System for automatically adjusting direction of laser head to protect laser
By designing a system that automatically adjusts the direction of the laser head, and real-time monitoring and adjustment of reflected light signals, the problem of laser damage caused by excessive reflected light in laser processing by high reflectivity materials is solved, and effective protection of the laser is achieved.
Patent Information
- Application Number
- CN202510340767.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-21
- Publication Date
- 2025-05-02
AI Technical Summary
High reflectivity materials reflect too strong light during laser processing, which may cause laser damage. The prior art lacks effective methods to monitor and adjust the direction of the laser head in real time to prevent reflected light from entering the core.
A system for automatically adjusting the direction of the laser head is designed, including a reflected light monitoring unit, a judgment control unit and a laser head adjustment unit. By monitoring the reflected light signal in real time, extracting characteristic data, determining whether the reflected light will enter the core of the laser head, and generating adjustment instructions to fine-tune the laser head direction to ensure that the emitted laser light is always in the light-through aperture of the processing head.
It effectively prevents reflected light from entering the core of the laser head and protects the laser system. It is suitable for laser processing scenarios of various high reflectivity materials. The system structure is simple, has quick response and has significant protection effect.
Smart Images
Figure CN119910330A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of laser processing, and in particular relates to a system for automatically adjusting the direction of a laser head to protect a laser. Background Art
[0002] In industrial applications such as laser cutting, welding, and surface treatment, high-reflectivity metals (such as copper, aluminum, gold, silver, etc.) and some non-metallic materials (such as mirror ceramics and coated composite materials) are widely used due to their excellent conductivity and corrosion resistance. However, the reflectivity of these materials in the near-infrared band (such as 1064nm fiber laser) can reach more than 90%, resulting in a large amount of energy being reflected during laser processing. The reflected light propagates in the opposite direction of the original optical path and may directly enter the laser or the focusing optical system, causing damage to the laser and optical components. Specifically, the reflected light energy is recoupled to the laser resonator or transmission fiber, causing local overheating and melting of the gain medium (such as the fiber core), and even burning core components such as the laser output head (such as the QBH interface) or the collimator.
[0003] The reflection problem in laser processing of highly reflective materials seriously threatens equipment safety and process quality, while the existing technology lacks an effective method to monitor and adjust the direction of the laser head in real time to prevent reflected light from entering the fiber core. Summary of the invention
[0004] In view of the technical problems existing in the prior art, the present invention provides a system for automatically adjusting the direction of a laser head to protect the laser. By real-time monitoring of reflected light and adjusting the direction of the laser head, the reflected light is prevented from entering the fiber core of the laser head, thereby protecting the laser.
[0005] In order to solve the technical problems existing in the above-mentioned prior art, the technical solution adopted by the present invention is: In one aspect, the present invention provides a system for automatically adjusting the direction of a laser head to protect a laser, comprising: The reflected light monitoring unit is used to monitor the reflected light signal reflected from the workpiece surface in real time during the laser processing, and convert the reflected light signal into a reflected photoelectric signal, wherein the laser emitted from the laser head during the laser processing acts on the workpiece surface after passing through the processing head connected to the laser head; A judgment control unit receives the reflected photoelectric signal output by the reflected light monitoring unit, extracts characteristic data of the reflected light, and judges whether the reflected light will be reflected into the fiber core of the laser head based on the characteristic data of the reflected light. If so, an adjustment instruction is generated for the laser head adjustment unit to adjust the direction of the laser head; The laser head adjustment unit is used to fine-tune the direction of the laser head according to the adjustment instruction generated by the judgment control unit, and ensure that during the process of fine-tuning the direction of the laser head, the output laser of the laser head is always in the light aperture of the processing head connected to the laser head.
[0006] Furthermore, the reflected light monitoring unit includes a photoelectric detector array, a filter, and a signal amplifier. The photoelectric detector array converts the collected reflected light signal into a reflected photoelectric signal, which is processed by the filter and the signal amplifier and then transmitted to the judgment control unit.
[0007] Furthermore, the photodetector array includes a plurality of photodetectors, which are evenly distributed around the laser head in a circular pattern and are used to detect the intensity and direction of the reflected light signal.
[0008] Furthermore, the judgment control unit includes: The analog-to-digital conversion unit, the reflected photoelectric signal output by the reflected light monitoring unit is an analog signal, and the analog-to-digital conversion unit is used to convert the analog signal into a digital signal; A characteristic data extraction unit, used to extract characteristic data from the digital signal output by the analog-to-digital conversion unit, wherein the characteristic data includes intensity peak value, pulse width, frequency component and signal duration; A spectrum construction unit, used for obtaining energy distribution and time-frequency characteristic spectrum of reflected light according to the characteristic data extracted by the characteristic data extraction unit; The judgment module is used to judge whether the reflected light will enter the fiber core of the laser head according to a preset rule, generate an adjustment instruction, and send the adjustment instruction to the laser head adjustment unit.
[0009] The judgment module adjusts the instruction generation method, including: (S1) determining the energy distribution of the current reflected light according to the light intensity information of the reflected light detected by each photodetector in the photodetector array; (S2) judging whether there is an absolute danger zone according to the energy distribution of the current reflected light, if there is a danger zone, generating a coarse adjustment instruction of the laser head and sending it to the laser head adjustment unit to control the coarse adjustment operation of the laser head, and returning to (S1) until there is no absolute danger zone, and then turning to (S3); (S3) judging whether there is a potential danger zone according to the energy distribution of the current reflected light; if there is a potential danger zone, generating a fine adjustment instruction for the laser head and sending it to the laser head adjustment unit for controlling the fine adjustment operation of the laser head.
[0010] Furthermore, the laser head adjustment unit includes a servo motor, a position sensor, and a controller. The position sensor monitors the position and posture information of the laser head in real time and feeds back the information to the judgment module in the judgment control unit. The controller receives the adjustment instructions from the judgment control unit and controls the action of the servo motor. Under the control of the controller, the servo motor realizes precise driving of the laser head within a small angle and displacement range.
[0011] Furthermore, the controller receives adjustment instructions from the judgment control unit, calculates the speed, torque and angle control parameters of the servo motor through the PID algorithm according to the deviation between the current laser head position and the target position, controls the servo motor action, and further adjusts the direction of the laser head.
[0012] The beneficial technical effects of the present invention are: The present invention prevents reflected light from entering the core of the laser head by real-time monitoring and adjusting the direction of the laser head, thereby protecting the laser system. The system has a simple structure, rapid response, and significant protection effect, and is suitable for laser processing scenarios of various high-reflectivity materials. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0014] Figure 1 is a top view of a photodetector array in one embodiment; Figure 2 is a side view of a photodetector array in one embodiment; Among them: 1 is a photoelectric detector array, 11 is a detector, and 2 is a laser head. DETAILED DESCRIPTION
[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0016] In one embodiment, a system for automatically adjusting the direction of a laser head to protect a laser is provided, comprising: The reflected light monitoring unit is used to monitor the reflected light signal reflected from the workpiece surface in real time during the laser processing, and convert the reflected light signal into a reflected photoelectric signal, wherein the laser emitted from the laser head during the laser processing acts on the workpiece surface after passing through the processing head connected to the laser head; A judgment control unit receives the reflected photoelectric signal output by the reflected light monitoring unit, extracts characteristic data of the reflected light, and judges whether the reflected light will be reflected into the fiber core of the laser head based on the characteristic data of the reflected light. If so, an adjustment instruction is generated for the laser head adjustment unit to adjust the direction of the laser head; The laser head adjustment unit is used to fine-tune the direction of the laser head according to the adjustment instruction generated by the judgment control unit, and ensure that during the process of fine-tuning the direction of the laser head, the laser emitted by the laser head is always in the light aperture of the processing head connected to the laser head. Specifically, when fine-tuning the direction of the laser head, the adjustment angle range does not exceed D / 2h, where D is the light aperture of the processing head and h is the collimation distance of the laser output by the laser head, so that it can be ensured that during the process of fine-tuning the direction of the laser head, the laser emitted by the laser head is always in the light aperture of the processing head connected to the laser head.
[0017] The reflected light monitoring unit of the present invention includes a photoelectric detector array, a filter, and a signal amplifier. The photoelectric detector array converts the collected reflected light signal into a reflected photoelectric signal, which is processed by the filter and the signal amplifier and then transmitted to the judgment control unit.
[0018] Reference Figure 1 and Figure 2 , Figure 1 is a top view of a photodetector array in one embodiment, Figure 2 : is a side view of a photodetector array in an embodiment. The photodetector array 1 includes a plurality of photodetectors 11, which are uniformly distributed around the laser head 2 and are used to detect the intensity and direction of the reflected light signal. The photodetectors 11 in the photodetector array 1 are arranged in a layout that combines uniform circumferential distribution around the laser head with axial layering. In the circumferential direction, the photodetectors 11 are arranged at equal intervals (such as every 30 degrees) with the central axis of the laser head 2 as the center of the circle to ensure comprehensive detection of the reflected light in the horizontal direction; in the axial direction, multiple circles of photodetectors 11 are arranged at multiple different axial positions (including near the focus and the front and rear ends of the depth of field) according to the focal length and depth of field of the laser head. Each circle of photodetectors 11 is arranged at equal intervals (such as every 30 degrees) with the central axis of the laser head 2 as the center of the circle. The spacing between adjacent circles of photodetectors 11 in the axial direction is set according to the actual processing accuracy requirements to enhance the ability to capture reflected light at different heights. The photodetector array converts the collected light signal into an electrical signal.
[0019] The filter uses a bandpass filter with a cutoff frequency that accurately matches the wavelength of the laser emitted light and a very small passband ripple. Through its internal resonant circuit and filter capacitor and inductor combination, it effectively filters out noise signals generated by stray light such as ambient light, and only allows reflected light signals close to the laser wavelength to pass, thereby improving detection accuracy.
[0020] The signal amplifier is used to amplify the signal output by the photodetector array for subsequent processing. A low-noise, high-gain, automatic gain control (AGC) amplifier is used. It can automatically adjust the amplification factor according to the input signal strength, linearly amplify the weak electrical signal output by the photodetector array, ensure that the signal strength meets the microprocessor processing requirements, and maintain a good signal-to-noise ratio.
[0021] The judgment control unit is responsible for analyzing the reflected light data and determining whether the direction of the laser head needs to be adjusted. Specifically, the judgment control unit includes: The analog-to-digital conversion unit, the reflected photoelectric signal output by the reflected light monitoring unit is an analog signal, and the analog-to-digital conversion unit is used to convert the analog signal into a digital signal; A characteristic data extraction unit, used to extract characteristic data from the digital signal output by the analog-to-digital conversion unit, wherein the characteristic data includes intensity peak value, pulse width, frequency component and signal duration; A spectrum construction unit, used for obtaining energy distribution and time-frequency characteristic spectrum of reflected light according to the characteristic data extracted by the characteristic data extraction unit; The judgment module is used to judge whether the reflected light will enter the fiber core of the laser head according to a preset rule, generate an adjustment instruction, and send the adjustment instruction to the laser head adjustment unit.
[0022] Furthermore, a time-frequency characteristic spectrum can be generated by performing short-time Fourier transform (STFT) or wavelet transform on the reflected light signal.
[0023] Specifically, the judgment module adjusts the instruction generation method, including: (S1) determining the energy distribution of the current reflected light according to the light intensity information of the reflected light detected by each photodetector in the photodetector array; (S2) judging whether there is an absolute danger zone according to the energy distribution of the current reflected light, if there is a danger zone, generating a coarse adjustment instruction of the laser head and sending it to the laser head adjustment unit to control the coarse adjustment operation of the laser head, and returning to (S1) until there is no absolute danger zone, and then turning to (S3); (S3) judging whether there is a potential danger zone according to the energy distribution of the current reflected light; if there is a potential danger zone, generating a fine adjustment instruction for the laser head and sending it to the laser head adjustment unit for controlling the fine adjustment operation of the laser head.
[0024] The method for determining whether there is an absolute danger zone is as follows: based on the energy distribution of the current reflected light, determine whether there is an area where the reflected light intensity exceeds the set first threshold (such as 10 times the average background light intensity). If so, it is considered that there is an absolute danger zone (i.e., an area where the reflected light intensity exceeds the set threshold (such as 10 times the average background light intensity)). Next, determine the position of the photodetector corresponding to the absolute danger zone, determine the incident direction of the reflected light based on the distribution of the photodetector array and the position of the photodetector corresponding to the absolute danger zone, and then generate a coarse adjustment instruction for the laser head adjustment direction and send it to the laser head adjustment unit to make the laser head deviate from the area with the maximum reflected light intensity. The coarse adjustment process is a dynamic adjustment process. Through the coarse adjustment operation, the laser head is quickly moved away from the absolute danger zone, and then the fine adjustment process of the laser head is carried out.
[0025] The method for judging whether there is a potential danger area is to judge whether there is an area where the intensity of reflected light exceeds the set second threshold (the second threshold is less than the first threshold, and the specific value is set according to the actual situation) according to the energy distribution of the current reflected light. If so, it is considered that there is a potential danger area (i.e., the area where the intensity of reflected light exceeds the set second threshold). The specific fine-tuning process is as follows: Extract characteristic frequency components (such as material ablation characteristic frequencies) from the time-frequency characteristic spectrum of the current reflected light; The extracted characteristic frequency components are matched with the standard characteristic frequencies in the reflectivity database of the processed materials to obtain the characteristic frequency matching degree: Coupling risk determination based on characteristic frequency matching: If the characteristic frequency matching is greater than the set threshold (e.g., characteristic frequency matching S>0.8), and the reflected light energy is concentrated within the set frequency range (e.g., the set frequency range is set within the ±5% bandwidth of the laser head core resonant frequency), it is determined that there is a high probability coupling risk; If there is a high probability coupling risk, the center of the laser head light output surface is taken as the origin, and an optical path propagation model based on the numerical aperture (NA) and focal length (f) of the laser head is constructed. Based on the current position and posture information of the laser head, a ray tracing algorithm is used to obtain the possible path of the reflected light entering the fiber core under the current laser head posture. The probability of the reflected light energy concentration area coinciding with the laser head fiber core is analyzed in combination with probability statistics. If the probability exceeds the preset threshold, an adjustment instruction including the adjustment direction and adjustment step is generated according to the optimization algorithm. If the probability does not exceed the preset threshold, the current laser head posture is kept unchanged.
[0026] According to the energy distribution of the current reflected light, the present invention extracts the area where the energy density exceeds 50% of the system safety threshold through a threshold segmentation algorithm (such as the Otsu algorithm) and marks it as a potential danger area.
[0027] The calculation method of the characteristic frequency matching degree is not limited, for example, the following formula can be used:
[0028] in F obs is the characteristic frequency component currently extracted, F db is the standard characteristic frequency in the reflectivity database of processed materials.
[0029] The present invention establishes a three-dimensional coordinate system with the center of the light-emitting surface of the laser head as the origin, and constructs an optical path propagation model based on the numerical aperture (NA) and focal length (f) of the laser head.
[0030] Based on the current attitude parameters of the laser head (pitch angle , yaw angle ), using the Monte Carlo ray tracing method to simulate The path of the reflected light. Range 10 4 ~10 6 .
[0031] Count the number of light paths that enter the laser head core area (diameter d_core) , calculate the original probability :
[0032] Considering the energy weight factor, the energy distribution probability is obtained :
[0033] in For the k The energy weight of a ray, For the k The intensity of the light, for The intensity of the reflected light.
[0034] The matching probability of the time-frequency characteristic map of the current reflected light and the calibration time-frequency characteristic map constructed based on historical data is calculated using similarity metrics (such as correlation coefficient and KL divergence) to obtain the time-frequency probability .
[0035] The energy distribution probability and time-frequency probability Perform weighted fusion to obtain the probability that the final reflected light energy concentration area coincides with the laser head fiber core :
[0036] The weight coefficient Dynamically adjust according to the laser processing mode. If continuous laser is used, If pulsed laser is used, .
[0037] Compare the system preset threshold (Set according to the situation, such as the typical value is set to 0.25): like : Trigger adjustment instructions, and generate adjustment instructions including adjustment direction and adjustment step length according to the optimization algorithm like : Keep the current laser head posture unchanged.
[0038] The optimization algorithm is not limited, for example, a gradient descent optimization algorithm is used to generate an adjustment instruction including an adjustment direction and an adjustment step size.
[0039] Specifically, first define the laser head attitude parameters (pitch angle , yaw angle )’s objective function:
[0040] Where λ is the preset penalty factor for the laser head posture mutation.
[0041] Calculate the gradient direction (in the following formula Right now ):
[0042] Iterative updates:
[0043] Step Length Dynamically adjusted according to the Hessian matrix eigenvalues.
[0044] Generate adjustment vector , the accuracy reaches 0.001°.
[0045] Furthermore, in the fine-tuning operation, an anti-oscillation constraint can be added: if the adjustment direction is the same for three consecutive times, the step size is doubled, and if the direction is opposite, it is reset to the initial step size. At the same time, set the real-time feedback and iterative adjustment strategy, update the laser head posture data every 10ms, and set the convergence condition: 5 consecutive iterations Stop adjustment when the price drops. Record historical adjustment paths and establish a fast channel for reverse adjustment.
[0046] Furthermore, the judgment module uses a high-speed and reliable CAN bus communication protocol to send the adjustment instruction to the laser head adjustment unit.
[0047] The laser head adjustment unit includes a servo motor, a position sensor, and a controller. The position sensor monitors the position and posture information of the laser head in real time and feeds back the information to the judgment module in the judgment control unit. The controller receives the adjustment instructions from the judgment control unit and controls the action of the servo motor. Under the control of the controller, the servo motor realizes precise driving of the laser head within a small angle and displacement range.
[0048] Furthermore, the controller receives adjustment instructions from the judgment control unit, calculates the speed, torque and angle control parameters of the servo motor through the PID algorithm according to the deviation between the current laser head position and the target position, controls the servo motor action, and further adjusts the direction of the laser head.
[0049] A high-precision laser interferometer is used as a position sensor to monitor the position and posture information of the laser head (including horizontal and vertical displacement and angle change) in real time, and feed the position data back to the microprocessor at a high frequency (such as 1kHz).
[0050] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0051] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.
Claims
1. A system that automatically adjusts the direction of the laser head to protect the laser, characterized in that: include: The reflected light monitoring unit is used to monitor the reflected light signal reflected from the workpiece surface in real time during the laser processing, and convert the reflected light signal into a reflected photoelectric signal, wherein the laser emitted from the laser head during the laser processing acts on the workpiece surface after passing through the processing head connected to the laser head; A judgment control unit receives the reflected photoelectric signal output by the reflected light monitoring unit, extracts characteristic data of the reflected light, and judges whether the reflected light will be reflected into the fiber core of the laser head based on the characteristic data of the reflected light. If so, an adjustment instruction is generated for the laser head adjustment unit to adjust the direction of the laser head; The laser head adjustment unit is used to fine-tune the direction of the laser head according to the adjustment instruction generated by the judgment control unit, and ensure that during the process of fine-tuning the direction of the laser head, the output laser of the laser head is always in the light aperture of the processing head connected to the laser head.
2. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 1, characterized in that: The reflected light monitoring unit includes a photoelectric detector array, a filter, and a signal amplifier. The photoelectric detector array converts the collected reflected light signal into a reflected photoelectric signal, which is then processed by the filter and the signal amplifier and then transmitted to the judgment control unit.
3. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 2, characterized in that: The photoelectric detector array includes a plurality of photoelectric detectors, which are evenly distributed around the laser head and are used to detect the intensity and direction of the reflected light signal.
4. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 3, characterized in that: The photoelectric detector array adopts a layout that combines uniform circumferential distribution around the laser head with axial stratification. In the circumferential direction, the photoelectric detectors are arranged at equal intervals with the central axis of the laser head as the center of the circle, ensuring comprehensive detection of reflected light in the horizontal direction; in the axial direction, multiple circles of photoelectric detectors are arranged at multiple different axial positions, and each circle of photoelectric detectors is arranged at equal intervals with the central axis of the laser head as the center of the circle. The spacing between adjacent circles of photoelectric detectors in the axial direction is set according to actual processing accuracy requirements.
5. The system for automatically adjusting the direction of a laser head to protect a laser according to any one of claims 1 to 4, characterized in that: The judgment control unit comprises: The analog-to-digital conversion unit, the reflected photoelectric signal output by the reflected light monitoring unit is an analog signal, and the analog-to-digital conversion unit is used to convert the analog signal into a digital signal; A characteristic data extraction unit, used to extract characteristic data from the digital signal output by the analog-to-digital conversion unit, wherein the characteristic data includes intensity peak value, pulse width, frequency component and signal duration; A spectrum construction unit, used for obtaining energy distribution and time-frequency characteristic spectrum of reflected light according to the characteristic data extracted by the characteristic data extraction unit; The judgment module is used to judge whether the reflected light will enter the fiber core of the laser head according to a preset rule, generate an adjustment instruction, and send the adjustment instruction to the laser head adjustment unit.
6. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 5, characterized in that: The adjustment instruction generation method in the judgment module includes: (S1) determining the energy distribution of the current reflected light according to the light intensity information of the reflected light detected by each photodetector in the photodetector array; (S2) judging whether there is an absolute danger zone according to the energy distribution of the current reflected light, if there is a danger zone, generating a coarse adjustment instruction of the laser head and sending it to the laser head adjustment unit to control the coarse adjustment operation of the laser head, and returning to (S1) until there is no absolute danger zone, and then turning to (S3); (S3) judging whether there is a potential danger zone according to the energy distribution of the current reflected light; if there is a potential danger zone, generating a fine adjustment instruction for the laser head and sending it to the laser head adjustment unit for controlling the fine adjustment operation of the laser head.
7. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 6, characterized in that: In (S2), based on the energy distribution of the current reflected light, it is determined whether there is an area where the intensity of the reflected light exceeds the set first threshold value. If so, it is considered that there is an absolute danger zone; the position of the photoelectric detector corresponding to the absolute danger zone is determined, and the incident direction of the reflected light is determined based on the distribution of the photoelectric detector array and the position of the photoelectric detector corresponding to the absolute danger zone, and then a coarse adjustment instruction for the adjustment direction of the laser head is generated and sent to the laser head adjustment unit, so that the laser head deviates from the area with the maximum intensity of the current reflected light.
8. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 6 or 7, characterized in that: In (S3), based on the energy distribution of the current reflected light, it is determined whether there is an area where the reflected light intensity exceeds the set second threshold. If so, it is considered that there is a potential danger area, and a fine adjustment instruction of the laser head is generated and sent to the laser head adjustment unit to control the fine adjustment operation of the laser head. The process is as follows: Extracting characteristic frequency components from the time-frequency characteristic spectrum of the current reflected light; The extracted characteristic frequency components are matched with the standard characteristic frequencies in the reflectivity database of the processed materials to obtain the characteristic frequency matching degree: Coupling risk determination based on characteristic frequency matching: If the characteristic frequency matching is greater than the set threshold and the reflected light energy is concentrated within the set frequency range, it is determined that there is a high probability coupling risk; If there is a high probability coupling risk, the center of the laser head light output surface is taken as the origin, and an optical path propagation model based on the numerical aperture and focal length of the laser head is constructed. The ray tracing algorithm is used based on the current position and posture information of the laser head to obtain the possible path of the reflected light entering the fiber core under the current laser head posture. The probability of the reflected light energy concentration area coinciding with the laser head fiber core is analyzed in combination with probability statistics. If the probability exceeds the preset threshold, an adjustment instruction including the adjustment direction and adjustment step is generated according to the optimization algorithm. If the probability does not exceed the preset threshold, the current laser head posture is kept unchanged.
9. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 8, characterized in that: The laser head adjustment unit includes a servo motor, a position sensor, and a controller. The position sensor monitors the position and posture information of the laser head in real time and feeds back the information to the judgment module in the judgment control unit. The controller receives the adjustment instructions from the judgment control unit and controls the action of the servo motor. Under the control of the controller, the servo motor realizes precise driving of the laser head within a small angle and displacement range.
10. The system for automatically adjusting the direction of a laser head to protect a laser according to claim 8, characterized in that: The controller receives the adjustment instruction from the judgment control unit, calculates the speed, torque and angle control parameters of the servo motor through the PID algorithm according to the deviation between the current laser head position and the target position, controls the servo motor action, and further adjusts the direction of the laser head.