Control method of laser system based on beacon light

Abstract

The present invention discloses a control method for a laser system based on beacon light. The system includes a main laser light source, a beacon light source, a posture adjustment mechanism, a dichroic mirror, an angle-adjustable reflective component, a first lens and a detector; the method includes: the beacon light emitted by the beacon light source is transmitted to the angle-adjustable reflective component via the dichroic mirror and irradiated to the target object; the posture adjustment mechanism adjusts the posture of at least a part of the components of the system so that the diffusely reflected beacon light from the target object is received by the first lens and sent to the detector; the angle-adjustable reflective component performs angle adjustment so that the diffusely reflected beacon light from the target object enters the designated position of the detector; the main laser light source emits a main laser, and the laser and the beacon light are coaxially transmitted via the dichroic mirror and transmitted to the angle-adjustable reflective component. The present invention can achieve keeping in touch with the target object until the task is completed.

Description

Technical Field

[0001] The present invention relates to the field of laser technology, and in particular to a laser system based on beacon light and a control method thereof. Background Art

[0002] Lasers can be used for communication, such as emitting lasers between two objects. Generally speaking, communication will last for a period of time, which requires the transmitter to continuously track the receiver. However, current laser communication systems tend to lose contact with the receiver after tracking for a period of time.

[0003] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of the present invention. In the absence of clear evidence that the above content has been disclosed before the application date of the present invention, the above background technology should not be used to evaluate the novelty and creativity of the present invention. Summary of the invention

[0004] The present invention provides a laser system based on beacon light and a control method thereof, which can keep in touch with a target object (or a receiver) until a task is completed.

[0005] In a first aspect, the present invention provides a beacon light-based laser system, comprising a main laser light source, a beacon light source, a posture adjustment mechanism, a dichroic mirror, an angle-adjustable reflective component, a first lens, a detector, and a controller;

[0006] An optical path can be formed between the main laser light source and the dichroic mirror;

[0007] An optical path can be formed between the beacon light source and the dichroic mirror;

[0008] The dichroic mirror can combine the main laser light emitted by the main laser light source and the beacon light emitted by the beacon light source into a coaxial light beam, which is then irradiated to the angle-adjustable reflective component;

[0009] The angle-adjustable reflective component can reflect light from the dichroic mirror to a target object;

[0010] The posture adjustment mechanism can adjust the posture of at least a part of the components of the system;

[0011] The first lens can receive diffuse reflection beacon light from the target object and can send the diffuse reflection beacon light into the detector;

[0012] The controller can control the angle-adjustable reflective component and the posture adjustment mechanism based on the signal received from the detector.

[0013] In a second aspect, the present invention provides a control method for a beacon light-based laser system, the system comprising a main laser light source, a beacon light source, a posture adjustment mechanism, a dichroic mirror, an angle-adjustable reflective component, a first lens, and a detector;

[0014] The method includes feedback control and master laser control;

[0015] The feedback control comprises:

[0016] The beacon light emitted by the beacon light source is transmitted to the angle-adjustable reflective component via the dichroic mirror, and the angle-adjustable reflective component reflects the beacon light to the target object;

[0017] The posture adjustment mechanism adjusts the posture of at least a part of the components of the system so that the diffusely reflected beacon light from the target object is received by the first lens and sent to the detector;

[0018] The angle-adjustable reflective component is adjusted so that the diffusely reflected beacon light from the target object enters the designated position of the detector;

[0019] If the deflection angle of the angle-adjustable reflective component is greater than a preset value, the posture adjustment mechanism adjusts the posture of at least a portion of the components of the system to reduce the deflection angle of the angle-adjustable reflective component while allowing the diffusely reflected beacon light from the target object to enter the designated position of the detector;

[0020] The master laser control includes:

[0021] The main laser light source emits a main laser, and the main laser and the beacon light are coaxially propagated through the dichroic mirror and propagated to the angle-adjustable reflective component, and the angle-adjustable reflective component reflects the laser to the target object;

[0022] Wherein, the feedback control still continues to work when the main laser control is executed.

[0023] In some preferred embodiments, the wavelength of the main laser emitted by the main laser light source is different from the wavelength of the beacon light emitted by the beacon light light source.

[0024] In some preferred embodiments, the wavelength of the main laser emitted by the main laser light source is greater than the wavelength of the beacon light emitted by the beacon light light source.

[0025] In some preferred embodiments, a reflector is further included;

[0026] The reflector is located between the beacon light source and the dichroic mirror; or, the reflector is located between the main laser light source and the dichroic mirror.

[0027] In some preferred embodiments, the dichroic mirror can reflect the main laser emitted by the main laser light source to the angle-adjustable reflecting component; the beacon light emitted by the beacon light source can transmit the dichroic mirror to reach the angle-adjustable reflecting component.

[0028] In some preferred embodiments, the dichroic mirror can reflect the beacon light emitted by the beacon light source to the angle-adjustable reflecting component; the main laser light emitted by the main laser light source can transmit the dichroic mirror to reach the angle-adjustable reflecting component.

[0029] In some preferred embodiments, a second lens is further included which can expand or focus the light from the angle-adjustable reflective component.

[0030] In some preferred embodiments, the second lens is a beam expander lens or a focusing lens.

[0031] In some preferred embodiments, the angle-adjustable reflective component includes a galvanometer mirror and a deflection mirror.

[0032] In some preferred embodiments, the specific form of the galvanometer includes a one-dimensional scanning angle adjustable reflective component and a two-dimensional scanning angle adjustable reflective component.

[0033] In some preferred embodiments, the specific form of the posture adjustment mechanism includes: a turntable-based posture adjustment mechanism, or a flywheel-based posture adjustment mechanism.

[0034] In some preferred embodiments, the first lens is a lens that allows the beacon light emitted by the beacon light source to pass through and blocks the laser light emitted by the main laser light source.

[0035] In some preferred embodiments, the detector comprises an image sensor and a position sensor.

[0036] In some preferred embodiments, a modulator is further included; the modulator modulates the main laser light source.

[0037] In some preferred embodiments, the designated position of the detector is the center of the detector.

[0038] In some preferred embodiments, specific forms of the image sensor include a charge coupled device image sensor, a complementary metal oxide semiconductor image sensor, and an enhanced charge coupled device image sensor.

[0039] In some preferred embodiments, the specific form of the position sensor includes a position sensitive device position sensor.

[0040] In a third aspect, the present invention provides a computer-readable storage medium having program instructions stored therein, wherein when the program instructions are executed by a processor of a computer, the processor is caused to execute the above method.

[0041] Compared with the prior art, the beneficial effects of the embodiments of the present invention include:

[0042] The beacon light emitted by the beacon light source is transmitted to the angle-adjustable reflective component via a dichroic mirror, and the angle-adjustable reflective component irradiates the beacon light to the target object, and the diffusely reflected beacon light from the target object enters the specified position of the detector through continuous feedback control of the angle-adjustable reflective component and the attitude adjustment mechanism; based on the swing angle information of the angle-adjustable reflective component, the attitude adjustment mechanism is controlled to adjust the attitude of at least part of the components of the system, and the swing angle of the angle-adjustable reflective component is reduced while ensuring that the imaging spot of the target object by the first lens is kept at the center of the detector; then, the main laser light source emits the main laser, and the dichroic mirror forms a coaxial propagation of the main laser and the beacon light and propagates them to the angle-adjustable reflective component, and the angle-adjustable reflective component reflects the main laser to the target object; after the main laser is emitted, the aforementioned feedback control still continues to work; in this way, the target object can be effectively tracked continuously, and contact with the target object can be maintained until the task is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic structural diagram of a laser system based on beacon light according to an embodiment of the present invention;

[0044] Figure 2 A schematic flow chart of a control method of a laser system based on beacon light according to an embodiment of the present invention;

[0045] Figure 3 A schematic structural diagram of a variant of a laser system based on beacon light according to an embodiment of the present invention;

[0046] Figure 4 The figure is a schematic structural diagram of another variant of a laser system based on beacon light according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention more clear, the following Figures 1 to 4 It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0049] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] This embodiment provides a laser system based on beacon light and a control method thereof. The control method of this embodiment is implemented by the laser system of this embodiment. Among them, the laser system of this embodiment can also be called a tracking and aiming system.

[0052] refer to Figure 1 The beacon light-based laser system of this embodiment includes a main laser light source 1, a beacon light source 2, a posture adjustment mechanism 3, a dichroic mirror 4, an angle-adjustable reflection component 5, a first lens 6, a detector 7, a controller 8 and a reflector 9.

[0053] The main laser light source 1 is used to emit the main laser. The main laser can be used for communication or for damage. The main laser used for communication is the communication light; the main laser used for damage is the damage light.

[0054] The beacon light source 2 is used to emit beacon light.

[0055] The attitude adjustment mechanism 3 is used to adjust the attitude of at least part of the components of the beacon light-based laser system, such as adjusting the attitude of the angle-adjustable reflective component 5; in other embodiments, the attitude adjustment mechanism 3 adjusts the attitude of the entire beacon light-based laser system, so that the spatial position of the entire beacon light-based laser system changes, such as the position in the X, Y and Z directions changes. The attitude adjustment mechanism 3 can be a three-dimensional adjustment mechanism or a two-dimensional adjustment mechanism. Specifically, the attitude adjustment mechanism 3 can be a turntable-based attitude adjustment mechanism or a flywheel-based attitude adjustment mechanism. Among them, the base of the turntable-based attitude adjustment mechanism is fixed, such as installed on a ship; the base of the flywheel-based attitude adjustment mechanism is movable, such as installed on an aircraft, and attitude adjustment is achieved by relying on the conservation of momentum.

[0056] The dichroic mirror 4 can reflect one kind of light and transmit another kind of light. An optical path can be formed between the main laser light source 1 and the dichroic mirror 4. An optical path can be formed between the beacon light source 2 and the dichroic mirror 4. The dichroic mirror 4 can make the laser light emitted by the main laser light source 1 and the beacon light emitted by the beacon light source 2 coaxial and then irradiate to the angle-adjustable reflective component 5.

[0057] The angle-adjustable reflective component 5 is used to reflect light to a specified position by adjusting its own angle, thereby adjusting the light emission angle. In this embodiment, the angle-adjustable reflective component 5 is a galvanometer; in other embodiments, the angle-adjustable reflective component 5 is a deflection mirror. The galvanometer can also be called a galvanometer system. The galvanometer itself has a posture adjustment unit that can adjust the irradiation direction of light. The galvanometer is a scanning galvanometer. In this embodiment, the galvanometer is a one-dimensional scanning galvanometer. In other embodiments, the galvanometer is a two-dimensional scanning galvanometer.

[0058] The reflector 9 plays a role in turning the light path, for example, reflecting the beacon light emitted by the beacon light source 2 to the dichroic mirror 4 .

[0059] A reflector 9, a dichroic mirror 4 and an angle-adjustable reflective component 5 are arranged in sequence in the forward direction 200 of the beacon light emitted by the beacon light source 2. The forward direction 200 may be tortuous. Figure 1 , in the forward direction 200, the reflector 9 is located behind the beacon light source 2, the dichroic mirror 4 is located behind the reflector 9, and the angle-adjustable reflective component 5 is located behind the dichroic mirror 4. In this way, the beacon light emitted from the beacon light source 2 first reaches the reflector 9, then the dichroic mirror 4, and the angle-adjustable reflective component 5 reflects the beacon light from the dichroic mirror 4 to the target 100.

[0060] It is worth noting that the reflector 9 is optional, for example, the beacon light source 2 directly transmits the beacon light to the dichroic mirror 4 .

[0061] The main laser light source 1 and the beacon light source 2 share a dichroic mirror 4 and an angle-adjustable reflective component 5. In this way, the main laser light emitted by the main laser light source 1 can also be reflected to the target object via the angle-adjustable reflective component 5.

[0062] refer to Figure 1 In this embodiment, the dichroic mirror 4 reflects the main laser light emitted by the main laser light source 1 and transmits the beacon light emitted by the beacon light source 2. In this way, the dichroic mirror 4 can reflect the main laser light emitted by the main laser light source 1 to the angle-adjustable reflective component 5, and the beacon light emitted by the beacon light source 2 passes through the dichroic mirror 4 after passing through the reflector 9 and irradiates the surface of the angle-adjustable reflective component 5. In other embodiments, the dichroic mirror 4 reflects the beacon light emitted by the beacon light source 2 and transmits the main laser light emitted by the main laser light source 1; in this way, the dichroic mirror 4 reflects the beacon light emitted by the beacon light source 2 to the angle-adjustable reflective component 5, and the main laser light emitted by the main laser light source 1 passes through the dichroic mirror 4 to reach the angle-adjustable reflective component 5.

[0063] refer to Figure 1 , the dichroic mirror 4 is arranged at a first specified angle, such as 45°, with the horizontal direction. A reflector 9 is arranged between the beacon light source 2 and the dichroic mirror 4. The reflector 9 plays the role of turning the light path, reflecting the beacon light emitted from the beacon light source 2 to the dichroic mirror 4. The second specified angle formed by the reflector 9 and the horizontal direction is equal to the aforementioned first specified angle, so that the beacon light emitted by the beacon light source 2 can be combined with the laser light emitted by the main laser light source 1 into a combined light beam 300 to propagate forward and irradiate the target 200. In other embodiments, the reflector 9 is located between the main laser light source 1 and the dichroic mirror 4.

[0064] The beacon light emitted by the beacon light source 2 is irradiated on the target object and is reflected back by the target object in the form of diffuse reflection. The first lens 6 receives the diffusely reflected beacon light from the target object and irradiates the diffusely reflected beacon light to the detector 7.

[0065] The first lens 6 is a lens that allows the beacon light emitted by the beacon light source 2 to pass through and blocks the main laser light emitted by the main laser light source 1. In other embodiments, the first lens 6 is a lens that allows both the beacon light emitted by the beacon light source 2 and the main laser light emitted by the main laser light source 1 to pass through.

[0066] The detector 7 can measure the irradiation position of the beacon light focused by the first lens 6. The detector 7 can be an image sensor, a position sensor, or other detectors that can detect the position information of the light spot. Among them, the image sensor can form a pattern based on the received light; the image sensor can specifically be a CCD (Charge-coupled Device) image sensor, an enhanced CCD or a CMOS (Complementary Metal Oxide Semiconductor) image sensor; the position sensor can specifically be a PSD (Position Sensitive Detector) position sensor. The detector 7 can generate a signal based on the detected light and send the signal to the controller 8.

[0067] The controller 8 controls the galvanometer mirror and the attitude adjustment mechanism 3 based on the signal received from the detector 7 .

[0068] According to the above, the main laser emitted by the main laser light source 1 is irradiated to the dichroic mirror 4, and the beacon light emitted by the beacon light source 2 is also irradiated to the dichroic mirror 4; the dichroic mirror 4 makes the laser emitted by the main laser light source 1 and the beacon light emitted by the beacon light source 2 form coaxial propagation and propagate to the galvanometer, and the galvanometer irradiates the combined light 300 from the dichroic mirror 4 to the target object 200; the first lens 6 receives the diffusely reflected beacon light from the target object 200 and sends the diffusely reflected beacon light to the detector 7; wherein, the first lens 6 focuses the diffusely reflected beacon light on the detector 7, and the detector 7 measures the focusing position of the diffusely reflected beacon light and generates a signal; the controller 8 controls the galvanometer and the attitude adjustment mechanism 3 based on the signal received from the detector 7, so as to adjust the direction of the beacon light emitted by the beacon light source 2; in this way, the beacon light can be used to guide the main laser, which can be applicable to various scenarios.

[0069] This embodiment is described below in conjunction with the control method and laser system of this embodiment.

[0070] refer to Figure 2 The control method of the laser system based on beacon light in this embodiment includes feedback control A10 and main laser control A20.

[0071] Feedback control A10 includes steps A1 to A14.

[0072] Step A11 : The beacon light emitted by the beacon light source 2 is transmitted to the galvanometer mirror via the dichroic mirror 4 , and the galvanometer mirror reflects the beacon light to the target object 100 .

[0073] Specifically, the controller 8 controls the beacon light source 2 to emit the beacon light. The beacon light emitted by the beacon light source 2 is irradiated to the transmission surface 41 of the dichroic mirror 4 by the reflector 9, and the beacon light passes through the dichroic mirror 4 and irradiates the surface of the galvanometer mirror.

[0074] Step A12: The posture adjustment mechanism 3 adjusts the posture of at least a part of the components of the system so that the diffusely reflected beacon light from the target object 100 is received by the first lens 6 and sent to the detector 7.

[0075] In this embodiment, at least a part of the system is a galvanometer. The galvanometer is mounted on a posture adjustment mechanism 3. The controller 8 controls the posture adjustment mechanism 3 to adjust the posture of the galvanometer. The posture adjustment mechanism 3 performs a rough posture adjustment on the galvanometer to achieve rough tracking of the target 100.

[0076] Step A13: The galvanometer is adjusted in angle so that the diffusely reflected beacon light from the target object enters the designated position of the detector 7.

[0077] The galvanometer has a mechanism that can adjust its own angle. A galvanometer, such as a two-dimensional galvanometer, can adjust its own angle within a certain range, which is a fine posture adjustment to achieve fine tracking of the target 100. The controller 8 controls the galvanometer to adjust its own angle; specifically, the detector 7 generates a signal based on the detected diffuse reflection beacon light from the target 100 and sends the signal to the controller 8; the controller 8 obtains the position of the light spot on the detector 7 based on the signal received from the detector 7; if the light spot of the diffuse reflection beacon light is not at the specified position of the detector 7, such as the center, the galvanometer is controlled to adjust its own angle to adjust the light spot to the center of the detector 7.

[0078] Step A14, if the deflection angle of the galvanometer is greater than a preset value, the posture adjustment mechanism 3 adjusts the posture of at least part of the system components to reduce the deflection angle of the galvanometer while allowing the diffusely reflected beacon light from the target object 100 to enter the specified position of the detector 7.

[0079] Step A11 to step A13 is a continuous feedback control process. In the process of continuous feedback control, the controller 8 communicates with the galvanometer to obtain the swing angle information of the galvanometer and make judgments on the swing angle of the galvanometer at all times. When the swing angle of the galvanometer is greater than the preset value, the fine tracking of the galvanometer will be limited. At this time, the controller 8 controls the posture adjustment mechanism 3 to adjust the posture of the galvanometer, and reduces the swing angle of the galvanometer while ensuring that the imaging spot of the first lens 6 to the target object 100 remains at the center of the detector 7; that is, adjust the coarse adjustment mechanism (posture adjustment mechanism 3) and reduce the adjustment range of the fine adjustment mechanism (galvanometer).

[0080] The main laser control A20 includes: the main laser light source 1 emits a main laser, which is coaxially transmitted to the galvanometer after being made coaxial with the beacon light via the dichroic mirror 4 , and the galvanometer irradiates the main laser to the target 100 .

[0081] At this time, the main laser and the beacon light propagate coaxially and irradiate the same position of the target object 100 .

[0082] The main laser light emitted by the main laser light source 1 is irradiated onto the reflection surface 42 of the dichroic mirror 4 .

[0083] Among them, when the main laser control A20 is executed, the feedback control A10 still continues to work to achieve communication with the target object 100 or to strike the target object 100, that is, the laser emitted by the main laser light source 1 can be communication light or damage light.

[0084] The wavelength of the laser emitted by the main laser light source 1 is different from the wavelength of the beacon light emitted by the beacon light source 2. Assuming that the wavelength of the beacon light is λ1 and the wavelength of the main laser is λ2, then λ1≠λ2. Preferably, λ1<λ2, that is, the wavelength λ2 of the laser emitted by the main laser light source 1 is greater than the wavelength λ1 of the beacon light emitted by the beacon light source 2.

[0085] refer to Figure 3 If the laser system based on beacon light of this embodiment is used for communication, and the aperture of the collimated light from the galvanometer is relatively small, a second lens 10 capable of expanding the light from the galvanometer needs to be provided between the galvanometer and the target 100; in this case, the second lens 10 is a beam expander lens. If the aperture of the collimated light from the galvanometer is relatively large, the second lens 10 may not be provided.

[0086] refer to Figure 3 For the communication scenario, a modulator 11 can also be provided to modulate the main laser light source 1. The controller 8 controls the modulator 11 to modulate the main laser light source 1, thereby realizing laser communication.

[0087] refer to Figure 4 If the beacon light-based laser system of this embodiment is used for damage, a second lens 10 capable of focusing the light from the galvanometer may be provided between the galvanometer and the target 100; in this case, the second lens 10 is a focusing lens.

[0088] According to the above, the beacon light emitted by the beacon light source 2 is transmitted to the galvanometer via the dichroic mirror 4, and the galvanometer reflects the beacon light to the target 100. Through the continuous feedback control of the galvanometer and the attitude adjustment mechanism 3, the diffusely reflected beacon light from the target 100 enters the specified position of the detector 7, such as the center; based on the swing angle information of the galvanometer, the attitude adjustment mechanism 3 is controlled to adjust the attitude of the galvanometer, and the swing angle of the galvanometer is reduced while ensuring that the imaging spot of the target 100 by the first lens 6 is kept at the center of the detector 7; then, the main laser light source 1 emits the main laser, and the dichroic mirror 4 combines the main laser and the beacon light into a coaxial light beam and then transmits it to the galvanometer, and the galvanometer irradiates the combined light beam to the target 100 together; after the main laser is emitted, the above-mentioned feedback control still continues to work; in this way, the target 100 can be effectively tracked continuously, and contact with the target can be maintained until the task is completed.

[0089] The above-mentioned embodiment mainly realizes continuous tracking through a spatial optical path, can be applied to various scenarios, is easy to implement and has low cost.

[0090] The order of the steps of the control method of the present invention is flexible, and the technical solutions formed by changing the order of the steps are all included in the protection scope of the present invention.

[0091] Those skilled in the art can understand that all or part of the processes in the embodiment method can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the various method embodiments. The aforementioned storage medium includes: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0092] The above contents are further detailed descriptions of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, they can also make several substitutions or modifications to these described embodiments without departing from the concept of the present invention, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention.

Claims

1. A control method for a laser system based on beacon light, characterized in that: The system includes a main laser light source, a beacon light source, a posture adjustment mechanism, a dichroic mirror, an angle-adjustable reflective component, a first lens, and a detector; The method includes feedback control and master laser control; The feedback control comprises: The beacon light emitted by the beacon light source is transmitted to the angle-adjustable reflective component via the dichroic mirror, and the angle-adjustable reflective component reflects the beacon light to the target object; The posture adjustment mechanism adjusts the posture of at least a part of the components of the system so that the diffusely reflected beacon light from the target object is received by the first lens and sent to the detector; The angle-adjustable reflective component is adjusted so that the diffusely reflected beacon light from the target object enters the designated position of the detector; If the deflection angle of the angle-adjustable reflective component is greater than a preset value, the posture adjustment mechanism adjusts the posture of at least a portion of the components of the system to reduce the deflection angle of the angle-adjustable reflective component while allowing the diffusely reflected beacon light from the target object to enter the designated position of the detector; The master laser control includes: The main laser light source emits a main laser, and the main laser and the beacon light are coaxially propagated through the dichroic mirror and propagated to the angle-adjustable reflective component, and the angle-adjustable reflective component reflects the main laser to the target object; Wherein, the feedback control still continues to work when the main laser control is executed.

2. The method according to claim 1, characterized in that: The wavelength of the main laser light emitted by the main laser light source is different from the wavelength of the beacon light emitted by the beacon light light source.

3. The method according to claim 2, characterized in that: The wavelength of the main laser light emitted by the main laser light source is greater than the wavelength of the beacon light emitted by the beacon light light source.

4. The method according to claim 1, characterized in that: It also includes a modulator; the modulator modulates the main laser light source.

5. The method according to claim 1, characterized in that: Also includes reflectors; The reflector is located between the beacon light source and the dichroic mirror; or, the reflector is located between the main laser light source and the dichroic mirror.

6. The method according to claim 1, characterized in that: The dichroic mirror can reflect the main laser light emitted by the main laser light source to the angle-adjustable reflective component; the beacon light emitted by the beacon light source can transmit the dichroic mirror to reach the angle-adjustable reflective component; The dichroic mirror can reflect the beacon light emitted by the beacon light source to the angle-adjustable reflecting component; the main laser light emitted by the main laser light source can transmit the dichroic mirror to reach the angle-adjustable reflecting component.

7. The method according to claim 1, characterized in that: It also includes a second lens capable of expanding or focusing the light from the angle-adjustable reflective component.

8. The method according to claim 1, characterized in that: The specific forms of the posture adjustment mechanism include: a posture adjustment mechanism based on a turntable, or a posture adjustment mechanism based on a flywheel.

9. The method according to claim 1, characterized in that: The first lens is a lens that allows the beacon light emitted by the beacon light source to pass through and blocks the laser light emitted by the main laser light source; The specific forms of the detector include an image sensor and a position sensor; Specific forms of the image sensor include a charge coupled device image sensor, a complementary metal oxide semiconductor image sensor and an enhanced charge coupled device image sensor; The specific form of the position sensor includes a position sensitive device position sensor; the specific form of the angle-adjustable reflective component includes a galvanometer and a deflection mirror; The specific forms of the galvanometer include a one-dimensional scanning galvanometer and a two-dimensional scanning galvanometer; The designated position of the detector is the center of the detector; At least a part of the system is the angle-adjustable reflective component.

10. A computer-readable storage medium, characterized in that: include: The computer-readable storage medium stores program instructions, and when the program instructions are executed by a processor of a computer, the processor is caused to execute the method according to any one of claims 1 to 9.

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