual shielded cables, forming a closed-loop link of "beam reception - spot detection - mechanism adjustment", which is suitable for complex working conditions such as attitude fluctuation (±5°) and relative displacement (≤10m / s) during UAV flight.

[0058] Hardware selection considers both lightweight design and high dynamic adaptability, with each component's parameters matching the inspection scenario requirements: The core optical and coupling module employs a 20mm aperture Cassegrain receiving telescope (50mm focal length, silicon carbide tube weight 80g), with a 1:1 symmetrical beam splitter at the exit pupil (5mm×5mm×5mm); the detection optical path connects to an OV7251 miniature CMOS image sensor (640×480 resolution, 100fps frame rate, 1500-1500nm response band). 600nm, power consumption ≤100mW), preset center position is pixel coordinates (320, 240); the coupling optical path is connected to an FC / APC type single-mode fiber coupler (coupling efficiency ≥90%@1550nm, insertion loss ≤0.5dB), which is fixed to the platform of the Y-axis micro-motion mechanism by a micro clamp; micro-motion actuator (corresponding to the X / Y axis mechanism and micro-device in the image): X-axis micro-motion mechanism: the main body is a micro piezoelectric ceramic (size 3mm×3mm×8mm, stroke ±50μm, positioning precision) The optical fiber coupling module has a step angle of ±0.1μm and a response frequency of 200Hz. A micro stepper motor (5mm×5mm×10mm, step angle 1.8°, reduction ratio 1:100, step accuracy ±2%) is integrated on the side as a coarse adjustment unit for large offset scenarios. The Y-axis micro-motion mechanism is identical to the X-axis structure, stacked on the platform surface of the X-axis mechanism, enabling high-precision Y-axis movement of the optical fiber coupling module. The Z-axis auxiliary adjustment unit is equipped with a micro voice coil motor (6mm diameter, 12mm length, ±200μm stroke, positioning accuracy ±1%). μm, response frequency 150Hz), connected to the bottom carrier plate of the X-axis mechanism, adaptable to dynamic fine adjustment of coupling distance; control terminal: selected STM32H743 microcontroller (main frequency 480MHz, built-in floating point arithmetic unit, power consumption ≤5W), integrated PWM drive circuit (output resolution 12bit), I2C / SPI communication interface, the shell is equipped with silicone rubber anti-vibration buffer pad (adapted to 5g vibration during drone flight), and synchronously connected to CMOS module, X / Y axis micro-motion mechanism and micro voice coil motor through cable.

[0059] After collecting the target beam, the optical system enters the shaping stage. Its core purpose is to collimate the diverging incident beam into uniform parallel light. If the beam is not shaped, an excessively large divergence angle will lead to uneven energy distribution in subsequent beam splitting, directly affecting the spot detection accuracy and fiber coupling efficiency. Shaping is achieved using the optical characteristics of the Cassegrain telescope: the incident beam is reflected and converged by the primary mirror, then reflected and collimated into parallel light by the secondary mirror, finally exiting from the telescope's exit pupil. To ensure the shaping effect, the coaxiality error between the primary and secondary mirrors is controlled within 0.01mm. The position of the secondary mirror is calibrated using micro-adjustment screws, ensuring that the divergence angle of the collimated beam is ≤0.1mrad (corresponding to a spot diameter ≤1m at a distance of 10km), meeting the incident light requirements of the subsequent beam splitter. Simultaneously, the beam used for spot detection and beam splitting is shaped into a uniform parallel beam. A 50nm polarizing beam splitter prism is integrated into the telescope's exit pupil: the prism measures only 5mm×5mm×5mm and weighs less than 1g, allowing it to be directly embedded into the exit pupil interface without requiring additional installation space, thus meeting the compact layout requirements of the terminal. Integration at the exit pupil is chosen because this is the uniform region after beam shaping, ensuring stable energy distribution of the two beams during beam splitting and avoiding detection errors or coupling losses caused by beam inhomogeneity. The prism's incident surface is coated with a 1550nm anti-reflection film, further reducing incident light loss and improving optical power utilization.

[0060] A 1:1 symmetrical beam splitter for the 1550nm band is selected: the 1:1 splitting ratio is key to balancing the requirements of the two paths—the detection optical path requires an intensity ≥ -30dBm to match the sensitivity of the OV7251 CMOS, while the coupling optical path requires an intensity ≥ -25dBm to support a 1Gbps communication rate. The 1:1 splitting ratio satisfies the intensity requirements of both simultaneously. This prism operates based on the polarization beam splitting effect: it has a transmittance ≥ 99% for p-polarized light in the 1550nm band, a reflectance ≥ 99% for s-polarized light, and a polarization extinction ratio ≥ 30dB, effectively reducing crosstalk between the two paths and preventing interference from the communication optical path from affecting the detection signal. In practical applications, the optical power of the detection optical path after beam splitting is approximately -28dBm, and the optical power of the coupling optical path is approximately -27dBm, both of which meet the requirements of the corresponding modules. The prism is fixed with UV-curable adhesive with a bonding strength of ≥5MPa, which can withstand the vibration environment of UAVs ≤5g, and the weight after curing is less than 0.1g. The insertion loss of the beam splitting stage is ≤0.3dB, which further ensures the effective utilization of the optical signal and avoids excessive attenuation caused by beam splitting.

[0061] Configured with FC / APC type single-mode fiber optic couplers: FC interface connection is reliable (insertion / output cycles ≥1000 times), adaptable to the multiple mission requirements of UAV formations; APC 8° angled grinding design ensures return loss ≤-60dB, avoiding optical signal reflection interference with the receiving system; this coupler has a coupling efficiency ≥90% and insertion loss ≤0.5dB in the 1550nm band, ensuring coupled optical power ≥-27.5dBm, meeting the power requirements of 1Gbps communication. The coupler is fixed to an XYZ three-axis micro-motion actuator, which has been differentiated for UAV scenarios: the X / Y axes use miniature piezoelectric ceramics: response frequency 200Hz, positioning accuracy ±0.1μm, stroke ±50μm, adaptable to the slight spot shift (typically ≤5μm) caused by UAV vibration (≤5g); built-in strain gauge sampling frequency 200Hz, accuracy ±0.05μm, can provide real-time feedback of position status. The Z-axis uses a miniature voice coil motor with a travel of ±200μm, a response frequency of 150Hz, and a positioning accuracy of ±1μm, adapting to coupling distance offsets caused by changes in relative distance between formations. A built-in Hall sensor with a sampling frequency of 150Hz and an accuracy of ±0.5μm provides synchronous feedback on the Z-axis status. A miniature stepper motor serves as a coarse-tuning backup: a step angle of 1.8°, a reduction ratio of 1:100, and an actual step length of approximately 5μm. This allows for rapid reduction of large offsets (>5 pixels) to within 5 pixels before switching to fine-tuning mode, adapting to scenarios with large positional changes such as formation reorganization. A closed-loop control model is constructed based on C language and incremental PID algorithm: It inputs 8-dimensional features (Δx / Δy, Z-axis trend, actuator position, and the rate of change of the first 3 offsets), and sets differentiated parameters—X / Y axis Kp=0.8, Ki=0.05, Kd=0.1 (adapting to short stroke and high precision), Z-axis Kp=0.5, Ki=0.02, Kd=0.08 (adapting to long stroke and smooth adjustment); an integral separation strategy is introduced (integration is paused when the offset is >5 pixels) to avoid overshoot. The algorithm calculation cycle is ≤2ms, adapting to the computing power of the STM32H743 microcontroller. In tests with a UAV relative speed of 5m / s and an initial spot offset of 10 pixels: the offset on the X / Y axis is reduced to ±0.5 pixels (≤0.5μm) within 50ms, and the Z-axis is adjusted to the optimal coupling distance within 80ms, with a stable coupling efficiency ≥85%. The control strategy is layered by offset: for small offsets (≤2 pixels), only the piezoelectric ceramic is activated; for medium offsets (2-5 pixels), the piezoelectric ceramic and voice coil motor are activated; for large offsets, a stepper motor is activated first for coarse adjustment, while vibration data is collected through a MEMS accelerometer (500Hz sampling) for pre-compensation to cancel interference. Based on 100,000 scene data (ground simulation, aerial flight), the PID parameters are optimized using the particle swarm optimization (PSO) algorithm: Kp for the X / Y axis is adjusted to 0.85, Kp for the Z axis is adjusted to 0.55, the coupling efficiency is improved to over 88%, and the positioning error is ≤0.15μm.After each mission, a performance report is generated (e.g., 30-minute flight coupling efficiency average 89%, fluctuation ±2%). Using the iterative algorithm of "data statistics - parameter adjustment - ground test - air application", the small offset adjustment time is reduced from 50ms to 40ms, the large offset is reduced from 120ms to 90ms, and the coupling fluctuation in strong wind scenarios is reduced from ±5% to ±2%.

[0062] The OV7251 miniature CMOS image sensor is selected: resolution 640×480 (covering an imaging range of 20-50 pixels for the light spot), frame rate 100fps (one frame is acquired every 10ms), response band 1500-1600nm (matching the 1550nm communication band), quantum efficiency ≥30% (effectively detecting weak light signals), power consumption ≤100mW (accounting for ≤2% of the total power consumption of the terminal); the preset center is pixel coordinates (320, 240), i.e., the physical center of the sensor, which facilitates the calculation of offset difference. The light spot image is transmitted using hardware DMA: each frame of 307.2KB 8-bit grayscale image is directly written to memory via DMA without CPU intervention, avoiding resource consumption, and the transmission delay is ≤0.5ms, ensuring data real-time performance. The spot position calculation process is "filtering-centroid extraction": First, a 5×5 kernel Gaussian filter (standard deviation 1.5) is applied to eliminate sensor noise and ambient light interference (signal-to-noise ratio improved to ≥20dB); then, the centroid method is used to calculate the center coordinates (x_c=Σ(x_i×I_i) / ΣI_i, y_c=Σ(y_i×I_i) / ΣI_i). Compared with the geometric center method, the centroid method is closer to the actual center of the Gaussian distribution spot (deviation ≤0.1 pixels); Δx=x_c-320 and Δy=y_c-240 are calculated. At the same time, the Z-axis trend is judged by the change in the number of pixels in the 3σ region of the spot (an increase in the number of pixels corresponds to too close coupling, and a decrease corresponds to too far coupling). Actuator status data is uploaded every 5ms: position data from piezoelectric ceramic strain gauges (200Hz sampling, ±0.05μm accuracy) and voice coil motor Hall sensors (150Hz sampling, ±0.5μm accuracy) are transmitted via I2C+SPI bus (delay ≤1ms) to provide real-time feedback for the PID algorithm. Coupling effect and actuator data are synchronously acquired every 20ms: coupling effect data includes optical power meter data (accuracy ±0.1dB) and bit error rate (≤1×10^-9, meeting the standard); actuator data includes adjustment count, positioning error, and power consumption. This data is used for performance evaluation and exported for analysis after each task.

[0063] In summary, this invention constructs a multi-dimensional data acquisition system covering beam optical characteristics, spot position information, actuator status, and coupling effect parameters. Combined with a high-efficiency data transmission architecture integrating hardware DMA transmission and I2C / SPI bus communication, it provides precise data support for subsequent control. A stable optical link is built using Cassegrain telescope shaping and 1:1 polarization beam splitting. This is coupled with centroid-based spot detection and an incremental PID adjustment model, along with a layered offset control strategy (small offset piezoelectric ceramic fine-tuning, medium offset fine-coarse coordination, large offset stepper motor coarse-tuning + vibration pre-compensation) to achieve precise spot positioning and coupling. Particle swarm optimization (PSO) algorithm iteration parameters ensure 1Gbps transmission of single-frame ≥50MB infrared images, avoiding data loss due to coupling interruptions. After actuator control, an optical power meter, bit error rate monitoring, and PSO coupling optimization model balance coupling efficiency and dynamic condition adaptability, improving overall performance. The system ensures stable communication links, reduces the risk of data transmission interruptions during inspections, guarantees the continuity of infrared high-definition inspections of 110kV transmission lines within a 10km range, and improves the integrity of inspection data. The laser communication terminal employs lightweight selections such as silicon carbide lens barrels and micro-devices, along with a silicone rubber shock-absorbing design, adapting to the 1kg payload and 5g vibration requirements of drones. Combined with the low-power architecture of the STM32H743 control terminal, it ensures long-term battery life. Real-time monitoring of coupling effects and remote adjustment of PID parameters are supported, reducing ineffective adjustments and malfunctions in the actuators, extending terminal lifespan, and lowering the maintenance costs of the formation communication system. Through performance evaluation after each task and iterative updates of the PSO algorithm parameters, a closed-loop management system of "detection-adjustment-feedback-optimization" is formed, ensuring the system adapts to complex operating conditions such as drone attitude fluctuations and relative displacements, continuously improving coupling efficiency and communication stability, and achieving long-term reliable and efficient operation of drone formation urban low-altitude power line inspections.

[0064] Next, referring to the accompanying drawings, a beam coupling and aiming device based on an automatically adjusting fiber optic coupling module is described according to an embodiment of this application.

[0065] Figure 4 This is a schematic diagram of a beam coupling and aiming device based on an automatically adjusting fiber optic coupling module, according to an embodiment of this application.

[0066] like Figure 4 As shown, the beam coupling and aiming device 10 based on an automatic adjustment fiber optic coupling module includes: an acquisition module 100, a processing module 200, a calculation module 300, and a control module 400.

[0067] The module comprises the following components: an acquisition module 100 for acquiring the target beam; a processing module 200 for shaping the target beam using an optical system and symmetrically splitting it into a detection optical path and a coupling optical path using a beam splitter; a calculation module 300 for detecting the spot position on the detection optical path using a CMOS module, extracting the center coordinates of the spot, and calculating the offset difference between the center coordinates and the preset center position of the CMOS module on the X and Y axes; and a control module 400 for calculating the adjustment amount of the XYZ three-axis micro-motion actuator based on the offset difference and axis offset difference using a closed-loop algorithm. This control mechanism drives the fiber optic coupling module to move upwards along the corresponding axes to counteract the spot offset. Simultaneously, it continuously acquires the spot position data from the CMOS module and adjusts the adjustment parameters of the micro-motion actuator in real time through data feedback to maintain the relative position stability between the coupling module and the coupling spot.

[0068] The following will describe a beam coupling and aiming device based on an automatically adjusting fiber optic coupling module through a specific embodiment, such as... Figure 5 As shown, it includes:

[0069] In dynamic beam coupling scenarios for small-to-medium-sized space optical communication, the entire system is integrated into a sealed optical cavity to isolate it from ambient light and airflow interference. The main body of the cavity is made of 6061-T6 aluminum alloy, balancing lightweight (density 2.7g / cm³) and high rigidity (elastic modulus 69GPa), adapting to the 200mm×150mm×100mm payload space of a 1U CubeSat, with a weight controlled within 1.5kg. The inner wall of the cavity is blackened and anodized, with a surface roughness Ra≤0.8μm and diffuse reflectance <5%, which can minimize the interference of stray light on beam detection. At the same time, a two-stage sealing scheme of fluororubber O-rings + low-volatile vacuum grease is adopted, achieving an IP67 protection level, which can isolate space dust and low-pressure corrosion. Inside the cavity, the coupling fiber is fixed to the load end of the triaxial adjustable actuator via a precision fiber optic mount (concentricity error ≤1μm). The optical system, beam splitter, and CMOS module are arranged sequentially according to the beam transmission path. The optical system faces the incident direction of the cooperative target beam and is coaxially aligned with the cavity entrance. The beam splitter is located 150mm from the light-emitting side of the optical system, with its angle precisely calibrated to 45°. The CMOS module is fixed in the vertical direction of the beam splitter's reflected light path (80mm spacing) via an adjustable bracket to ensure that the photosensitive surface and the reflected light spot are completely aligned.

[0070] Once the device is activated, the target beam in space first enters the optical system, which employs a double achromatic collimating lens group optimized for the 1550nm communication wavelength: the first lens is a plano-convex lens with a focal length of 25mm and an aperture of φ20mm, responsible for initially converging and diverging the beam (incident divergence angle ≤5mrad); the second lens is a biconvex lens with a focal length of 50mm and an aperture of φ25mm, which, through a lens spacing of 37.5mm optimized by Zemax software, corrects spherical aberration and coma, ultimately shaping the beam into a collimated beam with parallelism ≤1mrad and wavefront aberration ≤λ / 10 (λ=1550nm), avoiding spot distortion caused by aberrations. The collimated beam is incident on a K9 glass substrate and split into two paths with a 50:50 symmetrical ratio: one path is a coupling beam that propagates along the original optical path toward the end face of the coupling fiber, with a beam intensity of ≥4.8mW after splitting (when the input optical power is 10mW); the other path is reflected by the beam splitter and serves as a detection spot incident on the photosensitive surface of the CMOS module, with a beam intensity of ≥4.7mW, which is sufficient to support clear spot detection. The beam splitter surface is coated with an ion beam sputtering depolarization coating, and the splitting ratio deviation for any polarization beam is ≤1%, ensuring detection consistency under different operating conditions.

[0071] The CMOS module uses the GS2000 area array sensor, with a resolution of 1280×960 pixels and a pixel size of 3.75μm×3.75μm. It can achieve a high sampling frequency of 1kHz, meeting the Nyquist sampling requirements for low-frequency vibration interference of 5-50Hz. After continuously capturing the detected light spot image at a frequency of 1kHz, the module first separates the light spot from the background area using an adaptive threshold segmentation algorithm (taking the mean background grayscale value + 3 times the standard deviation as the threshold). Then, it uses a 3×3 median filter to eliminate salt-and-pepper noise, while simultaneously subtracting the background image without the light spot in real time to compensate for ambient stray light. Subsequently, the weighted mean of the pixels within the light spot area is calculated using the grayscale centroid method to obtain the real-time center coordinates of the light spot. (in The row and column coordinates of pixels. The coordinates are calculated as pixel grayscale values, and bilinear interpolation is performed on edge pixels to improve the positioning accuracy to the sub-pixel level (≤0.1 pixels, corresponding to an actual displacement ≤0.375μm). This coordinate is then compared with the geometric center position (x0, y0) pre-calibrated by the CMOS module using a helium-neon laser collimator to obtain the offset differences Δx and Δy of the light spot in the X and Y axes, providing a quantitative basis with an accuracy of 0.375μm for subsequent position adjustments.

[0072] Based on the aforementioned offset difference, the device employs a dual-core control architecture of "FPGA + MCU" to calculate the adjustment amount of the three-axis adjustable actuator: the Xilinx Artix-7 series FPGA is responsible for high-speed acquisition of CMOS image data (LVDS interface transmission rate 1.2Gbps) and completes the spot coordinate calculation within 0.5ms; the STM32H7 series MCU receives the offset data and runs the PID closed-loop control algorithm—after actual debugging, the algorithm parameters are set as proportional coefficient Kp=0.5, integral time Ti=0.02s, and derivative time Td=0.005s, which can balance the adjustment of response speed and overshoot. The actuator uses a P-563.3CD three-axis micro-motion platform driven by piezoelectric ceramics. Based on the inverse piezoelectric effect, the driving voltage is 0-150V, corresponding to a stroke of 100μm. The displacement resolution can reach 0.1μm, and the response time is ≤100μs. It can drive the coupling fiber to move precisely in the X, Y, and Z axes according to the control signal, accurately offsetting the spot offset. At the same time, the device collects the latest spot coordinates of the CMOS module every 1ms and corrects the PID parameters in real time, so that the closed-loop control cycle is ≤1ms, ensuring that the relative position of the coupling fiber and the coupling beam is always stable within the micron-level accuracy range.

[0073] Under actual operating conditions, the device, through simulation testing on a laboratory electric vibration table, can effectively cope with low-frequency vibration interference of 5-50Hz and amplitude of 0.5mm. During the one-hour test, the maximum spot offset at the end face of the coupled fiber was only 1.8μm, far below the design threshold of 2μm. With a static input optical power of 10mW, the output power of the coupled fiber reached 8.5mW, and the coupling efficiency remained stably above 85%. In temperature cycling tests in a high and low temperature test chamber (-20℃ to 50℃), the device's coupling efficiency changed by ≤3%, adapting to temperature fluctuations in the space environment. In a long-term stability test lasting 72 hours, the coupling efficiency fluctuation was ≤2%, with no performance degradation. The device has been installed on a 2U CubeSat and completed on-orbit inter-satellite optical communication tests. In dynamic scenarios involving satellite attitude adjustment (angle ±5°, speed 1° / s), the device's aiming response time is ≤2s, and the coupling efficiency remains between 83% and 87%. It successfully supports an inter-satellite communication bandwidth of 1.25Gbps. Compared with traditional manual alignment devices, the alignment time is reduced by 98%, and the stability is improved by 40%. Its high precision and stability can directly meet the long-term on-orbit working requirements of small satellite optical communication terminals.

[0074] It should be noted that the foregoing explanation of an embodiment of a beam coupling and aiming method based on an automatically adjustable fiber optic coupling module also applies to a beam coupling and aiming device based on an automatically adjustable fiber optic coupling module in this embodiment, and will not be repeated here.

[0075] According to an embodiment of this application, a beam coupling and aiming device based on an automatically adjusting fiber optic coupling module achieves precise adaptation to cooperative target beams with different characteristics through a multi-stage shaping optical system. Symmetrical beam splitting design ensures consistency between the detection and coupling optical paths. Combined with high-precision spot detection and anti-interference coordinate extraction using a CMOS module, a reliable data foundation is provided for offset calculation. Through an XYZ three-axis micro-motion actuator and a closed-loop feedback algorithm, precise adjustment and dynamic compensation in three-dimensional space are achieved, effectively overcoming the limitations of traditional single-axis / dual-axis adjustment. Continuous data feedback and parameter optimization mechanisms significantly improve the system's anti-interference capability and long-term stability, meeting high alignment accuracy requirements while reducing the impact of environmental factors on the coupling effect. Thus, it solves the problems of high latency and limited alignment accuracy in existing technologies.

[0076] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0077] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0078] When the processor 602 executes the program, it implements a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module provided in the above embodiments.

[0079] Furthermore, electronic devices also include:

[0080] Communication interface 603 is used for communication between memory 601 and processor 602.

[0081] The memory 601 is used to store computer programs that can run on the processor 602.

[0082] The memory 601 may include high-speed RAM (Random Access Memory) and may also include non-volatile memory, such as at least one disk storage.

[0083] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation,Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0084] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0085] The processor 602 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0086] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described beam coupling and aiming method based on an automatically adjusting fiber optic coupling module.

[0087] Furthermore, this application also provides a computer program product, including a computer program or instructions, which, when executed, implement the aforementioned beam coupling and aiming method based on an automatically adjusting fiber optic coupling module.

[0088] In the description of this specification, the references to "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0091] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0092] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0093] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A beam coupling and aiming method based on an automatically adjusting fiber optic coupling module, characterized in that, Includes the following steps: Acquire the target beam for cooperation; The cooperative target beam is shaped by an optical system, and the shaped cooperative target beam is symmetrically split by a beam splitter, so that the beam is divided into a detection optical path and a coupling optical path. The position of the light spot on the detection optical path is detected by the CMOS module, the center coordinates of the light spot are extracted, and the offset difference between the center coordinates and the preset center position of the CMOS module on the X-axis and the offset difference on the Y-axis are calculated. Based on the offset difference and axis offset difference, the adjustment amount of the XYZ three-axis micro-motion actuator is calculated by a closed-loop algorithm. The micro-motion actuator drives the fiber optic coupling module to move upward along the corresponding axis to counteract the spot offset. At the same time, the spot position data of the CMOS module is continuously collected. The adjustment parameters of the micro-motion actuator are adjusted in real time through data feedback to maintain the relative position stability between the coupling module and the coupled spot.

2. The beam coupling and aiming method based on an automatically adjusting fiber optic coupling module according to claim 1, characterized in that, Shaping the cooperative target beam using an optical system includes: Construct a multi-stage shaping optical system consisting of a collimating lens, a beam expander, and an achromatic lens; Based on the initial divergence angle and spot diameter of the cooperative target beam, the focal length parameters and relative spacing of each lens are determined by the multi-stage shaping optical system. Based on the focal length parameters and relative spacing of each lens, a collimating lens is used to compress the divergence angle, a beam expander is used to adjust the spot size, and an achromatic lens is used to correct chromatic aberration, thereby outputting a shaped beam that meets the coupling requirements.

3. The beam coupling and aiming method based on an automatically adjusting fiber optic coupling module according to claim 1, characterized in that, Symmetrical beam splitting of the shaped cooperative target beam using a beam splitter includes: Construct a semi-transparent, semi-reflective beam splitter adapted to the wavelength; Based on the semi-transparent and semi-reflective beam splitter, a symmetrical beam splitting ratio is set, and the incident angle between the beam splitter and the shaping beam is adjusted so that the reflected light forms the detection optical path and the transmitted light forms the coupling optical path. Polarizers are respectively placed on the optical axes of the detection optical path and the coupling optical path to make the polarization directions of the two beams consistent.

4. The beam coupling and aiming method based on an automatically adjusting fiber optic coupling module according to claim 1, characterized in that, The position of the light spot on the detection optical path is detected by the CMOS module, and the coordinates of the center of the light spot are extracted, including: Construct a CMOS image sensing module; Based on the CMOS image sensing module, an appropriate sampling frequency is set, and the spot image acquired by the CMOS image sensing module is processed. The spot area and the background area are separated by an adaptive binarization threshold segmentation method, and the spot outline boundary is clarified. Based on the outline boundary of the light spot, the center coordinates of the light spot are extracted using the centroid method. By comparing the coordinates of multiple consecutive frames of images, abnormally deviated coordinate data are eliminated, and the mean of the effective frame data is used as the center coordinates of the target light spot.

5. A beam coupling and aiming method based on an automatically adjusting fiber optic coupling module according to claim 4, characterized in that, The formula for the centroid method is as follows: ； in, The coordinates of the target center; For the first The x-coordinates of the points; For indicator functions; For the first The ordinates of the points.

6. The beam coupling and aiming method based on an automatically adjusting fiber optic coupling module according to claim 1, characterized in that, Calculate the offset differences on the X and Y axes between the center coordinates and the preset center position of the CMOS module, including: Construct a weighted average algorithm and a vector subtraction algorithm; Based on the weighted average algorithm, multiple sets of coordinate data are fused and calculated, and the preset center position of the CMOS module is determined by a standard parallel cursor. A two-dimensional rectangular coordinate system is established with the preset center position as the origin. The offset difference in the X-axis direction and the Y-axis direction is calculated by the vector subtraction algorithm to accurately quantify the direction and magnitude of the light spot offset.

7. A beam coupling and aiming device based on an automatically adjusting fiber optic coupling module, characterized in that, include: The acquisition module is used to acquire the cooperative target beam; The processing module is used to shape the cooperative target beam through an optical system and to symmetrically split the shaped cooperative target beam using a beam splitter, so that the beam is divided into a detection optical path and a coupling optical path. The calculation module is used to detect the position of the light spot on the detection optical path through the CMOS module, extract the center coordinates of the light spot, and calculate the offset difference between the center coordinates and the preset center position of the CMOS module on the X-axis and the offset difference on the Y-axis. The control module is used to calculate the adjustment amount of the XYZ three-axis micro-motion actuator based on the offset difference and axis offset difference through a closed-loop algorithm, control the micro-motion actuator to drive the fiber optic coupling module to move upward along the corresponding axis to counteract the spot offset, and continuously collect the spot position data of the CMOS module, and adjust the adjustment parameters of the micro-motion actuator in real time through data feedback to maintain the relative position stability between the coupling module and the coupled spot.

8. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the beam coupling and aiming method based on an automatically adjusting fiber optic coupling module as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When a computer program or instruction is executed, it implements a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module as described in any one of claims 1-6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When a computer program or instruction is executed, it implements a beam coupling and aiming method based on an automatically adjusting fiber optic coupling module as described in any one of claims 1-6.

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