Power regulation system of ultra-high-speed laser for surface modification of hydraulic supports

Abstract

The present invention relates to the technical field of laser output power regulation, and more specifically, to a power regulation system for an ultra-high-speed laser used for surface modification of hydraulic supports. The system comprises: a data acquisition module for acquiring relevant parameters during laser surface modification of the hydraulic support; a temperature conversion coefficient acquisition module for acquiring the temperature conversion coefficient based on relevant parameters of the laser head; a local sequence acquisition module for calculating the confidence level of each two adjacent temperature conversion coefficients to thereby obtain a local sequence; a smoothing factor acquisition module for acquiring the smoothing factor corresponding to the next moment based on the temperature conversion coefficient at the current moment and the confidence level of each data point in the local sequence; and a power regulation module for acquiring the temperature conversion coefficient at the next moment based on the smoothing factor, thereby obtaining a predicted output power at the next moment and regulating the output power at the next moment. The present invention enables accurate and real-time regulation of the output power of the laser used for surface modification of the hydraulic support.

Description

Technical Field

[0001] The invention relates to the technical field of laser output power regulation, and in particular to an ultra-high-speed laser power regulation system for surface modification of a hydraulic support. Background Art

[0002] Hydraulic supports are a key equipment used to support the roof in underground coal mines. Their surface properties are crucial to resisting wear and corrosion and extending their service life. Ultra-high-speed laser surface modification of hydraulic supports is an advanced processing technology that uses a high-energy laser beam to locally heat, melt or micro-modify the surface of the hydraulic support. The main purpose is to significantly improve the wear resistance, fatigue resistance and overall service life of the hydraulic support in harsh environments such as coal mines by forming a wear-resistant, corrosion-resistant and high-hardness modified layer on the surface. In the process of modifying the surface of the hydraulic support, the selection and adjustment of multiple parameters will have a significant impact on the results of the surface treatment of the hydraulic support. It is necessary to continuously adjust and optimize the relevant parameters of the laser equipment, such as the output power of the laser, to ensure that the surface modification effect of the hydraulic support is maximized and to achieve more efficient and reliable equipment performance improvements.

[0003] In the current process of using ultra-high-speed laser to modify the surface of hydraulic supports, there are certain differences and influences in the thickness, oxidation and roughness at different positions of the support, which leads to certain differences in the heat resistance of its surface. In the process of using traditional laser technology to modify its surface, due to the diversity of hydraulic workpiece surfaces and other problems, there are large deviations in the accuracy and real-time performance of laser output power adjustment, which in turn affects the stability and uniformity of the laser modification results of the hydraulic support surface. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide an ultra-high-speed laser power regulation system for surface modification of hydraulic supports. The technical solutions adopted are as follows:

[0005] One embodiment of the present invention provides a power regulation system for an ultra-high-speed laser used for surface modification of a hydraulic support, the system comprising:

[0006] Data acquisition module, used to obtain temperature data of the laser irradiation position and the output power, irradiation area and movement speed of the laser head;

[0007] The temperature conversion coefficient acquisition module is used to obtain the energy density of the laser head based on the output power, irradiation area and moving speed of the laser head at the same moment; the ratio of the temperature data to the energy density at the same moment is the temperature conversion coefficient of the hydraulic support surface at that moment;

[0008] The local sequence acquisition module is used to establish a window with each temperature conversion coefficient as the center to obtain the curvature and range of each temperature conversion coefficient; the confidence level is calculated based on the curvature and range of every two adjacent temperature conversion coefficients, and the local sequence at the current moment is obtained by performing region growth based on the confidence level toward the temperature conversion coefficient at the previous moment with the current moment as the starting point;

[0009] The smoothing factor acquisition module is used to obtain the smoothing factor corresponding to the next moment based on the temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence;

[0010] The power regulation module is used to obtain the temperature conversion coefficient at the next moment based on the smoothing factor corresponding to the next moment and the temperature conversion coefficient at the current moment; obtain the output power predicted at the next moment according to the temperature conversion coefficient at the next moment and regulate the output power at the next moment.

[0011] Preferably, the energy density of the laser head is obtained based on the output power, irradiation area and movement speed of the laser head at the same moment, including:

[0012] The product of the irradiation area and the moving speed of the laser head at the same moment is obtained, and the output power of the laser head at that moment is compared with the product to obtain the energy density of the laser head at that moment.

[0013] Preferably, a window is established with each temperature conversion coefficient as the center to obtain the curvature and range of each temperature conversion coefficient, including:

[0014] A window is established with each temperature conversion coefficient in the temperature conversion coefficient sequence as the center, and the window size is a preset size; the data in the window is projected into a two-dimensional coordinate system, where the horizontal axis is time and the vertical axis is the temperature conversion coefficient, and the center point data in the window is connected with the other two data in the window to obtain the angle between the connecting lines as the curvature of the temperature conversion coefficient at the center of the window; the range of the temperature conversion coefficient in the window is obtained as the range of the temperature conversion coefficient at the center of the window.

[0015] Preferably, the confidence level is calculated based on the curvature and range of every two adjacent temperature conversion coefficients, including:

[0016] Calculate the absolute value of the difference between the curvature corresponding to the previous data and the curvature corresponding to the next data in each two adjacent temperature conversion coefficients, and record it as the curvature difference; calculate the absolute value of the difference between the range corresponding to the previous data and the range corresponding to the next data in each two adjacent temperature conversion coefficients, and record it as the range difference; normalize the product of the curvature difference and the range difference to obtain the normalized result, and the difference between the preset value and the normalized result is the confidence level of each two adjacent temperature conversion coefficients.

[0017] Preferably, taking the current moment as the starting point and performing region growing based on the confidence level to the temperature conversion coefficient of the previous moment to obtain the local sequence of the current moment includes:

[0018] When performing regional growth based on the confidence level toward the temperature conversion coefficient of the previous moment with the current moment as the starting point, when the confidence level between adjacent temperature conversion coefficients is less than the stopping threshold or when the growth reaches the moment when the laser head starts working, the growth is stopped and the temperature conversion coefficients corresponding to each moment in the period from the current moment to the growth cutoff moment are obtained as the local sequence of the current moment.

[0019] Preferably, obtaining the smoothing factor corresponding to the next moment according to the temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence includes:

[0020] The temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence form a confidence sequence. The reciprocal of the average value of the ratio of every two adjacent confidence levels in the confidence sequence is calculated, a mapping constant is set, and the product of the reciprocal of the average value and the mapping constant is normalized to obtain the smoothing factor corresponding to the next moment, where the ratio of every two adjacent confidence levels is the ratio of the previous confidence level to the next confidence level.

[0021] Preferably, the calculation formula of the temperature conversion coefficient at the next moment is specifically:

[0022] ,

[0023] in, Indicates the temperature conversion coefficient predicted at the next moment; Indicates the temperature conversion coefficient corresponding to the current moment; represents the temperature conversion coefficient predicted at the current moment; α represents the smoothing factor corresponding to the next moment.

[0024] Preferably, obtaining the output power predicted at the next moment according to the temperature conversion coefficient at the next moment and adjusting the output power at the next moment include:

[0025] The temperature conversion coefficient at the next moment is used in combination with the preset temperature, the preset irradiation area of the laser head and the preset moving speed of the laser head to obtain the output power predicted at the next moment, and the output power at the next moment is adjusted according to the output power predicted at the next moment.

[0026] The embodiments of the present invention have at least the following beneficial effects: first, the temperature conversion coefficient sequence of the laser head during equipment processing is obtained by collecting temperature data of the laser irradiation position and data such as the output power, irradiation area and moving speed of the laser head. Since the temperature conversion coefficients during processing at different positions are different, in order to reduce the accuracy of the subsequent prediction model for laser power prediction and control, the confidence of each two adjacent temperature conversion coefficients is further obtained, and then the idea of the regional growing algorithm is used to obtain the local sequence corresponding to the processing at the current moment, and then the smoothing factor for modeling is obtained by further analyzing the characteristics of the sequence, and then the temperature conversion coefficient of the next moment after the current moment is obtained, and the output power predicted by the laser head at the next moment is obtained by the coefficient. By continuously predicting and adjusting the output power of the laser, the uniformity and stability of the performance of the hydraulic support after surface processing are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. 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 these drawings without paying any creative work.

[0028] Figure 1 This is a system block diagram of an ultra-high-speed laser power regulation system for surface modification of a hydraulic support provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To further illustrate the technical means and effectiveness of the present invention in achieving its intended objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effectiveness of an ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to the present invention. In the following description, references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0030] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0031] The following describes in detail a specific solution of an ultra-high-speed laser power regulation system for surface modification of a hydraulic support provided by the present invention in conjunction with the accompanying drawings.

[0032] Example:

[0033] The main application scenarios of the present invention are: in the existing process of using ultra-high-speed laser to modify the surface of hydraulic supports, there are certain differences and influences in the thickness, oxidation and roughness of different positions of the supports, which leads to certain differences in the heat resistance of the surface. In the process of using traditional laser technology to modify its surface, due to the diversity of the hydraulic workpiece surface and other problems, there are large deviations in the accuracy and real-time performance of the laser output power adjustment, which in turn affects the stability and uniformity of the laser modification results of the hydraulic support surface. Therefore, it is necessary to control the laser output power more accurately to improve the stability of the surface treatment of the hydraulic support.

[0034] See also Figure 1 , which shows a block diagram of an ultra-high-speed laser power regulation system for surface modification of a hydraulic support provided by an embodiment of the present invention. The system includes the following modules:

[0035] The data acquisition module is used to obtain the temperature data of the laser irradiation position and the output power, irradiation area and movement speed of the laser head.

[0036] This application mainly focuses on controlling the laser power during the surface modification process of the hydraulic support using laser equipment, so that it can maintain a certain performance stability and uniformity in the surface treatment of the hydraulic support. When using laser to modify the surface of the hydraulic support, the temperature, irradiation area of the laser head and movement speed are all set. However, due to the influence of the material at different positions of the plate, the temperature after heating is different from the preset temperature. Moreover, although the irradiation area and movement speed of the laser head are both preset, they may have slight changes due to the error of the equipment during operation. In order to conduct subsequent analysis more accurately, they need to be collected and analyzed.

[0037] Therefore, it is necessary to use the temperature sensors, voltage and current sensors, speed sensors and laser beam irradiation area control sensors arranged inside the laser equipment to collect the temperature data of the laser beam irradiation position, the output power of the laser head, the irradiation area of the laser head, and the moving speed data of the laser head during the surface treatment of the hydraulic support surface, so as to facilitate subsequent analysis.

[0038] Among them, the output power of the laser head can be calculated based on the voltage and current measured by the voltage and current sensors; and the acquisition frequency of various data is the same, and the implementer can set it according to the actual power adjustment requirements and processing requirements.

[0039] The temperature conversion coefficient acquisition module is used to obtain the energy density of the laser head based on the output power, irradiation area and moving speed of the laser head at the same moment; the ratio of the temperature data to the energy density at the same moment is the temperature conversion coefficient of the hydraulic support surface at that moment.

[0040] In the process of using ultra-high-speed laser to modify the surface of the hydraulic support, due to the certain changes and differences in the thickness and roughness at different locations on the surface of the support, the power of the laser technology during surface modification processing also needs to be adjusted in time to ensure the uniformity and stability of the surface modification of the hydraulic support. The main purpose of adjusting the laser power is to maintain a stable temperature at different locations during the heating process of the hydraulic support surface, thereby avoiding defects such as deformation or insufficient modification of the hydraulic support surface caused by uneven heating.

[0041] Because during the surface processing of the hydraulic support, the moving speed, spot size or focus position of the laser head may change dynamically, which will change the energy density and thus affect the heating efficiency of the hydraulic support surface.

[0042] Therefore, in order to understand the physical properties of the hydraulic support surface such as heat during laser processing, the power of the laser hydraulic support surface can be adjusted more accurately and automatically.

[0043] First, the laser power, the moving speed of the laser head, and the range (irradiation area) of the laser head irradiating the surface of the hydraulic support, i.e., the laser spot area, which are collected when the laser technology is used to process the surface of the hydraulic press, are used to obtain the energy density of the laser head at any moment. Specifically, the product of the irradiation area and the moving speed of the laser head at the same moment is obtained, and the output power of the laser head at that moment is compared with the product to obtain the energy density of the laser head at that moment. The calculation formula is:

[0044] ,

[0045] in, represents the energy density of the laser head corresponding to the i-th moment; represents the output power of the laser head at the i-th moment; represents the moving speed of the laser head at the i-th moment; represents the irradiation area of the laser head at the i-th moment. This represents the ratio of the laser head's output power at moment i to the product of the laser head's movement speed and the laser head's irradiation area. This is because the slower the laser head's movement speed, the longer it irradiates the workpiece surface, and the greater its energy density, leading to a faster temperature rise. Similarly, the smaller the laser head's irradiation area, the more concentrated the laser beam's energy, leading to a faster temperature rise on the workpiece surface. Therefore, the laser head's output power is proportional to both its movement speed and irradiation area. Using this to represent the laser head's energy density prevents inaccurate analysis of material heating due to changes in the laser head's speed and irradiation area.

[0046] When laser modification is performed on a workpiece surface, if the surface characteristics, such as thickness and surface roughness, are highly consistent, then theoretically, the temperature data collected by the laser head during processing is directly proportional to the laser head's energy density. However, in actual surface processing, the thickness of the workpiece at different locations, as well as surface oxidation and roughness, may affect the rate of temperature change when the laser head heats the surface.

[0047] Therefore, in order to more accurately adjust the output power of the laser head, we first obtain the temperature conversion coefficient of the hydraulic support surface at different times based on the collected temperature data and the energy density data of the laser head. Specifically, the ratio of the temperature data to the energy density at the same moment is the temperature conversion coefficient of the hydraulic support surface at that moment. The larger the ratio of temperature data to energy density, the faster the surface temperature conversion of the hydraulic support surface at the position corresponding to the laser head at that moment, that is, the stronger its perception of the energy emitted by the laser head being converted into temperature, and vice versa. In this way, we can obtain the temperature conversion coefficient sequence of the laser head during its operation.

[0048] The local sequence acquisition module is used to establish a window with each temperature conversion coefficient as the center to obtain the curvature and range of each temperature conversion coefficient; calculate the confidence level based on the curvature and range of every two adjacent temperature conversion coefficients, and perform regional growth based on the confidence level to the temperature conversion coefficient of the previous moment with the current moment as the starting point to obtain the local sequence of the current moment.

[0049] Through the above, we obtained the temperature conversion coefficient sequence of the laser equipment during the surface modification process of the hydraulic support. If the temperature conversion coefficient at different positions of the workpiece is relatively stable, the surface temperature required during the surface modification process using the laser equipment is also relatively stable. If the temperature conversion coefficient decreases or increases, it means that the processed metal part may become thinner or thicker, and other factors may affect it. Then, using the same laser power to modify the surface may cause the temperature to be too high or too low when heating the area, resulting in poor uniformity and stability of the modification. In the actual process of surface modification of the hydraulic support, the processing scenario is more close to the latter.

[0050] Therefore, in order to be able to more accurately control the output power of the laser head during the laser equipment processing the surface of the hydraulic support, it is necessary to ensure stable heating of the surface of the processed workpiece.

[0051] First, the metal surface temperature conversion coefficient sequence corresponding to a local time period when processing the workpiece at the current moment is obtained. Then, based on the change of the local surface temperature conversion coefficient, the temperature conversion coefficient at the next moment from the current moment is predicted, so as to better control the output power of the laser equipment.

[0052] The resulting temperature conversion coefficient sequence is then filtered and smoothed using a Savitzky-Golay filter to better analyze the target sequence's trend changes. The Savitzky-Golay filter is a mathematical algorithm used for data smoothing. It smoothes the signal through polynomial fitting while preserving data characteristics (such as peaks and waveforms) as much as possible.

[0053] When machining a workpiece surface, the temperature conversion coefficient of the surface may change slowly as the laser head moves. The temperature conversion coefficient change cycle and trend at different locations may be different. In order to improve the accuracy and calculation efficiency of the temperature conversion coefficient prediction.

[0054] Furthermore, a window is established with each temperature conversion coefficient in the temperature conversion coefficient sequence as the center, and the window size is a preset size. Preferably, in an embodiment of the present invention, the preset size of the window is 1×3. The data within the window is projected into a two-dimensional coordinate system, where the horizontal axis is time and the vertical axis is the temperature conversion coefficient. The data at the center point in the window is connected with the other two data points in the window to obtain the angle between the connecting lines as the curvature of the temperature conversion coefficient at the center of the window. At the same time, the range of the temperature conversion coefficient in the window is obtained as the range of the temperature conversion coefficient at the center of the window. The range of the temperature conversion coefficient at the center of the window can represent the range of variation of the data in the window.

[0055] Then, the temperature conversion coefficient corresponding to the current moment is used as the starting position, and the idea of the regional growing algorithm is used for the temperature conversion coefficient of the previous moment (historical data), so as to obtain the local temperature conversion coefficient sequence of the current hydraulic support surface at the current moment, so that the calculation task of the subsequent modeling and analysis data is low, and the prediction model can be automatically adjusted according to the characteristics of the local temperature conversion coefficient of the hydraulic support surface at the current moment, making the prediction model more stable.

[0056] Next, the confidence level is calculated based on the curvature and range of every two adjacent temperature conversion coefficients. Specifically, the absolute value of the difference between the curvature corresponding to the previous data and the curvature corresponding to the next data in every two adjacent temperature conversion coefficients is calculated, and recorded as the curvature difference; the absolute value of the difference between the range corresponding to the previous data and the range corresponding to the next data in every two adjacent temperature conversion coefficients is calculated, and recorded as the range difference; the product of the curvature difference and the range difference is normalized to obtain the normalized result. The difference between the preset value and the normalized result is the confidence level of every two adjacent temperature conversion coefficients; the calculation formula is:

[0057] ,

[0058] Where, It indicates the confidence level that the data corresponding to two adjacent windows in the temperature conversion coefficient sequence (two adjacent temperature conversion coefficients) can be grown; norm() represents the linear normalization function; 、 They represent the curvatures corresponding to the nth temperature conversion coefficient and the n-1th temperature conversion coefficient respectively; 、 Respectively represent the range corresponding to the nth and n-1th temperature conversion coefficients; It represents the difference between the curvatures corresponding to the nth temperature conversion coefficient and the n-1th temperature conversion coefficient, which is recorded as the curvature difference. The smaller the value, the closer the curvatures of the local changes of the two data points are, and the closer the change rules of the temperature conversion coefficients between them are, then the higher the confidence that the two data points can grow. The absolute value of the difference between the ranges corresponding to the nth temperature conversion coefficient and the n-1th temperature conversion coefficient is recorded as the range difference. The smaller the value, the closer the local change trend ranges of the two data points are, and the higher the confidence that the two data points can grow. The preset value is 1.

[0059] Finally, taking the current moment as the starting point, region growing is performed toward the temperature conversion coefficient of the previous moment based on the confidence level to obtain the local sequence of the current moment. Specifically, when taking the current moment as the starting point and region growing toward the temperature conversion coefficient of the previous moment based on the confidence level, when the confidence level between adjacent temperature conversion coefficients is less than the stopping threshold or when the growth reaches the moment when the laser head starts working (initial moment), the growth is stopped to obtain the temperature conversion coefficients corresponding to each moment in a period from the current moment to the growth end moment as the local sequence of the current moment.

[0060] The smoothing factor acquisition module is used to obtain the smoothing factor corresponding to the next moment according to the temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence.

[0061] The local sequence at the current moment is obtained above. Furthermore, the simple exponential moving average (EMA) prediction algorithm is used to predict the temperature conversion coefficient of the next moment from the current moment. The simple exponential moving average prediction algorithm is an algorithm used for smoothing and predicting time series data.

[0062] However, as the laser head moves, the changing rate of the temperature conversion coefficient at different positions on the surface of the hydraulic support may be different, so the smoothing factor selected during the prediction is also different.

[0063] Therefore, we further obtain the confidence between the window corresponding to each data point in the local sequence at the current moment and the most recent window corresponding to the current moment. Specifically, we obtain the confidence between the data point at the center of each window and the data at the current moment, thereby indicating the similarity of changes between historical data and the latest data. This results in a confidence sequence. Specifically, we calculate the confidence between each data point in the local sequence and the temperature conversion coefficient at the current moment. It should be noted that the confidence calculation method here is the same as the confidence calculation method described above, except that the curvature and range corresponding to the temperature conversion coefficient at the current moment are calculated based on the curvature and range calculated for the last window in the temperature conversion coefficient sequence. This yields the confidence sequence corresponding to the current moment.

[0064] Next, we calculate the reciprocal of the average value of the ratio of every two adjacent confidence levels in the confidence level sequence, set a mapping constant, and normalize the product of the reciprocal of the average value and the mapping constant to obtain the smoothing factor corresponding to the next moment, where the ratio of every two adjacent confidence levels is the ratio of the previous confidence level to the next confidence level. The specific calculation formula is:

[0065] ,

[0066] in, Indicates the smoothing factor corresponding to the next moment of the local sequence at the current moment; norm() indicates the normalization operation; Indicates the number of confidence sequence elements obtained at the current moment; and They represent the sth confidence level and the s+1th confidence level in the confidence level sequence obtained at the current moment respectively; C represents the mapping constant of the smoothing factor, which is 0.3 here; It represents the reciprocal of the average value of the ratio of every two adjacent confidence levels in the confidence sequence. The larger the value, the greater the upward trend of the confidence sequence. The smaller the weight of historical data when predicting new data, and the larger the corresponding prediction smoothing factor.

[0067] The power regulation module is used to obtain the temperature conversion coefficient at the next moment based on the smoothing factor corresponding to the next moment and the temperature conversion coefficient at the current moment; obtain the output power predicted at the next moment according to the temperature conversion coefficient at the next moment and regulate the output power at the next moment.

[0068] Through the above, we can get the smoothing factor parameter corresponding to the next moment of the current moment. Then, we use the simple exponential weighted prediction algorithm to get the predicted value of the next moment of the current moment, which is the temperature conversion coefficient of the next moment. Specifically, the calculation formula of the temperature conversion coefficient of the next moment is:

[0069] ,

[0070] in, Indicates the temperature conversion coefficient predicted at the next moment; Indicates the temperature conversion coefficient corresponding to the current moment; represents the temperature conversion coefficient predicted at the current moment; α represents the smoothing factor corresponding to the next moment. The difference between the actual value at the current moment and the predicted value is used as the error term for the next moment after the current moment, so as to correct the predicted value and improve the accuracy of the predicted value.

[0071] After obtaining the temperature conversion coefficient for the next moment, the predicted output power of the laser head at the next moment is calculated based on the relationship between the temperature conversion coefficient and output power (the above formula) according to the preset temperature data, the set irradiation area, and the laser head movement speed. The predicted output power of the laser head is then used as the output target value of the control system at the next moment. The power control system adjusts the output value of the laser power at the next moment to achieve the predicted output power value, thereby adjusting the real-time output power of the hydraulic support surface during processing to ensure the stability of its processing performance.

[0072] In summary, the present invention collects relevant data during the laser modification process of the hydraulic support surface and automatically optimizes and adjusts the simple exponential weighted prediction algorithm model and related parameters according to its local data characteristics to obtain a prediction model, thereby predicting and adjusting the output power of the laser in real time to improve its stability and efficiency in the process of hydraulic support surface modification and improve the overall performance of the support after modification.

[0073] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0074] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A power regulation system for ultra-high-speed lasers used for surface modification of hydraulic supports, characterized in that: The system includes: Data acquisition module, used to obtain temperature data of the laser irradiation position and the output power, irradiation area and movement speed of the laser head; The temperature conversion coefficient acquisition module is used to obtain the energy density of the laser head based on the output power, irradiation area and moving speed of the laser head at the same moment; the ratio of the temperature data to the energy density at the same moment is the temperature conversion coefficient of the hydraulic support surface at that moment; The local sequence acquisition module is used to establish a window with each temperature conversion coefficient as the center to obtain the curvature and range of each temperature conversion coefficient; the confidence level is calculated based on the curvature and range of every two adjacent temperature conversion coefficients, and the local sequence at the current moment is obtained by performing region growth based on the confidence level toward the temperature conversion coefficient at the previous moment with the current moment as the starting point; The smoothing factor acquisition module is used to obtain the smoothing factor corresponding to the next moment based on the temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence; The power regulation module is used to obtain the temperature conversion coefficient at the next moment based on the smoothing factor corresponding to the next moment and the temperature conversion coefficient at the current moment; obtain the output power predicted at the next moment according to the temperature conversion coefficient at the next moment and regulate the output power at the next moment.

2. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: The energy density of the laser head is obtained based on the output power, irradiation area and movement speed of the laser head at the same moment, including: The product of the irradiation area and the moving speed of the laser head at the same moment is obtained, and the output power of the laser head at that moment is compared with the product to obtain the energy density of the laser head at that moment.

3. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: The step of establishing a window with each temperature conversion coefficient as the center to obtain the curvature and range of each temperature conversion coefficient includes: A window is established with each temperature conversion coefficient in the temperature conversion coefficient sequence as the center, and the window size is a preset size; the data in the window is projected into a two-dimensional coordinate system, where the horizontal axis is time and the vertical axis is the temperature conversion coefficient, and the center point data in the window is connected with the other two data in the window to obtain the angle between the connecting lines as the curvature of the temperature conversion coefficient at the center of the window; the range of the temperature conversion coefficient in the window is obtained as the range of the temperature conversion coefficient at the center of the window.

4. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: The confidence level is calculated based on the curvature and range of each two adjacent temperature conversion coefficients, including: Calculate the absolute value of the difference between the curvature corresponding to the previous data and the curvature corresponding to the next data in each two adjacent temperature conversion coefficients, and record it as the curvature difference; calculate the absolute value of the difference between the range corresponding to the previous data and the range corresponding to the next data in each two adjacent temperature conversion coefficients, and record it as the range difference; normalize the product of the curvature difference and the range difference to obtain the normalized result, and the difference between the preset value and the normalized result is the confidence level of each two adjacent temperature conversion coefficients.

5. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: The method of performing region growing based on the confidence level to the temperature conversion coefficient at the previous moment with the current moment as the starting point to obtain the local sequence at the current moment includes: When performing regional growth based on the confidence level toward the temperature conversion coefficient of the previous moment with the current moment as the starting point, when the confidence level between adjacent temperature conversion coefficients is less than the stopping threshold or when the growth reaches the moment when the laser head starts working, the growth is stopped and the temperature conversion coefficients corresponding to each moment in the period from the current moment to the growth cutoff moment are obtained as the local sequence of the current moment.

6. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: The step of obtaining a smoothing factor corresponding to the next moment according to the temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence includes: The temperature conversion coefficient at the current moment and the confidence level of each data in the local sequence form a confidence sequence. The reciprocal of the average value of the ratio of every two adjacent confidence levels in the confidence sequence is calculated, a mapping constant is set, and the product of the reciprocal of the average value and the mapping constant is normalized to obtain the smoothing factor corresponding to the next moment, where the ratio of every two adjacent confidence levels is the ratio of the previous confidence level to the next confidence level.

7. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: The calculation formula of the temperature conversion coefficient at the next moment is specifically: ， in, Indicates the temperature conversion coefficient predicted at the next moment; Indicates the temperature conversion coefficient corresponding to the current moment; represents the temperature conversion coefficient predicted at the current moment; α represents the smoothing factor corresponding to the next moment.

8. The ultra-high-speed laser power regulation system for surface modification of hydraulic supports according to claim 1, characterized in that: Obtaining the output power predicted at the next moment according to the temperature conversion coefficient at the next moment and adjusting the output power at the next moment includes: The temperature conversion coefficient at the next moment is used in combination with the preset temperature, the preset irradiation area of the laser head and the preset moving speed of the laser head to obtain the output power predicted at the next moment, and the output power at the next moment is adjusted according to the output power predicted at the next moment.

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