Laser output power adjustment method, device, system, computer device and medium

Abstract

The application relates to a laser output power adjusting method, device, system, computer equipment and storage medium. The method comprises the following steps: collecting actual output power data of a laser; performing Kalman filtering processing on the actual output power data to obtain power estimation data; acquiring temperature data of the laser, and judging whether the current temperature of the laser is within a preset temperature range according to the temperature data; in response to the current temperature being within the preset temperature range, performing first-order inertia filtering processing on the power estimation data to obtain power filtering data, and determining target output power data according to the power filtering data; and adjusting the actual output power of the laser according to the target output power data. The method can provide stability of laser output power.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser, and in particular, to a laser output power method, device, system, computer equipment and storage medium. BACKGROUND

[0002] With the development of laser technology, laser technology is applied to the medical field, and laser devices applied to medical scenarios appear, such as holmium lasers and the like.

[0003] However, the power parameter of the traditional laser device is a fixed value, and there is no anti-interference ability for the difference under different working environments. Moreover, as the time of emitting laser is longer, the power is higher, and the heat generated by the laser is greater, the temperature is higher, which also causes the instability of the output power. SUMMARY

[0004] Therefore, it is necessary to provide a laser output power adjustment method, device, system, computer equipment and storage medium capable of improving the stability of laser output power.

[0005] In a first aspect, a laser output power adjustment method is provided, which comprises:

[0006] collecting actual output power data of a laser;

[0007] performing Kalman filtering processing on the actual output power data to obtain power estimation data;

[0008] obtaining temperature data of the laser, and determining whether the current temperature of the laser is within a preset temperature range according to the temperature data;

[0009] in response to the current temperature being within the preset temperature range, performing first-order inertia filtering processing on the power estimation data to obtain power filtering data, and determining target output power data according to the power filtering data; and

[0010] adjusting the actual output power of the laser according to the target output power data.

[0011] In some embodiments, the method further comprises:

[0012] in response to the current temperature not being within the preset temperature range, obtaining initial output power data of a current gear of the laser;

[0013] taking the initial output power data as the target output power data.

[0014] In some embodiments, before determining whether the current temperature of the laser is within the preset temperature range according to the temperature data, the method further comprises:

[0015] determining whether the laser has a determined target output power at the current gear;

[0016] In response to the laser not having a determined target output power at the current gear, entering a step of determining whether the current temperature of the laser is within a preset temperature range according to the temperature data.

[0017] In some embodiments, the actual output power data is subjected to Kalman filtering to obtain power estimation data, including:

[0018] A plurality of actual output power values of the laser within a preset time period are collected as a set of actual output power data;

[0019] The plurality of actual output power values are subjected to Kalman filtering respectively to obtain a plurality of power estimation values respectively corresponding to the actual output power values; wherein the formula of Kalman filtering is:

[0020] X(k)=A*X(k-1)+B*U(k)+W(k)

[0021] wherein X(k) represents the power estimation data obtained after the kth Kalman filtering, A represents a state transition matrix, X(k-1) represents the power estimation data obtained after the (k-1)th Kalman filtering, B represents a control matrix, U(k) represents error data, W(k) represents process noise data generated in the processing, X(0) is an initial input actual output power value, and k represents the number of times of Kalman filtering;

[0022] After removing the critical value from the plurality of power estimation values, an average value operation is performed to obtain an average estimated power value as the power estimation data.

[0023] In some embodiments, the formula of the first-order inertial filtering of the power estimation data includes:

[0024] Y(n)=α*X(n)+(1-α)*Y(n-1)

[0025] wherein Y(n) is the power filtering data obtained after the nth first-order inertial filtering, X(n) represents the power estimation data input before the nth first-order inertial filtering, Y(n-1) represents the power filtering data obtained after the (n-1)th first-order inertial filtering, a represents a preset weight constant, the value range of a is (0, 1), and n is a positive integer.

[0026] In some embodiments, the actual output power of the laser is adjusted according to the target output power, including:

[0027] The membership is calculated according to the target output power data and a preset fuzzy control rule;

[0028] According to the preset fuzzy control rule and membership calculation, corresponding voltage control data is obtained;

[0029] According to the voltage control data, the laser power supply of the laser is controlled to provide a voltage corresponding to the voltage control data for the laser to adjust the output power of the laser to match the voltage.

[0030] In a second aspect, a laser output power adjusting device is provided, which comprises:

[0031] A main control module, a power feedback module and a temperature detection module, the main control module comprising a light power control unit and a light power output unit; wherein,

[0032] One end of the power feedback module is connected to the light power control unit through a bus, and the other end of the power feedback module is used to connect the laser; the light power output unit is used to establish communication with the laser; one end of the temperature detection module is connected to the light power control unit, and the other end of the temperature detection module is used to connect the laser;

[0033] The power feedback module is used to collect actual output power data of the laser and transmit the actual output power data to the light power control unit;

[0034] The temperature detection module is used to obtain temperature data of the laser and transmit the temperature data to the light power control unit;

[0035] The light power control unit is used to perform Kalman filtering processing on the actual output power data to obtain power estimation data; to determine whether the current temperature of the laser is within a preset temperature range according to the temperature data; in response to the current temperature being within the preset temperature range, to perform first-order inertia filtering processing on the power estimation data to obtain power filtering data, and to determine target output power data according to the power filtering data;

[0036] The light power output unit is used to adjust the actual output power of the laser according to the target output power data.

[0037] In a third aspect, a laser output power adjusting system is provided, which comprises: a laser, a laser power supply, a cooling device and the laser output power adjusting device provided in the second aspect; wherein,

[0038] One end of the cooling device is connected to the laser, and the other end of the cooling device is connected to the temperature detection module; the light power output unit establishes communication with the laser power supply, and the laser power supply is electrically connected to the laser;

[0039] The backwater inlet of the cooling device is provided with a temperature sensor for temperature monitoring;

[0040] The temperature detection module is configured to collect a voltage signal between the temperature sensor and the ground, amplify the voltage signal through an operational amplifier, and transmit the voltage signal to the single-chip microcomputer for temperature calculation, and transmit the calculated temperature data to the optical power control unit.

[0041] The power feedback module is configured to collect real-time current data of the laser diode in the laser, perform individual operation on each optical pulse signal in a preset unit time according to the real-time current data, obtain average power data in the preset unit time as actual output power data of the laser, and transmit the actual output power data to the optical power control unit.

[0042] In a fourth aspect, a computer device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method of the embodiments of the first aspect when executing the computer program.

[0043] In a fifth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program implements the steps of the method of the embodiments of the first aspect when executed by a processor.

[0044] The laser output power adjustment method can collect actual output power data and temperature data of the laser, and can calculate target output power data adaptive to temperature changes through Kalman filtering and first-order inertia filtering, so as to efficiently adjust the actual output power of the laser in real time, effectively reduce the fluctuation of the output power, and make the output power controllable and stable. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 FIG. 1 is a structural schematic diagram of a laser output power adjustment device according to some embodiments;

[0046] Figure 2 FIG. 2 is a structural schematic diagram of a laser output power adjustment system according to some embodiments;

[0047] Figure 3 FIG. 3 is a flowchart of a laser output power adjustment method according to some embodiments;

[0048] Figure 4 FIG. 4 is a flowchart of a laser output power adjustment method according to other embodiments;

[0049] Figure 5 Fig. 1 is a schematic diagram of an internal structure of a computer device according to some embodiments. DETAILED DESCRIPTION

[0050] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0051] In some embodiments, referring to Figure 1 and Figure 2 , it is shown that Figure 1 Fig. 4 shows a schematic diagram of a structure of a laser output power adjusting device according to some embodiments. Figure 2 Fig. 5 shows a schematic diagram of a structure of a laser output power adjusting system according to some embodiments.

[0052] Referring to Figure 1 , the laser output power adjusting device 100 includes a main control module 110, a power feedback module 120 and a temperature detection module 130, the main control module 110 includes a light power control unit 1101 and a light power output unit 1102; wherein,

[0053] Specifically, one end of the power feedback module 120 is connected to the light power control unit 1101 through a bus, and the other end of the power feedback module 120 is used to connect the laser 200 (see Figure 2 ), the light power output unit 1102 is used to establish communication with the laser power supply, one end of the temperature detection module 130 is connected to the light power control unit 1101, and the other end of the temperature detection module 130 is used to connect the laser 200.

[0054] The power feedback module 120 is configured to collect actual output power data of the laser 200 and transmit the actual output power data to the light power control unit 1101;

[0055] The temperature detection module 130 is configured to obtain temperature data of the laser 200 and transmit the temperature data to the light power control unit;

[0056] The light power control unit 1101 is configured to perform Kalman filtering processing on the actual output power data to obtain power estimation data, determine whether the current temperature of the laser is within a preset temperature range according to the temperature data, perform first-order inertia filtering processing on the power estimation data to obtain power filtering data in response to the current temperature being within the preset temperature range, and determine target output power data according to the power filtering data;

[0057] The light power output unit 1102 is configured to adjust the actual output power of the laser 140 according to the target output power data.

[0058] Each of the above laser output power adjusting devices can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform the operations corresponding to each of the above modules.

[0059] In some embodiments, referring to Figure 2 As shown in the accompanying drawings, the present application also provides a laser output power adjusting system 10, which comprises the above laser output power adjusting device 100, a laser 200, a laser power supply 300, and a cooling device 400; wherein,

[0060] One end of the cooling device 400 is connected to the laser 200, and the other end of the cooling device is connected to the temperature detection module 130; the optical power output unit 1102 is connected to the optical power control unit 1101 and establishes communication with the laser power supply 300, and the laser power supply 300 is electrically connected to the laser 200.

[0061] In some embodiments, the backwater port of the cooling device 400 can be configured with a temperature sensor for temperature monitoring. The cooling device 400 can be a device for cooling the laser, such as a water chiller, etc.; the temperature sensor can be an NTC (Negative Temperature Coefficient) thermistor, etc.

[0062] Exemplarily, the backwater port of the cooling device can be configured to include an externally open temperature detection port, and a NTC thermistor matching the size of the temperature detection port can be installed at the temperature detection port. When the water temperature in the cooling device changes, the resistance of the NTC thermistor will change correspondingly. Therefore, the voltage signal of the voltage drop applied to the NTC thermistor can be collected by collecting the resistance of the variable NTC thermistor and the resistance of another fixed resistor, and then, the collected voltage signal can be further amplified by an operational amplifier and transmitted to a single-chip microcomputer for temperature calculation after amplification operation, so as to obtain the current corresponding water temperature, thereby being able to estimate the current temperature data of the laser.

[0063] Exemplarily, the power feedback module can calculate by collecting real-time current data of the laser diode in the laser, and the laser diode will generate a linear current size change according to the linear optical output power when it is irradiated by light of a corresponding wavelength, so it can be used as a calculation medium. The power feedback module can obtain the average power data in the preset unit time as the actual output power data of the laser by separately operating each optical pulse signal in the preset unit time according to the real-time current data, and transmit the actual output power data to the optical power control unit.

[0064] More specifically, the power feedback module 120 can transmit the calculated actual output power data of the laser to the main control module 110 through CAN communication; the temperature detection module 130 can transmit the calculated temperature data of the laser to the main control module 110 through CAN communication; and the main control module 110 can write the target power data into the digital-to-analog conversion chip using SPI (Serial Peripheral Interface) after calculating the target power data, and output the corresponding voltage value through the optical power output unit 1102 to excite the laser power supply 300, thereby realizing control and adjustment of the output power of the laser 200.

[0065] The laser output power adjustment device and the laser output power adjustment system described above can be applied to occasions where the output optical power of the laser is obviously affected by the actual use scene (for example, occasions where the working temperature changes rapidly), and a dynamic closed-loop system is used to replace a static open-loop system to efficiently adjust the output voltage signal in real time, effectively reduce the fluctuation of the output power, and make the output power controllable and stable.

[0066] Next, the laser output power adjustment method provided by the present application will be described in detail.

[0067] The laser output power adjustment method provided by the present application can be applied to the laser output power adjustment device as shown in Figure 1 or the laser output power adjustment system as shown in Figure 2 It should be noted that the device as shown in Figure 1 and the system as shown in Figure 2 are only used as an illustration of the application scene in some embodiments of the method provided by the present application, and do not limit the method provided by the present application. The method provided by the present application can also be applied to other suitable scenes.

[0068] In one embodiment, as shown in Figure 3 , a laser output power adjustment method is provided, and the method is applied to the main control module in Figure 1 as an example, including the following steps:

[0069] Step S302: collecting actual output power data of the laser.

[0070] Specifically, the main control module can periodically or in real time collect the current actual output power data of the laser, and can obtain the actual output power data by communicating with a software or hardware unit responsible for collecting and calculating the actual output power of the laser.

[0071] In some embodiments, the collection of the actual output power data can be performed by the method proposed in the embodiments of the present application, that is, the actual output power data can be obtained by the power feedback unit involved in the present application, and in other embodiments, the collection of the actual output power data can also be performed by other devices for power detection.

[0072] In some embodiments, the real-time current data of the laser diode in the laser can be collected by the power feedback module, and after the individual operation of each optical pulse signal in a preset unit of time is performed according to the real-time current data, the average power data in the preset unit of time is obtained as the actual output power data of the laser, and the actual output power data is transmitted to the optical power control unit.

[0073] Step S304: performing Kalman filtering on the actual output power data to obtain power estimation data.

[0074] Specifically, after receiving the actual output power data of the laser, the main control module can perform Kalman filtering on the actual output power data, and obtain the filtered power estimation data by Kalman filtering, which is disturbed by noise information.

[0075] Step S306: obtaining temperature data of the laser, and determining whether the current temperature of the laser is within a preset temperature range according to the temperature data.

[0076] Specifically, the main control module can periodically or in real time collect the current temperature of the laser, and can obtain the temperature data by communicating with a software or hardware unit responsible for collecting and calculating the temperature of the laser. After obtaining the temperature data of the laser, the main control module can determine whether the current working temperature (current temperature) of the laser is within a preset temperature range according to the obtained temperature data, wherein the preset temperature range is a best temperature range suitable for the normal working of the laser, which can be customized according to the type of the laser.

[0077] For example, the preset temperature range can be 18℃±0.5℃ according to the best working temperature of the laser.

[0078] In some embodiments, the temperature data can be collected by the method proposed in the embodiments of the present application, that is, the temperature data can be acquired by the temperature detection unit involved in the present application, and in other embodiments, the temperature data can also be collected by other software or hardware devices for temperature detection. For example, the current temperature data of the laser can be calculated indirectly by collecting the temperature data of the cooling device connected with the laser, or the temperature data of the laser can be collected directly.

[0079] In some embodiments, the temperature detection module can be used to collect the voltage signal between the temperature sensor arranged at the water return port of the cooling device, the voltage signal is amplified by the operational amplifier and then transmitted to the single-chip microcomputer for temperature calculation, the water temperature of the cooling device is calculated to obtain the temperature data of the laser, and the calculated temperature data is transmitted to the main control module.

[0080] Step S308: in response to the current temperature being within the preset temperature range, performing first-order inertia filtering processing on the power estimation data to obtain power filtering data, and determining target output power data according to the power filtering data.

[0081] Specifically, if the current temperature of the laser is within the preset temperature range, the actual output power data after the Kalman filtering processing, that is, the power estimation data, can be further processed by using the first-order inertia filtering algorithm, so as to obtain the output power of the laser that should adapt to the current temperature as the target output power through filtering calculation. The first-order inertia filtering processing can also be referred to as first-order low-pass filtering (Low-Pass filter, LPF) processing.

[0082] Step S310: adjusting the actual output power of the laser according to the target output power data.

[0083] Specifically, after calculating the appropriate target output power data, the main control module can convert the calculated target output power data into corresponding voltage control data, so as to adjust the actual output power of the laser by changing or adjusting the voltage supplied to the laser.

[0084] The laser output power adjustment method described above can collect the actual output power data and the temperature data of the laser, and calculate the target output power data that adapts to the temperature change through Kalman filtering processing and first-order inertia filtering processing, so as to adjust the actual output power of the laser in real time and efficiently, effectively reduce the fluctuation of the output power, and make the output power controllable and stable.

[0085] In some embodiments, the method further comprises: in response to the current temperature not being within the preset temperature range, obtaining initial output power data of the current gear of the laser; and taking the initial output power data as the target output power data.

[0086] In the embodiment, if it is detected that the current temperature of the laser is not within the preset temperature range, it indicates that the current working temperature of the laser is abnormal, and the output power of the laser has been greatly affected by the temperature. At this time, the actual output power can be adjusted according to the initial output power data of the current gear configured in advance as the target output power data, that is, the output power of the laser is initialized to correct the power to the greatest extent in the abnormal temperature working environment.

[0087] In some embodiments, before determining whether the current temperature of the laser is within the preset temperature range according to the temperature data, the method further comprises: determining whether there is a determined target output power for the laser in the current gear; and in response to there being no determined target output power for the laser in the current gear, entering the step of determining whether the current temperature of the laser is within the preset temperature range according to the temperature data.

[0088] In the embodiment, the determined target output power can be the target output power data calculated in the previous cycle for each gear, and a corresponding target output power for each gear configured manually in advance can also be supported as the determined target output power. Therefore, before entering the calculation of the closed-loop adjustment, it can be determined whether there is a determined target output power for the current gear of the laser. If there is, the actual output power of the laser can be adjusted according to the determined target output power. If there is not, the subsequent step of calculating the target output power data can be entered. Through the embodiment, for each working gear of the laser, if there is a determined target output power, the calculation does not need to be repeated, thereby improving the efficiency of power adjustment.

[0089] In some embodiments, the Kalman filtering is performed on the actual output power data to obtain power estimation data, comprising:

[0090] A plurality of actual output power values of the laser in a preset time period are collected as a group of actual output power data;

[0091] The plurality of actual output power values are respectively subjected to Kalman filtering to obtain a plurality of power estimation values respectively corresponding to the actual output power values; wherein the formula of the Kalman filtering is:

[0092] X(k) = A * X(k-1) + B * U(k) + W(k)

[0093] Wherein, X(k) represents the power estimation data obtained after the kth Kalman filtering processing, A represents the state transition matrix, X(k-1) represents the power estimation data obtained after the (k-1)th Kalman filtering processing, B represents the control matrix, U(k) represents the error data, W(k) represents the process noise data generated in the processing, X(0) is the initial input actual output power value, and k represents the number of Kalman filtering processing.

[0094] The average estimated power value is obtained by removing the critical value from the plurality of power estimation values and performing an average value operation.

[0095] The above embodiment can improve the accuracy of the calculation by establishing an array, storing the received collected actual output power value of the laser into the array, and using the array filled as a group of actual output power data for filtering calculation.

[0096] In some embodiments, the formula for performing first-order inertial filtering processing on the power estimation data includes:

[0097] Y(n) = a * X(n) + (1-a) * Y(n-1)

[0098] Wherein, Y(n) is the power filtering data obtained after the nth first-order inertial filtering processing, X(n) represents the power estimation data input before the nth first-order inertial filtering, Y(n-1) represents the power filtering data obtained after the (n-1)th first-order inertial filtering processing, a represents a preset weight constant, the value range of a is (0, 1), and n is a positive integer.

[0099] The greater the value of a is, the more the collected data is trusted, and the smaller the value of a is, the more the calculated data is trusted. The size of a can be determined according to the actual debugging effect.

[0100] In some embodiments, the actual output power of the laser is adjusted according to the target output power, including: calculating the membership degree according to the target output power data and a preset fuzzy control rule; calculating the corresponding voltage control data according to the preset fuzzy control rule and the membership degree; and controlling the laser power supply of the laser to provide a voltage corresponding to the voltage control data to adjust the output power of the laser to match the voltage.

[0101] In this embodiment, the calculated or determined target output power is used as an input value to perform fuzzy control processing and calculate the membership degree. According to the preset fuzzy control rule, for example, the Mamdani method or the Zadeh method can be used to derive the fuzzy control conclusion, and the maximum value method is used to solve the fuzzy control, so as to obtain the voltage control data, and the voltage of the laser power supply of the laser is controlled to realize the adjustment of the output power.

[0102] The laser output power adjusting method related to the present application will be described in more detail below in combination with an application example, with reference to Figure 4 shown in the drawings, Figure 4 The flowchart of the laser output power adjusting method in some application examples is shown. Specifically, it can include the following steps:

[0103] Step S41: data initialization; initialize various parameters of the laser output power adjusting system, set the factory output power, voltage parameter, temperature data, etc.

[0104] Step S42: collect the actual output power of the laser;

[0105] Step S43: perform Kalman filtering processing;

[0106] Step S44: collect the current temperature data of the laser;

[0107] Step S45: determine whether the target output power of the current gear has been determined, if yes, go to step S49, if no, go to S46;

[0108] Step S46: determine whether it is within the optimal working temperature range, if yes, go to step S47, if no, go to step S48;

[0109] Step S47: obtain a set of output power values after Kalman filtering processing, perform first-order inertia filtering processing, and use the power filtered value as the target output power of the current gear;

[0110] Step S48: use the factory-set initial output power as the target output power of the current gear;

[0111] Step S49: perform fuzzy control according to the target output power;

[0112] Step S410: adjust the output power of the laser.

[0113] According to the various embodiments described above, the method, device and system related to the present application can be applied to occasions where the output optical power of the laser has a relatively obvious influence on the actual use scene (for example, occasions where the working temperature changes quickly), and a dynamic closed-loop system is used to replace a static open-loop system, to real-time and efficient adjust the output voltage signal, effectively reduce the fluctuation of the output power, and make the output power controllable and stable. At least the following advantages are achieved:

[0114] 1) improve stability, avoid the unadjustable error of the open-loop system, and reduce the fluctuation of the laser output power caused by external environmental changes;

[0115] 2) Improve response rate, improve response speed through closed-loop regulation, avoid the tediousness and inefficiency of manual adjustment;

[0116] 3) Improve accuracy, make the laser output power more accurate and controllable, and reduce the error with the target output power.

[0117] It should be understood that, although Figure 3 to 4 The steps in the flowchart are displayed in sequence according to the direction of the arrow, but these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figure 3 to 4 At least part of the steps in May include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be alternately executed with other steps or sub-steps or stages of other steps.

[0118] In an embodiment, a computer device, which can be a server, is provided, and its internal structure diagram can be as shown in Figure 5 The computer device includes a processor, a memory, and a network interface connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a laser output power regulation method.

[0119] Those skilled in the art can understand that Figure 5 The structure shown in Is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0120] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implements the following steps when executing the computer program: collecting actual output power data of a laser; performing Kalman filtering on the actual output power data to obtain power estimation data; obtaining temperature data of the laser, and determining whether a current temperature of the laser is within a preset temperature range according to the temperature data; in response to the current temperature being within the preset temperature range, performing first-order inertia filtering on the power estimation data to obtain power filtering data, and determining target output power data according to the power filtering data; and adjusting an actual output power of the laser according to the target output power data.

[0121] In one embodiment, the processor further implements the following steps when executing the computer program: in response to the current temperature not being within the preset temperature range, obtaining initial output power data of a current gear of the laser; and taking the initial output power data as the target output power data.

[0122] In one embodiment, the processor further implements the following steps when executing the computer program: determining whether there is a determined target output power of the laser at the current gear; and in response to there being no determined target output power of the laser at the current gear, entering the step of determining whether the current temperature of the laser is within the preset temperature range according to the temperature data.

[0123] In one embodiment, the processor further implements the following steps when executing the computer program: collecting a plurality of actual output power values of the laser within a preset time period as a set of actual output power data; and performing Kalman filtering on the plurality of actual output power values respectively to obtain a plurality of power estimation values respectively corresponding to the actual output power values; wherein the formula of the Kalman filtering is:

[0124] X(k) = A * X(k-1) + B * U(k) + W(k)

[0125] wherein X(k) represents power estimation data obtained after the kth Kalman filtering, A represents a state transition matrix, X(k-1) represents power estimation data obtained after the (k-1)th Kalman filtering, B represents a control matrix, U(k) represents error data, W(k) represents process noise data generated in the processing, (X0) is an initial input actual output power value, and k represents the number of times of Kalman filtering; the average estimation power value is obtained by performing an average operation on the plurality of power estimation values after removing critical values therefrom, and the average estimation power value is taken as the power estimation data.

[0126] In one embodiment, the processor further implements the following steps when executing the computer program: performing first-order inertia filtering on the power estimation data by calling a formula of the first-order inertia filtering, the formula of the first-order inertia filtering comprising:

[0127] Y(n) = a * X(n) + (1 - a) * Y(n - 1)

[0128] wherein Y(n) is power filtered data obtained after the nth first-order inertial filtering, X(n) represents power estimated data input before the nth first-order inertial filtering, Y(n - 1) represents power filtered data obtained after the (n - 1)th first-order inertial filtering, a represents a preset weight constant, the value range of a is (0, 1), and n is a positive integer.

[0129] In one embodiment, the processor further implements the following steps when executing the computer program: calculating the membership degree according to the target output power data and the preset fuzzy control rule; calculating the corresponding voltage control data according to the preset fuzzy control rule and the membership degree; and controlling the laser power supply of the laser to provide a voltage corresponding to the voltage control data to the laser to adjust the output power of the laser to match the voltage, according to the voltage control data.

[0130] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the following steps: collecting actual output power data of a laser; performing Kalman filtering on the actual output power data to obtain power estimated data; obtaining temperature data of the laser, and determining whether the current temperature of the laser is within a preset temperature range according to the temperature data; in response to the current temperature being within the preset temperature range, performing first-order inertial filtering on the power estimated data to obtain power filtered data, and determining target output power data according to the power filtered data; and adjusting the actual output power of the laser according to the target output power data.

[0131] In one embodiment, the computer program is further executed by the processor to implement the following steps: in response to the current temperature not being within the preset temperature range, obtaining initial output power data of a current gear of the laser; and taking the initial output power data as the target output power data.

[0132] In one embodiment, the computer program is further executed by the processor to implement the following steps: determining whether there is a determined target output power for the laser in the current gear; and in response to there being no determined target output power for the laser in the current gear, entering the step of determining whether the current temperature of the laser is within the preset temperature range according to the temperature data.

[0133] In one embodiment, the computer program, when executed by the processor, further implements the following steps: collecting a plurality of actual output power values of the laser within a preset time period as a set of actual output power data; performing Kalman filtering on the plurality of actual output power values respectively to obtain a plurality of power estimation values respectively corresponding to the actual output power values; wherein the formula of the Kalman filtering is:

[0134] X(k) = A * X(k-1) + B * U(k) + W(k)

[0135] wherein X(k) represents the power estimation data obtained after the kth Kalman filtering, A represents a state transition matrix, X(k-1) represents the power estimation data obtained after the (k-1)th Kalman filtering, B represents a control matrix, U(k) represents error data, W(k) represents process noise data generated during processing, X(0) is the initial input actual output power value, and k represents the number of times of Kalman filtering; and the average estimation power value is obtained by performing an average operation on the plurality of power estimation values after removing the critical values.

[0136] In one embodiment, the computer program, when executed by the processor, further implements the following steps: performing first-order inertial filtering on the power estimation data by calling the formula of the first-order inertial filtering, and the formula of the first-order inertial filtering comprises:

[0137] Y(n) = a * X(n) + (1-a) * Y(n-1)

[0138] wherein Y(n) is the power filtering data obtained after the nth first-order inertial filtering, X(n) represents the power estimation data input before the nth first-order inertial filtering, Y(n-1) represents the power filtering data obtained after the (n-1)th first-order inertial filtering, a represents a preset weight constant, the value range of a is (0, 1), and n is a positive integer.

[0139] In one embodiment, the computer program, when executed by the processor, further implements the following steps: calculating the membership degree according to the target output power data and a preset fuzzy control rule; calculating the corresponding voltage control data according to the preset fuzzy control rule and the membership degree; and controlling the laser power supply of the laser to provide a voltage corresponding to the voltage control data to the laser to adjust the output power of the laser to match the voltage according to the voltage control data.

[0140] Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above embodiments. Any reference to memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0141] Any combination of the technical features of the above embodiments can be combined. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0142] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for adjusting laser output power, the method comprising: collecting actual output power data of a laser; performing Kalman filtering on the actual output power data to obtain power estimation data; obtaining temperature data of the laser, and determining whether a current temperature of the laser is within a preset temperature range according to the temperature data; in response to the current temperature being within the preset temperature range, performing first-order inertia filtering on the power estimation data to obtain power filtered data, and determining target output power data according to the power filtered data; and adjusting actual output power of the laser according to the target output power data. The method further comprises: in response to the current temperature not being within the preset temperature range, obtaining initial output power data of a current gear of the laser; and taking the initial output power data as the target output power data. Before the step of determining whether the current temperature of the laser is within the preset temperature range according to the temperature data, the method further comprises: determining whether there is a determined target output power for the current gear of the laser; and in response to there being no determined target output power for the current gear of the laser, entering the step of determining whether the current temperature of the laser is within the preset temperature range according to the temperature data. The step of performing Kalman filtering on the actual output power data to obtain power estimation data comprises: collecting a plurality of actual output power values of the laser within a preset time period as a group of the actual output power data; performing Kalman filtering on each of the plurality of actual output power values to obtain a plurality of power estimation values corresponding to the actual output power values respectively; wherein a formula of the Kalman filtering is: X(k)=A*X(k-1)+B*U(k)+W(k) wherein X(k) represents power estimation data obtained after the kth Kalman filtering, A represents a state transition matrix, X(k-1) represents power estimation data obtained after the (k-1) th Kalman filtering, B represents a control matrix, U(k) represents error data, W(k) represents process noise data generated in processing, X(0) is an initial input actual output power value, and k represents the number of times of Kalman filtering; and performing an average value operation on the plurality of power estimation values after removing critical values to obtain an average estimation power value as the power estimation data. A formula of the first-order inertia filtering on the power estimation data comprises: Y(n)=α*X(n)+(1-α)*Y(n-1) wherein Y(n) is power filtered data obtained after the nth first-order inertia filtering, X(n) represents power estimation data input before the nth first-order inertia filtering, Y(n-1) represents power filtered data obtained after the (n-1) th first-order inertia filtering, α represents a preset weight constant, the value range of α is (0, 1), and n is a positive integer. The step of adjusting actual output power of the laser according to the target output power comprises: ​ 2. The method of claim 1, wherein, ​ ​ ​ 3. The method of claim 1, wherein, ​ ​ ​ 4. The method of claim 1, wherein, ​ ​ ​ ​ ​ ​ 5. The method of claim 4, wherein, ​ ​ ​ 6. The method of claim 1, wherein, ​ Calculate membership according to the target output power data and a preset fuzzy control rule; Calculate corresponding voltage control data according to the preset fuzzy control rule and the membership; Control the laser power supply of the laser to provide a voltage corresponding to the voltage control data to the laser according to the voltage control data to adjust the laser to output power matching the voltage.

7. A laser output power adjustment apparatus, characterized by comprising: The device comprises a main control module, a power feedback module and a temperature detection module, the main control module comprises an optical power control unit and an optical power output unit; wherein, One end of the power feedback module is connected to the optical power control unit through a bus, the other end of the power feedback module is used to connect the laser, the optical power output unit is used to establish communication with the laser, one end of the temperature detection module is connected to the optical power control unit, and the other end of the temperature detection module is used to connect the laser; The power feedback module is used to collect actual output power data of the laser and transmit the actual output power data to the optical power control unit; The temperature detection module is used to obtain temperature data of the laser and transmit the temperature data to the optical power control unit; The optical power control unit is used to perform Kalman filtering processing on the actual output power data to obtain power estimation data, judge whether the current temperature of the laser is within a preset temperature range according to the temperature data, perform first-order inertia filtering processing on the power estimation data to obtain power filtering data in response to the current temperature being within the preset temperature range, and determine target output power data according to the power filtering data; The optical power output unit is used to adjust the actual output power of the laser according to the target output power data.

8. A laser output power adjustment system, characterized by, The system comprises a laser, a laser power supply, a cooling device and a laser output power adjusting device according to claim 7; Wherein, one end of the cooling device is connected to the laser, the other end of the cooling device is connected to the temperature detection module; the optical power output unit establishes communication with the laser power supply, and the laser power supply is electrically connected to the laser; A temperature sensor for temperature monitoring is arranged at the water outlet of the cooling device; The temperature detection module is used to collect voltage signals at both ends of the temperature sensor, amplify the voltage signals through an operational amplifier, and then transmit the voltage signals to a single-chip microcomputer for temperature calculation, and transmit the calculated temperature data to the optical power control unit; The power feedback module is used to collect real-time current data of a laser diode in the laser, perform individual operation on each optical pulse signal in a preset unit time according to the real-time current data, obtain average power data in the preset unit time as actual output power data of the laser, and transmit the actual output power data to the optical power control unit.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the steps of the method in any one of claims 1 to 6.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, which is executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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