Laser automatic focus method, device and equipment

Abstract

The present application provides a laser automatic focus method, device and equipment, which are applied to the field of laser focus technology. The method includes: after acquiring the laser spot of the target object, determining the observation position of the laser spot in the current focus cycle. Based on the observation position, the laser spot is initially focused using a control strategy, and the initial control signal of the mechanical axis in the current focus cycle is determined. The initial control signal is corrected using the historical control signal and observation position of the mechanical axis in the previous focus cycle to obtain the target control signal of the mechanical axis, and the target control signal is used to control the mechanical axis to adjust the optical element. This can achieve a rapid response to the position change of the laser spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the laser spot is always in the optimal focus.

Description

Technical Field

[0001] The present application relates to the field of laser focus technology, and in particular to a laser automatic focus method, device and equipment. Background Art

[0002] Laser active focusing is an industrial focusing technology. The sensor that implements this technology consists of four parts: laser emission, laser reception, image processing, and focusing. The laser emission part uses the shielded laser line to hit the surface of the object to be measured to form a linear light spot. The light spot reflection is received by the receiver, and the CMOS image sensor determines the shape of the received laser. The image processing determines the defocus amount, and drives the mechanical axis to complete the focus. Continuous emission, reception, judgment, and driving can achieve quasi-real-time following of the focal plane, which is called follow focus.

[0003] After the defocus value is obtained through image processing, the proportional integral differential (PID) control strategy is usually used to achieve focus tracking. PID control has its inherent overshoot and setting cycle. Under the premise of optimal parameter adjustment, it usually takes 20-40 frames to minimize the error of the control value, which cannot meet the needs of industrial fast focus tracking. Summary of the invention

[0004] The purpose of the present application is to provide a laser automatic focus method, device and equipment for quickly responding to the position change of the laser spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the laser spot is always in the optimal focus.

[0005] In a first aspect, an embodiment of the present application provides a laser automatic focus method, characterized in that it is applied to a laser automatic focus system, and the laser automatic focus system includes a transmitting component and a receiving component. The transmitting component includes a laser transmitter, an optical element, and a mechanical axis. The laser transmitter is used to send a laser beam to a target object on a conveying device through an optical element, and the laser beam is focused to the surface of the target object through the optical element to form a laser spot. The receiving component is used to obtain the laser spot. The mechanical axis is used to adjust the optical element. The laser automatic focus method includes: after obtaining the laser spot of the target object, determining the observed position of the laser spot in the current focus cycle. Based on the observed position, the laser spot is initially focused using a control strategy, and the initial control signal of the mechanical axis in the current focus cycle is determined. The initial control signal is corrected using the historical control signal and the observed position of the mechanical axis in the previous focus cycle to obtain a target control signal of the mechanical axis, and the target control signal is used to control the mechanical axis to adjust the optical element.

[0006] The laser automatic focus method provided in the present application can quickly respond to the position change of the laser spot, especially in the case of impact such as a jump in the spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the laser spot is always in the best focus. It can quickly respond to the position change of the laser spot, especially in the case of impact such as a jump in the spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the spot is always in the best focus. Through control strategies (such as PID control, etc.), the system can optimize the dynamic response, quickly converge to the target axis position, and reduce the adjustment time. By correcting the initial control signal, the system can minimize the steady-state error and ensure that a high-precision focus effect is maintained during long-term operation. The system can adapt to different application scenarios and environmental changes, and ensure good performance under various conditions through continuous focus cycles and real-time adjustments.

[0007] A possible implementation method uses the historical control signal and observed position of the mechanical axis in the previous focus cycle to correct the initial control signal to obtain the target control signal of the mechanical axis, including: using the historical control signal to determine the historical axis position of the mechanical axis in the previous focus cycle and the historical axis speed of the mechanical axis in the previous focus cycle. According to the historical axis position, historical axis speed, observed position and initial control signal, predict the target axis position and target axis speed of the mechanical axis in the current focus cycle. According to the target axis position and target axis speed, determine the target control signal.

[0008] A possible implementation method predicts the target axis position and target axis speed of the mechanical axis in the current focus cycle according to the historical axis position, the historical axis speed, the observed position and the initial control signal, including: constructing the historical state space of the mechanical axis in the previous focus cycle by using the historical axis position and the historical axis speed. Determining the predicted state space of the mechanical axis in the current focus cycle according to the historical state space and the state transfer matrix corresponding to the historical state space. Determining the control signal input influence of the mechanical axis in the current focus cycle according to the initial control signal and the control input matrix corresponding to the initial control signal. Determining the target predicted state space of the mechanical axis according to the predicted state space and the control signal input influence. Predicting the target state space of the mechanical axis in the current focus cycle according to the target predicted state space, the observed position and the gain coefficient determined in the current focus cycle. Determining the target axis position and the target axis speed according to the target state space.

[0009] In a possible implementation, the process of determining the gain coefficient includes: using the historical performance evaluation matrix and the state transition matrix of the previous focus tracking cycle to determine the current performance evaluation prediction matrix of the current focus tracking cycle. According to the current performance evaluation prediction matrix and the observation matrix corresponding to the mechanical axis, the gain coefficient is determined.

[0010] In a possible implementation manner, the laser automatic focus tracking method provided in the embodiment of the present application further includes: determining a current performance evaluation matrix using a gain coefficient, an observation matrix, and a current performance evaluation prediction matrix.

[0011] A possible implementation method predicts the target state space of the mechanical axis in the current focus tracking cycle according to the target prediction state space, the observation position and the gain coefficient determined in the current focus tracking cycle, including: determining the predicted observation position of the laser spot in the current focus tracking cycle according to the target prediction state space, the gain coefficient and the current performance evaluation prediction matrix. Determine the corrected state space corresponding to the target prediction state space according to the gain coefficient and the difference between the observation position and the predicted observation position. Determine the target state space according to the target prediction state space and the corrected state space.

[0012] A possible implementation method is to use a control strategy to initially focus the laser spot based on the observed position and determine the initial control signal of the mechanical axis in the current focus cycle, including: obtaining the current position information and a historical position information set of the target object on the transmission device. The historical position information set includes the first historical position of the target object on the transmission device in the previous focus cycle and the second historical position of the target object on the transmission device in the previous focus cycle of the previous focus cycle. The initial control signal is determined using the control strategy, the current position information, the first historical position, the second historical position and the observed position.

[0013] In the second aspect, the embodiment of the present application provides a device for determining the baseline interval of an EEG signal, which is applied to a laser automatic focus system, and the laser automatic focus system includes a transmitting component and a receiving component. The transmitting component includes a laser transmitter, an optical element, and a mechanical axis. The laser transmitter is used to send a laser beam to a target object on a transmission device through an optical element, and the laser beam is focused to the surface of the target object through the optical element to form a laser spot. The receiving component is used to obtain the laser spot. The mechanical axis is used to adjust the optical element. The device may include a determination module, a correction module, and an adjustment module.

[0014] The determination module is used to determine the observed position of the laser spot in the current focus tracking cycle after acquiring the laser spot of the target object. Based on the observed position, the laser spot is initially focused using a control strategy to determine the initial control signal of the mechanical axis in the current focus tracking cycle.

[0015] The correction module is used to correct the initial control signal by using the historical control signal and the observed position of the mechanical axis in the previous focus cycle to obtain the target control signal of the mechanical axis.

[0016] The adjustment module is used to control the mechanical axis using the target control signal to adjust the optical element.

[0017] In a third aspect, an embodiment of the present application provides a laser automatic focus device, which has the function of implementing the laser automatic focus method of the first aspect or any possible implementation method. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, the computer can execute the laser automatic focus method of the first aspect or any possible implementation method.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the laser automatic focus determination method of the first aspect or any possible implementation method.

[0020] Among them, the technical effects brought about by any design method in the second to fifth aspects can refer to the technical effects brought about by different possible implementation methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the structure of a laser automatic focus system provided in an embodiment of the present application;

[0023] Figure 2 A schematic flow chart of a laser automatic focus tracking method provided in an embodiment of the present application;

[0024] Figure 3 A specific example diagram of a laser automatic focus tracking method provided in an embodiment of the present application;

[0025] Figure 4 Another specific example diagram of a laser automatic focus tracking method provided in an embodiment of the present application;

[0026] Figure 5 Another specific example diagram of a laser automatic focus tracking method provided in an embodiment of the present application;

[0027] Figure 6Another specific example diagram of a laser automatic focus tracking method provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of the structure of a laser automatic focus device provided in an embodiment of the present application;

[0029] Figure 8 Another structural schematic diagram of a laser automatic focus system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 part of the embodiments of the present application, rather than all 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.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0032] At present, after the defocus amount is obtained through image processing, the PID control strategy is usually used to complete the focus. PID control has its inherent overshoot and tuning cycle. Under the premise of optimal parameter adjustment, it usually takes 20-40 frames to minimize the error of the control amount, which cannot meet the needs of industrial fast focus. At the same time, the current PID control strategy needs to configure different proportional integral differential parameters and other parameters for different laser automatic focus systems, and the parameter adjustment process is more difficult. When an impulse response or time-varying input or time-varying interference occurs in the laser automatic focus system, the response effect is poor. The single focus time of this PID control strategy is relatively long, and it needs to be completed after the tuning, that is, the error of the control amount is determined to be minimized before focusing again.

[0033] Based on this, the embodiments of the present application provide a laser automatic focus method, device and equipment, which are applied to the laser automatic focus system. The method includes: after acquiring the laser spot of the target object, determining the observation position of the laser spot in the current focus cycle. Based on the observation position, the laser spot is initially focused using a control strategy to determine the initial control signal of the mechanical axis in the current focus cycle. The initial control signal is corrected using the historical control signal and observation position of the mechanical axis in the previous focus cycle to obtain the target control signal of the mechanical axis, and the target control signal is used to control the mechanical axis to adjust the optical element.

[0034] The laser automatic focus method provided in the present application can quickly respond to the position change of the laser spot, especially in the case of impact such as a jump in the spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the laser spot is always in the best focus. It can quickly respond to the position change of the laser spot, especially in the case of impact such as a jump in the spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the spot is always in the best focus. Through control strategies (such as PID control, etc.), the system can optimize the dynamic response, quickly converge to the target axis position, and reduce the adjustment time. By correcting the initial control signal, the system can minimize the steady-state error and ensure that a high-precision focus effect is maintained during long-term operation. The system can adapt to different application scenarios and environmental changes, and ensure good performance under various conditions through continuous focus cycles and real-time adjustments.

[0035] The implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0036] The solution shown in the embodiment of the present application can be implemented by a laser automatic focus tracking system. Figure 1 As shown, the laser automatic focus tracking system 100 may include: a transmitting component 101, a receiving component 102, and a transmission device 103.

[0037] The transmitting component 101 is used to generate and transmit a laser beam and may include a laser transmitter 1011 , an optical element 1012 and a mechanical axis 1013 .

[0038] The laser emitter 1011 is used to generate a laser beam. The laser emitter 1011 can select different types of lasers, such as semiconductor lasers, fiber lasers, etc., which are not limited in this application. The laser emitter 1011 can select a suitable laser wavelength and power according to system requirements.

[0039] The optical element 1012 is used to focus the laser beam. The optical element 1012 may include a lens, a reflector, etc., and is used to focus the laser beam onto the surface of the target object to form a laser spot.

[0040] The mechanical axis 1013 is used to adjust the position of the optical element 1012. The mechanical axis 1013 can be a motor, a stepper motor, or a servo motor, etc., and can achieve precise focusing of the laser spot by precisely controlling the position of the optical element 1012.

[0041] The receiving component 102 is used to obtain information of the laser spot. The receiving component 102 may include a sensor 1021 and an image processing unit 1022 .

[0042] The sensor 1021 is used to detect the position and intensity of the laser spot. For example, the receiving component 102 can be a CCD (charge coupled device) camera, a CMOS (complementary metal oxide semiconductor) camera, etc., which can capture the image information of the laser spot with high precision.

[0043] The image processing unit 1022 is used to process the image information captured by the sensor and extract the center position and intensity information of the laser spot. The image processing unit can use edge detection, threshold segmentation and other technologies to accurately determine the position of the laser spot.

[0044] The conveyor 103 is used to carry and move the target object to ensure that the target object is within the irradiation range of the laser beam. The conveyor 103 can be a linear conveyor belt or a rotating platform. The type of the conveyor 103 can be selected according to system requirements. This application does not limit this.

[0045] It should be noted that the above Figure 1 The illustrated laser automatic focus system 100 is only an example of the application scenario of the present application solution, and is not intended to limit the application scenario of the present application solution.

[0046] On the one hand, the embodiment of the present application provides a laser automatic focus method, which can be Figure 1 The laser automatic focus tracking system 100 shown in FIG. Figure 2 As shown, the method may include the following steps.

[0047] S201, after acquiring the laser spot of the target object, determining the observation position of the laser spot in the current focus tracking cycle.

[0048] Exemplarily, a laser transmitter sends a laser beam to a target object on a conveying device through an optical element. The laser beam is focused by the optical element onto the surface of the target object to form a laser spot. The sensor obtains the laser spot by acquiring real-time image data. After the sensor obtains the laser spot of the target object, the position of the laser spot is detected from the real-time image data to obtain the observed position.

[0049] S202, based on the observed position, using a control strategy to perform initial focus tracking on the laser spot, and determining an initial control signal of the mechanical axis in the current focus tracking cycle.

[0050] In a possible implementation, current position information and a set of historical position information of a target object on a transmission device are obtained. The set of historical position information includes a first historical position of the target object on the transmission device in a previous focus cycle and a second historical position of the target object on the transmission device in a previous focus cycle of the previous focus cycle. An initial control signal is determined using a control strategy, current position information, the first historical position, the second historical position, and an observed position.

[0051] For example, first obtain the current position information x of the target object on the transmission device obj , obtaining from the historical position information set a first historical position e1 of the target object on the transmission device in the last focus cycle and a second historical position e2 of the target object on the transmission device in the last focus cycle before the last focus cycle.

[0052] Using the current position information and the observed position z, the current position information is determined as .

[0053] Using the control strategy parameters p, i and d in the PID control strategy, the initial control signal is determined as .

[0054] S203, using the historical control signal and the observed position of the mechanical axis in the previous focus cycle, correcting the initial control signal to obtain a target control signal of the mechanical axis, and using the target control signal to control the mechanical axis to adjust the optical element.

[0055] In a possible implementation, the historical control signal is used to determine the historical axis position of the mechanical axis in the last focus follow cycle and the historical axis speed of the mechanical axis in the last focus follow cycle.

[0056] Then, according to the historical axis position, historical axis speed, observed position and initial control signal, the target axis position and target axis speed of the mechanical axis in the current focus cycle are predicted.

[0057] Specifically, the historical state space of the mechanical axis in the previous focus cycle is constructed using the historical axis position and the historical axis speed. The predicted state space of the mechanical axis in the current focus cycle is determined based on the historical state space and the state transfer matrix corresponding to the historical state space. The control signal input influence of the mechanical axis in the current focus cycle is determined based on the initial control signal and the control input matrix corresponding to the initial control signal. The target predicted state space of the mechanical axis is determined based on the predicted state space and the control signal input influence. The target state space of the mechanical axis in the current focus cycle is predicted based on the target predicted state space, the observed position, and the gain coefficient determined in the current focus cycle.

[0058] The gain coefficient is determined based on the historical performance evaluation matrix of the previous focus tracking cycle, the state transfer matrix, and the observation matrix corresponding to the mechanical axis.

[0059] Specifically, the historical performance evaluation matrix and the state transfer matrix of the previous focus tracking cycle are used to determine the current performance evaluation prediction matrix of the current focus tracking cycle. The gain coefficient of the current focus tracking cycle is determined according to the current performance evaluation prediction matrix and the observation matrix corresponding to the mechanical axis.

[0060] According to the target prediction state space, the gain coefficient and the current performance evaluation prediction matrix, the predicted observation position of the laser spot in the current focus tracking cycle is determined. According to the gain coefficient and the difference between the observation position and the predicted observation position, the corrected state space corresponding to the target prediction state space is determined. According to the target prediction state space and the corrected state space, the target state space is determined.

[0061] Finally, the target axis position and target axis speed are determined according to the target state space. According to the target axis position and target axis speed, the target control signal is determined. By correcting the initial control signal, the system can minimize the steady-state error and ensure a high-precision focus effect during long-term operation.

[0062] The target control signal determined in this process can quickly respond to the position change of the laser spot, especially in the case of impact such as a jump in the spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the laser spot is always in the best focus. At the same time, it can quickly respond to the position change of the laser spot, especially in the case of impact such as a jump in the spot, and can quickly adjust the axis position and axis speed of the mechanical axis to ensure that the spot is always in the best focus. Through control strategies (such as PID control, etc.), the system can optimize dynamic response, quickly converge to the target axis position, and reduce adjustment time.

[0063] At the same time, the current performance evaluation matrix is ​​determined by using the gain coefficient, the observation matrix and the current performance evaluation prediction matrix to update the new energy evaluation matrix in the current focus tracking cycle.

[0064] Finally, the target control signal can be adjusted repeatedly through the above method in the next focus tracking cycle, which can adapt to different application scenarios and environmental changes. Through continuous focus tracking cycles and real-time adjustments, good performance can be ensured under various conditions.

[0065] For example, firstly, the historical control signal Convert it into the historical axis position of the mechanical axis in the previous focus cycle and the historical axis speed of the mechanical axis in the previous focus cycle, and then use the historical axis position and historical axis speed to construct the historical state space According to the historical state space and the state transfer matrix A corresponding to the historical state space to determine the predicted state space of the mechanical axis in the current focus cycle . According to the initial control signal and the control input matrix corresponding to the initial control signal , determine the influence of the control signal input of the mechanical axis in the current focus cycle Then, the target predicted state space of the mechanical axis is determined according to the predicted state space and the influence of the control signal input through the following equation: .

[0066]

[0067] in, is the historical state space, A is the state transfer matrix corresponding to the historical state space, is the initial control signal, and B is the control input matrix corresponding to the initial control signal.

[0068] Then, the historical performance evaluation matrix of the previous focus cycle is used through the following equation: and the state transfer matrix A to determine the current performance evaluation prediction matrix of the current focus tracking cycle .

[0069]

[0070] in, is the historical performance evaluation matrix of the previous focus cycle, Evaluate the prediction matrix for the current performance of the current focus loop.

[0071] Thus, the prediction matrix is ​​evaluated based on the current performance through the following equation: and the observation matrix corresponding to the mechanical axis , determine the gain factor of the current focus cycle .

[0072]

[0073] in, is the measurement matrix corresponding to the mechanical axis, and R is the measurement noise covariance.

[0074] According to the gain factor , and the difference between the observed position and the predicted observed position , determine the corrected state space corresponding to the target predicted state space .

[0075] Finally, the state space is predicted according to the target through the following equation and the modified state space , determine the target state space .

[0076]

[0077] in, Predict the state space for the goal.

[0078] At the same time, using the gain factor , observation matrix and the current performance evaluation prediction matrix , determine the current performance evaluation matrix .

[0079]

[0080] in, is the current performance evaluation matrix, is the unit matrix.

[0081] Further, such as Figure 3 As shown, Figure 3 This is the step response of the laser automatic focus system under the simple PID control strategy. The parameters of the PID control strategy are Kp=0.2, Ki=0.2, and Kd=0.2. Figure 4 The step response of the laser automatic focus method under the laser automatic focus method provided in the embodiment of the present application. It can be seen that under the simple PID control strategy, large fluctuations will occur in the early stage of the response, and it will approach the stable value after a long period of time until it reaches a stable state. The laser automatic focus method provided by the present application has smaller fluctuations in the early stage of the response, and can respond quickly, and can approach the stable value in a short time.

[0082] Further, if Figure 5 As shown, Figure 5 This is the sinusoidal response of the laser automatic focus system under the simple PID control strategy. The parameters of the PID control strategy are Kp=0.2, Ki=0.2, and Kd=0.2. Figure 6 The sine response of the laser automatic focus method under the laser automatic focus method provided in the embodiment of the present application. It can be seen that the control does not converge under the simple PID control strategy, which can be understood as the laser automatic focus system cannot maintain a high-precision focus effect during operation. The laser automatic focus method provided in this application can minimize the steady-state error and ensure a high-precision focus effect during long-term operation.

[0083] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the working principle of the device. It can be understood that in order to realize the above functions, the laser automatic focus device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments disclosed in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0084] The embodiment of the present application can divide the laser automatic focus device into functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or software functional module.

[0085] It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. Figure 7 FIG. 2 shows a possible schematic diagram of the laser automatic focus tracking device involved in the above-mentioned embodiments. Figure 7 As shown, the laser automatic focus tracking device 700 may include: a determination module 701 , a correction module 702 , and an adjustment module 703 .

[0086] The determination module 701 is used to support the laser automatic focus device 700 to execute Figure 2 S201 in the illustrated laser automatic focus method.

[0087] Correction module 702, used to support the laser automatic focus device 700 to execute Figure 2 S202 in the illustrated laser automatic focus method.

[0088] The adjustment module 703 is used to support the laser automatic focus device 700 to execute Figure 2 S203 in the illustrated laser automatic focus method.

[0089] In a possible implementation, the device can also be used to determine the historical axis position of the mechanical axis in the previous focus cycle and the historical axis speed of the mechanical axis in the previous focus cycle using the historical control signal. According to the historical axis position, the historical axis speed, the observed position and the initial control signal, the target axis position and the target axis speed of the mechanical axis in the current focus cycle are predicted. According to the target axis position and the target axis speed, the target control signal is determined.

[0090] In a possible implementation, the device can also be used to construct a historical state space of the mechanical axis in the previous focus cycle using the historical axis position and the historical axis speed. According to the historical state space and the state transfer matrix corresponding to the historical state space, the predicted state space of the mechanical axis in the current focus cycle is determined. According to the initial control signal and the control input matrix corresponding to the initial control signal, the control signal input influence of the mechanical axis in the current focus cycle is determined. According to the predicted state space and the control signal input influence, the target predicted state space of the mechanical axis is determined. According to the target predicted state space, the observed position and the gain coefficient determined in the current focus cycle, the target state space of the mechanical axis in the current focus cycle is predicted. According to the target state space, the target axis position and the target axis speed are determined.

[0091] In a possible implementation, the device can also be used to determine the current performance evaluation prediction matrix of the current focus tracking cycle using the historical performance evaluation matrix and the state transfer matrix of the previous focus tracking cycle, and determine the gain coefficient according to the current performance evaluation prediction matrix and the observation matrix corresponding to the mechanical axis.

[0092] In a possible implementation, the device can also be used to determine the current performance evaluation matrix using the gain coefficient, the observation matrix and the current performance evaluation prediction matrix.

[0093] In a possible implementation, the device can also be used to determine the predicted observation position of the laser spot in the current focus tracking cycle according to the target prediction state space, the gain coefficient and the current performance evaluation prediction matrix. According to the gain coefficient and the difference between the observation position and the predicted observation position, the corrected state space corresponding to the target prediction state space is determined. According to the target prediction state space and the corrected state space, the target state space is determined.

[0094] In a possible implementation, the device can also be used to obtain the current position information and historical position information set of the target object on the transmission device. The historical position information set includes the first historical position of the target object on the transmission device in the last focus cycle and the second historical position of the target object on the transmission device in the last focus cycle of the last focus cycle. The initial control signal is determined using the control strategy, the current position information, the first historical position, the second historical position and the observed position.

[0095] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0096] The laser automatic focus tracking device 700 provided in the embodiment of the present application is used to perform the above Figure 2 The laser automatic focus method shown can therefore achieve the same effect as the above-mentioned laser automatic focus method.

[0097] The embodiment of the present application also provides a laser automatic focus tracking device, which can execute the laser automatic focus tracking method and related steps in the above method embodiment.

[0098] An embodiment of the present application also provides a computer-readable storage medium on which instructions are stored. When the instructions are executed, the laser automatic focus method and related steps in the above method embodiment are executed.

[0099] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer executes the laser automatic focus method and related steps in the above method embodiment.

[0100] In some embodiments, the methods described herein may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or encoded on other non-transitory media or articles of manufacture.

[0101] The present application also provides a laser automatic focus tracking system 100. Figure 8 As shown, the laser automatic focus tracking system 100 includes at least one processor 801 and at least one interface circuit 802 .

[0102] As an example, when the laser automatic focus tracking system 100 includes a processor and an interface circuit, the processor may be Figure 8 The processor 801 shown in the solid line frame (or the processor 801 shown in the dotted line frame) may be Figure 8 The interface circuit 802 shown in the solid line frame (or the interface circuit 802 shown in the dotted line frame). When the laser automatic focus tracking system 100 includes two processors and two interface circuits, the two processors include Figure 8 The processor 801 shown in the solid line frame and the processor 801 shown in the dotted line frame, the two interface circuits include Figure 8 The interface circuit 802 shown in the solid line frame and the interface circuit 802 shown in the dotted line frame are not limited to this.

[0103] The processor 801 and the interface circuit 802 may be interconnected via a line. For example, the interface circuit 802 may be used to receive a signal. In another example, the interface circuit 802 may be used to send a signal to another device (e.g., the processor 801). For example, the interface circuit 802 may read a computer instruction stored in a memory and send the computer instruction to the processor 801. The processor 801 executes the instruction and implements the various steps in the above embodiments in combination with the input and output devices, such as implementing Figure 2-Figure 6 Of course, the laser automatic focus system may also include other discrete components, which are not specifically limited in the embodiments of the present application.

[0104] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0105] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0109] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A laser automatic focus method, characterized in that: Applied to a laser automatic focus system, the laser automatic focus system comprises a transmitting component and a receiving component; the transmitting component comprises a laser transmitter, an optical element and a mechanical axis; the laser transmitter is used to send a laser beam to a target object on a conveying device through the optical element, and the laser beam is focused to the surface of the target object through the optical element to form a laser spot; The receiving component is used to obtain the laser spot; The mechanical axis is used to adjust the optical element; The laser automatic focus following method comprises: After acquiring the laser spot of the target object, determining the observation position of the laser spot in the current focus tracking cycle; Based on the observed position, the laser spot is initially focused using a control strategy to determine an initial control signal of the mechanical axis in the current focus tracking cycle; Using the historical control signal of the mechanical axis in the previous focus cycle and the observed position, the initial control signal is corrected to obtain a target control signal of the mechanical axis, and the target control signal is used to control the mechanical axis to adjust the optical element; The method of using the historical control signal of the mechanical axis in the previous focus cycle and the observed position to correct the initial control signal to obtain the target control signal of the mechanical axis includes: Determine a historical axis position of the mechanical axis in the previous focus tracking cycle and a historical axis speed of the mechanical axis in the previous focus tracking cycle by using the historical control signal; Predicting a predicted state space of the mechanical axis in the current focus tracking cycle by using the historical axis position and the historical axis speed; Determining a target predicted state space of the mechanical axis based on the predicted state space and the influence of the initial control signal on the control signal input of the mechanical axis in the current focus follow cycle; Determining a predicted observation position of the laser spot in the current focus tracking cycle according to the target prediction state space, a gain coefficient determined in the current focus tracking cycle, and a current performance evaluation prediction matrix; Determining a modified state space corresponding to the target predicted state space according to the gain coefficient and the difference between the observed position and the predicted observed position; Determining a target state space of the mechanical axis in the current focus tracking cycle according to the target prediction state space and the correction state space; Determining a target axis position and a target axis speed of the mechanical axis in a current focus tracking cycle according to the target state space; The target control signal is determined according to the target shaft position and the target shaft speed.

2. The method according to claim 1, characterized in that The predicting the predicted state space of the mechanical axis in the current focus tracking cycle by using the historical axis position and the historical axis speed includes: Using the historical axis position and the historical axis speed, construct a historical state space of the mechanical axis in the previous focus tracking cycle; The predicted state space of the mechanical axis in the current focus tracking cycle is determined according to the historical state space and a state transfer matrix corresponding to the historical state space.

3. The method according to claim 1, characterized in that Determining a target predicted state space of the mechanical axis based on the predicted state space and the influence of the initial control signal on the control signal input of the mechanical axis in the current focus follow cycle includes: Determining, according to the initial control signal and a control input matrix corresponding to the initial control signal, an influence of a control signal input of the mechanical axis in the current focus tracking cycle; A target predicted state space of the mechanical axis is determined according to the predicted state space and the control signal input influence.

4. The method according to claim 1, characterized in that The process of determining the gain coefficient includes: Determine a current performance evaluation prediction matrix of the current focus tracking cycle by using the historical performance evaluation matrix of the previous focus tracking cycle and the state transition matrix; The gain coefficient is determined according to the current performance evaluation prediction matrix and an observation matrix corresponding to the mechanical axis.

5. The method according to claim 4, characterized in that The method further comprises: The current performance evaluation matrix is ​​determined by using the gain coefficient, the observation matrix and the current performance evaluation prediction matrix.

6. The method according to claim 1, characterized in that The method of performing initial focus tracking on the laser spot based on the observed position by using a control strategy and determining an initial control signal of the mechanical axis in the current focus tracking cycle includes: Acquire current position information and a set of historical position information of the target object on the transmission device; the set of historical position information includes a first historical position of the target object on the transmission device in the previous focus tracking cycle and a second historical position of the target object on the transmission device in a previous focus tracking cycle of the previous focus tracking cycle; The initial control signal is determined using the control strategy, the current position information, the first historical position, the second historical position and the observed position.

7. A laser automatic focus device, characterized in that: The laser automatic focus tracking device includes a processor and a memory, the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the laser automatic focus tracking method described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the laser automatic focus tracking method according to any one of claims 1 to 6.

9. A laser automatic focus device, characterized in that: Applied to a laser automatic focus system, the laser automatic focus system comprises a transmitting component and a receiving component; the transmitting component comprises a laser transmitter, an optical element and a mechanical axis; the laser transmitter is used to send a laser beam to a target object on a conveying device through the optical element, and the laser beam is focused to the surface of the target object through the optical element to form a laser spot; The receiving component is used to obtain the laser spot; The mechanical axis is used to adjust the optical element; The laser automatic focus device comprises: A determination module is used to determine the observation position of the laser spot in the current focus tracking cycle after acquiring the laser spot of the target object; based on the observation position, perform initial focus tracking on the laser spot using a control strategy, and determine the initial control signal of the mechanical axis in the current focus tracking cycle; a correction module, configured to correct the initial control signal by using the historical control signal of the mechanical axis in the previous focus tracking cycle and the observed position, so as to obtain a target control signal of the mechanical axis; an adjustment module, configured to control the mechanical axis using the target control signal to adjust the optical element; The correction module is specifically used to determine the historical axis position of the mechanical axis in the previous focus following cycle and the historical axis speed of the mechanical axis in the previous focus following cycle by using the historical control signal; predict the predicted state space of the mechanical axis in the current focus following cycle by using the historical axis position and the historical axis speed; determine the target predicted state space of the mechanical axis based on the influence of the predicted state space and the initial control signal on the control signal input of the mechanical axis in the current focus following cycle; determine the predicted observation position of the laser spot in the current focus following cycle according to the target predicted state space, the gain coefficient determined in the current focus following cycle and the current performance evaluation prediction matrix; determine the corrected state space corresponding to the target predicted state space according to the gain coefficient and the difference between the observed position and the predicted observation position; determine the target state space of the mechanical axis in the current focus following cycle according to the corrected state space and the target predicted state space; determine the target axis position and target axis speed of the mechanical axis in the current focus following cycle according to the target state space; and determine the target control signal according to the target axis position and the target axis speed.

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