Light beam pointing correction method, device, electronic equipment and storage medium

Abstract

The present application belongs to the technical field of correcting light beam pointing, and discloses a light beam pointing correction method, device, electronic device and storage medium. The method comprises: obtaining structural parameters of a light beam pointing control system, constructing a light beam transmission model according to the structural parameters, using the light beam transmission model to calculate the pointing position of an initial light beam and a calculation formula of a first theoretical target surface light spot position and a calculation formula of a second theoretical target surface light spot position, establishing a light beam pointing evaluation function based on the above calculation formula, iterating the light beam pointing evaluation function according to the pointing position of the initial light beam through an SPGD algorithm, and calculating a light beam pointing correction angle; iterating the light beam pointing evaluation function established based on the calculation formula of the theoretical target surface light spot position through an SPGD algorithm, and obtaining a light beam pointing correction angle, so as to correct the light beam pointing, thereby improving the correction efficiency of the light beam pointing.

Description

Technical Field

[0001] The present application relates to the technical field of correcting light beam pointing, and in particular, to a light beam pointing correction method, device, electronic device and storage medium. Background Art

[0002] With the rapid development of laser technology, lasers are widely used in the fields of medicine, industry, aerospace, etc., and the requirements for laser pointing stability and precision are gradually increasing. However, during the operation of the laser, due to the heating of the internal structure, the influence of ambient temperature, and the instability of the platform, the beam pointing will produce jitter or drift, causing the laser beam pointing and position to shift, thereby affecting the effect of laser processing and reducing the product yield. Therefore, the laser pointing stability control system can be used to correct the beam pointing to improve the pointing stability of the laser beam.

[0003] In the process of beam pointing control, a dual fast-reflex mirror system is often used for control. In the first step, the first fast-reflex mirror is adjusted to correct the beam pointing to the center position of the second fast-reflex mirror (correcting the position offset), and the second step is to adjust the second fast-reflex mirror to correct the angle offset of the beam pointing, thereby completing the correction of the beam pointing. However, this process requires repeated attempts to adjust the angle of the fast-reflex mirror, and each adjustment process requires the camera to measure the spot position multiple times, which makes the entire correction process very complicated, thus affecting the correction efficiency.

[0004] Therefore, in order to solve the technical problem that the existing beam pointing correction method requires multiple measurements of the spot position and multiple adjustments of the fast mirror angle, a beam pointing correction method, device, electronic device and storage medium are urgently needed. Summary of the invention

[0005] The purpose of the present application is to provide a beam pointing correction method, device, electronic device and storage medium. Through the SPGD algorithm, the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera is iterated to obtain the beam pointing correction angle, so as to solve the problem that the existing beam pointing correction method requires multiple measurements of the spot position and multiple adjustments of the fast mirror angle, reduce the number of camera detection times and the number of fast mirror adjustments, and improve the correction efficiency of the beam pointing.

[0006] In a first aspect, the present application provides a beam pointing correction method, which is applied to a beam pointing control system; the beam pointing control system comprises a laser, a first fast reflex mirror, a second fast reflex mirror, a beam splitter, a first lens, a first reflector, a near-field camera, a second lens, a second reflector, a third reflector and a far-field camera; the beam of the laser is reflected by the first fast reflex mirror and the second fast reflex mirror in sequence and then split into two sub-beams by the beam splitter, wherein one of the sub-beams passes through the first lens and the first reflector in sequence and reaches the near-field camera, and the other of the sub-beams passes through the second lens, the second reflector and the third reflector in sequence and reaches the far-field camera;

[0007] The beam pointing correction method comprises:

[0008] Acquiring structural parameters of the light beam pointing control system;

[0009] According to the structural parameters, a beam transmission model is constructed;

[0010] The calculation formulas of the theoretical target surface light spot positions of the near-field camera and the far-field camera are calculated by using the beam transmission model, so as to calculate the pointing position of the initial light beam of the laser; the calculation formulas of the theoretical target surface light spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position;

[0011] Establishing a beam pointing evaluation function based on the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position;

[0012] By using the SPGD algorithm, the beam pointing evaluation function is iterated according to the pointing position of the initial light beam, and the beam pointing correction angle is calculated.

[0013] The beam pointing correction method provided in the present application can realize the correction of the beam pointing. Through the SPGD algorithm, the beam pointing evaluation function established based on the calculation formula of the theoretical target spot position of the near-field camera and the far-field camera is iterated to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method requires multiple measurements of the spot position and multiple adjustments of the fast mirror angle. It can reduce the number of camera detection times and the number of fast mirror adjustments, and improve the correction efficiency of the beam pointing.

[0014] Optionally, the light beam transmission model is a simulation model.

[0015] Optionally, the beam transmission model is used to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser, including:

[0016] Based on the beam transmission model, a first parallel vector is set which is parallel to the initial beam of the laser, and a first relationship equation corresponding to the initial beam and the first parallel vector is set;

[0017] Based on the structural parameters, constructing a first plane equation of the first fast reflection mirror;

[0018] According to the first relationship equation and the first plane equation, combined with the light reflection formula, a calculation formula for the theoretical target surface spot position of the near-field camera and the far-field camera in the light beam pointing control system is calculated;

[0019] The pointing position of the initial light beam of the laser is calculated based on the calculation formulas of the theoretical target surface light spot positions of the near-field camera and the far-field camera in combination with the structural parameters.

[0020] The beam pointing correction method provided in the present application can realize the correction of the beam pointing. According to the first relationship equation corresponding to the initial beam and the first parallel vector and the first plane equation of the first fast mirror, combined with the reflection formula of light, the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera and the pointing position of the initial beam are calculated. The beam pointing is analyzed through the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera and the pointing position of the initial beam, which is beneficial to improve the correction efficiency of the beam pointing.

[0021] Optionally, constructing a first plane equation of the first fast mirror based on the structural parameters includes:

[0022] Based on the structural parameters, setting a first mirror center coordinate of the first fast reflection mirror and a first normal vector corresponding to the first mirror center coordinate;

[0023] A first plane equation of the first fast reflection mirror is constructed according to the first mirror center coordinates and the first normal vector.

[0024] Optionally, according to the first relationship equation and the first plane equation, in combination with the light reflection formula, a calculation formula for the theoretical target surface spot positions of the near-field camera and the far-field camera in the light beam pointing control system is calculated, including:

[0025] Based on the first relationship equation and the first plane equation, the coordinates of a first reflection position point where the initial light beam hits the first fast reflection mirror are calculated;

[0026] According to the coordinates of the first reflection position point and the reflection formula of the light, a first light vector of the initial light beam after being reflected by the first fast reflection mirror is calculated;

[0027] A second parallel vector parallel to the first light vector is set, and a second relationship equation corresponding to the first light vector and the second parallel vector is set, so as to calculate the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera in the light beam pointing control system through the second relationship equation in combination with the structural parameters and the reflection formula of the light.

[0028] Optionally, the beam pointing evaluation function is iterated according to the pointing position of the initial light beam through an SPGD algorithm to calculate the beam pointing correction angle, including:

[0029] Setting control parameters of the beam pointing evaluation function and random perturbation amounts of the control parameters;

[0030] Constructing a parameter iteration formula according to the control parameter, the random perturbation amount and the beam pointing evaluation function;

[0031] Based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, the control parameters are iterated, and at the same time, the beam pointing evaluation function is iterated using the iterated control parameters and the pointing position of the initial beam to calculate the beam pointing correction angle.

[0032] The beam pointing correction method provided in the present application can realize the correction of beam pointing. By using the SPGD algorithm, the control parameters are iterated, and the beam pointing evaluation function is iterated using the iterated control parameters to calculate the beam pointing correction angle. Through the beam pointing evaluation function, the calculation efficiency of the beam pointing correction angle can be improved.

[0033] Optionally, based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, while iterating the control parameter, using the iterated control parameter and the pointing position of the initial light beam, iterating the beam pointing evaluation function to calculate the beam pointing correction angle, including:

[0034] Iterating the control parameter based on the random perturbation amount and the parameter iteration formula to obtain a plurality of iterated control parameters;

[0035] Iterating the beam pointing evaluation function using the multiple iterated control parameters and the pointing position of the initial beam to obtain multiple beam pointing evaluation function change values;

[0036] The minimum value among the multiple beam pointing evaluation function change values ​​is extracted, and the iterated control parameter corresponding to the minimum value is used as the optimal control parameter to obtain the beam pointing correction angle.

[0037] In a second aspect, the present application provides a beam pointing correction device, which is applied to a beam pointing control system; the beam pointing control system includes a laser, a first fast reflex mirror, a second fast reflex mirror, a beam splitter, a first lens, a first reflector, a near-field camera, a second lens, a second reflector, a third reflector and a far-field camera; the beam of the laser is reflected by the first fast reflex mirror and the second fast reflex mirror in sequence and then split into two sub-beams by the beam splitter, wherein one of the sub-beams passes through the first lens and the first reflector in sequence and reaches the near-field camera, and the other of the sub-beams passes through the second lens, the second reflector and the third reflector in sequence and reaches the far-field camera;

[0038] The light beam pointing correction device comprises:

[0039] An acquisition module, used to acquire structural parameters of the light beam pointing control system;

[0040] A construction module, used to construct a beam transmission model according to the structural parameters;

[0041] A calculation module, used to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera by using the beam transmission model, so as to calculate the pointing position of the initial beam of the laser; the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position;

[0042] An establishing module, used for establishing a beam pointing evaluation function based on the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position;

[0043] The correction module is used to iterate the beam pointing evaluation function according to the pointing position of the initial light beam through the SPGD algorithm to calculate the beam pointing correction angle.

[0044] The beam pointing correction device, through the SPGD algorithm, iterates the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method requires multiple measurements of the spot position and multiple adjustments of the fast mirror angle, and can reduce the number of camera detections and the number of fast mirror adjustments, thereby improving the correction efficiency of the beam pointing.

[0045] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps in the beam pointing correction method described above.

[0046] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the beam pointing correction method described above are executed.

[0047] Beneficial effects: The beam pointing correction method, device, electronic device and storage medium provided in the present application, through the SPGD algorithm, iterates the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method requires multiple measurements of the spot position and multiple adjustments of the fast mirror angle, and can reduce the number of camera detection times and the number of fast mirror adjustments, thereby improving the correction efficiency of the beam pointing. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flowchart of a beam pointing correction method provided in an embodiment of the present application.

[0049] Figure 2 A schematic diagram of the structure of a light beam pointing correction device provided in an embodiment of the present application.

[0050] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0051] Figure 4 Schematic diagram of the structure of the beam transmission model.

[0052] Explanation of reference numerals: 1. Acquisition module; 2. Construction module; 3. Calculation module; 4. Establishment module; 5. Correction module; 301. Processor; 302. Memory; 303. Communication bus; 101. Laser; 102. First fast reflex mirror; 103. Second fast reflex mirror; 104. Beam splitter; 105. First lens; 106. First reflector; 107. Near-field camera; 108. Second lens; 109. Second reflector; 110. Third reflector; 111. Far-field camera. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0054] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0055] Please refer to Figure 1 , Figure 1 A beam pointing correction method in some embodiments of the present application is applied to a beam pointing control system (specifically, Figure 4 As shown in the figure, the beam pointing control system comprises a laser 101, a first fast reflex mirror 102, a second fast reflex mirror 103, a beam splitter 104, a first lens 105, a first reflector 106, a near-field camera 107, a second lens 108, a second reflector 109, a third reflector 110 and a far-field camera 111; the laser beam is sequentially reflected by the first fast reflex mirror and the second fast reflex mirror and then split into two sub-beams by the beam splitter, one of which passes through the first lens and the first reflector in sequence and reaches the near-field camera, and the other of which passes through the second lens, the second reflector and the third reflector in sequence and reaches the far-field camera;

[0056] The beam pointing correction method comprises the steps of:

[0057] Step S101, obtaining structural parameters of a light beam pointing control system;

[0058] Step S102, constructing a beam transmission model according to the structural parameters;

[0059] Step S103, using the beam transmission model, calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser; the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position;

[0060] Step S104, establishing a beam pointing evaluation function based on the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position;

[0061] Step S105 , using the SPGD algorithm, according to the pointing position of the initial light beam, the light beam pointing evaluation function is iterated to calculate the light beam pointing correction angle.

[0062] The beam pointing correction method, through the SPGD algorithm, iterates the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method needs to measure the spot position multiple times and adjust the fast mirror angle multiple times, and can reduce the number of camera detections and the number of fast mirror adjustments, thereby improving the correction efficiency of beam pointing.

[0063] Specifically, in step S101, the structural parameters of the beam pointing control system are obtained, wherein the structural parameters include the distance between the laser emission point and the center of the first quick reflex mirror, the distance between the center of the first quick reflex mirror and the center of the second quick reflex mirror, the distance between the center of the second quick reflex mirror and the center of the beam splitter, and other parameters, as well as the angle of the first quick reflex mirror relative to the initial beam emitted by the laser emission point, the angle of the second quick reflex mirror relative to the first quick reflex mirror, and other parameters of the angle of all components along the beam propagation direction, and the first actual target surface spot position measured by the near-field camera and the second actual target surface spot position measured by the far-field camera. In the beam pointing control system, the angle between the incident beam and the reflected beam of the reflector (the first quick reflex mirror, the second quick reflex mirror, the first reflector, the second reflector, and the third reflector) is generally 90°, and the reflector is inclined at 45° relative to the incident beam.

[0064] Specifically, in step S102, in the simulation modeling software, a beam transmission model is constructed according to the structural parameters. The beam transmission model is a simulation model. The beam transmission model is obtained by simulating the beam pointing control system. The pointing position of the initial beam emitted by the laser and the calculation formulas for the theoretical target surface spot position emitted by the laser to the near-field camera and the calculation formulas for the theoretical target surface spot position emitted to the far-field camera can be calculated through the following steps.

[0065] Specifically, in step S103, the beam transmission model is used to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser, including:

[0066] Based on the beam transmission model, a first parallel vector parallel to the initial beam of the laser is set, and a first relationship equation corresponding to the initial beam and the first parallel vector is set;

[0067] Based on the structural parameters, construct the first plane equation of the first fast reflection mirror;

[0068] According to the first relationship equation and the first plane equation, combined with the light reflection formula, the pointing position of the initial light beam of the laser is calculated, and the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are calculated;

[0069] According to the calculation formula of the theoretical target spot position of the near-field camera and the far-field camera, combined with the structural parameters, the pointing position of the initial light beam of the laser is calculated.

[0070] In step S103, in the beam transmission model, the beam direction is calculated in the form of a vector, with the laser emission point O as the origin, the direction from the laser pointing to the center of the first fast mirror as the positive z-axis direction, and the direction from the center of the first fast mirror to the center of the second fast mirror as the positive y-axis direction, to construct a coordinate system (the ordinate axis of the coordinate system is the x-axis, the vertical axis is the y-axis, and the horizontal axis is the z-axis). Assuming that the initial beam emitted by the laser is offset, the position offset of the initial beam is set to , the offset angle is , set the first parallel vector parallel to the initial beam direction , then the first relationship equation corresponding to the initial light beam and the first parallel vector satisfies the following relationship:

[0071] ;

[0072] ;

[0073] ; (1)

[0074] in, , , are the ordinate, vertical coordinate and horizontal coordinate of the first parallel vector respectively; is the deviation angle of the initial beam; , are the ordinate and vertical coordinates of the initial beam when it is offset; x, y, z are the ordinate, vertical coordinate and horizontal coordinate of the point where the initial beam hits the first fast mirror. In formula (1), when =0, then ,like =0, then ,like =0, then .

[0075] Specifically, in step S103, based on the structural parameters, a first plane equation of the first fast reflection mirror is constructed, including:

[0076] Based on the structural parameters, setting the first mirror center coordinates of the first fast reflection mirror and the first normal vector corresponding to the first mirror center coordinates;

[0077] A first plane equation of the first fast reflection mirror is constructed according to the first mirror center coordinates and the first normal vector.

[0078] In step S103, based on the structural parameters, the first mirror center coordinates of the first quick-reflection mirror are set to ,in, is the distance from the laser emission point to the center of the first fast mirror, assuming that the corresponding first normal vector is , then the first plane equation of the constructed first fast mirror is specifically:

[0079] ; (2)

[0080] in, is the first normal vector The vertical coordinate of is the first normal vector The vertical coordinate of is the first normal vector The horizontal axis of .

[0081] Specifically, in step S103, according to the first relationship equation and the first plane equation, combined with the light reflection formula, the pointing position of the initial light beam of the laser is calculated, and the calculation formulas for the theoretical target surface spot positions of the near-field camera and the far-field camera are calculated, including:

[0082] Based on the first relationship equation and the first plane equation, the coordinates of the first reflection position point of the initial light beam hitting the first fast reflection mirror are calculated;

[0083] According to the coordinates of the first reflection position point and the reflection formula of light, a first light vector of the initial light beam after being reflected by the first fast reflection mirror is calculated;

[0084] A second parallel vector parallel to the first light vector is set, and a second relationship equation corresponding to the first light vector and the second parallel vector is set, so as to calculate the pointing position of the initial light beam of the laser through the second relationship equation in combination with the structural parameters and the reflection formula of light, and to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera.

[0085] In step S103, the first reflection position point where the initial light beam hits the first fast reflection mirror is calculated by using the above formula (1) and formula (2). The coordinates of the first reflection point The coordinates and the reflection formula of light are used to calculate the first light vector after the initial light beam is reflected by the first fast mirror. , ,in, The first light vector hits the second reflection position of the second fast mirror. is the vector of the initial light beam from the emission point O to the first reflection position.

[0086] Sets a second parallel vector parallel to the first ray vector , and set the second relationship equation corresponding to the first light vector and the second parallel vector:

[0087] ;

[0088] ;

[0089] ; (3)

[0090] in, , , The second reflection position points The ordinate, vertical coordinate and horizontal coordinate of is the offset angle of the first light vector. In formula (3), when =0, then ,like =0, then ,like =0, then .

[0091] Similarly, based on the structural parameters, the center coordinates of the second mirror surface of the second fast-reflecting mirror are set to ,in, is the distance from the center of the first fast reflex mirror to the center of the second fast reflex mirror, assuming that the corresponding second normal vector is , then the second plane equation of the constructed second fast mirror is specifically:

[0092] ; (4)

[0093] in, is the second normal vector The vertical coordinate of is the second normal vector The vertical coordinate of is the second normal vector The horizontal axis of .

[0094] Similarly, using the above formula (3) and formula (4), we can calculate the second reflection position point where the first light vector hits the second fast mirror: The coordinates of the second reflection point The coordinates of and the reflection formula of light are used to calculate the second light vector after the first light vector is reflected by the second fast mirror. , ,in, The second light vector hits the third reflection position of the beam splitter. is the vector of the initial light beam from the emission point O to the first reflection position.

[0095] By analogy, according to the other components of the above-mentioned light beam pointing control system (the first lens, the first reflector, the near-field camera, the second lens, the second reflector, the third reflector and the far-field camera), according to the irradiation order of the light beam (the laser emitted by the laser), the calculation formula of the theoretical target surface spot position of the near-field camera and the calculation formula of the theoretical target surface spot position of the far-field camera are calculated, which are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position.

[0096] In step S103, due to the position offset of the initial beam in the above calculation process In and is an unknown number. Therefore, the calculation formula for the first theoretical target surface light spot position and the calculation formula for the second theoretical target surface light spot position obtained above cannot determine the specific value of the theoretical target surface light spot position. However, before adjusting the light beam pointing direction, the calculated first theoretical target surface light spot position and the second theoretical target surface light spot position are essentially the actual target surface light spot positions. Therefore, the first actual target surface light spot position measured by the near-field camera and the second actual target surface light spot position measured by the far-field camera are substituted into the calculation formula for the first theoretical target surface light spot position and the calculation formula for the second theoretical target surface light spot position. Then, through the light beam transmission model, the above step S103 is reversed to calculate the actual position offset of the initial light beam, that is, the pointing position of the initial light beam is calculated.

[0097] Specifically, in step S104, based on the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position, a beam pointing evaluation function is established, and the beam pointing evaluation function is specifically:

[0098] ;

[0099] ;

[0100] in, is the change value of the beam pointing evaluation function, To control the parameters, is the random perturbation quantity, J is the beam pointing evaluation function value; represents the beam pointing evaluation function after each forward perturbation is applied, represents the beam pointing evaluation function after each negative perturbation is applied; is the square root function; x c1 ,y c1 are the coordinates of the theoretical target spot position of the light beam on the near-field camera on the x-axis and y-axis (i.e., the ordinate and vertical coordinates), respectively. c2 ,y c2are the coordinate values ​​of the theoretical target spot position of the light beam on the far-field camera on the x-axis and y-axis respectively. and random perturbation It can be set according to actual needs.

[0101] Through the beam pointing evaluation function, the sum of the theoretical target spot position and the center point distance measured by the near-field and far-field cameras is used as the beam pointing evaluation function to evaluate the indicator of the beam pointing offset. By solving the minimum value of the change value of the beam pointing evaluation function, the solution when the beam pointing offset is extremely small is obtained, thereby realizing beam pointing correction.

[0102] Specifically, in step S105, the beam pointing evaluation function is iterated according to the pointing position of the initial beam through the SPGD algorithm to calculate the beam pointing correction angle, including:

[0103] Set the control parameters of the beam pointing evaluation function and the random perturbation of the control parameters;

[0104] According to the control parameters, random perturbation amount and beam pointing evaluation function, a parameter iteration formula is constructed;

[0105] Based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, the control parameters are iterated, and the beam pointing evaluation function is iterated using the iterated control parameters and the pointing position of the initial beam to calculate the beam pointing correction angle.

[0106] In step S105, the beam pointing is controlled simultaneously by two fast-reflection mirrors (the first fast-reflection mirror and the second fast-reflection mirror). Each fast-reflection mirror can adjust the beam pointing by the offset angle of the beam pointing relative to the x-axis and the y-axis, respectively. Therefore, the four control variables need to be controlled in a coordinated manner. Therefore, the control parameters of the beam pointing evaluation function are Four control components are provided, specifically including a first deflection angle of the light beam around the x-axis of the first fast reflection mirror , the second deflection angle of the light beam around the y-axis of the first fast mirror , the third deflection angle of the light beam around the x-axis of the second fast mirror and the fourth deflection angle of the light beam around the y-axis of the second fast mirror , random perturbation There are also four perturbation components, including the first deflection angle The corresponding first random perturbation , the second deflection angle The corresponding second random perturbation , the third deflection angle The corresponding third random perturbation and the fourth deflection angle The corresponding fourth random perturbation . Set the corresponding control parameters according to actual needs. The initial value and random perturbation The initial value of .

[0107] By controlling the parameters , random perturbation and the beam pointing evaluation function, construct the parameter iteration formula, which is as follows:

[0108] ;

[0109] in, is the control parameter at the k+1th iteration, is the control parameter at the kth iteration, is the gain coefficient, is the change value of the beam pointing evaluation function at the kth iteration, ; is the random perturbation at the kth iteration. When k=0, is the initial value of the control parameter, is the initial value of the beam pointing evaluation function change value, is the initial value of the random perturbation amount. The random perturbation amount at each iteration can be set according to actual needs, for example, the difference between the random perturbation amount at each iteration and the random perturbation amount at the previous iteration is set to be equal to the difference.

[0110] When the control parameters The first deflection angle When the first deflection angle The parameter iteration formula is as follows:

[0111] ;

[0112] in, is the first deflection angle at the k+1th iteration, is the first deflection angle at the kth iteration, is the change value of the first beam pointing evaluation function at the kth iteration, ; is the first random perturbation at the kth iteration.

[0113] When the control parameters The second deflection angle When the second deflection angle The parameter iteration formula is as follows:

[0114] ;

[0115] in, is the second deflection angle at the k+1th iteration, is the second deflection angle at the kth iteration, is the change value of the second beam pointing evaluation function at the kth iteration, ; is the second random perturbation at the kth iteration.

[0116] When the control parameters The third deflection angle When the third deflection angle The parameter iteration formula is as follows:

[0117] ;

[0118] in, is the third deflection angle at the k+1th iteration, is the third deflection angle at the kth iteration, is the change value of the third beam pointing evaluation function at the kth iteration, ; is the third random perturbation at the kth iteration.

[0119] When the control parameters The fourth deflection angle When the fourth deflection angle The parameter iteration formula is as follows:

[0120] ;

[0121] in, is the fourth deflection angle at the k+1th iteration, is the fourth deflection angle at the kth iteration, is the change value of the fourth beam pointing evaluation function at the kth iteration, ; is the fourth random perturbation at the kth iteration.

[0122] Specifically, in step S105, based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, the control parameters are iterated, and the beam pointing evaluation function is iterated using the iterated control parameters and the pointing position of the initial beam to calculate the beam pointing correction angle, including:

[0123] Based on the random perturbation amount and the parameter iteration formula, the control parameters are iterated to obtain the control parameters after multiple iterations;

[0124] Iterating the beam pointing evaluation function using the control parameters after multiple iterations and the pointing position of the initial beam, and obtaining multiple beam pointing evaluation function change values;

[0125] The minimum value among the change values ​​of multiple beam pointing evaluation functions is extracted, and the iterated control parameter corresponding to the minimum value is taken as the optimal control parameter to obtain the beam pointing correction angle.

[0126] In step S105, based on the random perturbation amount and the parameter iteration formula, the control parameters are iterated to obtain multiple iterative control parameters, and the beam pointing evaluation function is iterated based on the calculation formula of the beam pointing evaluation function using the multiple iterative control parameters and the pointing position of the initial beam to obtain multiple beam pointing evaluation function change values, wherein the calculation formula of the beam pointing evaluation function change value is specifically:

[0127] ;

[0128] in, is the change value of the beam pointing evaluation function at the kth iteration, represents the beam pointing evaluation function after the kth forward perturbation is applied, represents the beam pointing evaluation function after the kth negative perturbation is applied, is the control parameter at the kth iteration; is the random perturbation at the kth iteration. When k=0, is the initial value of the control parameter, is the initial value of the beam pointing evaluation function change value, is the initial value of the random perturbation amount. The random perturbation amount at each iteration can be set according to actual needs, for example, the difference between the random perturbation amount at each iteration and the random perturbation amount at the previous iteration is set to be equal to the difference.

[0129] Similarly, the control parameters of the beam pointing evaluation function are The first deflection angle of the four control components , the second deflection angle , the third deflection angle and the fourth deflection angle A calculation formula for the beam pointing evaluation function is provided (the detailed formula is shown in the parameter iteration formula), which will not be described in detail here.

[0130] For the beam pointing evaluation function after applying random perturbations (i.e., applying positive perturbations and negative perturbations) each time, the first theoretical target surface spot position and the second theoretical target surface spot position after applying random perturbations can be calculated through the beam transmission model. In each iteration, the first normal vector of the first fast mirror is updated as:

[0131] ;

[0132] in, is the k-th positive perturbation or the k-th negative perturbation (when the first normal vector after the positive perturbation is calculated, it is the k-th positive perturbation). , when the calculation is the first normal vector after applying a negative perturbation, it is the negative perturbation applied for the kth time ); is the first normal vector after the k+1th random perturbation is applied, is the first normal vector after the k-th random perturbation is applied, is the rotation axis around which the first fast mirror rotates; when k=0, is the initial value of the first normal vector, that is When the calculation is the control parameter When the beam corresponding to any control component in points to the evaluation function, It will be adjusted according to the calculated control component.

[0133] Similarly, update the second normal vector:

[0134] ;

[0135] in, is the k-th positive perturbation or the k-th negative perturbation (when the first normal vector after the positive perturbation is calculated, it is the k-th positive perturbation). , when the calculation is the first normal vector after applying a negative perturbation, it is the negative perturbation applied for the kth time ); is the second normal vector after the k+1th random perturbation is applied, is the second normal vector after the k-th random perturbation is applied, is the rotation axis around which the second fast mirror rotates; when k=0, is the initial value of the second normal vector, that is When the calculation is the control parameter When the beam corresponding to any control component in points to the evaluation function, It will be adjusted according to the calculated control component.

[0136] After the first normal vector and the second normal vector are updated, the first theoretical target surface spot position and the second theoretical target surface spot position after applying the random perturbation amount can be calculated by using the beam transmission model and the pointing position of the initial beam according to the steps of step S103, and the beam pointing evaluation function after applying the forward perturbation can be calculated by using the beam pointing evaluation function. And the beam pointing evaluation function after applying negative perturbation , thus, the change value of the beam pointing evaluation function after each application of random perturbation is calculated.

[0137] After calculating and obtaining multiple extracted beam pointing evaluation function change values, the minimum value is extracted from the multiple beam pointing evaluation function change values, and the iterated control parameter corresponding to the minimum value is used as the optimal control parameter, thereby extracting the control parameter The four optimal control angles corresponding to the four control components are used to obtain the beam pointing correction angle. The four optimal control angles are respectively input into the corresponding fast mirror driver to achieve the correction of the beam pointing.

[0138] As can be seen from the above, the beam pointing correction method obtains the structural parameters of the beam pointing control system, constructs a beam transmission model according to the structural parameters, and uses the beam transmission model to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser. The calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position. Based on the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position, a beam pointing evaluation function is established. Through the SPGD algorithm, according to the pointing position of the initial beam, the beam pointing evaluation function is iterated to calculate the beam pointing correction angle; thus, through the SPGD algorithm, the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera is iterated to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method needs to measure the spot position multiple times and adjust the fast mirror angle multiple times, thereby reducing the number of camera detections and the number of fast mirror adjustments, and improving the correction efficiency of beam pointing.

[0139] refer to Figure 2 The present application provides a beam pointing correction device, which is applied to a beam pointing control system (specifically, Figure 4 As shown in the figure, the beam pointing control system comprises a laser 101, a first fast reflex mirror 102, a second fast reflex mirror 103, a beam splitter 104, a first lens 105, a first reflector 106, a near-field camera 107, a second lens 108, a second reflector 109, a third reflector 110 and a far-field camera 111; the laser beam is sequentially reflected by the first fast reflex mirror and the second fast reflex mirror and then split into two sub-beams by the beam splitter, one of which passes through the first lens and the first reflector in sequence and reaches the near-field camera, and the other of which passes through the second lens, the second reflector and the third reflector in sequence and reaches the far-field camera;

[0140] The beam pointing correction device comprises:

[0141] An acquisition module 1 is used to acquire structural parameters of a beam pointing control system;

[0142] Construction module 2, used to construct a beam transmission model according to the structural parameters;

[0143] A calculation module 3 is used to calculate the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera by using the beam transmission model, so as to calculate the pointing position of the initial beam of the laser; the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position;

[0144] Establishing module 4, for establishing a beam pointing evaluation function based on a calculation formula of the first theoretical target surface light spot position and a calculation formula of the second theoretical target surface light spot position;

[0145] The correction module 5 is used to iterate the beam pointing evaluation function according to the pointing position of the initial light beam through the SPGD algorithm, and calculate the beam pointing correction angle.

[0146] The beam pointing correction device, through the SPGD algorithm, iterates the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method requires multiple measurements of the spot position and multiple adjustments of the fast mirror angle, and can reduce the number of camera detections and the number of fast mirror adjustments, thereby improving the correction efficiency of the beam pointing.

[0147] Specifically, when the acquisition module 1 is executed, the structural parameters of the beam pointing control system are acquired, wherein the structural parameters include the distance between the laser emission point and the center of the first quick reflex mirror, the distance between the center of the first quick reflex mirror and the center of the second quick reflex mirror, the distance between the center of the second quick reflex mirror and the center of the beam splitter, and other parameters, as well as the angle of the first quick reflex mirror relative to the initial beam emitted from the laser emission point, the angle of the second quick reflex mirror relative to the first quick reflex mirror, and other parameters of the angles of all components along the beam propagation direction. In the beam pointing control system, the angle between the incident beam and the reflected beam of the reflector (the first quick reflex mirror, the second quick reflex mirror, the first reflector, the second reflector, and the third reflector) is generally 90°, and the reflector is inclined at 45° relative to the incident beam.

[0148] Specifically, when construction module 2 is executed, a beam transmission model is constructed in the simulation modeling software according to the structural parameters. The beam transmission model is a simulation model. The beam transmission model is obtained by simulating the beam pointing control system. The pointing position of the initial beam emitted by the laser and the calculation formula of the theoretical target surface spot position emitted by the laser to the near-field camera and the calculation formula of the theoretical target surface spot position emitted to the far-field camera can be calculated through the following steps.

[0149] Specifically, when the calculation module 3 uses the beam transmission model to calculate the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser, it executes:

[0150] Based on the beam transmission model, a first parallel vector parallel to the initial beam of the laser is set, and a first relationship equation corresponding to the initial beam and the first parallel vector is set;

[0151] Based on the structural parameters, construct the first plane equation of the first fast reflection mirror;

[0152] According to the first relationship equation and the first plane equation, combined with the light reflection formula, the pointing position of the initial light beam of the laser is calculated, and the calculation formulas for the theoretical target surface spot positions of the near-field camera and the far-field camera are calculated.

[0153] When the calculation module 3 is executed, in the beam transmission model, the beam direction is calculated in the form of a vector, with the laser emission point O as the origin, the direction from the laser pointing to the center of the first fast mirror as the positive z-axis direction, and the direction from the center of the first fast mirror to the center of the second fast mirror as the positive y-axis direction, to construct a coordinate system (the ordinate axis of the coordinate system is the x-axis, the vertical axis is the y-axis, and the horizontal axis is the z-axis). Assuming that the initial beam emitted by the laser is offset, the position offset of the initial beam is set to , the offset angle is , set the first parallel vector parallel to the initial beam direction , then the first relationship equation corresponding to the initial light beam and the first parallel vector satisfies the following relationship:

[0154] ;

[0155] ;

[0156] ; (1)

[0157] in, , , are the ordinate, vertical coordinate and horizontal coordinate of the first parallel vector respectively; is the deviation angle of the initial beam; , are the ordinate and vertical coordinates of the initial beam when it is offset; x, y, z are the ordinate, vertical coordinate and horizontal coordinate of the point where the initial beam hits the first fast mirror. In formula (1), when =0, then ,like =0, then ,like =0, then .

[0158] Specifically, when constructing the first plane equation of the first fast reflection mirror based on the structural parameters, the calculation module 3 executes:

[0159] Based on the structural parameters, setting the first mirror center coordinates of the first fast reflection mirror and the first normal vector corresponding to the first mirror center coordinates;

[0160] A first plane equation of the first fast reflection mirror is constructed according to the first mirror center coordinates and the first normal vector.

[0161] When the calculation module 3 is executed, based on the structural parameters, the first mirror center coordinates of the first fast reflection mirror are set to ,in, is the distance from the laser emission point to the center of the first fast mirror, assuming that the corresponding first normal vector is , then the first plane equation of the constructed first fast mirror is specifically:

[0162] ; (2)

[0163] in, is the first normal vector The vertical coordinate of is the first normal vector The vertical coordinate of is the first normal vector The horizontal axis

[0164] Specifically, the calculation module 3 calculates the pointing position of the initial light beam of the laser according to the first relationship equation and the first plane equation in combination with the reflection formula of light, and calculates the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera, and executes:

[0165] Based on the first relationship equation and the first plane equation, the coordinates of the first reflection position point of the initial light beam hitting the first fast reflection mirror are calculated;

[0166] According to the coordinates of the first reflection position point and the reflection formula of light, a first light vector of the initial light beam after being reflected by the first fast reflection mirror is calculated;

[0167] A second parallel vector parallel to the first light vector is set, and a second relationship equation corresponding to the first light vector and the second parallel vector is set, so as to calculate the pointing position of the initial light beam of the laser through the second relationship equation in combination with the structural parameters and the reflection formula of light, and to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera.

[0168] When the calculation module 3 is executed, the first reflection position point where the initial light beam hits the first fast reflection mirror is calculated by the above formula (1) and formula (2). The coordinates of the first reflection point The coordinates and the reflection formula of light are used to calculate the first light vector after the initial light beam is reflected by the first fast mirror. , ,in, The first light vector hits the second reflection position of the second fast mirror. is the vector of the initial light beam from the emission point O to the first reflection position.

[0169] Sets a second parallel vector parallel to the first ray vector , and set the second relationship equation corresponding to the first light vector and the second parallel vector:

[0170] ;

[0171] ;

[0172] ; (3)

[0173] in, , , The second reflection position points The ordinate, vertical coordinate and horizontal coordinate of is the offset angle of the first light vector. In formula (3), when =0, then ,like =0, then ,like =0, then .

[0174] Similarly, based on the structural parameters, the center coordinates of the second mirror surface of the second fast-reflecting mirror are set to ,in, is the distance from the center of the first fast reflex mirror to the center of the second fast reflex mirror, assuming that the corresponding second normal vector is , then the second plane equation of the constructed second fast mirror is specifically:

[0175] ; (4)

[0176] in, is the second normal vector The vertical coordinate of is the second normal vector The vertical coordinate of is the second normal vector The horizontal axis of .

[0177] Similarly, using the above formula (3) and formula (4), we can calculate the second reflection position point where the first light vector hits the second fast mirror: The coordinates of the second reflection point The coordinates of and the reflection formula of light are used to calculate the second light vector after the first light vector is reflected by the second fast mirror. , ,in, The second light vector hits the third reflection position of the beam splitter. is the vector of the initial light beam from the emission point O to the first reflection position.

[0178] By analogy, according to the other components of the above-mentioned light beam pointing control system (the first lens, the first reflector, the near-field camera, the second lens, the second reflector, the third reflector and the far-field camera), according to the irradiation order of the light beam (the laser emitted by the laser), the calculation formula of the theoretical target surface spot position of the near-field camera and the calculation formula of the theoretical target surface spot position of the far-field camera are calculated, which are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position.

[0179] When the calculation module 3 is executed, due to the position offset of the initial beam in the above calculation process In and is an unknown number. Therefore, the calculation formula for the first theoretical target surface light spot position and the calculation formula for the second theoretical target surface light spot position obtained above cannot determine the specific value of the theoretical target surface light spot position. However, before adjusting the light beam pointing direction, the calculated first theoretical target surface light spot position and the second theoretical target surface light spot position are essentially the actual target surface light spot positions. Therefore, the first actual target surface light spot position measured by the near-field camera and the second actual target surface light spot position measured by the far-field camera are substituted into the calculation formula for the first theoretical target surface light spot position and the calculation formula for the second theoretical target surface light spot position, so that the calculation module 3 reverses the above steps through the light beam transmission model, and can calculate the actual position offset of the initial light beam, that is, calculate the pointing position of the initial light beam.

[0180] Specifically, when the establishment module 4 is executed, a beam pointing evaluation function is established based on the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position. The beam pointing evaluation function is specifically:

[0181] ;

[0182] ;

[0183] in, is the change value of the beam pointing evaluation function, To control the parameters, is the random perturbation quantity, J is the beam pointing evaluation function value; represents the beam pointing evaluation function after each forward perturbation is applied, represents the beam pointing evaluation function after each negative perturbation is applied; is the square root function; x c1 ,y c1 are the coordinates of the theoretical target spot position of the light beam on the near-field camera on the x-axis and y-axis (i.e., the ordinate and vertical coordinates), respectively. c2 ,y c2 are the coordinate values ​​of the theoretical target spot position of the light beam on the far-field camera on the x-axis and y-axis respectively. and random perturbation It can be set according to actual needs.

[0184] Through the beam pointing evaluation function, the sum of the theoretical target spot position and the center point distance measured by the near-field and far-field cameras is used as the beam pointing evaluation function to evaluate the indicator of the beam pointing offset. By solving the minimum value of the change value of the beam pointing evaluation function, the solution when the beam pointing offset is extremely small is obtained, thereby realizing beam pointing correction.

[0185] Specifically, when the correction module 5 iterates the beam pointing evaluation function according to the pointing position of the initial beam through the SPGD algorithm and calculates the beam pointing correction angle, it executes:

[0186] Set the control parameters of the beam pointing evaluation function and the random perturbation of the control parameters;

[0187] According to the control parameters, random perturbation amount and beam pointing evaluation function, a parameter iteration formula is constructed;

[0188] Based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, the control parameters are iterated, and the beam pointing evaluation function is iterated using the iterated control parameters and the pointing position of the initial beam to calculate the beam pointing correction angle.

[0189] When the correction module 5 is executed, the beam pointing is controlled simultaneously by two fast-reflection mirrors (the first fast-reflection mirror and the second fast-reflection mirror). Each fast-reflection mirror can adjust the beam pointing by the offset angle of the beam pointing relative to the x-axis and the y-axis, respectively. Therefore, the four control variables need to be controlled in a coordinated manner. Therefore, the control parameters of the beam pointing evaluation function are Four control components are provided, specifically including a first deflection angle of the light beam around the x-axis of the first fast reflection mirror , the second deflection angle of the light beam around the y-axis of the first fast mirror , the third deflection angle of the light beam around the x-axis of the second fast mirror and the fourth deflection angle of the light beam around the y-axis of the second fast mirror , random perturbation There are also four perturbation components, including the first deflection angle The corresponding first random perturbation , the second deflection angle The corresponding second random perturbation , the third deflection angle The corresponding third random perturbation and the fourth deflection angle The corresponding fourth random perturbation . Set the corresponding control parameters according to actual needs. The initial value and random perturbation The initial value of .

[0190] By controlling the parameters , random perturbation and the beam pointing evaluation function, construct the parameter iteration formula, which is as follows:

[0191] ;

[0192] in, is the control parameter at the k+1th iteration, is the control parameter at the kth iteration, is the gain coefficient, is the change value of the beam pointing evaluation function at the kth iteration, ; is the random perturbation at the kth iteration. When k=0, is the initial value of the control parameter, is the initial value of the beam pointing evaluation function change value, is the initial value of the random perturbation amount. The random perturbation amount at each iteration can be set according to actual needs, for example, the difference between the random perturbation amount at each iteration and the random perturbation amount at the previous iteration is set to be equal to the difference.

[0193] When the control parameters The first deflection angle When the first deflection angle The parameter iteration formula is as follows:

[0194] ;

[0195] in, is the first deflection angle at the k+1th iteration, is the first deflection angle at the kth iteration, is the change value of the first beam pointing evaluation function at the kth iteration, ; is the first random perturbation at the kth iteration.

[0196] When the control parameters The second deflection angle When the second deflection angle The parameter iteration formula is as follows:

[0197] ;

[0198] in, is the second deflection angle at the k+1th iteration, is the second deflection angle at the kth iteration, is the change value of the second beam pointing evaluation function at the kth iteration, ; is the second random perturbation at the kth iteration.

[0199] When the control parameters The third deflection angle When the third deflection angle The parameter iteration formula is as follows:

[0200] ;

[0201] in, is the third deflection angle at the k+1th iteration, is the third deflection angle at the kth iteration, is the change value of the third beam pointing evaluation function at the kth iteration, ; is the third random perturbation at the kth iteration.

[0202] When the control parameters The fourth deflection angle When the fourth deflection angle The parameter iteration formula is as follows:

[0203] ;

[0204] in, is the fourth deflection angle at the k+1th iteration, is the fourth deflection angle at the kth iteration, is the change value of the fourth beam pointing evaluation function at the kth iteration, ; is the fourth random perturbation at the kth iteration.

[0205] Specifically, the correction module 5 iterates the control parameters based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, and uses the iterated control parameters and the pointing position of the initial beam to iterate the beam pointing evaluation function, and when the beam pointing correction angle is calculated, executes:

[0206] Based on the random perturbation amount and the parameter iteration formula, the control parameters are iterated to obtain the control parameters after multiple iterations;

[0207] Iterating the beam pointing evaluation function using the control parameters after multiple iterations and the pointing position of the initial beam, and obtaining multiple beam pointing evaluation function change values;

[0208] The minimum value among the change values ​​of multiple beam pointing evaluation functions is extracted, and the iterated control parameter corresponding to the minimum value is taken as the optimal control parameter to obtain the beam pointing correction angle.

[0209] When the correction module 5 is executed, the control parameters are iterated based on the random perturbation amount and the parameter iteration formula to obtain multiple iterated control parameters, and the beam pointing evaluation function is iterated based on the calculation formula of the beam pointing evaluation function using the multiple iterated control parameters and the pointing position of the initial beam to obtain multiple beam pointing evaluation function change values, wherein the calculation formula of the beam pointing evaluation function change value is specifically:

[0210] ;

[0211] in, is the change value of the beam pointing evaluation function at the kth iteration, represents the beam pointing evaluation function after the kth forward perturbation is applied, represents the beam pointing evaluation function after the kth negative perturbation is applied; is the control parameter at the kth iteration; is the random perturbation at the kth iteration. When k=0, is the initial value of the control parameter, is the initial value of the beam pointing evaluation function change value, is the initial value of the random perturbation amount. The random perturbation amount at each iteration can be set according to actual needs, for example, the difference between the random perturbation amount at each iteration and the random perturbation amount at the previous iteration is set to be equal to the difference.

[0212] Similarly, the control parameters of the beam pointing evaluation function are The first deflection angle of the four control components , the second deflection angle , the third deflection angle and the fourth deflection angle A calculation formula for the beam pointing evaluation function is provided (the detailed formula is shown in the parameter iteration formula), which will not be described in detail here.

[0213] For the beam pointing evaluation function after applying random perturbations (i.e., applying positive perturbations and negative perturbations) each time, the first theoretical target surface spot position and the second theoretical target surface spot position after applying random perturbations can be calculated through the beam transmission model. In each iteration, the first normal vector of the first fast mirror is updated as:

[0214] ;

[0215] in, is the k-th positive perturbation or the k-th negative perturbation (when the first normal vector after the positive perturbation is calculated, it is the k-th positive perturbation). , when the calculation is the first normal vector after applying a negative perturbation, it is the negative perturbation applied for the kth time ); is the first normal vector after the k+1th random perturbation is applied, is the first normal vector after the k-th random perturbation is applied, is the rotation axis around which the first fast mirror rotates; when k=0, is the initial value of the first normal vector, that is When the calculation is the control parameter When the beam corresponding to any control component in points to the evaluation function, It will be adjusted according to the calculated control component.

[0216] Similarly, update the second normal vector:

[0217] ;

[0218] in, is the k-th positive perturbation or the k-th negative perturbation (when the first normal vector after the positive perturbation is calculated, it is the k-th positive perturbation). , when the calculation is the first normal vector after applying a negative perturbation, it is the negative perturbation applied for the kth time ); is the second normal vector after the k+1th random perturbation is applied, is the second normal vector after the k-th random perturbation is applied, is the rotation axis around which the second fast mirror rotates; when k=0, is the initial value of the second normal vector, that is When the calculation is the control parameter When the beam corresponding to any control component in points to the evaluation function, It will be adjusted according to the calculated control component.

[0219] After the first normal vector and the second normal vector are updated, the beam transmission model can be used to control the calculation module 3 to execute the corresponding steps using the pointing position of the initial beam, and the first theoretical target surface spot position and the second theoretical target surface spot position after applying the random perturbation amount can be calculated. The beam pointing evaluation function after applying the forward perturbation can be calculated through the beam pointing evaluation function. And the beam pointing evaluation function after applying negative perturbation , thus, the change value of the beam pointing evaluation function after each application of random perturbation is calculated.

[0220] After calculating and obtaining multiple extracted beam pointing evaluation function change values, the minimum value is extracted from the multiple beam pointing evaluation function change values, and the iterated control parameter corresponding to the minimum value is used as the optimal control parameter, thereby extracting the control parameter The four optimal control angles corresponding to the four control components are used to obtain the beam pointing correction angle. The four optimal control angles are respectively input into the corresponding fast mirror driver to achieve the correction of the beam pointing.

[0221] As can be seen from the above, the beam pointing correction device obtains the structural parameters of the beam pointing control system, constructs a beam transmission model according to the structural parameters, and uses the beam transmission model to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser. The calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position. Based on the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position, a beam pointing evaluation function is established. Through the SPGD algorithm, according to the pointing position of the initial beam, the beam pointing evaluation function is iterated to calculate the beam pointing correction angle; thus, through the SPGD algorithm, the beam pointing evaluation function established based on the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera is iterated to obtain the beam pointing correction angle, thereby solving the problem that the existing beam pointing correction method needs to measure the spot position multiple times and adjust the fast mirror angle multiple times, thereby reducing the number of camera detections and the number of fast mirror adjustments, and improving the correction efficiency of the beam pointing.

[0222] Please refer to Figure 3 , Figure 3 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The present application provides an electronic device, including: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the electronic device is running, the processor 301 executes the computer program to execute the beam pointing correction method in any optional implementation of the above embodiment to achieve the following functions: obtain the structural parameters of the beam pointing control system, and construct a beam transmission system according to the structural parameters. The transmission model is used, and the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are calculated by using the beam transmission model, so as to calculate the pointing position of the initial beam of the laser. The calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position. Based on the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position, a beam pointing evaluation function is established. Through the SPGD algorithm, the beam pointing evaluation function is iterated according to the pointing position of the initial beam, and the beam pointing correction angle is calculated.

[0223] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the beam pointing correction method in any optional implementation of the above embodiment is executed to achieve the following functions: obtaining structural parameters of the beam pointing control system, constructing a beam transmission model based on the structural parameters, and using the beam transmission model to calculate the calculation formulas for the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser. The calculation formulas for the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula for the first theoretical target surface spot position and the calculation formula for the second theoretical target surface spot position. Based on the calculation formula for the first theoretical target surface spot position and the calculation formula for the second theoretical target surface spot position, a beam pointing evaluation function is established. Through the SPGD algorithm, the beam pointing evaluation function is iterated according to the pointing position of the initial beam to calculate the beam pointing correction angle. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0224] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0225] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0226] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0227] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0228] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A beam pointing correction method, applied to a beam pointing control system to correct the beam pointing, characterized in that: The beam pointing control system comprises a laser, a first fast-reflection mirror, a second fast-reflection mirror, a beam splitter, a first lens, a first reflector, a near-field camera, a second lens, a second reflector, a third reflector and a far-field camera; the beam of the laser is sequentially reflected by the first fast-reflection mirror and the second fast-reflection mirror and then split into two sub-beams by the beam splitter, wherein one of the sub-beams sequentially passes through the first lens and the first reflector to reach the near-field camera, and the other of the sub-beams sequentially passes through the second lens, the second reflector and the third reflector to reach the far-field camera; The beam pointing correction method comprises the steps of: Acquiring structural parameters of the light beam pointing control system; According to the structural parameters, a beam transmission model is constructed; The calculation formulas of the theoretical target surface light spot positions of the near-field camera and the far-field camera are calculated by using the beam transmission model, so as to calculate the pointing position of the initial light beam of the laser; the calculation formulas of the theoretical target surface light spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position; Establishing a beam pointing evaluation function based on the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position; By using the SPGD algorithm, the beam pointing evaluation function is iterated according to the pointing position of the initial light beam, and the beam pointing correction angle is calculated.

2. The beam pointing correction method according to claim 1, characterized in that: The light beam transmission model is a simulation model.

3. The beam pointing correction method according to claim 1, characterized in that: The beam transmission model is used to calculate the theoretical target surface spot positions of the near-field camera and the far-field camera, thereby calculating the pointing position of the initial beam of the laser, including: Based on the beam transmission model, a first parallel vector is set which is parallel to the initial beam of the laser, and a first relationship equation corresponding to the initial beam and the first parallel vector is set; Based on the structural parameters, constructing a first plane equation of the first fast reflection mirror; According to the first relationship equation and the first plane equation, combined with the light reflection formula, a calculation formula for the theoretical target surface spot position of the near-field camera and the far-field camera in the light beam pointing control system is calculated; The pointing position of the initial light beam of the laser is calculated based on the calculation formulas of the theoretical target surface light spot positions of the near-field camera and the far-field camera in combination with the structural parameters.

4. The beam pointing correction method according to claim 3, characterized in that: Based on the structural parameters, constructing a first plane equation of the first fast reflection mirror includes: Based on the structural parameters, setting a first mirror center coordinate of the first fast reflection mirror and a first normal vector corresponding to the first mirror center coordinate; A first plane equation of the first fast reflection mirror is constructed according to the first mirror center coordinates and the first normal vector.

5. The beam pointing correction method according to claim 3, characterized in that: According to the first relationship equation and the first plane equation, combined with the light reflection formula, the calculation formulas for the theoretical target surface spot positions of the near-field camera and the far-field camera in the light beam pointing control system are calculated, including: Based on the first relationship equation and the first plane equation, the coordinates of a first reflection position point where the initial light beam hits the first fast reflection mirror are calculated; According to the coordinates of the first reflection position point and the reflection formula of the light, a first light vector of the initial light beam after being reflected by the first fast reflection mirror is calculated; A second parallel vector parallel to the first light vector is set, and a second relationship equation corresponding to the first light vector and the second parallel vector is set, so as to calculate the calculation formula of the theoretical target surface spot position of the near-field camera and the far-field camera in the light beam pointing control system through the second relationship equation in combination with the structural parameters and the reflection formula of the light.

6. The beam pointing correction method according to claim 1, characterized in that: By using the SPGD algorithm, the beam pointing evaluation function is iterated according to the pointing position of the initial beam to calculate the beam pointing correction angle, including: Setting control parameters of the beam pointing evaluation function and random perturbation amounts of the control parameters; Constructing a parameter iteration formula according to the control parameter, the random perturbation amount and the beam pointing evaluation function; Based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, the control parameters are iterated, and at the same time, the beam pointing evaluation function is iterated using the iterated control parameters and the pointing position of the initial beam to calculate the beam pointing correction angle.

7. The beam pointing correction method according to claim 6, characterized in that: Based on the random perturbation amount, the beam pointing evaluation function and the parameter iteration formula, the control parameter is iterated, and the beam pointing evaluation function is iterated using the iterated control parameter and the pointing position of the initial beam to calculate the beam pointing correction angle, including: Iterating the control parameter based on the random perturbation amount and the parameter iteration formula to obtain a plurality of iterated control parameters; Iterating the beam pointing evaluation function using the multiple iterated control parameters and the pointing position of the initial beam to obtain multiple beam pointing evaluation function change values; The minimum value among the multiple beam pointing evaluation function change values ​​is extracted, and the iterated control parameter corresponding to the minimum value is used as the optimal control parameter to obtain the beam pointing correction angle.

8. A beam pointing correction device, applied to a beam pointing control system to correct the beam pointing, characterized in that: The beam pointing control system comprises a laser, a first fast-reflection mirror, a second fast-reflection mirror, a beam splitter, a first lens, a first reflector, a near-field camera, a second lens, a second reflector, a third reflector and a far-field camera; the beam of the laser is sequentially reflected by the first fast-reflection mirror and the second fast-reflection mirror and then split into two sub-beams by the beam splitter, wherein one of the sub-beams sequentially passes through the first lens and the first reflector to reach the near-field camera, and the other of the sub-beams sequentially passes through the second lens, the second reflector and the third reflector to reach the far-field camera; The light beam pointing correction device comprises: An acquisition module, used to acquire structural parameters of the light beam pointing control system; A construction module, used to construct a beam transmission model according to the structural parameters; A calculation module, used to calculate the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera by using the beam transmission model, so as to calculate the pointing position of the initial beam of the laser; the calculation formulas of the theoretical target surface spot positions of the near-field camera and the far-field camera are respectively recorded as the calculation formula of the first theoretical target surface spot position and the calculation formula of the second theoretical target surface spot position; An establishing module, used for establishing a beam pointing evaluation function based on the calculation formula of the first theoretical target surface light spot position and the calculation formula of the second theoretical target surface light spot position; The correction module is used to iterate the beam pointing evaluation function according to the pointing position of the initial light beam through the SPGD algorithm to calculate the beam pointing correction angle.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it runs the steps in the beam pointing correction method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the beam pointing correction method according to any one of claims 1 to 7 are executed.

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