Automatic avoiding method and system for optical assembly of head-shaking imaging lamp
By obtaining the current attributes and application event information of the optical component, determining the cross-component and performing movement operations under priority and safety conditions, the problem of component interference collision in the shaking head imaging light optical system is solved, and the operation avoidance efficiency and optical control effect are improved. .
Patent Information
- Application Number
- CN202411600298.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-11
- Publication Date
- 2024-12-31
AI Technical Summary
The existing shaking head imaging lighting optical system only adopts a simple priority avoidance relationship when multiple components apply for space operation, resulting in low execution efficiency and affecting optical control effects, and prone to wear and interference collision of mechanical components.
By obtaining the current attributes and application event information of the optical component, determining the cross component, and performing component movement and automatic avoidance operations based on priority and safety conditions, the components can be moved in parallel and avoided interference collisions.
It improves the operation avoidance efficiency of optical components, ensures that components move in parallel under safe conditions, avoids interference and collision, and improves the efficiency and optical control effect of the system.
Smart Images
Figure CN119233500A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of control of a moving head imaging light, and in particular to an automatic avoidance method and system for an optical component of a moving head imaging light. Background Art
[0002] The optical system of the moving head imaging light path includes focusing lens, zoom lens, prism, fogging lens, aperture and other optical components. The lighting effect can be determined by setting the position of the optical components and controlling the movement of the optical components. Since the optical components share the same optical path travel space, and there are cross-interference positions between the components in the travel space, the mechanical parts may wear out or even fall off and be damaged when they are running at the same time. Therefore, they need to be coordinated to avoid interference or collision to ensure the normal operation of each component.
[0003] However, when multiple components of the existing moving head imaging light path optical system apply for space operation at the same time, they only use a simple priority avoidance relationship, waiting for the low-priority components to be fully in place before running the high-priority components. The execution efficiency is relatively low and it will affect the optical control effect. Therefore, a more optimized avoidance method is urgently needed to solve the above problems. Summary of the invention
[0004] The present invention aims to provide a method and system for automatic avoidance of optical components of a moving head imaging light, so as to solve the above-mentioned technical problems, avoid interference and collision problems when the optical components automatically move and avoid, and improve the efficiency of operation avoidance.
[0005] In order to solve the above technical problems, the present invention provides a method for automatically avoiding a moving head imaging light optical component, comprising the following steps:
[0006] S1: obtaining an initial component array based on current component properties of all optical components of the moving head imaging light;
[0007] S2: Obtain the current application event, obtain the current application information and application components based on the current application event, and determine the cross component based on the current application information and the initial component array;
[0008] S3: Obtain priority information based on the application component and the cross component. When the priority information meets the preset priority condition, the application component is moved based on the current application information and the cross component is automatically avoided, while ensuring that the distance between the application component and the cross component meets the preset safety condition, thereby completing the current application event.
[0009] In the above scheme, the present invention solves the conflict problems such as interference and collision in the movement of moving head imaging light optical components through simple priority comparison and preferred avoidance method, and moves the components in parallel when the preset safety conditions are met, thereby improving the efficiency of component operation avoidance.
[0010] Further, step S3 specifically includes: obtaining priority information based on the application component and the cross component, and when the priority information meets the preset priority condition, obtaining a type judgment result based on the cross component; when the type judgment result meets the dismissal condition, after performing a dismissal operation on the cross component, the application component is moved to complete the current application event; when the type judgment result does not meet the dismissal condition, and the distance between the application component and the cross component meets the preset safety condition, the application component is moved based on the current application information and the cross component is automatically avoided, thereby completing the current application event.
[0011] The above scheme supports the parallel movement of multiple non-conflicting components under safe conditions by judging the application components and cross components and confirming the preset safety conditions, thereby improving the efficiency of operation avoidance to meet actual efficiency requirements.
[0012] Furthermore, step S3 also includes: when the type judgment result does not meet the dismissal condition, it also includes: when the type judgment result does not meet the dismissal condition, and when the distance between the application component and the cross component does not meet the preset safety condition, the cross component is ordered to perform an automatic avoidance operation based on the current application information, and when the distance between the application component and the cross component meets the preset safety condition, the application component is ordered to move to complete the current application event.
[0013] The above scheme determines the application components and cross components and confirms the preset safety conditions. If the safety conditions are not met, avoidance is performed first until it is safe and then the application components are moved, so as to ensure that interference collisions are avoided in addition to meeting the actual efficiency requirements.
[0014] Further, step S3 may be: obtaining priority information based on the application component and the cross-component, and when the priority information does not meet the preset priority condition and the application component meets the preset execution type, while ensuring that the distance between the application component and the cross-component meets the preset safety condition, the application component is moved to the cross-component based on the current application information while meeting the preset safety condition to complete the current application event.
[0015] The above solution avoids the occurrence of conflict problems such as interference and collision by moving the application components under the limitation of preset safety conditions.
[0016] Further, step S3 may be: obtaining priority information based on the application component and the cross-component, and rejecting the current application event when the priority information does not meet the preset priority condition and the application component does not meet the preset execution type.
[0017] The above solution avoids the occurrence of conflicts by rejecting the application when the application component has a lower priority.
[0018] Further, after step S3 is completed, the current application event is removed, and the current component attributes are updated based on the application component and the cross component to obtain a new initial component array, so as to complete a new current application event based on the new initial component array.
[0019] The above solution ensures that new applications can be processed accurately and quickly by updating the component attribute information of the moving head imaging light optical component in real time, thereby improving the accuracy of operation avoidance.
[0020] The above scheme solves the problem of conflict in the movement of moving head imaging light optical components through simple priority comparison and polling application queue, avoids interference and collision, combines component properties to form an initial component array, and realizes parallel movement of components and real-time update of information such as component position based on current component property information, thereby improving the efficiency of movement and avoidance of moving head imaging light optical components.
[0021] The present invention also provides a moving head imaging light optical automatic avoidance system, comprising:
[0022] An initialization module, used to obtain an initial component array based on current component properties of all optical components of the moving head imaging light;
[0023] An application processing module, used to obtain a current application event, obtain current application information and application components based on the current application event, and determine cross components based on the current application information and the initial component array;
[0024] The application execution module is used to obtain priority information based on the application component and the cross component. When the priority information meets the preset priority condition, while ensuring that the distance between the application component and the cross component meets the preset safety condition, the application component is moved based on the current application information and the cross component is automatically avoided, thereby completing the current application event.
[0025] In the above scheme, the present invention realizes a simple priority comparison and preferred avoidance method through the combined collaborative operation of various modules, solves the problem of conflicting movement of optical components in the optics of the moving head imaging light path, avoids interference and collision, and realizes parallel movement of multiple non-conflicting components according to actual component attribute information, thereby improving the efficiency of component operation avoidance.
[0026] Furthermore, the application execution module also includes a security execution sub-module, which is used to obtain priority information based on the application component and the cross-component. When the priority information does not meet the preset priority condition and the application component meets the preset execution type, while ensuring that the distance between the application component and the cross-component meets the preset security condition, the application component is moved to the cross-component based on the current application information and under the preset security condition to complete the current application event.
[0027] In the above scheme, by adding a safe execution submodule, it is ensured that the application component and the cross component are kept at a safe distance when moving to avoid interference and collision.
[0028] Furthermore, the application execution module also includes an application rejection submodule, which is used to obtain priority information based on application components and cross-components, and reject the current application event when the priority information does not meet the preset priority conditions and the application components do not meet the preset execution type.
[0029] The above scheme adds an application rejection submodule to reject the application when the application component has a lower priority, thereby avoiding the occurrence of conflicts and collisions and ensuring the orderliness of the system optical components.
[0030] Furthermore, the system also includes a data update module for removing the current application event, updating the current component properties based on the application component and the cross component to obtain a new initial component array, so as to complete a new current application event based on the new initial component array.
[0031] The above solution uses the data update module to achieve timely data updates, prepare for new application events, and realize continuous system processing operations.
[0032] The above scheme provides an automatic avoidance system for moving head imaging lighting optics, which is simple and easy to implement. The system realizes a simple priority comparison and preferred avoidance method through the coordinated operation of various modules, solves the problem of conflicting movement of optical components in the moving head imaging lighting path optics, avoids interference and collision, and realizes parallel movement of multiple non-conflicting components according to actual component attribute information, thereby improving the efficiency of component operation avoidance. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] Figure 1 A schematic flow chart of an automatic avoidance method for a moving head imaging light optical component provided by an embodiment of the present invention;
[0034] Figure 2 A schematic diagram of a moving head imaging light path system provided by an embodiment of the present invention;
[0035] Figure 3 A schematic diagram of initializing the current component properties of a moving head imaging light optical component provided by an embodiment of the present invention;
[0036] Figure 4 A schematic diagram of an initial component array of a moving head imaging light path system provided by an embodiment of the present invention;
[0037] Figure 5 A schematic diagram of a current application event in an automatic avoidance method for a moving head imaging light optical component provided by an embodiment of the present invention;
[0038] Figure 6 A schematic diagram of an application queue provided in an embodiment of the present invention;
[0039] Figure 7 A schematic diagram of component position distribution provided in an embodiment of the present invention;
[0040] Figure 8 A schematic diagram of a crossover when an application component is moving forward is provided for an embodiment of the present invention;
[0041] Fig. 9 A schematic diagram of an application component provided in an embodiment of the present invention that does not have a crossover when moving forward;
[0042] Fig.10 A schematic diagram of a crossover when an application component moves in the reverse direction is provided for an embodiment of the present invention;
[0043] Fig.11 A schematic diagram of an application component not having a crossover when moving in the reverse direction is provided for an embodiment of the present invention;
[0044] Fig.12 A schematic diagram of the moving distance of a moving head imaging light application component provided by an embodiment of the present invention;
[0045] Fig.13 A schematic diagram of removing a current application event from a queue provided by an embodiment of the present invention;
[0046] Fig.14 A schematic diagram of a flow chart of a moving mode of a moving head imaging light optical component based on queues and priorities provided in an embodiment of the present invention. DETAILED DESCRIPTION
[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0048] Embodiment 1:
[0049] This embodiment provides a method for automatically avoiding the optical components of a moving head imaging light. Figure 1 , including the following steps:
[0050] S1: obtaining an initial component array based on current component properties of all optical components of the moving head imaging light;
[0051] S2: Obtain the current application event, obtain the current application information and application components based on the current application event, and determine the cross component based on the current application information and the initial component array;
[0052] S3: Obtain priority information based on the application component and the cross component. When the priority information meets the preset priority condition, the application component is moved based on the current application information and the cross component is automatically avoided, while ensuring that the distance between the application component and the cross component meets the preset safety condition, thereby completing the current application event.
[0053] In the above scheme, this embodiment solves the conflict problems such as interference and collision in the movement of moving head imaging light optical components through simple priority comparison and preferred avoidance method, and moves the components in parallel when the preset safety conditions are met, thereby improving the efficiency of component operation avoidance.
[0054] In the specific implementation process, Figure 2 As shown, the moving head imaging light path system includes various optical components such as 1-light source, 2-focusing mirror, 3-prism, 4-fogging mirror, 5-zoom mirror and aperture. When controlling the movement of these components, the following factors should be considered but not limited to: the focusing mirror and the zoom mirror move horizontally in the light path, and the other components are inserted components and move vertically; the zoom mirror and the focusing mirror will be bound to other several inserted components for operation. When the focusing mirror moves, the inserted component will also move with it, that is, when the component moves, the position update of its bundled component should be considered; there are overlapping moving spaces between components, and the problems of movement conflict and component avoidance between components need to be considered; as long as there is no conflict between components in the light path, the parallel movement of multiple components should be supported, and efficiency requirements should be taken into account; the moving speeds of the components are different, and the speed difference should be considered when moving in the same direction; the component positions are all relative to the light path, if not, they should be converted into light path positions first.
[0055] In the specific implementation process, the current component attributes of each optical component include: component id, its own priority (priority), component current position (Onposion[2]) and component stop position (Brakedistance), safety distance (safe_spacing), binding component id array (Bingding_Component*), component type (class), repatriation flag (repatriate), such as Figure 3As shown, the priority can be assigned by yourself. Generally, the zoom lens has the highest priority (priority is set to 0), followed by the focusing lens (priority is set to 1), that is, the smaller the priority, the higher the priority. The current positions of all components are compared with the starting point in the entire optical path (generally the starting point of the focusing lens). The brake distance refers to the minimum distance from the current speed to the stop of the current component (each position contains two elements, left and right). It needs to be updated according to the speed and acceleration calculation at each move. The safety distance is the minimum spacing between components. The component types include horizontal movement and vertical movement. The dismissal flag is mainly used to identify whether the inserted component is in the optical path (1 represents dismissal, and 0 represents insertion). Figure 4 As shown, an initial component array is initialized according to the priority. The higher the priority of the component, the higher the priority. The priority of component 1 should be higher than or equal to the priority of component 2.
[0056] During the specific implementation process, when a component needs to be moved, an application needs to be submitted. Figure 5 As shown, each application must include the component's own id, the left and right endpoint values of the target position (left, right), the moving direction (direction), and other information, such as Figure 6 As shown, the application queue is placed in the order of application, where the moving direction represents forward (1) or reverse (-1) movement in the light path. If the component is an insert component, the direction can be set to 0. After submitting the application, the initial component array is traversed. Assuming that the current application event is component i, the current traversal component array reaches component j. Due to different component attribute information, different situations will occur, and different automatic avoidance and application execution methods will be adopted.
[0057] In the specific implementation process, when processing each current application event, it is determined whether there are other components that cross-interfere with it among all the components in the current optical path according to the direction and target position of the application component. Figure 7 As shown, the application component (component i) and component j are both horizontally moving components. The judgment process is consistent with other cases: the left endpoint of the application component is regarded as the minimum value of the left endpoint of the application component and the bundle component it has been inserted into, and the right endpoint is regarded as the maximum value of the right endpoint of the application component and the bundle component it has been inserted into. The same is true for component j. When judging whether there is an intersection, if the moving direction of the application component is positive, traverse the component array and compare the right endpoint of each component j. i-target +safe_distance and left j If the former is larger, it is considered that the application component and component j have an intersection ( Figure 8 As shown), otherwise it is considered that there is no intersection ( Fig. 9As shown); if the moving direction of the requested component is reverse, traverse the component array and compare left i-target -safe_distance and right j If the former is smaller, there is an intersection ( Fig.10 As shown), otherwise it is considered that there is no intersection ( Fig.11 If there is no intersection, continue to traverse the next component until all components are compared, and an intersection component is found or it is determined that there is no intersection component (if there is no intersection component, directly execute the current application event, and if there is a intersection component, proceed to step S3).
[0058] Optionally, step S3 specifically includes: obtaining priority information based on the application component and the cross component, and when the priority information meets the preset priority condition, obtaining a type judgment result based on the cross component; when the type judgment result meets the dismissal condition, after performing a dismissal operation on the cross component, the application component is moved to complete the current application event; when the type judgment result does not meet the dismissal condition, and the distance between the application component and the cross component meets the preset safety condition, the application component is moved based on the current application information and the cross component is automatically avoided, thereby completing the current application event.
[0059] In the specific implementation process, when there is a cross-combination price and the application component i (i.e. component i) has a higher priority, it is necessary to determine the component type of the cross-combination to perform an avoidance operation. There are two situations:
[0060] (1) If the cross component meets the conditions for repatriation, that is, it is a longitudinal movement type, the cross component is repatriated (repatriate is set to 1) and moved out of the light path. The cross component is moved out of the light path, and the application component is moved to its application position.
[0061] (2) If the crossing component does not meet the conditions for withdrawal, it is a lateral movement type component. If the safety distance meets the preset safety conditions, the application component and the crossing component move in parallel. When the crossing component performs an evasive exit, it avoids to a position that does not intersect with the application component according to different directions. For example, if it is Figure 8 In the situation shown, the cross component should avoid in the positive direction, and the avoidance distance d = right i-target -(left j -safe_spacing), and finally need to avoid to the left j =left j +d, right j =right j +d. (In other cases, the avoidance components are avoided using similar calculation methods, and no more examples are given. At the beginning of avoidance, the application component can be moved, but the application component should maintain a safe distance from the crossing component (such as Fig.12shown).
[0062] That is, in the specific implementation process, if both are transverse moving type components, the cross component will automatically avoid the operation and the application component will move in parallel with it while ensuring a safe distance; if the application component is an insertion component (i.e. a longitudinal moving type component) and the cross component is a transverse moving type component, the cross component will be avoided first, and after the avoidance is completed, the application component repatriate will be set to 0 and inserted into the optical path; if both are insertion components, the cross component repatriate will be set to 1 and moved out of the optical path, and then the application component will be inserted into the optical path.
[0063] Optionally, step S3 also includes: when the type judgment result does not meet the dismissal condition, it also includes: when the type judgment result does not meet the dismissal condition, and when the distance between the application component and the cross component does not meet the preset safety condition, the cross component is ordered to perform an automatic avoidance operation based on the current application information, and when the distance between the application component and the cross component meets the preset safety condition, the application component is ordered to move to complete the current application event.
[0064] During the specific implementation process, if the intersection component does not meet the conditions for dismissal, that is, it is a component of the lateral movement type, and the safety distance meets the preset safety conditions, then wait for the intersection component to automatically avoid and start, and then let the application component move until the distance between the application component and the intersection component meets the safety distance.
[0065] Optionally, step S3 may be: obtaining priority information based on the application component and the cross-component, and when the priority information does not meet the preset priority condition and the application component meets the preset execution type, while ensuring that the distance between the application component and the cross-component meets the preset safety condition, the application component is moved to the cross-component based on the current application information and under the preset safety condition to complete the current application event.
[0066] In the specific implementation process, if there is a cross-group price at this time and the application component has a lower priority, it is necessary to determine the component type of the application component for operation. When the application component meets the preset execution type, that is, the application component is a lateral movement type component, it is moved to the position closest to the target without crossing (satisfying the preset safety condition, that is, the safety distance) according to the application direction. For example, if it is Fig. 9 In the case shown, the application component i should move forward, and the moving distance is d = left j -safe_spacing-right i-current .
[0067] Optionally, step S3 may be: obtaining priority information based on the application component and the cross-component, and rejecting the current application event when the priority information does not meet the preset priority condition and the application component does not meet the preset execution type.
[0068] In the specific implementation process, if there is cross-pricing and the application component has a lower priority, and the component type of the application component does not meet the preset execution type, that is, the application component is an insert component, the current application event is rejected and the insertion is directly refused.
[0069] Optionally, after step S3 is completed, the current application event is removed, and the current component attributes are updated based on the application component and the cross component to obtain a new initial component array, so as to complete a new current application event based on the new initial component array.
[0070] In the specific implementation process, after the automatic avoidance operation and the current application event are completed, the processed application is queued (such as Fig.13 As shown), and update the information such as the position of all moved components, and obtain a new initial component array, and then traverse the application queue, that is, continue to process the next application, until all applications are processed, and then wait for new applications to arrive.
[0071] Optionally, in a specific implementation process, a moving method of a moving head imaging light optical component based on a queue and priority is provided according to the above solution, such as Fig.14 As shown: first, priorities are assigned to all optical components, the current component properties of all optical components are initialized, and the movement applications of all optical components are added to the application queue in a preset order. The application queue is polled to obtain the current application event, and the spatial intersection and priority of the optical components are compared, that is, whether there are intersection components and whether the application component has a higher priority, and whether to reject or allow the application (when there is no intersection component or there is an intersection component and the application component has a higher priority, the current application event is completed and the current component properties of the optical component are initialized; when there is an intersection component and the intersection component priority is lower, and the application component is not an insertion component, the current application event is completed and the current component properties of the optical component are initialized; when there is an intersection component and the intersection component priority is lower, and the application component is an insertion component, the current application component is rejected), the processed current application events will be dequeued, and the application queue will be polled until the queue is empty, so as to achieve the purpose of orderly movement of components, avoid interference or collision between components, and perform efficient operation avoidance.
[0072] The automatic optical avoidance method for moving head imaging lights provided in this embodiment solves the problem of conflict in the movement of optical components of moving head imaging lights by simple priority comparison and polling application queue, avoids interference and collision, forms an initial component array based on component attributes, and realizes parallel movement of components and real-time update of information such as component positions based on current component attribute information, thereby improving the efficiency of operation avoidance of optical components of moving head imaging lights.
[0073] Embodiment 2:
[0074] The present embodiment provides an automatic optical avoidance system for a moving head imaging light, comprising: an initialization module, used to obtain an initial component array based on the current component properties of all optical components of the moving head imaging light; an application processing module, used to obtain a current application event, obtain current application information and application components based on the current application event, and determine cross components based on the current application information and the initial component array; an application execution module, used to obtain priority information based on application components and cross components, and when the priority information meets a preset priority condition, the application component is moved based on the current application information and the cross component is executed to perform an automatic avoidance operation while ensuring that the distance between the application component and the cross component meets a preset safety condition, thereby completing the current application event.
[0075] In the specific implementation process, this embodiment realizes a simple priority comparison and preferred avoidance method through the combination of various modules, solves the problem of conflicting movement of optical components in the optics of the moving head imaging light path, avoids interference and collision, and realizes the parallel movement of multiple non-conflicting components according to the actual component attribute information, thereby improving the efficiency of component operation avoidance.
[0076] Optionally, the application execution module also includes a security execution submodule, which is used to obtain priority information based on the application component and the cross-component. When the priority information does not meet the preset priority condition and the application component meets the preset execution type, while ensuring that the distance between the application component and the cross-component meets the preset security condition, the application component is moved to the cross-component based on the current application information and under the preset security condition to complete the current application event.
[0077] In the specific implementation process, the application component can only move in parallel when its stop position maintains a safe distance with the cross component. Therefore, a safety execution submodule needs to be added to ensure that the cross component automatically performs avoidance operations when it is not maintained at a safe distance.
[0078] Optionally, the application execution module also includes an application rejection submodule, which is used to obtain priority information based on application components and cross-components, and reject the current application event when the priority information does not meet the preset priority conditions and the application components do not meet the preset execution type.
[0079] In the specific implementation process, if the application component has a lower priority and is an inserted component, the application rejection submodule will reject the current application event to ensure a better optical path effect.
[0080] Optionally, the system also includes a data update module for removing the current application event, updating the current component properties based on the application component and the cross component to obtain a new initial component array, so as to complete a new current application event based on the new initial component array.
[0081] In the specific implementation process, each time after processing the current application event, the data update module updates the current component attributes and obtains a new initial component array to achieve continuous processing and updating of the application event.
[0082] The automatic optical avoidance system for moving head imaging lights provided in this embodiment is simple and easy to implement. The system realizes a simple priority comparison and preferred avoidance method through the coordinated operation between various modules, solves the problem of conflicting movement of optical components in the optical path of moving head imaging lights, avoids interference and collision, and realizes parallel movement of multiple non-conflicting components according to actual component attribute information, thereby improving the efficiency of component operation avoidance.
[0083] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.
Claims
1. A method for automatically avoiding a moving head imaging light optical component, characterized in that: The following steps are involved: Get the initial component array based on the current component properties of all optical components of the moving head imaging light; Obtain the current application event, obtain the current application information and application components based on the current application event, and determine the cross-component based on the current application information and the initial component array; Priority information is obtained based on the application component and the intersection component. When the priority information meets the preset priority condition, while ensuring that the distance between the application component and the intersection component meets the preset safety condition, the application component is moved based on the current application information and the intersection component is automatically avoided, thereby completing the current application event.
2. The automatic avoidance method of a moving head imaging light optical component according to claim 1, characterized in that: The step of obtaining priority information based on the application component and the intersection component, and when the priority information meets a preset priority condition, and ensuring that the distance between the application component and the intersection component meets a preset safety condition, moving the application component and making the intersection component perform an automatic avoidance operation based on the current application information, thereby completing the current application event, includes: Obtaining priority information based on application components and cross-components, and when the priority information meets the preset priority condition, obtaining a type judgment result based on the cross-component; When the type judgment result meets the dismissal condition, after executing the dismissal operation on the cross component, the application component is moved to complete the current application event; When the type judgment result does not meet the dismissal conditions and the distance between the application component and the intersection component meets the preset safety conditions, the application component is moved based on the current application information and the intersection component is automatically avoided, thereby completing the current application event.
3. The automatic avoidance method of a moving head imaging light optical component according to claim 2, characterized in that: When the type judgment result does not meet the dismissal condition, it also includes: when the type judgment result does not meet the dismissal condition, and the distance between the application component and the cross component does not meet the preset safety condition, the cross component is ordered to perform an automatic avoidance operation based on the current application information, and when the distance between the application component and the cross component meets the preset safety condition, the application component is ordered to move to complete the current application event.
4. The automatic avoidance method of a moving head imaging light optical component according to claim 1, characterized in that: Also includes: Priority information is obtained based on the application component and the cross component. When the priority information does not meet the preset priority condition and the application component meets the preset execution type, while ensuring that the distance between the application component and the cross component meets the preset safety condition, the application component is moved to the cross component based on the current application information and under the preset safety condition to complete the current application event.
5. The automatic avoidance method of a moving head imaging light optical component according to claim 1, characterized in that: Also includes: Priority information is obtained based on the application component and the cross-component. When the priority information does not meet the preset priority condition and the application component does not meet the preset execution type, the current application event is rejected.
6. The automatic avoidance method of a moving head imaging light optical component according to claim 1, characterized in that: Also includes: The current application event is removed, and the current component properties are updated based on the application component and the cross component to obtain a new initial component array, so as to complete a new current application event based on the new initial component array.
7. A system for automatically avoiding an optical component of a moving head imaging light, used to execute the method for automatically avoiding an optical component of a moving head imaging light as claimed in any one of claims 1 to 6, characterized in that: include: An initialization module, used to obtain an initial component array based on current component properties of all optical components of the moving head imaging light; An application processing module, used to obtain a current application event, obtain current application information and application components based on the current application event, and determine cross components based on the current application information and the initial component array; The application execution module is used to obtain priority information based on the application component and the cross component. When the priority information meets the preset priority condition, while ensuring that the distance between the application component and the cross component meets the preset safety condition, the application component is moved based on the current application information and the cross component is automatically avoided, thereby completing the current application event.
8. The automatic avoidance system for moving head imaging light optical components according to claim 7, characterized in that: The application execution module is used to obtain priority information based on the application component and the cross component. When the priority information meets the preset priority condition, while ensuring that the distance between the application component and the cross component meets the preset safety condition, the application component is moved based on the current application information and the cross component is automatically avoided, thereby completing the current application event. It also includes: a safety execution submodule, which is used to obtain priority information based on the application component and the cross component. When the priority information does not meet the preset priority condition and the application component meets the preset execution type, while ensuring that the distance between the application component and the cross component meets the preset safety condition, the application component is moved to the cross component based on the current application information under the preset safety condition to complete the current application event.
9. The automatic avoidance system for moving head imaging light optical components according to claim 7, characterized in that: The application execution module is used to obtain priority information based on the application component and the cross component. When the priority information meets the preset priority condition, the application component is moved based on the current application information and the cross component is automatically avoided while ensuring that the distance between the application component and the cross component meets the preset safety condition, thereby completing the current application event. It also includes: an application rejection submodule, which is used to obtain priority information based on the application component and the cross component. When the priority information does not meet the preset priority condition and the application component does not meet the preset execution type, the current application event is rejected.
10. The automatic avoidance system for moving head imaging light optical components according to claim 7, characterized in that: Also includes: The data update module is used to remove the current application event, update the current component properties based on the application component and the cross component to obtain a new initial component array, so as to complete the new current application event based on the new initial component array.