Automatic laser control method and system

Abstract

The invention discloses an automatic laser control method and system, and relates to the technical field of laser control, and the method comprises the steps: collecting the data of an unmanned plane and a laser system, and constructing a coordinate system; establishing a dynamic response model and a disturbance signal model, estimating a disturbance signal, and performing feedforward control; calculating a normal vector of a laser reflector, and combining the normal vector with the incident laser direction vector to obtain a laser reflection direction vector; determining a laser drop point, and analyzing a drop point error; and adjusting the laser emission direction based on the error analysis result. According to the invention, the stability and precision of laser emission can be improved, especially in a complex environment, it is ensured that laser emission does not generate obvious deviation due to external disturbance, the laser reflection direction is accurately calculated and adjusted, and it is ensured that laser reaches a target in an optimal path, so that the control precision and energy utilization efficiency of a laser system are improved; in practical application of laser, the reliability and the control effect of a laser emission system are obviously improved.

Description

Technical Field

[0001] The present invention relates to the field of laser control technology, and in particular to an automatic laser control method and system. Background Art

[0002] As an efficient and precise processing and detection method, laser technology has been widely used in many fields such as industry, medical treatment, and communications. From early manual laser operation to today's automated control systems, the development of laser technology has undergone many changes. The types and performance of lasers are constantly being optimized. From basic diode lasers, gas lasers to fiber lasers, the energy control, beam quality, and beam forming of laser systems have been significantly improved. With the increasing demand for high precision and high efficiency in modern industry, automated control systems for laser processing have also emerged. These systems integrate control algorithms, sensors, and actuators to achieve real-time adjustment of laser power, position, and focus, greatly improving processing efficiency and precision, and promoting the development of automated manufacturing and intelligent processing technology.

[0003] However, although the existing laser automation control technology has made many advances, it still has shortcomings in precise control, feedback response and complex task processing. For example, traditional laser control systems mostly rely on preset parameters, lack the ability to respond to the actual working environment in real time, and are prone to errors in dynamic environments. In addition, in high-precision application scenarios, existing technologies often find it difficult to quickly compensate for small errors, resulting in large errors. Summary of the invention

[0004] In view of the problems existing in the above-mentioned existing automated laser control methods and systems, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is that in high-precision application scenarios, it is difficult for the existing technology to achieve rapid compensation for small errors.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an automated laser control method, comprising: collecting drone data and laser launch system data, taking the drone's center of mass as the origin, constructing the drone's local coordinate system and attitude matrix, and converting the laser launcher's local coordinate system position into a world coordinate system position through the attitude matrix; establishing a dynamic response model and a disturbance signal model based on the collected laser launch system data, and obtaining a predicted output signal of the laser launch system according to the dynamic response model, and continuing to compare it with the actual output signal obtained according to the disturbance observation algorithm DOB, estimating the disturbance signal, generating a compensation signal according to the internal model controller IMP, and performing feedforward control; calculating the laser reflector normal vector n based on the laser reflector fulcrum coordinates of the world coordinate system, and combining the incident laser direction L in, use the law of reflection to calculate the laser reflection direction vector R re ; Based on the reflected laser direction vector R re The laser landing point is determined based on the coordinate data of the laser reflection point, and an error analysis is performed based on the difference between the predicted landing point and the actual landing point; based on the error analysis results, the laser emission direction is adjusted.

[0007] As a preferred solution of the automated laser control method of the present invention, wherein: the collection of drone coordinates, laser emitter coordinates and laser reflector fulcrum coordinate data, taking the drone mass center as the origin, constructing the drone local coordinate system and attitude matrix, and converting the laser emitter local coordinate system position into the world coordinate system position through the attitude matrix includes:

[0008] The GPS and IMU inertial measurement devices on the drone can be used to obtain the drone’s position information and attitude data in real time, including the drone’s center of mass coordinates and three-axis data;

[0009] The local coordinate data of the laser transmitter and the laser reflector pivot point on the UAV relative to the center of mass of the UAV are collected in real time through the angle sensor and the reflector position sensor on the laser transmitter;

[0010] Based on the collected drone attitude data, calculate the attitude matrix R a ;

[0011] Through the attitude matrix R a , the local coordinates P of the laser emitter l and the local coordinates P of the laser mirror m Convert to world coordinate system position coordinates.

[0012] As a preferred solution of the automatic laser control method of the present invention, wherein: the establishment of the dynamic response model and the disturbance signal model based on the collected laser emission system data includes:

[0013] Based on the dynamic parameters of the laser system, including mass m, stiffness k and damping coefficient c, a dynamic response model is constructed using a second-order transfer function:

[0014]

[0015] Among them, P n (s) is the response value of the laser system under disturbance, s is the Laplace variable, and A is the gain coefficient, which represents the proportional relationship between the input signal and the output signal of the system;

[0016] According to the second-order transfer function P n (s) and control signal U(s), calculate the ideal output signal Y(s) of the laser system:

[0017] Y(s)=Pn (s)·U(s)

[0018] The predicted input y of the laser emission system is obtained by converting Y(s) in the frequency domain to the time domain through the inverse Laplace transform. pred (t), the control signal U(s) is the ideal input signal of the laser emission system, which is generated by the preset reference signal of the system;

[0019] Based on the collected UAV acceleration data, angular velocity data and angle change data of the laser transmitter, the frequency domain analysis is performed using fast Fourier transform FFT to obtain the periodic disturbance frequency ω in the laser generation system. d ;

[0020] Based on the frequency domain analysis results, the periodic disturbance frequency ω d Modeled as a sinusoidal signal:

[0021]

[0022] Among them, d(t) is the disturbance of the laser system at time t, A d is the vibration intensity of the laser system at the frequency, φ is the initial phase of the periodic disturbance signal;

[0023] The disturbance signal is predicted based on the periodic disturbance model

[0024] As a preferred embodiment of the automated laser control method of the present invention, the predicted output signal of the laser emission system obtained according to the dynamic response model is compared with the actual output signal obtained according to the disturbance observation algorithm DOB, the disturbance signal is estimated, and the compensation signal is generated according to the internal model controller IMP, and the feedforward control includes:

[0025] The actual output signal y of the laser emission system is obtained through the sensor actual (t), the disturbance signal is estimated by the disturbance observer DOB

[0026]

[0027] Among them, y pred (t) is the predicted output signal of the laser emission system under ideal conditions;

[0028] For the actual disturbance signal and the model predicts the disturbance signal Use weighted fusion method to get the final disturbance signal

[0029]

[0030] Among them, α(t) is the time weight coefficient, which is used to balance the disturbance signal of the actual measurement. and the disturbance signal predicted by the model

[0031] Based on the periodic disturbance model, the internal model controller IMP control method is used to generate the feedforward control signal u IMP (t):

[0032]

[0033] in, and is an adaptive parameter;

[0034] Final disturbance signal based on disturbance observer and the feedforward control signal u of the internal model IMP (t), superimposed on the basic control input u base (t), forms the control input u(t), and transmits the control input u(t) to the central controller of the laser launch system to drive the laser launch system actuator to adjust the system state.

[0035] As a preferred solution of the automated laser control method of the present invention, wherein: the coordinates of the laser reflector fulcrum based on the world coordinate system are used to calculate the normal vector n of the laser reflector, and the incident laser direction L is combined with the coordinates of the laser reflector fulcrum based on the world coordinate system. in , use the law of reflection to calculate the laser reflection direction vector R re include,

[0036] Based on the principle of three points determining a surface, the coordinates of the laser reflector fulcrum are set as P 1 (x 1 ,y 1 , z 1 ), P 2 (x 2 ,y 2 , z 2 ) and P 3 (x 3 ,y 3 , z 3 ),

[0037] Calculate the vector v 1 and v 2 , calculate the vector v 1 and v 2 The cross product of , we get the normal vector n of the laser reflector:

[0038] Set the laser emission point coordinates to P m (x m ,y m , z m), the direction vector of the generated laser beam is L in ;

[0039] According to the law of reflection, the incident angle is equal to the reflection angle, and the reflected laser direction vector R is calculated. re :

[0040] R re =L in -2(L in ·n)n

[0041] According to the calculated reflected laser direction vector R re , determine the actual emission direction of the laser after reflection.

[0042] As a preferred solution of the automatic laser control method of the present invention, wherein: the reflected laser direction vector R re The laser reflection point coordinate data is used to determine the laser landing point, and error analysis is performed based on the difference between the predicted landing point and the actual landing point, including:

[0043] Using laser reflection point P m (x m ,y m , z m ) and the reflected laser direction vector R re , establish the laser line equation;

[0044] Set the target plane equation to z(t)=z target , solve the laser line equation to get λ, substitute λ into the laser line equation to get the coordinates P of the point where the laser beam lands on the target plane pred (x target ,y target , z target );

[0045] Use the sensor to collect the actual landing point coordinate data P of the laser beam on the target plane actual (x actual ,y actual , z actual ), use the position error calculation formula to calculate the deviation distance between the predicted landing point and the actual landing point || E pos ||.

[0046] As a preferred solution of the automatic laser control method of the present invention, wherein: adjusting the laser emission direction based on the error analysis result includes:

[0047] Determine the adjustment angle Δθ based on the distance d between the target point and the laser emitter pitch and Δθ yaw :

[0048]

[0049] Among them, Δθ pitch is the angle that the laser emitter needs to be adjusted in the vertical direction, Δθ yaw It is the angle that the laser transmitter needs to be adjusted in the horizontal direction;

[0050] According to the deviation distance between the predicted landing point and the actual landing point || E pos ||, adjust the laser angle transmitter angle and predict the laser landing point until the predicted laser landing point deviates from the actual landing point by a distance ‖E pos ‖When the preset deviation value is reached, adjust the laser transmitter to an angle Δθ pitch and Δθ yaw As the final output, the laser transmitter is controlled to adjust the laser emission direction.

[0051] Another object of the present invention is to provide an automated laser control system, which comprises:

[0052] Data collection module, used to collect drone data and laser launch system data;

[0053] Model building module, used to build dynamic response model, predict signal error and compensate;

[0054] An error calculation module is used to calculate the error between the actual result of laser emission and the predicted target;

[0055] The error adjustment module is used to dynamically adjust the laser emission angle and the reflector angle according to the laser emission error.

[0056] A computer device comprises: a memory and a processor; the memory stores a computer program, and the processor implements the steps of an automated laser control method when executing the computer program.

[0057] A computer-readable storage medium stores a computer program, which implements the steps of an automated laser control method when executed by a processor.

[0058] The beneficial effects of the present invention are as follows: the present invention can improve the stability and accuracy of laser emission, especially in complex environments, ensure that laser emission will not produce obvious deviations due to external disturbances, and accurately calculate and adjust the laser reflection direction to ensure that the laser reaches the target along the optimal path, thereby improving the control accuracy and energy utilization efficiency of the laser system, reducing emission errors, and significantly improving the reliability and control effect of the laser emission system in actual laser applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0060] Figure 1 Schematic diagram of the process of automated laser control method.

[0061] Figure 2 This is a schematic diagram of the structure of the automated laser control system. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0064] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0065] Example 1

[0066] Reference Figure 1 , which is the first embodiment of the present invention, provides an automated laser control method, and the automated laser control method includes.

[0067] S1. Collect the UAV data and laser launch system data, take the center of mass of the UAV as the origin, construct the UAV local coordinate system and attitude matrix, and convert the laser launcher local coordinate system position into the world coordinate system position through the attitude matrix.

[0068] Furthermore, the coordinates of the drone, the coordinates of the laser emitter and the coordinates of the laser reflector fulcrum are collected, and the local coordinate system and attitude matrix of the drone are constructed with the center of mass of the drone as the origin, and the local coordinate system position of the laser emitter is converted into the world coordinate system position through the attitude matrix, including obtaining the position information and attitude data of the drone in real time through the GPS and IMU inertial measurement devices on the drone, including the coordinates of the center of mass of the drone and the three-axis data; collecting the local coordinate data of the laser emitter and the laser reflector fulcrum on the drone relative to the center of mass of the drone in real time through the angle sensor and the reflector position sensor on the laser emitter; and calculating the attitude matrix R based on the collected drone attitude data. a :

[0069]

[0070] Where φ is the roll angle, θ is the pitch angle, and ψ is the yaw angle.

[0071] Through the attitude matrix R a , the local coordinates P of the laser emitter l and the local coordinates P of the laser mirror m Convert to world coordinate system position coordinates.

[0072] The position information and attitude data of the drone are obtained in real time through the GPS and IMU inertial measurement devices on the drone. These data include the coordinates of the drone's center of mass and three-axis attitude information (roll angle φ, pitch angle θ and yaw angle ψ), which can accurately reflect the motion state of the drone in space. GPS provides the accuracy of the global position, while IMU supplements the details of the attitude. Especially in dynamic environments, IMU data enables real-time acquisition of its three-dimensional attitude even when the drone is moving. This data collection method integrates multi-source sensor data, making the drone's position information more accurate and reliable, providing a solid foundation for subsequent coordinate transformation and laser control. In addition, the angle sensor and reflector position sensor on the laser transmitter collect the local coordinate data of the transmitter and reflector fulcrum relative to the drone's center of mass in real time. By sensing the relative position relationship, the position of the transmitter and reflector can be accurately controlled when the drone is moving. The establishment of the local coordinate system ensures that even if the drone's attitude changes, the position of the transmitter and reflector can still be accurately determined through a fixed association with the drone's center of mass. This is particularly important in complex drone motion scenes. Next, the attitude matrix R is calculated based on the collected drone attitude data. a , which can quantify the attitude information of the drone into a mathematical matrix, allowing us to transform the coordinate position in the local coordinate system of the drone into the global world coordinate system through the attitude matrix R a , the local coordinates P of the laser emitter land the local coordinates P of the laser mirror m They can all be accurately converted into position information in the world coordinate system. This coordinate conversion process ensures that the motion trajectory and posture of the UAV and laser equipment in three-dimensional space can be accurately mapped to the global coordinate system, making subsequent laser launch and target positioning more accurate, and allowing the laser launch system to seamlessly adapt to different scenarios, thereby improving the applicability and flexibility of the laser launch system.

[0073] S2. Based on the collected laser launch system data, a dynamic response model and a disturbance signal model are established, and the predicted output signal of the laser launch system is obtained according to the dynamic response model. The predicted output signal is compared with the actual output signal obtained according to the disturbance observation algorithm DOB, and the disturbance signal is estimated. The compensation signal is generated according to the internal model controller IMP to perform feedforward control.

[0074] Furthermore, based on the collected laser launch system data, a dynamic response model and a disturbance signal model are established, including building a dynamic response model using a second-order transfer function based on the dynamic parameters of the laser system, including mass m, stiffness k and damping coefficient c:

[0075]

[0076] Among them, P n (s) is the response value of the laser system under disturbance, s is the Laplace variable, A is the gain coefficient, which indicates the proportional relationship between the input signal and the output signal of the system.

[0077] According to the second-order transfer function P n (s) and control signal U(s), calculate the ideal output signal Y(s) of the laser system:

[0078] Y(s)=P n (s)·U(s)

[0079] The predicted input y of the laser emission system is obtained by converting Y(s) in the frequency domain to the time domain through the inverse Laplace transform. pred (t), the control signal U(s) is the ideal input signal of the laser emission system, generated by the preset reference signal of the system, and represents the instruction received by the system under ideal conditions,

[0080] Based on the collected UAV acceleration data, angular velocity data and angle change data of the laser transmitter, the frequency domain analysis is performed using fast Fourier transform FFT to obtain the periodic disturbance frequency ω in the laser generation system. d .

[0081] Based on the frequency domain analysis results, the periodic disturbance frequency ω d Modeled as a sinusoidal signal:

[0082]

[0083] Among them, d(t) is the disturbance of the laser system at time t, A d It is the vibration intensity of the laser system at the frequency, which is directly measured by the vibration sensor. φ is the initial phase of the periodic disturbance signal, which indicates the state of the periodic disturbance signal at time t=0.

[0084] The disturbance signal is predicted based on the periodic disturbance model

[0085] By modeling the dynamic parameters of the laser launch system, including mass m, stiffness k and damping coefficient c, the second-order transfer function is used to effectively describe the dynamic response behavior of the system when it is disturbed. By using the second-order transfer function, it is possible to accurately describe how the laser launch system responds to input signals under different external conditions. n (s) expresses the response value of the system under disturbance, while the gain coefficient A indicates the proportional relationship between the system input and output, ensuring a deep understanding and control of the system behavior and providing a basis for subsequent output signal prediction and disturbance signal modeling. n (s) and the control signal U(s) are used to calculate the ideal output signal Y(s) of the system, and the frequency domain signal is converted into a time domain signal through inverse Laplace transform to further obtain the predicted output y of the system pred (t), this step simulates the behavior of the system under ideal conditions by combining the ideal input signal U(s), helps the system identify and predict the expected response under specific conditions, improves the accuracy and response speed of system control, and ensures that the laser emission can be stable and efficient. When performing fast Fourier transform (FFT) frequency domain analysis on the acceleration, angular velocity and angle change data of the laser transmitter of the drone, the system can accurately identify the periodic disturbance frequency ω in the laser emission system. d This frequency domain analysis step effectively extracts the potential periodic disturbance information in the system, thereby providing key data for the disturbance model. In addition, the application of frequency domain analysis improves the system's sensitivity to external disturbances, so that the periodic disturbance signal can be effectively captured and quantified. d Constructing a disturbance model in the form of a sinusoidal signal enables the system to further predict the disturbances that may occur in the laser emission system. Through such precise disturbance modeling, the system can effectively eliminate or reduce the impact of external periodic disturbances on the laser emission system, thereby improving the system's robustness and adaptability to complex environments.

[0086] Furthermore, the predicted output signal of the laser emission system is obtained according to the dynamic response model, and is further compared with the actual output signal obtained according to the disturbance observation algorithm DOB, the disturbance signal is estimated, and the compensation signal is generated according to the internal model controller IMP. Feedforward control includes obtaining the actual output signal y of the laser emission system through the sensor actual (t), the disturbance signal is estimated by the disturbance observer DOB

[0087]

[0088] Among them, y pred (t) is the predicted output signal of the laser emission system under ideal conditions.

[0089] For the actual disturbance signal and the model predicts the disturbance signal Use weighted fusion method to get the final disturbance signal

[0090]

[0091] Among them, α(t) is the time weight coefficient, which is used to balance the disturbance signal of the actual measurement. and the disturbance signal predicted by the model

[0092] Monitor the laser emission system error in real time. If the laser emission system error is large, it means that the laser emission system is subject to strong random disturbances. Enhance α(t) to cope with the random disturbances. If the laser emission system error is small, enhance the disturbance signal weight coefficient predicted by the model.

[0093] Based on the periodic disturbance model, the internal model controller IMP control method is used to generate the feedforward control signal u IMP (t):

[0094]

[0095] in, and is an adaptive parameter. and The IMP can dynamically adjust the amplitude and phase of the compensation signal to ensure that the compensation signal matches the periodic disturbance d(t), thereby canceling the disturbance when it occurs.

[0096] Final disturbance signal based on disturbance observer and the feedforward control signal u of the internal model IMP (t), superimposed on the basic control input u base(t), forming a control input u(t), and transmitting the control input u(t) to the central controller of the laser launch system to drive the laser launch system actuator to adjust the system state. The control input u(t) refers to the control signal of the actuator of the laser launch system, such as the control input of the laser beam power adjustment and the focusing signal input, which helps to improve the high precision and stability of the laser launch system.

[0097] Get the actual output signal y through the sensor actual (t) and estimate the disturbance signal. Combined with the disturbance observation algorithm DOB, it can effectively monitor the external disturbances suffered by the system during operation. The dynamic response model provides the predicted output signal y of the system under ideal conditions. pred (t), thereby providing an accurate benchmark value for the error analysis of the system. This mechanism allows the system to timely identify and estimate the disturbance signal by comparing it with the actual signal, thereby providing reliable reference data for subsequent compensation control. This process can evaluate the system deviation in real time during actual operation, ensuring that the system can cope with random disturbances in uncertain environments. In addition, the weighted fusion method is used to fuse the actual disturbance signal and the model-predicted disturbance signal, and dynamically balance the two according to the time weight coefficient α(t). In addition, the system adjusts the weight coefficient according to the real-time monitored laser emission system error. If the error is large, it indicates that the system is subjected to a strong random disturbance, then the weight of the actual disturbance signal is enhanced to cope with the interference of the external environment. When the error is small, the weight of the disturbance signal predicted by the model is increased. This adaptive weight adjustment strategy ensures the accuracy of the disturbance signal estimation, thereby improving the accuracy of the system compensation. It can dynamically adjust the compensation signal according to the change of the system state, ensuring that the system can maintain accurate control even in a complex environment. Next, through the internal model controller IMP, the system uses the periodic disturbance model to generate a feedforward control signal u IMP (t), and adjust the amplitude and phase of the compensation signal through adaptive parameters α(t) and β(t), ensuring that the compensation signal can match the periodic disturbance d(t), so as to effectively offset the disturbance when it occurs, and can quickly respond to periodic disturbances, reduce the error of laser emission in the system, and ensure that the emitted laser beam is accurately positioned on the predetermined trajectory. Finally, the final disturbance signal based on the disturbance observer and the internal model control signal u IMP (t), and compare it with the basic control input u base (t) are superimposed to generate the final control input u(t), which is transmitted to the central controller of the laser launch system. The control signal includes the pitch angle, yaw angle, reflector angle, laser beam power adjustment, etc. of the laser launcher, ensuring that the laser launch system can be accurately adjusted according to the real-time disturbance signal and the model prediction signal, thereby greatly improving the accuracy and stability of the laser launch system.

[0098] S3, based on the coordinates of the laser reflector fulcrum in the world coordinate system, calculate the normal vector n of the laser reflector, combined with the incident laser direction L in , use the law of reflection to calculate the laser reflection direction vector R re .

[0099] Furthermore, based on the coordinates of the laser reflector fulcrum in the world coordinate system, the normal vector n of the laser reflector is calculated, combined with the incident laser direction L in , use the law of reflection to calculate the laser reflection direction vector R re Including, based on the principle of determining a surface with three points, setting the coordinates of the laser reflector fulcrum to P 1 (x 1 ,y 1 , z 1 ), P 2 (x 2 ,y 2 , z 2 ) and P 3 (x 3 ,y 3 , z 3 ), calculate the vector v 1 and v 2 :

[0100] v 1 =P 2 -P 1 =(x 2 -x 1 ,y 2 -y 1 , z 2 -z 1 )

[0101] v 2 =P 3 -P 1 =(x 3 -x 1 ,y 3 -y 1 , z 3 -z 1 )

[0102] Calculate the vector v 1 and v 2 The cross product of , we get the normal vector n of the laser reflector:

[0103]

[0104] Set the laser emission point coordinates to P m (x m ,y m , z m ), the direction vector of the generated laser beam is Lin .

[0105] According to the law of reflection, the incident angle is equal to the reflection angle, and the reflected laser direction vector R is calculated. re :

[0106] R re =L in -2(L in ·n)n

[0107] According to the calculated reflected laser direction vector R re , determine the actual emission direction of the laser after reflection.

[0108] By utilizing the normal vector n and the law of reflection, the system can efficiently calculate the reflection path of the laser in a complex three-dimensional space and achieve precise laser reflection control. By calculating the normal vector n through the cross product method, the error caused by the tilt or irregular shape of the reflecting surface can be eliminated, so that the direction of the laser reflection remains stable, thereby improving the control accuracy and reflection efficiency of the reflector. In addition, since this step relies on three points to determine the reflector surface, this geometric construction method can quickly adapt to different reflector configurations and has wide adaptability and flexibility. This precise reflection control has great advantages in application scenarios such as laser navigation, detection and ranging, and can improve the efficiency and reliability of the overall system, especially in scenarios requiring high-precision emission, achieving high-precision and high-stability laser control.

[0109] S4, based on the reflected laser direction vector R re The laser landing point is determined based on the coordinate data of the laser reflection point, and error analysis is performed based on the difference between the predicted landing point and the actual landing point.

[0110] Furthermore, based on the reflected laser direction vector R re The laser reflection point coordinate data is used to determine the laser landing point, and error analysis is performed based on the difference between the predicted landing point and the actual landing point. m (x m ,y m , z m ) and the reflected laser direction vector R re , establish the laser line equation:

[0111] x(t)=x m +R re，x ·λ

[0112] y(t)=y m +R re，y ·λ

[0113] z(t)=z m +R re，z ·λ

[0114] Among them, x(t), y(t) and z(t) are the x-axis, y-axis and z-axis coordinates of a point in the process of laser propagation along the reflection direction, R re，x , R re，y and R re，z is the component of the reflected laser direction vector, and λ is the scale factor of the laser propagation along the direction vector.

[0115] Set the target plane equation to z(t)=z target , solve the laser line equation to get λ, substitute λ into the laser line equation to get the coordinates P of the point where the laser beam lands on the target plane pred (x target ,y target , z target );

[0116] Use the sensor to collect the actual landing point coordinate data P of the laser beam on the target plane actual (x actual ,y actual , z actual ), use the position error calculation formula to calculate the deviation distance between the predicted landing point and the actual landing point || E pos ||:

[0117]

[0118] By calculating the reflected laser direction vector R re According to the physical characteristics of laser reflection and the law of reflection, an accurate laser propagation path is established, so that the prediction of the landing point of the laser beam not only has a theoretical basis, but also can determine the landing point on a specific target plane through the calculation of the coordinate system and the direction vector, providing a high-precision spatial analysis tool for the laser positioning system, which can accurately track and control the path of the laser in a complex environment. Secondly, the establishment of the laser straight line equation based on the reflection point provides a simple but effective mathematical model for predicting the landing point position of the laser beam on the target plane. By solving the equation to calculate the proportional factor λ, the precise coordinates of the predicted landing point can be obtained, ensuring that the propagation direction and final landing point of the laser can be accurately predicted in multiple reflections or complex paths, reducing the possibility of error propagation. In addition, the introduction of sensors greatly improves the real-time and feedback capabilities of the system. By obtaining the actual landing point coordinates P in real time, the system can accurately predict the final landing point of the laser beam. actual The system can quickly identify the difference between the predicted value and the actual value, which provides a basis for subsequent error analysis and helps to identify possible deviation factors in the environment or system, such as wind speed, temperature changes, and equipment jitter. Finally, by calculating the predicted landing point P pred and the actual landing point P actualThe system can quantify the error and provide a reference for subsequent correction or adjustment steps, which not only helps to improve the accuracy of the laser system, but also ensures the stability and reliability of the system in practical applications. Through continuous analysis and adjustment, the accuracy of laser emission can be dynamically optimized, further improving the overall performance and application effect of the system.

[0119] S5. Based on the error analysis result, adjust the laser emission direction.

[0120] Furthermore, based on the error analysis result, adjusting the laser emission direction includes determining the adjustment angle Δθ in combination with the distance d between the target point and the laser emitter. pitch and Δθ yaw :

[0121]

[0122] Among them, Δθ pitch is the angle that the laser emitter needs to be adjusted in the vertical direction, Δθ yaw It is the angle that the laser transmitter needs to be adjusted in the horizontal direction.

[0123] According to the deviation distance between the predicted landing point and the actual landing point || E pos ||, adjust the laser angle transmitter angle and predict the laser landing point until the predicted laser landing point deviates from the actual landing point by a distance ||E pos ||When the preset deviation value is reached, adjust the angle of the laser transmitter to Δθ pitch and Δθ yaw As the final output, the laser transmitter is controlled to adjust the laser emission direction.

[0124] By dynamically adjusting the emission angle, the system can automatically correct errors that may affect the laser accuracy, ensuring that the laser transmitter can reach the required accuracy standard after multiple adjustments. Especially in complex or changeable operating environments, this adaptive adjustment mechanism greatly improves the practicality and reliability of the laser emission system. Whether it is for long-distance or close-range target points, it can ensure the accuracy of the emission angle, greatly improving the control accuracy of the overall system, and enabling the laser transmitter to perform excellent performance in various application scenarios.

[0125] Example 2

[0126] Reference Figure 2 , which is a second embodiment of the present invention, and which is different from the previous embodiment, provides an automated laser control system, including:

[0127] Data collection module, used to collect drone data and laser launch system data;

[0128] Model building module, used to build dynamic response model, predict signal error and compensate;

[0129] An error calculation module is used to calculate the error between the actual result of laser emission and the predicted target;

[0130] The error adjustment module is used to dynamically adjust the laser emission angle and the reflector angle according to the laser emission error.

[0131] If the 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 for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods 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.

[0132] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0133] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0134] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0135] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automated laser control method, characterized in that: include, Collect UAV data and laser launch system data, build the UAV local coordinate system and attitude matrix with the center of mass of the UAV as the origin, and convert the local coordinate system position of the laser launcher into the world coordinate system position through the attitude matrix; Based on the collected laser launch system data, a dynamic response model and a disturbance signal model are established, and the predicted output signal of the laser launch system is obtained according to the dynamic response model. The predicted output signal is compared with the actual output signal obtained according to the disturbance observation algorithm DOB, and the disturbance signal is estimated. The compensation signal is generated according to the internal model controller IMP to perform feedforward control; Based on the coordinates of the laser reflector fulcrum in the world coordinate system, calculate the normal vector n of the laser reflector, combined with the incident laser direction L in , use the law of reflection to calculate the laser reflection direction vector R re ; Based on the reflected laser direction vector R re The laser reflection point coordinate data is used to determine the laser landing point, and error analysis is performed based on the difference between the predicted landing point and the actual landing point; Based on the error analysis results, adjust the laser emission direction.

2. The automated laser control method according to claim 1, wherein: The method collects the coordinates of the drone, the coordinates of the laser emitter and the coordinates of the fulcrum of the laser reflector, takes the center of mass of the drone as the origin, constructs the local coordinate system and attitude matrix of the drone, and converts the local coordinate system position of the laser emitter into the world coordinate system position through the attitude matrix, including: The GPS and IMU inertial measurement devices on the drone can be used to obtain the drone’s position information and attitude data in real time, including the drone’s center of mass coordinates and three-axis data; The local coordinate data of the laser transmitter and the laser reflector pivot point on the UAV relative to the center of mass of the UAV are collected in real time through the angle sensor and the reflector position sensor on the laser transmitter; Based on the collected drone attitude data, calculate the attitude matrix R a ; Through the attitude matrix R a , the local coordinates P of the laser emitter l and the local coordinates P of the laser mirror m Convert to world coordinate system position coordinates.

3. The automated laser control method according to claim 2, wherein: The establishment of a dynamic response model and a disturbance signal model based on the collected laser emission system data includes: Based on the dynamic parameters of the laser system, including mass m, stiffness k and damping coefficient c, a dynamic response model is constructed using a second-order transfer function: Among them, P n (s) is the response value of the laser system under disturbance, s is the Laplace variable, and A is the gain coefficient, which represents the proportional relationship between the input signal and the output signal of the system; According to the second-order transfer function P n (s) and control signal U(s), calculate the ideal output signal Y(s) of the laser system: Y(s)=P n (s)·U(s) The predicted input y of the laser emission system is obtained by converting Y(s) in the frequency domain to the time domain through the inverse Laplace transform. pred (t), the control signal U(s) is the ideal input signal of the laser emission system, which is generated by the preset reference signal of the system; Based on the collected UAV acceleration data, angular velocity data and angle change data of the laser transmitter, the frequency domain analysis is performed using fast Fourier transform FFT to obtain the periodic disturbance frequency ω in the laser generation system. d ; Based on the frequency domain analysis results, the periodic disturbance frequency ω d Modeled as a sinusoidal signal: Among them, d(t) is the disturbance of the laser system at time t, A d is the vibration intensity of the laser system at the frequency, φ is the initial phase of the periodic disturbance signal, indicating the state of the periodic disturbance signal at time t = 0; The disturbance signal is predicted based on the periodic disturbance model 4. The automated laser control method according to claim 3, wherein: The predicted output signal of the laser emission system obtained according to the dynamic response model is compared with the actual output signal obtained according to the disturbance observation algorithm DOB, the disturbance signal is estimated, and the compensation signal is generated according to the internal model controller IMP to perform feedforward control, including: The actual output signal y of the laser emission system is obtained through the sensor actual (t), the disturbance signal is estimated by the disturbance observer DOB Among them, y pred (t) is the predicted output signal of the laser emission system under ideal conditions; For the actual disturbance signal and the model predicts the disturbance signal Use weighted fusion method to get the final disturbance signal Among them, α(t) is the time weight coefficient, which is used to balance the disturbance signal of the actual measurement. and the disturbance signal predicted by the model Based on the periodic disturbance model, the internal model controller IMP control method is used to generate the feedforward control signal u IMP (t): in, and is an adaptive parameter; Final disturbance signal based on disturbance observer and the feedforward control signal u of the internal model IMP (t), superimposed on the basic control input u base (t), forms the control input u(t), and transmits the control input u(t) to the central controller of the laser launch system to drive the laser launch system actuator to adjust the system state.

5. The automated laser control method according to claim 4, wherein: The coordinates of the laser reflector fulcrum based on the world coordinate system are used to calculate the normal vector n of the laser reflector, combined with the incident laser direction L in , use the law of reflection to calculate the laser reflection direction vector R re include, Based on the principle of three points determining a surface, the coordinates of the laser reflector fulcrums are set to P1 (x1, y1, z1), P2 (x2, y2, z2) and P3 (x3, y3, z3). Calculate vectors v1 and v2, calculate the cross product of vectors v1 and v2, and obtain the normal vector n of the laser reflector; Set the laser emission point coordinates to P m (x m ,y m , z m ), the direction vector of the generated laser beam is L in ; According to the law of reflection, the incident angle is equal to the reflection angle, and the reflected laser direction vector R is calculated. re : R re =L in -2(L in ·n)n According to the calculated reflected laser direction vector R re , determine the actual emission direction of the laser after reflection.

6. The automated laser control method according to claim 5, wherein: Based on the reflected laser direction vector R re The laser reflection point coordinate data is used to determine the laser landing point, and error analysis is performed based on the difference between the predicted landing point and the actual landing point, including: Use laser reflection point P m (x m ,y m , z m ) and the reflected laser direction vector R re , establish the laser line equation; Set the target plane equation to z(t)=z target , solve the laser line equation to get λ, substitute λ into the laser line equation to get the coordinates P of the point where the laser beam lands on the target plane pred (x target ,y target , z target ); Use the sensor to collect the actual landing point coordinate data P of the laser beam on the target plane actual (x actual ,y actual , z actual ), use the position error calculation formula to calculate the deviation distance between the predicted landing point and the actual landing point || E pos ||:

7. The automated laser control method of claim 6, wherein: The adjusting the laser emission direction based on the error analysis result includes: Determine the adjustment angle Δθ based on the distance d between the target point and the laser emitter pitch and Δθ yaw : Among them, Δθ pitch is the angle that the laser emitter needs to be adjusted in the vertical direction, Δθ yaw It is the angle that the laser transmitter needs to be adjusted in the horizontal direction; According to the deviation distance between the predicted landing point and the actual landing point || E pos ||, adjust the laser angle transmitter angle and predict the laser landing point until the predicted laser landing point deviates from the actual landing point by a distance ‖E pos ‖When the preset deviation value is reached, adjust the laser transmitter to an angle Δθ pitch and Δθ yaw As the final output, the laser transmitter is controlled to adjust the laser emission direction.

8. An automated laser control system based on the automated laser control method according to any one of claims 1 to 7, characterized in that: include, Data collection module, used to collect drone data and laser launch system data; Model building module, used to build dynamic response model, predict signal error and compensate; An error calculation module is used to calculate the error between the actual result of laser emission and the predicted target; The error adjustment module is used to dynamically adjust the laser generation angle and the reflector angle according to the laser emission error.

9. A computer device comprising: A memory and a processor; the memory stores a computer program, wherein the processor implements the steps of the automated laser control method according to any one of claims 1 to 7 when executing the computer program.

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

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