System and method for tuning faceted crystal rods in a side pump module

Abstract

The present invention provides a system and method for adjusting a faceted crystal rod in a side pump module. The system includes: a support platform; a six-axis robot arm assembly including a six-axis robot arm and a pressure sensing jaw assembly; a first camera arranged in the longitudinal axis direction of a crystal rod accommodating cavity; a second camera arranged offset relative to the longitudinal axis of the crystal rod accommodating cavity; and a control module; the control module is configured to control the six-axis robot arm assembly to adjust the crystal rod to be coaxial with the crystal rod accommodating cavity and insert the crystal rod into the crystal rod accommodating cavity; and the control module is also configured to execute a visual detection algorithm to calculate the coaxial position of the crystal rod and the inclination angle of the crystal rod cut angle, and fine-tune the position of the crystal rod so that the axis deviation of the crystal rod and the crystal rod accommodating cavity is zero and the inclination angle of the crystal rod cut angle is zero. The present invention can protect the surface of the crystal rod and achieve high-quality, high-efficiency and high-precision adjustment of the crystal rod.

Description

Technical Field

[0001] The present invention relates to side-pumped solid-state lasers, and more particularly to a system and method for tuning a faceted crystal rod in a side-pump module of a solid-state laser. Background Art

[0002] In solid-state lasers, crystal rods can convert the energy provided by the side pump source into highly parallel and monochromatic laser light that is spatially and temporally coherent through an optical resonant cavity. With the development of solid-state lasers, faceted crystal rods with beveled end faces and Brewster angles are increasingly used. The faceted crystal rod needs to be kept horizontal when pushed into the side pump module, and the angle of the faceted crystal rod needs to be adjusted so that the long axis of the facet of the faceted crystal rod is located on a plane defined by the longitudinal center axis of the crystal rod accommodating cavity and the slit for receiving the input light provided by the side pump source.

[0003] The existing method for adjusting the faceted crystal rod is usually to use a laser beam emitted by a He-Ne indicator light source to shoot into the faceted crystal rod from one end, and use a six-dimensional adjustment frame to clamp the faceted crystal rod at the other end for adjustment. This method uses a complex system structure, low efficiency, high manual proficiency requirements, easy to damage the faceted crystal rod, and low accuracy, and cannot accurately and efficiently adjust the faceted crystal rod.

[0004] Therefore, there is a need to improve existing systems and methods for tuning faceted crystal rods in side pump modules of solid-state lasers. Summary of the invention

[0005] The purpose of the present invention is to provide a system and method for adjusting the faceted crystal rods in the side pump module. This system and method for adjusting the faceted crystal rods in the side pump module of a solid-state laser can overcome at least one disadvantage of the above-mentioned prior art.

[0006] According to one aspect of the present invention, a system for calibrating a faceted crystal rod in a side pump module is provided, comprising:

[0007] A supporting platform for placing a side pump module, wherein the side pump module comprises a supporting block, and a crystal rod accommodating cavity is formed on the supporting block;

[0008] A six-axis mechanical arm assembly for adjusting the crystal rod posture, the six-axis mechanical arm assembly comprising a six-axis mechanical arm and a pressure sensing clamp assembly installed at the end of the six-axis mechanical arm;

[0009] a first camera disposed in the longitudinal axis direction of the crystal rod accommodating cavity, the first camera being used to collect an image of the end of the crystal rod from a direction facing the crystal rod;

[0010] a second camera disposed offset relative to the longitudinal axis of the crystal rod accommodating cavity, the second camera being used to capture an image of an end of the crystal rod from a lateral direction of the crystal rod; and

[0011] a control module in electrical communication with the first camera, the second camera, and the six-axis robotic arm assembly;

[0012] wherein the control module is configured to control the six-axis robot arm assembly so as to adjust the crystal rod clamped by the pressure sensing jaw assembly to be coaxial with the crystal rod receiving cavity and insert the crystal rod into the crystal rod receiving cavity; and

[0013] The control module is also configured to execute a visual detection algorithm to calculate the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle, and control the six-axis robotic arm to fine-tune the position of the crystal rod clamped by the pressure sensing jaw assembly according to the calculated coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle, so that the axial deviation of the crystal rod and the crystal rod accommodating cavity is substantially zero and the inclination angle of the crystal rod cutting angle is substantially zero.

[0014] Preferably, the six-axis robotic arm assembly further comprises a screw-slider mechanism, the screw-slider mechanism comprises a screw and a slider threadedly engaged with the screw, and the six-axis robotic arm is mounted on the slider.

[0015] Preferably, the six-axis robotic arm assembly further comprises a support base and a rotating platform horizontally rotatably mounted on the support base, and the screw slider mechanism is arranged on the rotating platform.

[0016] Preferably, the pressure sensing jaw assembly comprises a bionic two-finger flexible jaw, a buffer pad mounted on the bionic two-finger flexible jaw, and a thin film pressure sensor located under the buffer pad.

[0017] Preferably, the visual detection algorithm includes using real-time image data collected by the first camera and the second camera as input, preprocessing the image data through guided filtering, and then calculating the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle based on a circle detection algorithm and an ellipse detection algorithm respectively.

[0018] Preferably, the system further comprises a plurality of posture sensors electrically connected to the control module and respectively used to detect posture data of the support platform, the lead screw slider mechanism, the first camera and the second camera, and the control module is further configured to:

[0019] adjusting the support platform, the lead screw slider mechanism, the first camera, and the second camera to a predetermined posture based on posture data detected by the posture sensor;

[0020] Controlling the slider and the six-axis robot arm thereon to move in translation so as to insert the crystal rod into the crystal rod accommodating cavity; and / or

[0021] The posture data of the support platform, the lead screw slider mechanism, the first camera and the second camera detected by the posture sensor are used as input to optimize the calculation of the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle.

[0022] Preferably, the posture sensor includes an array-type nine-axis sensor and an embedded processor. The array-type nine-axis sensor collects the original characteristic data of the support platform, the screw slider mechanism, the first camera and the second camera, and transmits them to the processor to calculate the posture data through a Kalman filter fusion algorithm.

[0023] Preferably, the control module is also configured to use the crystal rod pressure detected in real time by each of the thin film pressure sensors of the pressure sensing jaw assembly as input to execute a crystal rod pressure detection algorithm to determine the current stress state of the crystal rod, and to control the six-axis robotic arm to fine-tune the crystal rod position when the current stress exceeds a predetermined threshold.

[0024] Preferably, the system further comprises a display electrically connected to the control module to display the image data processed by the control module.

[0025] According to another aspect of the present invention, there is provided a method for calibrating a faceted crystal rod in a side pump module, comprising:

[0026] Clamping crystal rod;

[0027] Make the crystal rod coaxial with the crystal rod accommodating cavity on the supporting block of the side pump module;

[0028] Inserting the crystal rod into the crystal rod accommodating cavity;

[0029] After the crystal rod is inserted into the crystal rod accommodation cavity for a predetermined length, the coaxial position of the crystal rod is calculated by a circle detection method based on image data of the end of the crystal rod collected from a direction facing the crystal rod, and the crystal rod is fine-tuned based on the calculated coaxial position of the crystal rod so that the axis deviation between the crystal rod and the crystal rod accommodation cavity is substantially zero;

[0030] The crystal rod cut angle is calculated by an ellipse detection method based on image data of the crystal rod collected from the lateral direction of the crystal rod, and the crystal rod is rotated based on the calculated crystal rod cut angle so that the crystal rod cut angle is substantially zero.

[0031] Preferably, the method for calibrating a faceted crystal rod in a side pump module further comprises transmitting the processed image data to a display and displaying it on the display.

[0032] Preferably, the method for adjusting the faceted crystal rod in the side pump module further comprises optimizing the calculation of the coaxial position of the crystal rod and the inclination angle of the faceted crystal rod based on the real-time posture data detected by the posture sensor.

[0033] Preferably, clamping the crystal rod comprises controlling a six-axis robotic arm and a pressure sensing clamping jaw assembly mounted on the six-axis robotic arm through a control module to clamp the crystal rod.

[0034] Preferably, inserting the crystal rod into the crystal rod accommodating cavity includes controlling a slider of a screw-slider mechanism and translational movement of the six-axis robotic arm mounted on the slider through a control module.

[0035] Preferably, the control module controls the six-axis robot arm to fine-tune the position of the crystal rod according to the crystal rod pressure detected in real time by each thin film pressure sensor of the pressure sensing jaw assembly.

[0036] According to the system and method for adjusting the faceted crystal rod in the side pump module of the present invention, an active feedback adjustment method is adopted, which can not only effectively protect the surface of the faceted crystal rod with the Brewster cut angle, but also achieve high-quality, high-efficiency and high-precision adjustment of the posture and position of the crystal rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A faceted crystal rod is shown schematically;

[0038] Figure 2 The side pump module after the faceted crystal rod is loaded is schematically shown in a perspective view;

[0039] Figure 3 A system for tuning a faceted crystal rod in a side pump module of a solid-state laser according to the present invention is schematically shown;

[0040] Figure 4 Schematically shows Figure 3 A six-axis robotic arm assembly in a system for tuning a faceted crystal rod in a side pump module of a solid-state laser;

[0041] Figure 5 yes Figure 2 A right side view of the side pump module after the faceted crystal rod is loaded; and

[0042] Figure 6 A flow chart of a method according to the invention for tuning a faceted crystal rod in a side pump module of a solid-state laser is schematically shown. DETAILED DESCRIPTION

[0043] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the accompanying drawings are only used to illustrate the present invention but do not constitute a limitation to the present invention.

[0044] Figure 1 A faceted crystal rod is shown schematically. Figure 1 As shown, a generally cylindrical crystal rod 1 is chamfered at the end to form a cut surface 3, and the cut angle is a Brewster angle. Figure 1 The complementary angle α of the Brewster angle is schematically shown by the angle formed by the intersection of the normal line N of the cut surface 3 and the longitudinal axis OO' of the crystal rod 1. The cut surface 3 is an elliptical surface and the major axis of the elliptical surface is X.

[0045] Figure 2 The side pump module after the faceted crystal rod is loaded is schematically shown in a stereoscopic diagram. The side pump module 5 includes a base 7 and a support block 9 arranged on the base 7. Three support blocks 9 arranged at staggered intervals are shown in the figure, but it should be understood that fewer or more support blocks 9 can be arranged as needed. A crystal rod accommodating cavity 11 is formed on each support block 9, and the crystal rod accommodating cavities 11 of each support block 9 are longitudinally aligned to receive the crystal rod 1. A slit 13 that passes through the crystal rod accommodating cavity 11 is also formed on each support block 9, so that the light beam emitted by the side pump source is incident on the crystal rod 1 through the slit 13. When the crystal rod 1 is inserted into the crystal rod accommodating cavity 11 of the support block 9, it is necessary to keep the crystal rod 1 in a horizontal state, and at the same time, the crystal rod does not contact the inner wall of the crystal rod accommodating cavity 11 to prevent the surface of the crystal rod from being damaged. In addition, it is also necessary to adjust the angle of the crystal rod 1 so that the long axis X of the crystal rod section is located on a plane defined by the longitudinal center axis of the crystal rod accommodating cavity 11 and the slit 13 for receiving the input light provided by the side pump source. Since the slit 13 has a certain width, the plane actually refers to the plane defined by the longitudinal center axis of the crystal rod accommodating cavity 11 and the longitudinal center line of the slit 13.

[0046] Figure 3 A system for tuning a faceted crystal rod in a side pump module of a solid-state laser according to the present invention is schematically shown. Figure 3 As shown, the system 20 for adjusting the faceted crystal rod in the side pump module of the solid-state laser according to the present invention includes a support platform 21 for placing the side pump module 5, and the support platform 21 can be adjusted manually or automatically to keep the support platform 21 in a substantially horizontal posture. The system 20 for adjusting the faceted crystal rod in the side pump module of the solid-state laser according to the present invention also includes a six-axis robot arm assembly 23 for adjusting the crystal rod posture. Figure 4 Schematically shows Figure 3The six-axis robot assembly 23 in the system for adjusting the faceted crystal rod in the side pump module of the solid-state laser is shown. Figure 4 As shown, the six-axis robot assembly 23 includes a support base 25, a rotating platform 27 mounted horizontally and rotatably on the support base 25, a screw slider mechanism 29 arranged on the rotating platform 27, a six-axis robot 33 mounted on a slider 31 of the screw slider mechanism 29, and a pressure sensing clamping jaw assembly 35 mounted at the end of the six-axis robot 33. The rotating platform 27 can carry the screw slider mechanism 29 and the six-axis robot 33 located thereon to rotate in a horizontal plane. Of course, it is also feasible to directly install the screw slider mechanism 29 on a fixed support base. The screw 37 of the screw slider mechanism 29 rotates under the drive of a servo motor not shown, so that the slider 31 engaged with the screw 37 through a thread can carry the six-axis robot 33 located thereon to move along the axial direction of the screw 37. Figure 4 The six-axis robot arm 33 simplified as a box in the figure can drive the pressure sensing jaw assembly 35 installed at the end of the six-axis robot arm 33 to achieve six degrees of freedom under the drive of different servo motors. The pressure sensing jaw assembly 35 for clamping the crystal rod includes a bionic two-finger flexible jaw driven by a stepper motor, a buffer pad installed on the bionic two-finger flexible jaw, and a thin film pressure sensor located under the buffer pad. When the pressure sensing jaw assembly 35 clamps the crystal rod, the buffer pad is in direct contact with the crystal rod to protect the crystal rod, and the thin film pressure sensor located under the buffer pad detects the pressure on the crystal rod in real time.

[0047] The system 20 for calibrating the faceted crystal rod in the side pump module of the solid-state laser according to the present invention also includes a first camera 39 arranged in the longitudinal axis direction of the crystal rod accommodating cavity 11 on the support block 9 of the side pump module 5 and a second camera 41 arranged offset relative to the longitudinal axis of the crystal rod accommodating cavity 11 on the support block 9 of the side pump module 5. The first camera 39 is used to collect images of the end of the crystal rod from the direction facing the crystal rod, and the second camera 41 is used to collect images of the end of the crystal rod from the lateral direction of the crystal rod. The first camera 39 and the second camera 41 collect image data in real time, and transmit the image data to the control module described below to participate in the visualization detection network algorithm calculation.

[0048] The system 20 for calibrating the faceted crystal rod in the side pump module of the solid-state laser according to the present invention also includes a posture sensor 43. In a preferred embodiment, multiple posture sensors 43 are included for detecting the posture data of the support platform 21, the screw slider mechanism 29, the first camera 39 and the second camera 41 respectively. The posture sensor 43 includes an array-type nine-axis sensor and an embedded processor. The array-type nine-axis sensor collects the original characteristic data of the detected object (such as angular velocity, angular acceleration, magnetic field, temperature, etc.) and transmits it to the processor to solve the posture data of the detected object through the Kalman filter fusion algorithm. The posture data can be transmitted to the control module described below to participate in the visualization detection network algorithm calculation.

[0049] The system 20 for calibrating the faceted crystal rod in the side pump module of the solid-state laser according to the present invention further includes a control module 45 electrically connected to the first camera 39, the second camera 41, the various attitude sensors 43, and the six-axis robot assembly 23. The control module 45 is configured to execute a visual detection algorithm, which uses the real-time image data collected by the first camera 39 and the second camera 41 as input, and pre-processes the image data through guided filtering, and then calculates the coaxial position of the crystal rod (i.e., the axis deviation of the crystal rod 1 and the crystal rod receiving cavity 11) and the crystal rod cutting angle inclination angle (i.e., the angle between the long axis X of the crystal rod cut face relative to the plane defined by the longitudinal center axis of the crystal rod receiving cavity 11 and the longitudinal center line of the slit 13) based on the circle detection algorithm and the ellipse detection algorithm. The control module 45 can also be further configured to use the real-time attitude data of the support platform 21, the screw slider mechanism 29, the first camera 39 and the second camera 41 detected by each attitude sensor 43 as input to optimize the calculation of the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle, so as to achieve higher-precision position and angle detection of the crystal rod. The control module 45 is also configured to use the calculated coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle to control the six-axis robot 33, so as to fine-tune the crystal rod clamped by the pressure sensing jaw assembly 35, so that the axial deviation of the crystal rod 1 and the crystal rod accommodating cavity 11 is substantially zero and the inclination angle of the crystal rod cutting angle is substantially zero. Fine-tuning the crystal rod mainly performs pitch, yaw (up, down, left, right) and / or roll (rotation) adjustment on the position of the crystal rod.

[0050] The control module 45 is configured to execute a crystal rod pressure detection algorithm, which uses the crystal rod pressure detected in real time by each thin film pressure sensor of the pressure sensing jaw assembly 35 as input to determine the current stress state of the crystal rod, and controls the six-axis robotic arm 33 to fine-tune the position of the crystal rod when the current stress exceeds a predetermined threshold, that is, to adjust the pitch and / or yaw of the crystal rod so that the current stress of the crystal rod is lower than the predetermined threshold, thereby preventing the crystal rod from contacting the module and causing damage to the surface of the crystal rod.

[0051] The system 20 for calibrating the faceted crystal rod in the side pump module of a solid-state laser according to the present invention also includes a display 47 electrically connected to the control module 45, and the control module 45 transmits the processed image data to the display 47 and the display 47 displays it so that the adjusted position of the crystal rod can be intuitively observed.

[0052] Figure 6 The flowchart of the method for calibrating the faceted crystal rod in the side pump module of the solid-state laser according to the present invention is schematically shown. Figure 6 A method of utilizing the system of the present invention to tune a faceted crystal rod in a side pump module of a solid state laser is described.

[0053] In block S1, the posture sensor 43 is used to detect the posture data of the support platform 21, the screw slider mechanism 29, the first camera 39 and the second camera 41, and the support platform 21, the screw slider mechanism 29, the first camera 39 and the second camera 41 are adjusted to a predetermined posture according to the detection result. This process is usually performed before the pressure sensing jaw assembly 35 clamps the crystal rod, and is a pre-adjustment process, so it is not a process required before the pressure sensing jaw assembly 35 clamps the crystal rod every time. This process is usually to manually adjust the support platform 21, the screw slider mechanism 29, the first camera 39 and the second camera 41 to substantially the same horizontal posture, and rotate the rotating platform 27 of the six-axis robot arm assembly 23 to a position where the screw 37 of the screw slider mechanism 29 is substantially parallel to the longitudinal central axis of the crystal rod accommodating cavity 11. Of course, adjusting the support platform 21, the screw slider mechanism 29, the first camera 39 and the second camera 41 to a predetermined posture can also be automatically performed under the control of the control module 45.

[0054] In block S2 , the control module 45 controls the six-axis robot arm 33 and the pressure sensing jaw assembly 35 so that the pressure sensing jaw assembly 35 clamps the crystal rod 1 and adjusts the crystal rod 1 to be substantially coaxial with the crystal rod accommodating cavity 11 .

[0055] In block S3, the control module 45 controls the slider 31 of the screw slider mechanism 29 and the six-axis robot arm 33 thereon to move in translation, so that the crystal rod 1 is inserted into the crystal rod receiving cavity 11 on the side pump module 5. In this process, the control module 45 can also judge the contact degree between the crystal rod 1 and the inner wall of the crystal rod receiving cavity 11 according to the crystal rod pressure detected in real time by each thin film pressure sensor of the pressure sensing jaw assembly 35, and control the six-axis robot arm 33 to fine-tune the position of the crystal rod to ensure that the crystal rod 1 does not contact the inner wall of the crystal rod receiving cavity 11 and maintain the coaxial posture of the crystal rod 1 and the crystal rod receiving cavity 11. It should be understood that it is also feasible to directly use the six-axis robot arm 33 to insert the crystal rod into the crystal rod receiving cavity 11 without using the screw slider mechanism 29. However, using a screw slider mechanism 29 to push the crystal rod into the crystal rod accommodating cavity 11 on the supporting block 9 of the side pump module 5 can improve the trajectory accuracy of the six-axis robot arm 33, effectively avoiding contact with the inner wall of the crystal rod accommodating cavity 11 during the process of pushing the crystal rod into the side pump module, and protecting the surface of the crystal rod.

[0056] In block S4, after the crystal rod 1 is inserted into the crystal rod accommodating cavity 11 by a predetermined length, the control module 45 calculates the coaxial position of the crystal rod by a circle detection method based on the image data of the crystal rod acquired by the first camera 39 to determine the axial deviation between the crystal rod 1 and the crystal rod accommodating cavity 11, and fine-tunes the crystal rod by a six-axis robotic arm according to the calculated coaxial position of the crystal rod to make the axial deviation between the crystal rod 1 and the crystal rod accommodating cavity 11 substantially zero.

[0057] In block S5, the control module 45 calculates the crystal rod cutting angle inclination angle through an ellipse detection method based on the image data of the crystal rod collected by the second camera 41 to determine the crystal rod cutting angle inclination angle, that is, the angle between the ellipse major axis X of the cut surface 3 of the crystal rod 1 and the plane defined by the longitudinal center axis of the crystal rod accommodating cavity 11 and the longitudinal center line of the slit 13, and rotates the crystal rod through a six-axis robot arm according to the calculated crystal rod cutting angle inclination angle so that the crystal rod cutting angle inclination angle is substantially zero.

[0058] Since the visual detection method adopted by the camera is affected by the relative position with the crystal rod to be detected, the angle and position detection results of the micro-object will be biased. By adding the data of the attitude sensor on the basis of visual detection and compensating the visual detection error through the real-time attitude data collected by the attitude sensor, high-precision detection of micro-crystal rods can be achieved. Therefore, in blocks S4 and S5, it can further include optimizing the calculation of the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle according to the real-time attitude data detected by the attitude sensor, so as to achieve higher-precision position and angle detection and adjustment of the crystal rod.

[0059] In addition, the method for adjusting the faceted crystal rod in the side pump module of the solid-state laser of the present invention can also transmit the image data processed by the control module 45 to the display 47 in block S6 and display it by the display 47 so as to visually observe the adjustment posture of the crystal rod. In this way, the first camera 39 and the second camera 41, the posture sensor 43 and the display 47 together form a visual detection network.

[0060] After the crystal rod is adjusted to a desired posture, adhesive is injected into the crystal rod receiving cavity 11 so that the crystal rod is fixedly held in position relative to the support block 9 of the side pump module 5 .

[0061] According to the system and method for adjusting the faceted crystal rod in the side pump module of the solid-state laser of the present invention, an active feedback adjustment method is adopted, which can not only effectively protect the surface of the micro-faceted crystal rod with the Brewster cut angle, but also realize high-quality, high-efficiency and high-precision adjustment of the posture and position of the crystal rod.

[0062] Although the present invention has been described in detail in conjunction with the preferred embodiments of the present invention, it should be understood that such detailed description is only used to explain the present invention and does not constitute a limitation of the present invention. For example, the various processes of the method of the present invention described above in conjunction with the preferred embodiments of the present invention may not be performed strictly in the order described above. The scope of the present invention is determined by the technical solution defined in the claims.

Claims

1. A system for calibrating a faceted crystal rod in a side pump module, comprising: A supporting platform (21) for placing a side pump module (5), wherein the side pump module (5) comprises a supporting block (9), and a crystal rod accommodating cavity (11) is formed on the supporting block (9); A six-axis mechanical arm assembly (23) for adjusting the position of a crystal rod, the six-axis mechanical arm assembly (23) comprising a six-axis mechanical arm (33) and a pressure sensing clamp assembly (35) mounted at the end of the six-axis mechanical arm (33); a first camera (39) arranged in the longitudinal axis direction of the crystal rod accommodating cavity (11), the first camera (39) being used to collect an image of the end of the crystal rod from a direction facing the crystal rod; a second camera (41) disposed offset relative to the longitudinal axis of the crystal rod accommodating cavity (11), the second camera (41) being used to collect an image of the end of the crystal rod from a lateral direction of the crystal rod; and a control module (45) electrically connected to the first camera (39), the second camera (41) and the six-axis robotic arm assembly (23); The control module is configured to control the six-axis robot arm assembly (23) so as to adjust the crystal rod (1) clamped by the pressure sensing jaw assembly (35) to be coaxial with the crystal rod accommodating cavity (11), and insert the crystal rod (1) into the crystal rod accommodating cavity (11); and The control module is also configured to execute a visual detection algorithm to calculate the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle, and control the six-axis robot (33) to fine-tune the position of the crystal rod clamped by the pressure sensing clamping jaw assembly (35) according to the calculated coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle, so that the axial deviation of the crystal rod (1) and the crystal rod accommodating cavity (11) is substantially zero and the inclination angle of the crystal rod cutting angle is substantially zero.

2. The system for calibrating a faceted crystal rod in a side pump module according to claim 1, wherein: The six-axis robot arm assembly (23) further comprises a screw slider mechanism (29), wherein the screw slider mechanism (29) comprises a screw (37) and a slider (31) threadedly engaged with the screw (37), and the six-axis robot arm (33) is mounted on the slider (31).

3. The system for calibrating a faceted crystal rod in a side pump module according to claim 2, wherein: The six-axis mechanical arm assembly (23) further comprises a support seat (25) and a rotating platform (27) mounted on the support seat (25) so as to be horizontally rotatable, and the screw slider mechanism (29) is arranged on the rotating platform (27).

4. The system for calibrating a faceted crystal rod in a side pump module according to claim 1, wherein: The pressure sensing clamping jaw assembly (35) comprises a bionic two-finger flexible clamping jaw, a buffer pad mounted on the bionic two-finger flexible clamping jaw, and a thin film pressure sensor located under the buffer pad.

5. The system for calibrating a faceted crystal rod in a side pump module according to claim 1, wherein: The visual detection algorithm includes using real-time image data collected by the first camera (39) and the second camera (41) as input, preprocessing the image data through guided filtering, and then calculating the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle based on a circle detection algorithm and an ellipse detection algorithm respectively.

6. The system for calibrating a faceted crystal rod in a side pump module according to claim 2, wherein: The system further comprises a plurality of posture sensors (43) electrically connected to the control module (45) and respectively used to detect posture data of the support platform (21), the screw slider mechanism (29), the first camera (39) and the second camera (41), and the control module (45) is further configured to: Adjusting the support platform (21), the screw slider mechanism (29), the first camera (39) and the second camera (41) to a predetermined posture based on posture data detected by the posture sensor (43); Controlling the slider (31) and the six-axis mechanical arm (33) thereon to move in translation so as to insert the crystal rod (1) into the crystal rod accommodating cavity (11); and / or The posture data of the support platform (21), the screw slider mechanism (29), the first camera (39) and the second camera (41) detected by the posture sensor (43) are used as input to optimize the calculation of the coaxial position of the crystal rod and the inclination angle of the crystal rod cutting angle.

7. The system for calibrating a faceted crystal rod in a side pump module according to claim 6, wherein: The attitude sensor (43) includes an array-type nine-axis sensor and an embedded processor. The array-type nine-axis sensor collects original characteristic data of the support platform (21), the screw slider mechanism (29), the first camera (39) and the second camera (41), and transmits the original characteristic data to the processor to calculate the attitude data through a Kalman filter fusion algorithm.

8. The system for calibrating a faceted crystal rod in a side pump module according to claim 4, wherein: The control module (45) is also configured to use the crystal rod pressure detected in real time by each of the thin film pressure sensors of the pressure sensing jaw assembly (35) as input to execute a crystal rod pressure detection algorithm to determine the current stress state of the crystal rod, and to control the six-axis robotic arm (33) to fine-tune the position of the crystal rod when the current stress exceeds a predetermined threshold.

9. The system for calibrating a faceted crystal rod in a side pump module of claim 1, wherein: The system also includes a display (47) in electrical communication with the control module (45) for displaying image data processed by the control module (45).

10. A method for calibrating a faceted crystal rod in a side pump module, comprising: Clamping a crystal rod (1); The crystal rod (1) is coaxial with the crystal rod receiving cavity (11) on the supporting block (9) of the side pump module (5); Inserting the crystal rod (1) into the crystal rod accommodating cavity (11); After the crystal rod (1) is inserted into the crystal rod accommodating cavity (11) by a predetermined length, the coaxial position of the crystal rod is calculated by a circle detection method based on image data of the end of the crystal rod collected from a direction facing the crystal rod, and the crystal rod is fine-tuned based on the calculated coaxial position of the crystal rod, so that the axis deviation between the crystal rod (1) and the crystal rod accommodating cavity (11) is substantially zero; The crystal rod cut angle is calculated by an ellipse detection method based on image data of the crystal rod collected from the lateral direction of the crystal rod, and the crystal rod is rotated based on the calculated crystal rod cut angle so that the crystal rod cut angle is substantially zero.

11. The method for calibrating a faceted crystal rod in a side pump module according to claim 10, wherein: The process also includes transmitting the processed image data to a display and displaying the image data by the display.

12. The method for calibrating a faceted crystal rod in a side pump module according to claim 10, wherein: It also includes optimizing the calculation of the coaxial position of the crystal rod and the inclination angle of the crystal rod cut based on the real-time posture data detected by the posture sensor.

13. The method for calibrating a faceted crystal rod in a side pump module according to claim 10, wherein: Clamping the crystal rod (1) comprises controlling a six-axis mechanical arm (33) and a pressure sensing clamping jaw assembly (35) mounted on the six-axis mechanical arm (33) through a control module (45) to clamp the crystal rod (1).

14. The method for calibrating a faceted crystal rod in a side pump module according to claim 13, wherein: Inserting the crystal rod (1) into the crystal rod accommodating cavity (11) includes controlling the translational movement of a slider (31) of a screw slider mechanism (29) and a six-axis mechanical arm (33) mounted on the slider (31) through a control module (45).

15. The method for calibrating a faceted crystal rod in a side pump module according to claim 13, wherein: The control module (45) controls the six-axis mechanical arm to fine-tune the position of the crystal rod according to the crystal rod pressure detected in real time by each thin film pressure sensor of the pressure sensing clamping jaw assembly (35).

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