An automatic feedback aiming control method for pod laser under wind disturbance resistance

Abstract

The present invention relates to an automatic feedback aiming control method for a pod laser under wind disturbance resistance, which is mainly used for tasks such as removing foreign objects hanging from power transmission lines by using unmanned aerial vehicles equipped with lasers. The method includes: obtaining weather information of the target area, the position information of the laser and the target, and calculating the adjusted laser aiming position according to the data of wind speed, wind direction, laser position and target position; by training a wind disturbance processing model, obtaining wind speed, wind direction data and laser position in real time, and compensating and adjusting the wind disturbance, thereby optimizing the aiming accuracy of the laser. The present invention achieves stable aiming and laser removal in a strong wind environment by optimizing the unmanned aerial vehicle control system and the laser feedback mechanism, greatly improving the operating efficiency and accuracy, and is particularly suitable for the fields of removing foreign objects hanging from power transmission lines and maintaining power equipment, and has important practical application value.

Description

Technical Field

[0001] The invention belongs to the field of laser aiming, and in particular relates to an automatic feedback aiming control method for a pod laser under wind disturbance resistance. Background Art

[0002] Transmission lines are important infrastructure for power transmission, and their stability directly affects the normal operation of the power system. However, during the operation of transmission lines, foreign objects often hang on them, such as branches, bird nests, kites and other external objects. These foreign objects may cause safety hazards such as short circuits, failures, fires, and even affect the reliability of power supply. Therefore, timely removal of foreign objects hanging on transmission lines is an important task to ensure the safe operation of the power system.

[0003] Traditional methods of removing foreign objects hanging from power transmission lines mostly rely on manual labor or ground equipment. These methods are not only inefficient and costly, but also pose great safety risks. Manual removal operations usually require high-altitude operations, which makes it difficult to ensure the safety of personnel, and the operation time is long, which may cause certain damage to the power transmission line. Removal by ground equipment requires a large amount of manpower and material resources, and cannot flexibly respond to complex terrain and environmental conditions.

[0004] In recent years, with the development of drone technology, drones have gradually become an important tool for power transmission line inspection and foreign object removal due to their high efficiency, flexibility and low cost. Drones can monitor power transmission lines in real time, identify and locate hanging foreign objects by carrying sensors such as high-definition cameras and infrared thermal imaging equipment. By utilizing the flying capabilities of drones, foreign objects on power transmission lines can be removed by carrying lasers, thereby avoiding the safety risks brought by manual high-altitude operations and improving work efficiency.

[0005] However, despite the many advantages of drones in power line inspection and foreign object removal, drones still face serious stability issues when performing tasks due to environmental factors such as strong winds. In strong wind environments, drones are easily disturbed by wind, resulting in unstable flight and inaccurate positioning, which in turn affects the working accuracy of the equipment on board (such as lasers, robotic arms, etc.). Especially when performing suspended foreign object removal tasks, how to maintain the drone's stable hovering and precise aiming, and ensure that the laser can accurately aim at foreign objects and remove them, is the main technical difficulty faced by drone operations.

[0006] Although existing technologies have proposed some wind-disturbance-resistant UAV control methods, such as adjusting flight control parameters and adding stabilization devices, these technologies often cannot completely solve the problem of UAV flight accuracy and stability in strong wind environments. In strong wind environments, especially near power transmission lines, complex airflows and wind direction changes make it difficult for UAVs to maintain precise positioning and posture, resulting in reduced operational accuracy and efficiency. Therefore, how to ensure that UAVs can hover stably under complex meteorological conditions and that the lasers they carry can efficiently remove suspended foreign objects remains a technical problem that needs to be solved urgently. Summary of the invention

[0007] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide an automatic feedback aiming control method for a pod laser under wind disturbance resistance.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] On one hand, the present invention provides an automatic feedback aiming control method for a pod laser under wind disturbance resistance, comprising the following steps:

[0010] At multiple moments in the preparation cycle, weather information of the area where the aiming target is located, first position information of the laser in a preset coordinate system, and second position information of the aiming target in the preset coordinate system are obtained, wherein the weather information includes: wind direction data and wind speed data, and the wind direction data, wind speed data, first position information, and second position information are processed according to a wind disturbance processing model to determine an adjusted aiming position of the laser, and the wind disturbance processing model is trained according to the adjusted aiming position of the laser, wind direction data, wind speed data, first position information, and second position information to obtain a trained wind disturbance processing model;

[0011] Acquire second weather information of the area where the aiming target is located at multiple moments in the working cycle, third position information of the laser, and fourth position information of the aiming target, wherein the second weather information includes: second wind direction data and second wind speed data;

[0012] At multiple moments in the working cycle, the second wind direction data, the second wind speed data, the third position information and the fourth position information are processed according to the trained wind disturbance processing model to determine the wind compensation instruction, and the laser is adjusted through the actuator according to the wind compensation instruction.

[0013] Furthermore, the laser is arranged under the drone, and the aiming targets include hanging foreign objects on the transmission lines, power equipment, and targets that need to be cleared on buildings. The preset coordinate system is a coordinate system based on a preset origin in the area where the aiming target is located as the coordinate origin, with the ground in the area where the aiming target is located as the XOY plane of the coordinate system, and with the vertical upward direction as the Z axis of the coordinate system.

[0014] Further, the wind direction data, wind speed data, first position information and second position information are processed according to the wind disturbance processing model to determine the aiming position of the laser after adjustment, specifically including:

[0015] Determine a wind direction angle and a measurement distance according to the first position information, the second position information, and the wind direction data, wherein the wind direction angle includes a first wind direction angle and a second wind direction angle, wherein the first wind direction angle is the angle between a line between the pod laser and the aiming target and the wind direction in the horizontal direction, and the second wind direction angle is the angle between a line between the pod laser and the aiming target and the wind direction in the vertical direction;

[0016] Processing the measured distance, the wind direction angle and the wind speed data according to a wind disturbance processing model to determine wind compensation measures;

[0017] adjusting the laser according to the wind compensation measures;

[0018] According to the sensor, the aiming position of the adjusted laser is obtained.

[0019] Further, determining the wind direction angle and the measurement distance according to the first position information, the second position information, and the wind direction data specifically includes:

[0020] Determining a measurement distance and a sighting angle according to the first position information and the second position information;

[0021] According to the aiming angle and the wind direction data, the wind direction angle between the wind direction and the aiming angle in a preset coordinate system is determined.

[0022] Further, the wind disturbance processing model is trained according to the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information to obtain the trained wind disturbance processing model, specifically including:

[0023] Acquiring laser parameters of the laser, wherein the laser parameters include: laser power, laser frequency, laser mode and spot size;

[0024] Determining a device influence coefficient according to the laser parameters;

[0025] Determine a training loss function of a wind disturbance processing model according to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle and the measurement distance;

[0026] The wind disturbance processing model is trained according to the training loss function of the wind disturbance processing model to obtain a trained wind disturbance processing model.

[0027] Furthermore, determining the equipment influence coefficient according to the laser parameters specifically includes:

[0028] Determining the longitudinal mode distribution of the output light beam according to the laser mode;

[0029] Determining a multi-mode laser identification result according to the longitudinal mode distribution of the output light beam;

[0030] Determine a first standard deviation of the spot size according to the spot size of each area of ​​the laser light generated by the laser;

[0031] A device influence coefficient is determined according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency.

[0032] Further, determining the device influence coefficient according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency includes:

[0033] According to the formula:

[0034] ,

[0035] ,

[0036] Determine the equipment influence factor Eic ,in, and is the preset weight, is the preset multiple, if is the conditional function, LP is the laser power, LP T is the preset laser power threshold, LF is the laser frequency, LF T is the preset laser frequency threshold, ML 0 is the multi-mode laser identification result, Ss k is the spot size of the kth area of ​​the laser emitted by the laser, Sd 1is the first standard deviation of the spot size, K is the number of regions where the laser is emitted by the laser, k≤K, and both k and K are positive integers.

[0037] Further, determining a training loss function of a wind disturbance processing model according to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle and the measurement distance includes:

[0038] According to the formula:

[0039] ,

[0040] Determine the training loss function of the wind disturbance processing model Loss T ,in, Eic is the equipment influence coefficient, Ahp i To prepare for the first i The aiming position of the laser after adjustment at a moment, Ehp i To prepare for the first i The second position information of the aiming target at a moment, Pe T is the preset position error threshold, Fv i To prepare for the first i Wind speed data at a given moment, Fv T is the preset wind speed data threshold, Ar i is the measured distance at the i-th moment of the preparation cycle, Ar T To preset the measurement distance threshold, To prepare for the first i The first wind direction angle at a moment, To prepare for the first i The second wind direction angle at the moment, n is the number of moments of the preparation cycle, i ≤ n , i and n All are positive integers.

[0041] Another aspect of the present invention provides an automatic feedback aiming control system for a pod laser under wind disturbance resistance, comprising:

[0042] A preparation data module is used to obtain weather information of the area where the aiming target is located, first position information of the laser in a preset coordinate system, and second position information of the aiming target in the preset coordinate system at multiple moments in the preparation period, wherein the weather information includes: wind direction data and wind speed data, and the preset coordinate system is a coordinate system established based on a preset origin in the area where the aiming target is located as the coordinate origin, the ground in the area where the aiming target is located as the coordinate system XOY plane, and the vertical upward direction as the coordinate system Z axis;

[0043] A first processing module, configured to process the wind direction data, the wind speed data, the first position information and the second position information according to a wind disturbance processing model, and determine an adjusted aiming position of the laser;

[0044] A training model module, used for training a wind disturbance processing model according to the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information to obtain a trained wind disturbance processing model;

[0045] A working data module, used to obtain second weather information of the area where the aiming target is located at multiple moments of the working cycle, third position information of the laser, and fourth position information of the aiming target, wherein the second weather information includes: second wind direction data and second wind speed data;

[0046] a second processing module, configured to process the second wind direction data, the second wind speed data, the third position information and the fourth position information according to a trained wind disturbance processing model at multiple moments in a working cycle to determine a wind compensation instruction;

[0047] The compensation adjustment module is used to adjust the laser through the actuator according to the wind compensation instruction.

[0048] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the program implements an automatic feedback aiming control method for a pod laser under wind disturbance resistance as described in any one of the above items.

[0049] Technical effect: According to the present invention, the position information of the laser and the aiming target in the preset coordinate system can be determined through wireless sensors, and when processing wind disturbances, the wind disturbance processing model can be trained based on the position information of the laser and the aiming target, the wind speed data and the wind direction data on the aiming error, thereby improving the adaptability of the wind disturbance processing model to the wind disturbance environment in the area where the aiming target is located, and improving the accuracy of the automatic aiming of the laser under wind disturbance resistance. When determining the equipment influence coefficient, the equipment influence coefficient can be determined based on the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency. In the calculation process, the influence of the laser itself on the aiming error can be evaluated through four aspects: laser power, laser frequency, laser mode and laser beam uniformity, thereby improving the comprehensiveness of the equipment influence coefficient. When determining the training loss function of the wind disturbance processing model, the training loss function of the wind disturbance processing model can be determined according to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, wind speed data, wind direction angle and measurement distance. The influence of the wind speed data, measurement distance, first wind direction angle, second wind direction angle and equipment influence coefficient on the aiming error can be accurately analyzed, and the training loss function can be set based on the influence and the aiming error, so that the training loss function of the wind disturbance processing model can be reduced during the training process, thereby improving the accuracy of the wind disturbance processing model in a more targeted manner.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] (1) The present invention proposes an automatic feedback aiming control method for a pod laser under wind disturbance resistance, which uses a wind disturbance processing model to process wind direction data, wind speed data and laser position information in real time, and accurately calculates the adjusted aiming position of the laser. By dynamically adjusting the aiming position of the laser, it can effectively compensate for wind disturbances in a strong wind environment, ensuring that the laser can still accurately aim at the target under complex meteorological conditions and complete the task of removing foreign objects hanging from the transmission line. The aiming accuracy of the laser under wind disturbance conditions is improved, ensuring the accuracy and reliability of foreign object removal operations.

[0052] (2) The present invention optimizes the flight control parameters of the drone through the dynamic optimization technology of the parameters of the drone flight control system, combined with the dynamic and kinematic models of the drone in a strong wind environment. In a strong wind environment, the drone can better adapt to wind changes, hover stably, and ensure the stability of the laser and the removal device. By iteratively optimizing the flight control parameters, the drone can still maintain efficient foreign object removal capabilities in an environment with large wind disturbances. It ensures that the drone can hover accurately under strong wind conditions, avoids flight instability caused by wind disturbances, and thus improves the safety and stability of the operation.

[0053] (3) The present invention dynamically trains the wind disturbance processing model based on the UAV flight data and wind direction and speed data, and continuously optimizes the prediction accuracy of the model in combination with the actual operating environment. By providing feedback correction to the adjusted laser aiming position, the adaptability and accuracy of the wind disturbance model in practical applications are further improved. The application of the wind disturbance processing model in actual operations can not only cope with changes in wind speed and direction, but also dynamically adjust according to the actual operating environment of the UAV, thereby improving the robustness and adaptability of the system.

[0054] (4) The present invention forms an efficient and collaborative operation mode by closely combining the pod laser with the flight control system of the drone. Under the dynamic adjustment control of the drone, the laser can accurately and efficiently remove hanging foreign objects on the transmission line. This collaborative operation mode not only improves the operation efficiency, but also reduces the danger and labor cost of high-altitude operations. Through the collaborative work of the laser and the drone, the automation level and efficiency of the operation are improved, and the safety risks caused by manual intervention and high-altitude operations are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a flow chart of an automatic feedback aiming control method of a pod laser under wind disturbance resistance according to an embodiment of the present invention;

[0056] Figure 2 The block diagram is a automatic feedback aiming control system of a pod laser under wind disturbance resistance according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] 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 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 should fall within the scope of protection of the present invention.

[0058] Example 1.

[0059] Figure 1 A flow chart of an automatic feedback aiming control method of a pod laser under wind disturbance resistance according to an embodiment of the present invention is exemplarily shown, the method comprising:

[0060] Step S101, at multiple moments in the preparation cycle, obtaining weather information of the area where the aiming target is located, first position information of the laser in a preset coordinate system, and second position information of the aiming target in the preset coordinate system, wherein the weather information includes: wind direction data and wind speed data, and the preset coordinate system is a coordinate system established based on a preset origin in the area where the aiming target is located as the coordinate origin, the ground in the area where the aiming target is located as the coordinate system XOY plane, and the vertical upward direction as the coordinate system Z axis;

[0061] Step S102, processing the wind direction data, the wind speed data, the first position information and the second position information according to a wind disturbance processing model to determine an adjusted aiming position of the laser;

[0062] Step S103, training a wind disturbance processing model according to the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information to obtain a trained wind disturbance processing model;

[0063] Step S104, obtaining second weather information of the area where the aiming target is located at multiple moments of the working cycle, third position information of the laser, and fourth position information of the aiming target, wherein the second weather information includes: second wind direction data and second wind speed data;

[0064] Step S105, at multiple moments in the working cycle, according to the trained wind disturbance processing model, the second wind direction data, the second wind speed data, the third position information and the fourth position information are processed to determine a wind compensation instruction;

[0065] Step S106: adjusting the laser through the actuator according to the wind compensation instruction.

[0066] The laser is arranged under the UAV, and the aiming targets include hanging foreign objects on the power transmission line, power equipment, and targets on buildings that need to be cleared.

[0067] According to the automatic feedback aiming control method of the pod laser under wind disturbance resistance, the position information of the laser and the aiming target in the preset coordinate system can be determined by wireless sensors, and when processing wind disturbances, the wind disturbance processing model is trained based on the influence of the position information of the laser and the aiming target, wind speed data and wind direction data on the aiming error, thereby improving the adaptability of the wind disturbance processing model to the wind disturbance environment in the area where the aiming target is located, and improving the accuracy of automatic aiming of the laser under wind disturbance resistance.

[0068] According to one embodiment of the present invention, in step S101, at multiple moments in the preparation cycle, weather information of the area where the aiming target is located, as well as first position information of the laser in a preset coordinate system and second position information of the aiming target in the preset coordinate system are obtained, wherein the weather information includes: wind direction data and wind speed data, and the preset coordinate system is a coordinate system established based on a preset origin in the area where the aiming target is located as the coordinate origin, with the ground in the area where the aiming target is located as the coordinate system XOY plane, and with the vertical upward direction as the coordinate system Z axis.

[0069] For example, the preparation period is a test and adjustment phase. During the preparation period, the UAV equipped with a pod laser performs aiming tests on the aiming target at different positions in the area where the aiming target is located. The wind direction data and wind speed data of the area are obtained by setting an anemometer and a wind vane at a sampling location in the area where the aiming target is located. The sampling location can accurately reflect the changes in wind speed and wind direction in the area where the aiming target is located. A coordinate system is established with the projection point of the aiming target on the ground as the coordinate origin, and the ground as the XOY plane of the coordinate system, and the direction perpendicular to the ground as the Z axis of the coordinate system. A reference wireless ranging sensor is set at at least three preset points in the preset coordinate system. A wireless ranging sensor is set on the UAV equipped with a laser. The first position information of the laser in the preset coordinate system is determined through the distance between the wireless ranging sensor and each reference wireless ranging sensor, and the position of the aiming target that is easily melted and vaporized, or the position of the connection point and the support point of the aiming target is determined. According to the position information of the above positions in the preset coordinate system, the second position information of the aiming target in the preset coordinate system is determined. The first position information and the second position information are in the form of coordinates.

[0070] According to an embodiment of the present invention, in step S102, the wind direction data, the wind speed data, the first position information and the second position information are processed according to a wind disturbance processing model to determine an adjusted aiming position of the laser.

[0071] According to one embodiment of the present invention, step S102 includes:

[0072] Determine a wind direction angle and a measurement distance according to the first position information and the second position information;

[0073] According to a wind disturbance processing model, the measured distance, the wind direction angle and the wind speed data are processed to determine wind compensation measures;

[0074] adjusting the laser according to the wind compensation measures;

[0075] According to the sensor, the aiming position of the adjusted laser is obtained.

[0076] According to an embodiment of the present invention, determining the wind direction angle and the measurement distance according to the first position information and the second position information includes:

[0077] Determining a measurement distance and a sighting angle according to the first position information and the second position information;

[0078] According to the aiming angle and the wind direction data, a wind direction angle between the wind direction and the aiming angle in a preset coordinate system is determined, wherein the wind direction angle includes: a first wind direction angle and a second wind direction angle.

[0079] For example, the first wind direction angle and the second wind direction angle are determined based on the angle between the vector determined by the first position information and the second position information and the vector determined by the wind direction. The first wind direction angle is the angle between the line between the pod laser and the aiming target and the wind direction in the horizontal direction, and the second wind direction angle is the angle between the line between the pod laser and the aiming target and the wind direction in the vertical direction.

[0080] For example, calculations are performed based on the first position information of the pod laser in a preset coordinate system and the second position information of the aiming target in the preset coordinate system to determine the measured distance between the pod laser and the aiming target; the wind disturbance processing model is a deep learning neural network model, which can be based on the measured distance between the laser and the aiming target, the wind direction angle between the aiming direction and the wind direction, and the wind speed data to obtain wind compensation measures for compensating for wind disturbances (for example, adjusting the aiming angle of the laser); the actuator fine-tunes the pod laser according to the wind compensation measures; and the aiming position of the adjusted pod laser is obtained through the photoelectric sensor.

[0081] According to one embodiment of the present invention, in step S103, a wind disturbance processing model is trained based on the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information to obtain a trained wind disturbance processing model.

[0082] According to one embodiment of the present invention, step S103 includes:

[0083] Acquiring laser parameters of the laser, wherein the laser parameters include: laser power, laser frequency, laser mode and spot size;

[0084] Determining a device influence coefficient according to the laser parameters;

[0085] Determine a training loss function of a wind disturbance processing model according to the device influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle, and the measurement distance;

[0086] The wind disturbance processing model is trained according to the training loss function of the wind disturbance processing model to obtain a trained wind disturbance processing model.

[0087] For example, the laser parameters of the laser are obtained, wherein the laser power and the laser frequency are preset working power and frequency determined according to the size, shape and material of the aiming target. The laser operates according to the power and frequency to efficiently clear the aiming target. The mode of the laser usually refers to the longitudinal mode distribution of the output beam of the laser. The image of the laser beam is directly captured by an optical detector, and the number of areas and the spot size of the laser beam are determined by image analysis. According to the laser parameters, the influence of the laser itself on the aiming accuracy is evaluated to determine the equipment influence coefficient. According to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle and the measurement distance, the training loss function of the wind disturbance processing model is determined. According to the training loss function of the wind disturbance processing model, the wind disturbance processing model is trained to obtain the trained wind disturbance processing model.

[0088] According to an embodiment of the present invention, determining the equipment influence coefficient according to the laser parameters includes:

[0089] Determining the longitudinal mode distribution of the output light beam according to the laser mode;

[0090] Determining a multi-mode laser identification result according to the longitudinal mode distribution of the output light beam;

[0091] Determine a first standard deviation of the spot size according to the spot size of each area of ​​the laser light generated by the laser;

[0092] A device influence coefficient is determined according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency.

[0093] For example, the longitudinal mode distribution of the output beam of the laser is determined by a spectrum analyzer. The longitudinal mode refers to the stable standing wave form formed in the laser resonant cavity. Each longitudinal mode corresponds to a specific frequency or wavelength. The number of longitudinal modes depends on the length of the laser cavity and the gain characteristics of the laser medium. Single-mode lasers usually have a single longitudinal mode distribution, that is, they only output lasers of a specific frequency. Multi-mode lasers have multiple longitudinal mode distributions, that is, they output lasers containing multiple different frequency components. For multi-mode lasers, their output beams may have multiple bright spots or dark spots with uneven intensity distribution. The output beam of a single-mode laser is more stable and has better directionality. The multi-mode laser identification result is determined based on the longitudinal mode distribution of the output beam; the first standard deviation of multiple spot sizes is determined based on the spot size and the number of areas in different laser regions; the influence of the device itself on the aiming error is evaluated based on the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency, and the device influence coefficient is determined.

[0094] According to an embodiment of the present invention, determining the device influence coefficient according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency includes: determining the device influence coefficient according to formula (1): Eic ,

[0095] (1),

[0096] in, and is the preset weight, is the preset multiple, if is the conditional function, LP is the laser power, LP T is the preset laser power threshold, LF is the laser frequency, LF T is the preset laser frequency threshold, ML 0 is the multi-mode laser identification result, , Ss k is the spot size of the kth area of ​​the laser emitted by the laser, Sd 1 is the first standard deviation of the spot size, K is the number of regions where the laser is emitted by the laser, k≤K, and both k and K are positive integers.

[0097] According to one embodiment of the present invention, It is the relative difference between the laser power and the preset laser power threshold. The larger the ratio, the greater the difference between the laser power and the preset laser power threshold, and the greater the influence of the laser itself on the aiming error. If the laser power is too small, the intensity of the generated laser beam is low, and it is difficult to achieve high-precision aiming. If the laser power is too large, the laser may generate more heat during use, resulting in poor heat dissipation, which increases the laser aiming error. It is the relative error between the laser frequency and the preset laser frequency threshold. The larger the ratio is, the larger the gap between the laser frequency and the preset laser frequency threshold is, and the greater the influence of the laser itself on the aiming error is. If the frequency is too low, the number of laser pulses emitted per unit time is less, and the real-time and accuracy of aiming are lower. If the frequency is too high, it may cause the energy consumption of the laser to increase and the stability to decrease, thus resulting in a decrease in aiming accuracy. ML 0 is the result of multi-mode laser identification. If the laser is a multi-mode laser, then ML 0 The value of is 1. For a multi-mode laser, its output beam may have multiple bright spots or dark spots with uneven intensity distribution, which will cause the directivity of the laser beam to be unstable, thereby increasing the aiming error. If the laser is a single-mode laser, then ML 0 When the value is 0, the output beam of the single-mode laser is more stable and has better directivity, so the aiming error is usually smaller.

[0098] According to one embodiment of the present invention, in formula (1), the conditional function The value of includes the following two cases, when it satisfies When the condition is met, it means that the spot size of the kth area of ​​the laser emitted by the laser is within an interval with the average spot size as the center of the interval and the standard deviation of twice the preset multiple as the interval length. The value of the condition function is 0. When it is not met When the condition is met, the value of the conditional function is 1. If the spot size of the kth region meets the above conditions, it means that the deviation between the spot size of the kth region and the mean is small. Otherwise, it can be considered that the deviation between the spot size of the kth region and the mean is large. It is the ratio of the number of areas with larger deviations between the spot size and the mean to the total number of areas. The larger the ratio is, the more uneven the laser spot distribution is and the lower the laser beam uniformity is. Low beam uniformity will cause the laser beam to deviate or jitter during propagation, thereby increasing the aiming error.

[0099] According to one embodiment of the present invention, It means that the equipment influence coefficient is determined by four aspects: laser power, laser frequency, laser mode and laser beam uniformity.

[0100] In this way, the equipment influence coefficient can be determined based on the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency. During the calculation process, the influence of the laser itself on the aiming error can be evaluated through four aspects: laser power, laser frequency, laser mode and laser beam uniformity, thereby improving the comprehensiveness of the equipment influence coefficient.

[0101] According to one embodiment of the present invention, the training loss function of the wind disturbance processing model is determined according to the device influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle and the measurement distance, including: determining the training loss function of the wind disturbance processing model according to formula (2): Loss T ,

[0102] (2),

[0103] in, Eic is the equipment influence coefficient, Ahp i To prepare for the first i The aiming position of the laser after adjustment at a moment, Ehp i To prepare for the first i The second position information of the aiming target at a moment, Pe T is the preset position error threshold, Fv i To prepare for the first i Wind speed data at a given moment, Fv T is the preset wind speed data threshold, Ar i is the measured distance at the i-th moment of the preparation cycle, Ar T To preset the measurement distance threshold, To prepare for the first i The first wind direction angle at a moment, To prepare for the first i The second wind direction angle at the moment, n is the number of moments of the preparation cycle, i ≤ n , i and n All are positive integers.

[0104] According to one embodiment of the present invention, is the ratio of the wind speed data at the i-th moment of the preparation period to the preset wind speed data threshold. The larger the ratio, the larger the wind speed at the i-th moment of the preparation period. is the ratio of the measured distance at the i-th moment of the preparation period to the preset measured distance threshold. The larger the ratio is, the larger the measured distance at the i-th moment of the preparation period is. is the ratio of the error between the aiming position of the laser after adjustment at the i-th moment of the preparation period and the second position information of the aiming target at the i-th moment of the preparation period to the preset position error threshold. The larger the ratio is, the larger the error between the aiming position of the laser after adjustment at the i-th moment of the preparation period and the second position information is. It indicates that the error between the aiming position and the second position information of the laser after adjustment is positively correlated with the equipment influence coefficient, wind speed data and measurement distance. For example, the direct effect of wind force may cause the laser beam to deviate or jitter during propagation, resulting in an increase in the aiming error. The laser signal will be affected by atmospheric attenuation during propagation. As the aiming distance increases, the intensity of the laser signal gradually weakens, making the received reflected signal weak, resulting in an increase in the aiming error. The larger the equipment influence coefficient, the greater the aiming error caused by the equipment itself. It means that the first wind direction angle and the second wind direction angle have a certain periodic relationship with the error between the aiming position of the adjusted laser and the second position information, such as when When the angle is 0 degrees or 180 degrees, the wind force will not affect the horizontal error between the adjusted aiming position and the second position information. When the angle is 90 degrees, the wind has the greatest impact on the error between the adjusted aiming position and the second position information in the horizontal direction. When the angle is 0 degrees or 180 degrees, the wind force will not affect the vertical error between the adjusted aiming position and the second position information. When the angle is 90 degrees, the wind has the greatest impact on the error between the adjusted aiming position and the second position information in the vertical direction. Therefore, and The larger the value of is, the greater the error between the aiming position of the adjusted laser and the second position information is.

[0105] According to one embodiment of the present invention, using The ratio of the error of the aiming position and the second position information of the adjusted laser at each moment of the preparation cycle to the preset position error threshold is weighted summed to obtain a training loss function. During the training process, the training loss function is reduced, so that the error of the aiming position and the second position information of the adjusted laser is reduced, thereby improving the accuracy of the wind disturbance processing model.

[0106] In this way, the training loss function of the wind disturbance processing model can be determined according to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, wind speed data, wind direction angle and measurement distance, and the influence of the wind speed data, measurement distance, first wind direction angle, second wind direction angle and equipment influence coefficient on the aiming error can be accurately analyzed. Based on the influence and the aiming error, the training loss function can be set to reduce the training loss function of the wind disturbance processing model during the training process, thereby improving the accuracy of the wind disturbance processing model in a more targeted manner.

[0107] According to one embodiment of the present invention, in step S104, second weather information of the area where the aiming target is located at multiple moments in the working cycle, third position information of the laser, and fourth position information of the aiming target are obtained, wherein the second weather information includes: second wind direction data and second wind speed data.

[0108] For example, the second wind direction data and the second wind speed data of the target area in the working cycle are obtained through the wind vane and the anemometer, and the third position information of the laser in the preset coordinate system and the fourth position information of the position on the target to be shot in the preset coordinate system are obtained through the ranging sensor.

[0109] According to one embodiment of the present invention, in step S105, at multiple moments in the working cycle, the second wind direction data, the second wind speed data, the third position information and the fourth position information are processed according to a trained wind disturbance processing model to determine a wind compensation instruction.

[0110] For example, the second wind direction data, the second wind speed data, the third position information and the fourth position information are processed by the trained wind disturbance processing model to determine the wind compensation instruction (eg, how to adjust the aiming angle).

[0111] According to an embodiment of the present invention, in step S106, the laser is adjusted by an actuator according to the wind compensation instruction.

[0112] For example, the laser is adjusted based on the wind compensation instructions generated by the trained wind disturbance processing model to improve the aiming accuracy.

[0113] According to the automatic feedback aiming control method of the pod laser under wind disturbance resistance of the embodiment of the present invention, the position information of the laser and the aiming target in the preset coordinate system can be determined by wireless sensors, and when processing wind disturbances, the wind disturbance processing model is trained based on the influence of the position information of the laser and the aiming target, wind speed data and wind direction data on the aiming error, so as to improve the adaptability of the wind disturbance processing model to the wind disturbance environment in the area where the aiming target is located, and improve the accuracy of the automatic aiming of the laser under wind disturbance resistance. When determining the equipment influence coefficient, the equipment influence coefficient can be determined according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency. In the calculation process, the influence of the laser itself on the aiming error can be evaluated through four aspects: laser power, laser frequency, laser mode and laser beam uniformity, thereby improving the comprehensiveness of the equipment influence coefficient. When determining the training loss function of the wind disturbance processing model, the training loss function of the wind disturbance processing model can be determined according to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, wind speed data, wind direction angle and measurement distance. The influence of the wind speed data, measurement distance, first wind direction angle, second wind direction angle and equipment influence coefficient on the aiming error can be accurately analyzed, and the training loss function can be set based on the influence and the aiming error, so that the training loss function of the wind disturbance processing model can be reduced during the training process, thereby improving the accuracy of the wind disturbance processing model in a more targeted manner.

[0114] Example 2.

[0115] Figure 2 A block diagram of an automatic feedback aiming control system for a pod laser under wind disturbance resistance according to an embodiment of the present invention is exemplarily shown, the system comprising:

[0116] A preparation data module is used to obtain weather information of the area where the aiming target is located, first position information of the laser in a preset coordinate system, and second position information of the aiming target in the preset coordinate system at multiple moments in the preparation period, wherein the weather information includes: wind direction data and wind speed data, and the preset coordinate system is a coordinate system established based on a preset origin in the area where the aiming target is located as the coordinate origin, the ground in the area where the aiming target is located as the coordinate system XOY plane, and the vertical upward direction as the coordinate system Z axis;

[0117] A first processing module, configured to process the wind direction data, the wind speed data, the first position information and the second position information according to a wind disturbance processing model, and determine an adjusted aiming position of the laser;

[0118] A training model module, used for training a wind disturbance processing model according to the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information to obtain a trained wind disturbance processing model;

[0119] A working data module, used to obtain second weather information of the area where the aiming target is located at multiple moments of the working cycle, third position information of the laser, and fourth position information of the aiming target, wherein the second weather information includes: second wind direction data and second wind speed data;

[0120] a second processing module, configured to process the second wind direction data, the second wind speed data, the third position information and the fourth position information according to a trained wind disturbance processing model at multiple moments in a working cycle to determine a wind compensation instruction;

[0121] The compensation adjustment module is used to adjust the laser through the actuator according to the wind compensation instruction.

[0122] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0123] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An automatic feedback aiming control method for a pod laser under wind disturbance resistance, characterized in that: The following steps are involved: At multiple moments in the preparation cycle, weather information of the area where the aiming target is located and first position information of the laser in a preset coordinate system and second position information of the aiming target in the preset coordinate system are obtained, wherein the weather information includes: wind direction data and wind speed data; according to a wind disturbance processing model, the wind direction data, wind speed data, first position information and second position information are processed to determine an adjusted aiming position of the laser; according to the adjusted aiming position of the laser, the wind direction data, wind speed data, first position information and second position information, a training loss function of the wind disturbance processing model is determined; according to the determined training loss function of the wind disturbance processing model, the wind disturbance processing model is trained to obtain a trained wind disturbance processing model; Acquire second weather information of the area where the aiming target is located at multiple moments in the working cycle, third position information of the laser, and fourth position information of the aiming target, wherein the second weather information includes: second wind direction data and second wind speed data; At multiple moments in the working cycle, the second wind direction data, the second wind speed data, the third position information and the fourth position information are processed according to the trained wind disturbance processing model to determine the wind compensation instruction, and the laser is adjusted through the actuator according to the wind compensation instruction.

2. The automatic feedback aiming control method of a pod laser under wind disturbance resistance according to claim 1 is characterized in that: The laser is arranged under the drone, and the aiming targets include hanging foreign objects on the transmission line, power equipment, and targets on buildings that need to be cleared. The preset coordinate system is a coordinate system established based on a preset origin in the area where the aiming target is located as the coordinate origin, the ground in the area where the aiming target is located as the coordinate system XOY plane, and the vertical upward direction as the coordinate system Z axis.

3. The automatic feedback aiming control method of a pod laser under wind disturbance resistance according to claim 1 is characterized in that: The step of processing the wind direction data, the wind speed data, the first position information and the second position information according to the wind disturbance processing model to determine the adjusted aiming position of the laser specifically includes: Determine a wind direction angle and a measurement distance according to the first position information, the second position information, and the wind direction data, wherein the wind direction angle includes a first wind direction angle and a second wind direction angle, wherein the first wind direction angle is the angle between a line between the pod laser and the aiming target and the wind direction in the horizontal direction, and the second wind direction angle is the angle between a line between the pod laser and the aiming target and the wind direction in the vertical direction; According to a wind disturbance processing model, the measured distance, the wind direction angle and the wind speed data are processed to determine wind compensation measures; adjusting the laser according to the wind compensation measures; According to the sensor, the aiming position of the adjusted laser is obtained.

4. The automatic feedback aiming control method of a pod laser under wind disturbance resistance according to claim 3 is characterized in that: The determining of the wind direction angle and the measurement distance according to the first position information, the second position information, and the wind direction data specifically includes: Determining a measurement distance and a sighting angle according to the first position information and the second position information; According to the aiming angle and the wind direction data, the wind direction angle between the wind direction and the aiming angle in a preset coordinate system is determined.

5. The automatic feedback aiming control method of a pod laser under wind disturbance resistance according to claim 1 or 3 is characterized in that: The step of training the wind disturbance processing model according to the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information to obtain the trained wind disturbance processing model specifically includes: Acquiring laser parameters of the laser, wherein the laser parameters include: laser power, laser frequency, laser mode and spot size; Determining a device influence coefficient according to the laser parameters; Determine a training loss function of a wind disturbance processing model according to the equipment influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle and the measurement distance; Training the wind disturbance processing model according to the training loss function of the wind disturbance processing model to obtain a trained wind disturbance processing model; Determining the equipment influence coefficient according to the laser parameters specifically includes: Determining the longitudinal mode distribution of the output light beam according to the laser mode; Determining a multi-mode laser identification result according to the longitudinal mode distribution of the output light beam; Determine a first standard deviation of the spot size according to the spot size of each area of ​​the laser light generated by the laser; Determining a device influence coefficient according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency; The determining of the equipment influence coefficient according to the spot size, the first standard deviation, the multi-mode laser identification result, the laser power and the laser frequency includes: According to the formula: ， ， Determine the equipment influence factor Eic ,in, and is the preset weight, is the preset multiple, if is the conditional function, LP is the laser power, LP T is the preset laser power threshold, LF is the laser frequency, LF T is the preset laser frequency threshold, ML 0 is the multi-mode laser identification result, Ss k is the spot size of the kth area of ​​the laser emitted by the laser, Sd 1 is the first standard deviation of the spot size, K is the number of regions where the laser is emitted by the laser, k≤K, and both k and K are positive integers.

6. The automatic feedback aiming control method of a pod laser under wind disturbance resistance according to claim 5 is characterized in that: The step of determining a training loss function of a wind disturbance processing model according to the device influence coefficient, the adjusted aiming position of the laser, the second position information, the wind speed data, the wind direction angle, and the measurement distance includes: According to the formula: ， Determine the training loss function of the wind disturbance processing model Loss T ,in, Eic is the equipment influence coefficient, Ahp i To prepare for the first i The aiming position of the laser after adjustment at a moment, Ehp i To prepare for the first i The second position information of the aiming target at a moment, P T is the preset position error threshold, F i To prepare for the first i Wind speed data at a given moment, F T To preset the wind speed data threshold, Ar i is the measured distance at the i-th moment of the preparation cycle, Ar T To preset the measurement distance threshold, To prepare for the first i The first wind direction angle at a moment, To prepare for the first i The second wind direction angle at the moment, n is the number of moments of the preparation cycle, i ≤ n , i and n All are positive integers.

7. An automatic feedback aiming control system for a pod laser under wind disturbance resistance, characterized in that: include: A preparation data module is used to obtain weather information of the area where the aiming target is located, first position information of the laser in a preset coordinate system, and second position information of the aiming target in the preset coordinate system at multiple moments in the preparation period, wherein the weather information includes: wind direction data and wind speed data, and the preset coordinate system is a coordinate system established based on a preset origin in the area where the aiming target is located as the coordinate origin, the ground in the area where the aiming target is located as the coordinate system XOY plane, and the vertical upward direction as the coordinate system Z axis; A first processing module, configured to process the wind direction data, the wind speed data, the first position information and the second position information according to a wind disturbance processing model, and determine an adjusted aiming position of the laser; A training model module, used to determine the training loss function of the wind disturbance processing model according to the adjusted aiming position of the laser, the wind direction data, the wind speed data, the first position information and the second position information, and train the wind disturbance processing model according to the determined training loss function of the wind disturbance processing model to obtain a trained wind disturbance processing model; A working data module, used to obtain second weather information of the area where the aiming target is located at multiple moments of the working cycle, third position information of the laser, and fourth position information of the aiming target, wherein the second weather information includes: second wind direction data and second wind speed data; a second processing module, configured to process the second wind direction data, the second wind speed data, the third position information and the fourth position information according to a trained wind disturbance processing model at multiple moments in a working cycle to determine a wind compensation instruction; The compensation adjustment module is used to adjust the laser through the actuator according to the wind compensation instruction.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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