Light spot adjustable type laser telemetering optical machine system

Abstract

The invention discloses a light spot adjustable laser telemetering light machine system, and relates to the technical field of light spot adjustment. The light spot adjustable type laser telemetering light machine system comprises a laser emitting unit used for emitting laser beams, and a detection light lens adjusting unit used for receiving the laser beams emitted by the laser emitting unit and performing form control; the receiving lens is used for receiving an optical signal returned by telemetering after the laser beam subjected to form control by the detection light lens adjusting unit reaches a target, and focusing the optical signal; the detection unit is used for converting an optical signal focused by the receiving lens into an electric signal; the signal processing unit is used for receiving the electric signal output by the detection unit and analyzing and generating a regulation and control instruction, and the signal processing unit is used for intelligently regulating and controlling the laser emission unit, the detection light lens adjusting unit and the micro-displacement adjusting platform, so that the focal length is automatically adjusted, and the size of a light spot is further controlled; and the detection requirements of far and near distances are met, and the signal quality of the optical machine is automatically adjusted to be optimal.

Description

Technical Field

[0001] The present invention relates to the technical field of spot adjustment, and specifically to a laser remote sensing optomechanical system with adjustable spot Background Art

[0002] Most of the remote sensing optomechanical systems on the market currently are traditional optical systems, usually designed with a fixed focal length. It is difficult to adjust the spot to adapt to its flexibility and application range in long-distance and short-distance detections. Especially when it is necessary to cover a large detection area and perform high-precision detection simultaneously, the limitations of the existing technology are particularly obvious. Moreover, most systems are only equipped with a single lens, making it difficult to switch the beam shape, which limits the detection range and flexibility. At the same time, during the debugging of the optical system, the position of the detector needs to be manually adjusted, with low efficiency and difficult to ensure signal stability. Therefore, there is an urgent need for a remote sensing optomechanical system that can automatically adjust the focal length, switch the beam type, and automatically adjust the optomechanical signal quality to the best

[0003] The limitations of the existing technology at least include the following problems. The position of the photodetector is usually a fixed structure, and it is difficult to make real-time adjustments according to the changes in the optical path or the signal state. This structural limitation is particularly prominent in a changing environment. For example, during medium- and long-distance remote sensing, the focus of the spot is extremely easy to shift. If the detector still remains in a static fixed position, it will directly lead to a significant decrease in the intensity of the received optical signal, a worse signal-to-noise ratio, and it is difficult to capture effective signals. Especially when the reflectivity of the target surface is uneven or the laser divergence angle fluctuates slightly, it is more common for the signal focus to deviate from the receiving surface. It is difficult for the system to follow the optimal signal landing point, resulting in a soaring error, thus making the measurement result inaccurate. Moreover, it often requires manual readjustment of the optomechanical attitude, which is not only inefficient but also difficult to achieve remote and dynamic applications, seriously restricting the practicality and adaptability of high-precision remote sensing systems under complex working conditions Summary of the Invention

[0004] In view of the deficiencies of the existing technology, the present invention provides a laser remote sensing optomechanical system with adjustable spot, which solves the problem that it is difficult for the photodetector in the existing technology to dynamically adjust its position, resulting in insufficient remote sensing accuracy and adaptability

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A laser remote sensing optomechanical system with adjustable spot, comprising: a laser emission unit for emitting a laser beam; a detection optical lens adjustment unit for receiving the laser beam emitted by the laser emission unit and performing shape control; a receiving lens for receiving the optical signal remotely measured and returned after the shape control of the detection optical lens adjustment unit by the laser beam reaching the target and performing focusing; a detection unit for converting the optical signal focused by the receiving lens into an electrical signal; a signal processing unit for receiving the electrical signal output by the detection unit and analyzing and generating a control command

[0006] Further, the detection unit includes a photodetector for receiving the focused optical signal of the receiving lens, and is stably carried by a detector mounting unit. The photodetector and the detector mounting unit are position-adjusted by a micro-displacement adjustment platform.

[0007] Further, the detection optical lens adjustment unit includes a slit lens and an aspherical collimating lens for adjusting the shape of the laser beam emitted by the laser emitting unit. The slit lens and the aspherical collimating lens are switched by a lens adjustment frame.

[0008] Further, the signal processing unit includes: a data acquisition module for real-time acquiring the state data of the laser telemetry opto-mechanism to be adjusted, where the state data includes electrical signal data and a component position data set; a data analysis module for respectively performing feature analysis on the state data of the laser telemetry opto-mechanism to be adjusted to obtain a telemetry evaluation index set of the laser telemetry opto-mechanism to be adjusted, including a telemetry response accuracy index and a structural optical matching index, and performing comprehensive analysis to obtain a telemetry credibility index of the laser telemetry opto-mechanism to be adjusted; an opto-mechanism adjustment module for intelligently controlling the displacement adjustment unit, the detection optical lens adjustment unit, and the micro-displacement adjustment platform of the laser telemetry opto-mechanism to be adjusted based on the telemetry credibility index.

[0009] Further, the electrical signal data is specifically the signal amplitude at each time point. The specific steps for obtaining the telemetry response accuracy index of the laser telemetry opto-mechanism to be adjusted are as follows: acquiring the detection three-dimensional position coordinates of the laser telemetry opto-mechanism to be adjusted, and respectively inputting them into a pre-trained position optimization model with the electrical signal data for optimization analysis to obtain the detection optimized three-dimensional position coordinates of the laser telemetry opto-mechanism to be adjusted, and performing comprehensive analysis in combination with the detection three-dimensional position coordinates to obtain the detection position deviation index of the laser telemetry opto-mechanism to be adjusted; based on the electrical signal data of the laser telemetry opto-mechanism to be adjusted, analyzing the signal response index of the laser telemetry opto-mechanism to be adjusted, and in combination with its position deviation index, analyzing the telemetry response accuracy index of the laser telemetry opto-mechanism to be adjusted.

[0010] Furthermore, the position optimization model is specifically a convolutional neural network, including an input layer, a convolutional layer, a fully connected embedding layer, a fully connected fusion layer, and an output prediction layer. The specific steps to obtain the optimized three-dimensional position coordinates of the detection of the laser telemetry optomechanism to be adjusted are as follows: In the input layer of the convolutional neural network, the three-dimensional position coordinates and electrical signal data of the detection of the laser telemetry optomechanism to be adjusted are received and preprocessed; In the convolutional layer of the convolutional neural network, one-dimensional convolutional processing is performed on the preprocessed electrical signal data of the laser telemetry optomechanism to be adjusted to obtain the detection signal feature vector of the laser telemetry optomechanism to be adjusted; In the fully connected embedding layer of the convolutional neural network, non-linear mapping processing is performed on the preprocessed three-dimensional position coordinates of the detection of the laser telemetry optomechanism to be adjusted to obtain the detection space embedding vector of the laser telemetry optomechanism to be adjusted; In the fully connected fusion layer of the convolutional neural network, the detection feature vector and the detection space embedding vector of the laser telemetry optomechanism to be adjusted are fused to obtain the detection comprehensive state feature vector of the laser telemetry optomechanism to be adjusted; In the output prediction layer of the convolutional neural network, prediction processing is performed on the detection comprehensive state feature vector of the laser telemetry optomechanism to be adjusted to obtain the optimized three-dimensional position coordinates of the detection of the laser telemetry optomechanism to be adjusted.

[0011] Furthermore, the specific formula for calculating the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted is as follows: ; where is the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted, is the signal response index of the laser telemetry optomechanism to be adjusted, is the response adjustment coefficient stored in the database, is the position deviation index of the laser telemetry optomechanism to be adjusted, is the position deviation adjustment coefficient stored in the database, is the interaction adjustment coefficient stored in the database.

[0012] Furthermore, the component position dataset includes the three-dimensional position coordinates of the laser, the one-dimensional lens, the aspherical collimating lens, the receiving lens, the target area boundary point, and the target center point. The specific steps to obtain the structural optical matching index of the laser telemetry optomechanism to be adjusted are as follows: Based on the component position dataset of the laser telemetry optomechanism to be adjusted, analyze the spot shape adaptation index and the optical path alignment index of the laser telemetry optomechanism to be adjusted; Perform weighted analysis on the spot shape adaptation index and the optical path alignment index of the laser telemetry optomechanism to be adjusted to obtain the structural optical matching index for adjusting the telemetry optomechanism.

[0013] Furthermore, the specific formula for calculating the telemetry credibility index of the laser telemetry optomechanism to be adjusted is as follows: ; where is the telemetry credibility index of the laser telemetry optomechanism to be adjusted, is the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted, is the signal quality adjustment coefficient stored in the database, is the structural optical matching index of the laser telemetry optomechanism to be adjusted, is the optical matching adjustment coefficient stored in the database, is the differential adjustment coefficient stored in the database, is the superposition adjustment coefficient stored in the database.

[0014] Further, the specific steps for intelligently controlling the displacement adjustment unit, detection optical lens adjustment unit, and micro-displacement adjustment platform of the laser telemetry optomechanism to be adjusted based on the telemetry credibility index are as follows: Judge and analyze the telemetry credibility index of the laser telemetry optomechanism to be adjusted with the preset telemetry credibility index threshold; if the telemetry credibility index of the laser telemetry optomechanism to be adjusted is higher than the preset telemetry credibility index threshold, no control is performed; if the telemetry credibility index of the laser telemetry optomechanism to be adjusted is lower than or equal to the preset telemetry credibility index threshold, control processing is performed on the displacement adjustment unit, detection optical lens adjustment unit, and micro-displacement adjustment platform of the laser telemetry optomechanism to be adjusted.

[0015] The present invention has the following beneficial effects:

[0016] (1). In this spot-adjustable laser telemetry optomechanism system, by setting a micro-displacement adjustment platform, high-precision micro-position adjustment of the photodetector in three-dimensional space can be achieved. Based on the current electrical signal amplitude sequence of the photodetector and the spatial coordinate input of the micro-displacement adjustment platform, the detection position with the optimal signal response in the current state is analyzed and output. After receiving the optimal position coordinate instruction, the micro-displacement adjustment platform drives the detector to achieve synchronous three-axis micro-displacement, enabling it to quickly align with the strongest signal point, improving the signal amplitude and stability, thus avoiding the light collection offset caused by environmental disturbances or target displacements. Moreover, the system adjustment process has a fast response speed, high precision, and stable operation to ensure that the photodetector always remains focused during the dynamic measurement process, thereby enhancing the reliability and continuity of the telemetry signal, and then effectively supporting the quality requirements of subsequent data analysis.

[0017] (2) The spot-adjustable laser remote sensing optomechanical system constructs a controllable spot morphology switching mechanism. By setting a rotating motor to drive the lens adjustment frame, it realizes the automatic switching between the aspherical lens and the linear lens. Based on the structural optical matching index obtained from the analysis of the component position data set, it determines the automatic switching of the lens, thereby switching different spot structures as needed. Furthermore, the system can be used for both high-precision focus point measurement and wide-area scanning of planar or linear targets, and then has extremely strong morphological adaptability. At the same time, the spot output is flexible and the response is fast, which is convenient for unified remote sensing processing of multi-scale and multi-structure targets, so as to improve the application efficiency and measurement coverage ability of the system in scenarios such as complex structure detection of space components and multi-region dynamic analysis.

[0018] (3) The spot-adjustable laser remote sensing optomechanical system constructs an intelligent decision-making mechanism based on the remote sensing credibility index. It fuses and evaluates the remote sensing response accuracy index and the structural optical matching index to form a comprehensive state decision parameter, and uses the remote sensing credibility index as a trigger condition to guide whether the system starts the regulation process. If this index is lower than the set threshold, the system will automatically link and control the axial position of the laser, the state of the spot lens, and the position of the detector. And the regulation of each link is based on the current signal improvement rate for feedback determination to ensure that there is a clear signal improvement in the adjustment. At the same time, it constructs a complete control closed-loop from state recognition, decision trigger, parameter adjustment to signal response verification, enabling the system to have the ability of full-process self-adaptation, so as to have the characteristics of fast regulation and continuous optimization in complex remote sensing scenarios, and then improve the overall system intelligence level.

[0019] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the principle of a spot-adjustable laser remote sensing optomechanical system of the present invention.

[0021] Figure 2 It is a schematic diagram of the structure of the detection unit of the present invention.

[0022] Figure 3 It is a schematic diagram of the structure of the laser emission unit of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the detection optical lens adjustment unit of the present invention.

[0024] Figure 5 It is a schematic diagram of spot switching of the present invention.

[0025] Figure 6 It is a specific step flow chart for obtaining the remote sensing response accuracy index of the laser remote sensing optomechanical system to be adjusted in a spot-adjustable laser remote sensing optomechanical system of the present invention.

[0026] Figure 7 This is a specific step flowchart for obtaining the structural optical matching index of the laser remote sensing optomechanical system with adjustable spot in the present invention.

[0027] In the figure, 1 is the laser emission unit; 101 is the laser; 102 is the displacement adjustment unit; 2 is the detection optical lens adjustment unit; 201 is the one-dimensional lens; 202 is the lens adjustment bracket; 203 is the aspherical collimating lens; 204 is the rotary motor; 3 is the receiving lens; 4 is the indicating optical lens adjustment unit; 5 is the indicating red light; 6 is the signal processing unit; 7 is the detection unit; 701 is the photodetector; 702 is the detector mounting unit; 703 is the micro-displacement adjustment platform. Specific embodiments

[0028] Please refer to Figure 1-5 , an embodiment of the present invention provides a technical solution: a laser remote sensing optomechanical system with adjustable spot, including: a laser emission unit 1 for emitting a laser beam with adjustable focusing characteristics, the laser emission unit 1 includes a laser 101 for emitting the laser beam, and the laser 101 performs precise displacement along the laser optical axis based on the displacement adjustment unit 102, so as to change the diameter and divergence angle of the laser output spot, so as to achieve precise control of the spot size; a detection optical lens adjustment unit 2 for receiving the laser beam emitted by the laser emission unit 1 and performing shape control; a receiving lens 3 for receiving the optical signal remotely measured and returned after the laser beam controlled by the detection optical lens adjustment unit 2 reaches the target and performing focusing; an indicating red light 5 for providing a visible light beam consistent with the output path of the laser emission unit 1; an indicating optical lens adjustment unit 4 for adjusting the emission direction of the indicating red light 5 to be consistent with the laser beam path after the action of the detection optical lens adjustment unit 2, so as to visualize the invisible laser landing point; a detection unit 7 for converting the optical signal focused by the receiving lens 3 into an electrical signal; a signal processing unit 6 for receiving the electrical signal output by the detection unit 7 and analyzing and generating a control command to perform intelligent control on the laser emission unit 1 and the detection optical lens adjustment unit 2.

[0029] The detection unit 7 includes a photodetector 701 that receives the optical signal focused by the receiving lens 3 and is stably carried by the detector mounting unit 702 to ensure the heat dissipation and working stability of the photodetector 701. The photodetector 701 and the detector mounting unit 702 are slightly adjusted in position through the micro-displacement adjustment platform 703, so that the signal state of the photodetector 701 reaches the optimal state.

[0030] The detection light lens adjustment unit 2 includes a cylindrical lens 201 and an aspherical collimating lens 203 for adjusting the shape of the laser beam emitted by the laser emission unit 1. The cylindrical lens 201 and the aspherical collimating lens 203 are switched through a lens adjustment bracket 202. The lens adjustment bracket 202 is driven based on a rotating motor 204. The rotating motor 204 drives the lens adjustment bracket 202 to rotate, so as to realize the switching of the cylindrical lens 201 and the aspherical collimating lens 203 in the optical path, thereby completing the switching output of different spot shapes.

[0031] Specifically, the signal processing unit 6 includes: a data acquisition module for real-time acquisition of the status data of the laser telemetry optomechanism to be adjusted (that is, the real-time feedback data set obtained by measuring each laser emission to reception behavior), and the status data includes the electrical signal data (converted by the photodetector 701) and the component position data set; a data analysis module for respectively performing feature analysis on the status data of the laser telemetry optomechanism to be adjusted to obtain a telemetry evaluation index set of the laser telemetry optomechanism to be adjusted, including a telemetry response accuracy index and a structural optical matching index, and comprehensively analyzing to obtain a telemetry credibility index of the laser telemetry optomechanism to be adjusted; an optomechanism adjustment module for intelligently controlling the laser emission unit 1 (the displacement adjustment unit 102 therein), the detection light lens adjustment unit 2, and the micro-displacement adjustment platform 703 of the laser telemetry optomechanism to be adjusted based on the telemetry credibility index.

[0032] In this implementation, the acquisition of electrical signal data is obtained by real-time conversion by the photodetector 701. The photodetector receives the optical signal focused by the receiving lens 3 and converts these optical signals into corresponding electrical signals. The component position data set, that is, the position coordinates of each key component of the telemetry optomechanism. Specifically, the three-dimensional position coordinates of each component such as the photodetector 701, the laser emission unit 102, and the detection light lens adjustment unit 2 will be collected in real time through the built-in positioning sensor or external tracking device. Then, the data analysis module in the signal processing unit 6 further deeply analyzes these data to generate a telemetry response accuracy index, a structural optical matching index, and a telemetry credibility index, so that the system can evaluate the signal quality and optical matching situation in real time and make corresponding intelligent adjustment decisions, thereby ensuring the optimal reception and measurement accuracy of the signal during the telemetry process. Finally, the optomechanism adjustment module accurately controls the laser emission unit 102, the detection light lens adjustment unit 2, and the micro-displacement adjustment platform 703 according to the calculated telemetry credibility index, and by intelligently adjusting the positions and states of each component, so that the system can optimize the optomechanism settings in real time in a dynamic environment, thereby avoiding problems such as spot offset and signal instability affecting the measurement results, and then improving the adaptability of the telemetry optomechanism under complex conditions, and then enabling it to maintain high-precision and high-stability performance in a changing measurement scenario.

[0033] Specifically, as Figure 6 shown, the electrical signal data is specifically the signal amplitude at each time point. The specific steps to obtain the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted are as follows: Obtain the detection three-dimensional position coordinates of the laser telemetry optomechanism to be adjusted (i.e., the three-dimensional position coordinates of the center point of the micro-displacement adjustment platform 703), and input them into the pre-trained position optimization model for optimization analysis together with the electrical signal data, to obtain the optimized three-dimensional position coordinates of the detection of the laser telemetry optomechanism to be adjusted (indicating that the signal intensity of the photodetector 701 is the largest and most stable when the micro-displacement adjustment platform 703 is at this position), and conduct comprehensive analysis in combination with the detection three-dimensional position coordinates (calculate the deviation between the three-dimensional position coordinates of the micro-displacement adjustment platform 703 and the optimized three-dimensional position coordinates based on the Euclidean distance formula, and map the result to between 0 and 1 through the Sigmoid function), to obtain the detection position deviation index of the laser telemetry optomechanism to be adjusted; Based on the electrical signal data of the laser telemetry optomechanism to be adjusted, analyze the signal response index of the laser telemetry optomechanism to be adjusted, and in combination with its position deviation index, analyze the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted.

[0034] Among them, the specific steps to analyze the signal response index of the laser telemetry optomechanism to be adjusted are as follows: Conduct time-domain sampling processing on the electrical signal data of the laser telemetry optomechanism to be adjusted, obtain the signal amplitudes at several time points of the laser telemetry optomechanism to be adjusted, and conduct comprehensive analysis respectively to obtain the signal intensity index of the laser telemetry optomechanism to be adjusted (i.e., the mean value of the signal amplitudes at each time point), the signal stability index (i.e., the standard deviation of the signal amplitudes at each time point), the signal fluctuation index (i.e., conduct statistical processing on the signal amplitudes at each time point to obtain the maximum signal amplitude and the minimum signal amplitude, and conduct difference processing, that is, the absolute value of the difference between the maximum signal amplitude and the minimum signal amplitude), and conduct normalization processing. Conduct comprehensive analysis based on the signal intensity index, signal stability index, and signal fluctuation index of the laser telemetry optomechanism to be adjusted after normalization processing (i.e., weighted processing, and map the result to between 0 and 1 through the Sigmoid function), to obtain the signal response index of the laser telemetry optomechanism to be adjusted.

[0035] The position optimization model is specifically a convolutional neural network, including an input layer, a convolutional layer, a fully connected embedding layer, a fully connected fusion layer, and an output prediction layer. The specific steps to obtain the optimized three-dimensional position coordinates of the laser remote sensing optomechanism to be adjusted are as follows: In the input layer of the convolutional neural network, the detected three-dimensional position coordinates and electrical signal data of the laser remote sensing optomechanism to be adjusted are received and preprocessed; in the convolutional layer of the convolutional neural network, one-dimensional convolutional processing is performed on the preprocessed electrical signal data (photoelectric detector 701) of the laser remote sensing optomechanism to be adjusted (that is, the convolutional processing uses a convolutional kernel with a stride to synchronously perform feature extraction and dimensionality reduction, and a feature map compression mechanism is embedded in this convolutional layer to directly convert the multi-channel feature map output by the convolution into a signal feature vector with a fixed length), obtaining the detected signal feature vector of the laser remote sensing optomechanism to be adjusted; in the fully connected embedding layer of the convolutional neural network, non-linear mapping processing is performed on the preprocessed detected three-dimensional position coordinates of the laser remote sensing optomechanism to be adjusted (receiving the three-dimensional coordinates, performing normalization and standardization processing on them, and then inputting them into a fully connected neural network including at least one layer with a non-linear activation function. After weight weighting, bias term adjustment, and activation function conversion, a high-dimensional embedding feature vector used to represent this spatial position is output), obtaining the detected spatial embedding vector of the laser remote sensing optomechanism to be adjusted; in the fully connected fusion layer of the convolutional neural network, the detected feature vector and the detected spatial embedding vector of the laser remote sensing optomechanism to be adjusted are fused (performing a concatenation operation on the signal feature vector and the spatial embedding vector in the feature dimension, that is, combining them in the vector channel order to form a unified fusion input vector. The fusion input vector simultaneously includes the feature representation of the electrical signal received by the current detector in the time domain, such as intensity pattern, fluctuation trend, etc. and the position information of the current detector in the three-dimensional space coordinate system, with cross-dimensional expression ability. The fused feature vector is input to the fusion analysis module, which consists of a group of non-linear fully connected networks, usually including one or more layers of neuron structures with activation functions, for realizing high-dimensional interaction learning and feature reconstruction between features from different sources. In this process, the fusion analysis layer not only models the potential non-linear correlation between the signal and the position, but also compresses redundant or weakly correlated features, thereby outputting a signal-position joint semantic vector with a compact structure and high expression ability, which is marked as the comprehensive state feature vector), obtaining the detected comprehensive state feature vector of the laser remote sensing optomechanism to be adjusted;In the output prediction layer of the convolutional neural network, predictive processing is performed on the detection comprehensive state feature vector of the laser remote sensing optomechanism to be adjusted (the output prediction layer is composed of a fully connected neuron structure dedicated to regression analysis, which is used to learn the non-linear mapping relationship between the comprehensive state features and the optimal detection position. That is, for three output nodes, weighted calculation paths are constructed corresponding to the three spatial coordinate axes. Each node performs linear weighted summation on each dimension feature in the input feature vector and superimposes a bias term to form a predicted output value. Since the target is the continuous coordinates in the actual physical space, the output layer does not use an activation function and directly outputs the three-dimensional position prediction result in a linear manner. This predicted value is the position coordinate of the signal optimal reception point in the current state), and the optimized three-dimensional position coordinates of the laser remote sensing optomechanism to be adjusted are obtained.;

[0036] Among them, the input layer is used to receive and preprocess the three-dimensional coordinates and electrical signal data of the photodetector.

[0037] The convolutional layer is used to extract the time-domain features of the electrical signal and convert them into a feature vector of a fixed length.

[0038] The fully connected embedding layer is used to map the three-dimensional position coordinates into a spatial embedding vector.

[0039] The fully connected fusion layer is used to fuse the signal features and the spatial embedding vector and output the comprehensive state feature vector.

[0040] The output prediction layer is used to predict the optimized three-dimensional position coordinates based on the comprehensive feature vector.

[0041] And the pre-training process of the convolutional neural network is as follows:

[0042] Obtain a sample data set, including sample data of different spatial position coordinates, electrical signal sequences, and corresponding optimal three-dimensional position labels, and divide it into a sample training set and a sample validation set;

[0043] Initialize the convolutional neural network, including initializing the weight parameters and bias parameters of each neuron connection in the convolutional neural network structure. Among them, the weight parameters are assigned using a random initialization method based on a Gaussian distribution or a uniform distribution, and the bias parameters are usually initialized to zero or a small perturbation value, which is used to adjust the activation starting point of each neuron and enhance the response sensitivity of the non-linear activation function. In addition, according to the specific depth of the network structure and the type of activation function (such as ReLU, Tanh), the He initialization or Xavier initialization strategy can be selected to improve the convergence stability and efficiency of the model in the early stage of training.

[0044] Train based on the sample training set, set the number of training loops (such as 50 or 100), and in each training loop, perform forward propagation (input the sample into the network, pass through each layer structure in sequence, and calculate the predicted 3D coordinate output), loss calculation (compare the predicted coordinates with the true labeled coordinates, calculate the error, such as mean square error), backpropagation (calculate the gradients of the parameters of each layer based on the error), and parameter update (use an optimizer, such as Adam, to update the weights and biases in the network).

[0045] After each training loop, perform evaluation and analysis based on the sample validation set. Input all samples in the validation set one by one into the convolutional neural network that has been trained for one round, and obtain the corresponding predicted 3D position coordinate output; compare the error between the predicted output and the corresponding true labeled coordinates in the validation set, and calculate the average error metric (such as mean square error MSE, mean absolute error MAE, or Euclidean distance error) as the validation metric after this round of training. At the same time, record the current validation error and compare it with the historical best validation error. If the current error is better than the historical best value, update and save the model parameters as the current version; if the validation error does not decrease significantly for multiple consecutive training rounds (i.e., meets the set "early stopping" judgment condition), or the validation error reaches the preset convergence threshold (such as the error is less than 0.001), then terminate the training process in advance to avoid overfitting the training set and ensure that the final model has good generalization ability.

[0046] The specific formula for calculating the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted is as follows: ; where is the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted, is the signal response index of the laser telemetry optomechanism to be adjusted, is the response adjustment coefficient stored in the database, is the position deviation index of the laser telemetry optomechanism to be adjusted, is the position deviation adjustment coefficient stored in the database, is the interaction adjustment coefficient stored in the database.

[0047] It should be noted that , , can be obtained through the following steps: Based on historical data, determine the initial influence weights of each variable (signal response index, position deviation index) on the telemetry response accuracy index through statistical regression analysis. Then, use the sensitivity analysis method to adjust the value range of the coefficients to evaluate the stability and applicability of these parameters to the formula output. Next, further fit the weights through model optimization (such as machine learning algorithms or multi-objective optimization) to ensure that the formula can accurately reflect the quality of the actual signal.

[0048] Specific implementation examples for calculating the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted are as follows. The existing data includes the signal response index and position deviation index of the laser telemetry optomechanism to be adjusted after randomly extracting 5 measurements for analysis, as shown in Table 1 specifically:

[0049] Table 1 Example of index sequence data of the laser telemetry optomechanism to be adjusted:

[0050] Signal response index Position deviation index First measurement 0.687 0.371 Second measurement 0.891 0.103 Third measurement 0.799 0.167 Fourth measurement 0.578 0.493 Fifth measurement 0.866 0.138

[0051] Response adjustment coefficient stored in the database Approximately: 0.428;

[0052] Position deviation adjustment coefficient stored in the database Approximately: 0.284;

[0053] Interaction adjustment coefficient stored in the database Approximately: 1.462;

[0054] Substitute the data in Table 1 and the above adjustment coefficients into the specific formula for calculating the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted, and obtain:

[0055] The telemetry response accuracy index of the laser telemetry optomechanism to be adjusted after the first measurement analysis ≈ 0.667;

[0056] The telemetry response accuracy index of the laser telemetry optomechanism to be adjusted after the second measurement analysis ≈ 1.172;

[0057] The telemetry response accuracy index of the laser telemetry optomechanism to be adjusted after the third measurement analysis ≈ 0.819;

[0058] The telemetry response accuracy index of the laser telemetry optomechanism to be adjusted after the fourth measurement analysis ≈ 0.599;

[0059] The telemetry response accuracy index of the laser telemetry optomechanism to be adjusted after the fifth measurement analysis ≈ 1.102.

[0060] In this embodiment, by acquiring the electrical signal data of the photoelectric detector 701 and the position data of the micro-displacement adjustment platform 703, and combining it with the real-time analysis of the position optimization model, the system can dynamically adjust the position of the detector to ensure that the signal reception is maximized and remains stable, thereby significantly improving the measurement accuracy of the telemetry system in complex environments, especially in long-distance or interference-intensive situations, and effectively reducing the measurement error caused by position deviation or signal attenuation. By optimizing the three-dimensional position coordinates, the detector is placed at the optimal signal receiving point, and the telemetry response accuracy is significantly improved. Secondly, a convolutional neural network is used to perform deep learning and feature analysis on the electrical signal data and the three-dimensional position coordinates. Extraction, so as to automatically achieve accurate matching of signals and positions, and each training process can not only learn from historical data, but also optimize network weights through multiple iterations to achieve real-time adjustment, so that the system can adapt to changes in complex working conditions, thereby improving the stability and reliability of the telemetry system, and then improving the overall work efficiency. Finally, the combination of signal response accuracy index and position deviation index provides a comprehensive telemetry evaluation index, which enables the system to adjust the position of the detector according to the current measurement status, so that the system is not only suitable for static targets, but also can adapt to real-time changing measurement tasks, thereby enabling the telemetry optical machine to better adapt to the scanning requirements of different targets and ensure measurement accuracy.

[0061] Specifically, if Figure 7As shown, the component position dataset includes the laser 101 (i.e., the coordinates of the center point of the emission port), the linear lens 201 (the coordinates of the center point), the aspherical collimating lens 203 (the coordinates of the center point), the receiving lens 3 (the coordinates of the center point), the boundary points of the target area (both ends) and the three-dimensional position coordinates of the target center point. The specific steps to obtain the structural optical matching index of the laser remote sensing optical machine to be adjusted are as follows: Based on the component position dataset of the laser remote sensing optical machine to be adjusted, analyze the spot shape adaptation index and the optical path alignment index of the laser remote sensing optical machine to be adjusted; perform weighted analysis on the spot shape adaptation index and the optical path alignment index of the laser remote sensing optical machine to be adjusted (and the weights corresponding to the spot shape adaptation index and the optical path alignment index can be obtained based on the chaotic optimization dynamic weight algorithm, that is, assign corresponding initial weight values to the spot shape adaptation index and the optical path alignment index, and satisfy that the sum of the two is 1. The initial weights can be set to an equilibrium state, such as both being 0.5, indicating that the initial contributions of the two parameters to the matching index are the same. Use the Logistic chaotic mapping formula to iteratively update the weights, set the chaotic control parameters to ensure a completely chaotic state, calculate the weight of the next iteration step through the Logistic chaotic mapping formula according to the current weight of the spot shape adaptation index, and synchronously update the weight of the optical path alignment index. Through the ergodicity of the chaotic mapping, the weights randomly evolve within the 0-1 interval, covering all possible weight combinations. In each weight iteration, calculate the structural optical matching index under the current weight. This index comprehensively reflects the matching degree between the spot shape and the optical path alignment. The higher the value, the better the system performance. Within the preset number of iterations, such as 100 times, record the values of the structural optical matching index for each iteration, and select the weight combination that makes this index reach the maximum value as the final fusion weight), to obtain the structural optical matching index for adjusting the remote sensing optical machine.

[0062] Among them, the specific steps for analyzing the spot shape adaptation index of the laser remote measurement optomechanism to be adjusted are as follows: comprehensively analyze the three-dimensional position coordinates of the laser 101 of the laser remote measurement optomechanism to be adjusted with the three-dimensional position coordinates of the one-dimensional lens 201 and the three-dimensional position coordinates of the aspherical collimating lens 203 respectively to obtain the first distance value (i.e., the distance value between the laser 101 and the one-dimensional lens 201) and the second distance value (i.e., the distance value between the laser 101 and the aspherical collimating lens 203) of the laser remote measurement optomechanism to be adjusted, and conduct statistical analysis (i.e., compare and analyze the first distance value and the second distance value to obtain the minimum distance), to obtain the currently used lens (if the first distance value is the smallest, mark the one-dimensional lens 201 as the currently used lens, if the second distance value is the smallest, mark the aspherical collimating lens 203 as the currently used lens) and the current distance value (if the currently used lens is the one-dimensional lens 201, mark the first distance value as the current distance value, if the currently used lens is the aspherical collimating lens 203, mark the second distance value as the current distance value) of the laser remote measurement optomechanism to be adjusted; and obtain the aperture width of the laser 101 of the laser remote measurement optomechanism to be adjusted (which can be obtained through the device technical specification stored in the database) and the laser divergence angle of the currently used lens (which can be obtained through the calibrated divergence angle of the device stored in the optical database), and conduct comprehensive analysis in combination with the current distance value to obtain the current standard spot width value of the laser remote measurement optomechanism to be adjusted, and its calculation formula is as follows: ; Among them, is the current standard spot width value of the laser remote measurement optomechanism to be adjusted, is the aperture width of the laser 101 of the laser remote measurement optomechanism to be adjusted, is the current distance value of the laser remote measurement optomechanism to be adjusted, is the laser divergence angle of the currently used lens of the laser remote measurement optomechanism to be adjusted;

[0063] Based on the Euclidean distance formula, analyze the three-dimensional position coordinates of the boundary points at both ends of the target area of the laser remote measurement optomechanism to be adjusted to obtain the target width value of the laser remote measurement optomechanism to be adjusted, and conduct comprehensive analysis in combination with the current standard spot width value (i.e., the absolute value of the difference between the target width value and the current standard spot width value / the current standard spot width value, and then 1 minus this result) to obtain the spot shape adaptation index of the laser remote measurement optomechanism to be adjusted, and its calculation formula is as follows: ; Among them, is the spot shape adaptation index of the laser remote measurement optomechanism to be adjusted, is the target width value of the laser remote measurement optomechanism to be adjusted, is the current standard spot width value of the laser remote measurement optomechanism to be adjusted.

[0064] The specific steps for analyzing the optical path alignment index of the laser telemetry opto-mechanism to be adjusted are as follows: Obtain the three-dimensional position coordinates of the currently used lens of the laser telemetry opto-mechanism to be adjusted (the three-dimensional position coordinates of the currently used lens); Read the three-dimensional position coordinates of the laser 101, the three-dimensional position coordinates of the receiving lens 3, and the three-dimensional position coordinates of the target center point of the laser telemetry opto-mechanism to be adjusted, and perform comprehensive analysis respectively in combination with the three-dimensional position coordinates of the currently used lens to obtain the emission direction vector of the laser telemetry opto-mechanism to be adjusted (that is, perform three-dimensional vector subtraction processing based on the three-dimensional position coordinates of the laser 101 and the three-dimensional position coordinates of the currently used lens), the receiving direction vector (that is, perform three-dimensional vector subtraction processing based on the three-dimensional position coordinates of the receiving lens 3 and the three-dimensional position coordinates of the target center point), and perform similarity analysis to obtain the optical path alignment index of the laser telemetry opto-mechanism to be adjusted.

[0065] The specific formula for calculating the telemetry credibility index of the laser telemetry opto-mechanism to be adjusted is as follows: ; where is the telemetry credibility index of the laser telemetry opto-mechanism to be adjusted, is the telemetry response accuracy index of the laser telemetry opto-mechanism to be adjusted, is the signal quality adjustment coefficient stored in the database, is the structural optical matching index of the laser telemetry opto-mechanism to be adjusted, is the optical matching adjustment coefficient stored in the database, is the difference adjustment coefficient stored in the database, is the superposition adjustment coefficient stored in the database.

[0066] It should be explained that in the formula this term is used to suppress the difference between the telemetry response accuracy index and the structural optical matching index, and avoid the telemetry credibility index being too high or too low.

[0067] 、 、 、 can be obtained through the following steps: Use historical data, combine the telemetry response accuracy index and the structural optical matching index, perform statistical regression analysis, quantify the specific impact of each factor on the telemetry credibility index, so as to fit the initial weight value. Secondly, use the sensitivity analysis method to adjust the value range of each coefficient, observe its impact on the telemetry credibility evaluation result, and ensure the stability and rationality of the model.

[0068] In this implementation, through the comprehensive analysis of the spot shape adaptation index and the optical path alignment index, the system can dynamically adjust the spot shape and path alignment, thus ensuring the best signal reception and maximizing the measurement accuracy. The spot shape adaptation index realizes the output of different spot shapes by precisely controlling the switching between lenses, so as to effectively meet different measurement requirements. The optical path alignment index ensures the optical path alignment accuracy by precisely calculating the similarity of the optical path to ensure the best docking of the laser beam and the receiving lens, thereby improving the signal quality and reliability. Secondly, combined with the telemetry response accuracy index, the structural optical matching index and the telemetry credibility index, the system can comprehensively evaluate the signal quality and optical matching situation, dynamically adjust the working state of each adjustment unit, and then improve the adaptability of the telemetry system in complex environments, and effectively improve the stability and reliability of the system. Especially in long-distance telemetry or complex reflection scenarios, the system can be adjusted in real time to ensure that it always remains in the best working state. Finally, through automatic data acquisition, analysis and optomechanical adjustment, the system reduces the intervention of manual operations, can automatically adjust to the best measurement state in complex environments, and reduces human errors, thereby improving the measurement accuracy and efficiency, and making the system more suitable for remote operation and dynamic monitoring. Especially in scenarios where it is difficult to access, the safety and efficiency of telemetry work are greatly improved.

[0069] Specifically, the specific steps for intelligently controlling the displacement adjustment unit 102, the detection optical lens adjustment unit 2, and the micro-displacement adjustment platform 703 of the laser telemetry opto-mechanism to be adjusted based on the telemetry trust index are as follows: Compare the telemetry trust index of the laser telemetry opto-mechanism to be adjusted with the preset telemetry trust index threshold; if the telemetry trust index of the laser telemetry opto-mechanism to be adjusted is higher than the preset telemetry trust index threshold, no control is performed; if the telemetry trust index of the laser telemetry opto-mechanism to be adjusted is lower than or equal to the preset telemetry trust index threshold, control processing is performed on the displacement adjustment unit 102, the detection optical lens adjustment unit 2, and the micro-displacement adjustment platform 703 of the laser telemetry opto-mechanism to be adjusted. Specifically, for the displacement adjustment unit 102, the signal processing unit 6 controls the displacement adjustment unit 102 to make the laser 101 perform forward and backward stepwise micro-displacements (such as in units of 0.1 mm), and monitors the improvement amplitude of the signal; if the signal response index improves significantly after adjustment, lock the current displacement value as the focal length optimization parameter; if the signal improvement is not obvious, continue to adjust step by step until the optimal spot size is found. That is, during the axial micro-displacement control process of the displacement adjustment unit 102, the system calculates the current signal response index in real time and compares it with the initial signal response index to obtain the improvement rate. The system judges the control result based on the improvement rate: when the improvement rate is higher than or equal to 10%, it is considered that the signal improvement is significant, and the current displacement position is automatically locked; when the improvement rate is in the range of [3%, 10%), continue to perform the next step of stepwise micro-displacement; when it is lower than 3%, perform reverse adjustment or parameter rollback. For the detection optical lens adjustment unit 2, start the rotation motor 204 to automatically switch the current lens state, that is, based on the spot shape adaptation index and the preset spot shape adaptation index threshold for judgment and analysis. If the spot shape adaptation index is higher than the preset spot shape adaptation index threshold, no switching is performed; if it is lower, start the rotation motor 204 to switch to other states; for the micro-displacement adjustment platform 703, read the detection optimization three-dimensional position coordinates of the laser telemetry opto-mechanism to be adjusted, and based on the signal processing unit 6, control the micro-displacement adjustment platform 703 to move to the position based on the detection optimization three-dimensional position coordinates to adjust the position of the photodetector 701.

[0070] In this implementation scheme, by intelligently analyzing the telemetry credibility index, it is dynamically determined when to adjust each unit in the system, so as to ensure timely fine-tuning in the case of poor signal quality. Especially when the signal response index is not ideal, the laser focus is adjusted by stepwise micro-shifting, so that the system can obtain the optimal spot size in real-time feedback, thereby improving the signal intensity and stability. Moreover, the real-time monitoring of the signal improvement amplitude ensures that each adjustment can maximize the optimization of the system performance, thus avoiding unnecessary adjustments and improving the overall accuracy. Secondly, through the automatic spot adjustment and optical path optimization of the system, the intervention of manual operation is reduced, and the micro-displacement adjustment platform, detection optical lens adjustment unit and displacement adjustment unit are intelligently adjusted, so as to realize the automatic adjustment of the telemetry system under different environmental conditions, which not only improves the operation efficiency, but also ensures the continuous stability in complex environments, and further improves the adaptability of the system under dynamic working conditions. Finally, based on the analysis of the signal response index and the spot shape adaptation index of real-time feedback, the system can accurately adjust the spot shape and the optical path alignment state to ensure that the system state after each adjustment is within the optimal range, so that the system can achieve the most accurate signal reception in different optical path environments, effectively preventing the decline of telemetry accuracy, ensuring long-term stable operation, and enhancing the reliability of measurement.

[0071] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A laser remote sensing opto-mechanical system with adjustable light spot, characterized in that, Comprising: A laser emission unit (1) for emitting a laser beam; A detection light lens adjustment unit (2) for receiving the laser beam emitted by the laser emission unit (1) and performing shape control; A receiving lens (3) for receiving the optical signal remotely measured and returned after the laser beam whose shape has been controlled by the detection light lens adjustment unit (2) reaches the target and for focusing; A detection unit (7) for converting the optical signal focused by the receiving lens (3) into an electrical signal; A signal processing unit (6) for receiving the electrical signal output by the detection unit (7) and analyzing and generating a regulation instruction.

2. The adjustable spot laser remote sensing opto-mechanical system according to claim 1, wherein: The detection unit (7) includes a photodetector (701) for receiving the optical signal focused by the receiving lens (3), and is stably carried by a detector mounting unit (702). The photodetector (701) and the detector mounting unit (702) are position-adjusted by a micro-displacement adjustment platform (703).

3. The spot-adjustable laser remote sensing opto-mechanical system according to claim 1, wherein The detection light lens adjustment unit (2) includes a one-dimensional lens (201) and an aspherical collimating lens (203) for adjusting the shape of the laser beam emitted by the laser emission unit (1). The one-dimensional lens (201) and the aspherical collimating lens (203) are switched by a lens adjustment bracket (202).

4. The spot-adjustable laser remote sensing opto-mechanical system according to claim 1, wherein The signal processing unit (6) includes: A data acquisition module for real-time acquiring the state data of the laser remote sensing opto-mechanical device to be adjusted, where the state data includes electrical signal data and a component position data set; A data analysis module for respectively performing feature analysis on the state data of the laser remote sensing opto-mechanical device to be adjusted to obtain a remote sensing evaluation index set of the laser remote sensing opto-mechanical device to be adjusted, including a remote sensing response accuracy index and a structural optical matching index, and performing comprehensive analysis to obtain a remote sensing credibility index of the laser remote sensing opto-mechanical device to be adjusted; An opto-mechanical adjustment module for intelligently regulating the laser emission unit (1), the detection light lens adjustment unit (2), and the micro-displacement adjustment platform (703) of the laser remote sensing opto-mechanical device to be adjusted based on the remote sensing credibility index.

5. The spot-adjustable laser remote sensing opto-mechanical system according to claim 4, characterized in that, The electrical signal data is specifically the signal amplitude at each time point. The specific steps for obtaining the remote sensing response accuracy index of the laser remote sensing opto-mechanical device to be adjusted are as follows: Obtain the detection three-dimensional position coordinates of the laser remote sensing opto-mechanical device to be adjusted, and input them into a pre-trained position optimization model together with the electrical signal data for optimization analysis to obtain the detection optimized three-dimensional position coordinates of the laser remote sensing opto-mechanical device to be adjusted, and perform comprehensive analysis in combination with the detection three-dimensional position coordinates to obtain the detection position deviation index of the laser remote sensing opto-mechanical device to be adjusted; Based on the electrical signal data of the laser remote sensing opto-mechanical device to be adjusted, analyze the signal response index of the laser remote sensing opto-mechanical device to be adjusted, and in combination with its position deviation index, analyze the remote sensing response accuracy index of the laser remote sensing opto-mechanical device to be adjusted.

6. The spot-adjustable laser remote measurement opto-mechanical system according to claim 5, characterized in that, The position optimization model is specifically a convolutional neural network, including an input layer, a convolutional layer, a fully connected embedding layer, a fully connected fusion layer, and an output prediction layer. The specific steps for obtaining the detection optimized three-dimensional position coordinates of the laser remote sensing opto-mechanical device to be adjusted are as follows: In the input layer of the convolutional neural network, the detected three-dimensional position coordinates and electrical signal data of the laser telemetry optomechanism to be adjusted are received and preprocessed; In the convolutional layer of the convolutional neural network, one-dimensional convolutional processing is performed on the preprocessed electrical signal data of the laser telemetry optomechanism to be adjusted, and the detection signal feature vector of the laser telemetry optomechanism to be adjusted is obtained; In the fully connected embedding layer of the convolutional neural network, non-linear mapping processing is performed on the preprocessed detected three-dimensional position coordinates of the laser telemetry optomechanism to be adjusted, and the detection space embedding vector of the laser telemetry optomechanism to be adjusted is obtained; In the fully connected fusion layer of the convolutional neural network, the detection feature vector and the detection space embedding vector of the laser telemetry optomechanism to be adjusted are fused to obtain the detection comprehensive state feature vector of the laser telemetry optomechanism to be adjusted; In the output prediction layer of the convolutional neural network, prediction processing is performed on the detection comprehensive state feature vector of the laser telemetry optomechanism to be adjusted, and the detected optimized three-dimensional position coordinates of the laser telemetry optomechanism to be adjusted are obtained.

7. The spot-adjustable laser remote sensing optomechanical system according to claim 5, characterized in that The specific formula for calculating the telemetry response accuracy index of the laser telemetry optomechanism to be adjusted is as follows: ； Among them, , , are, in sequence, the telemetry response accuracy index, signal response index, and position deviation index of the laser telemetry optomechanism to be adjusted, , , are the response adjustment coefficients, position deviation adjustment coefficients, and interaction adjustment coefficients stored in the database.

8. The spot-adjustable laser remote sensing opto-mechanical system according to claim 4, characterized in that The component position data set includes the three-dimensional position coordinates of the laser (101), the one-dimensional lens (201), the aspherical collimating lens (203), the receiving lens (3), the target area boundary points and the target center point. The specific steps for obtaining the structural optical matching index of the laser telemetry optomechanism to be adjusted are as follows: Based on the component position data set of the laser telemetry optomechanism to be adjusted, analyze the spot shape adaptation index and the optical path alignment index of the laser telemetry optomechanism to be adjusted; Perform weighted analysis on the spot shape adaptation index and the optical path alignment index of the laser telemetry optomechanism to be adjusted to obtain the structural optical matching index for adjusting the telemetry optomechanism.

9. The spot-adjustable laser remote sensing opto-mechanical system according to claim 4, characterized in that The specific formula for calculating the telemetry credibility index of the laser telemetry optomechanism to be adjusted is as follows: ； Among them, , , are the telemetry credibility index, telemetry response accuracy index, and structural optical matching index of the laser telemetry optomechanism to be adjusted in sequence, , , , are the signal quality adjustment coefficient, optical matching adjustment coefficient, difference adjustment coefficient, and superposition adjustment coefficient stored in the database.

10. The spot-adjustable laser remote sensing opto-mechanical system according to claim 4, characterized in that, The specific steps for intelligently controlling the displacement adjustment unit (102), the detection optical lens adjustment unit (2), and the micro-displacement adjustment platform (703) of the laser telemetry optomechanism to be adjusted based on the telemetry credibility index are as follows: Perform judgment analysis on the telemetry credibility index of the laser telemetry optomechanism to be adjusted and the preset telemetry credibility index threshold; If the telemetry credibility index of the laser telemetry optomechanism to be adjusted is higher than the preset telemetry credibility index threshold, no control is performed; If the telemetry credibility index of the laser telemetry optomechanism to be adjusted is lower than or equal to the preset telemetry credibility index threshold, control processing is performed on the laser emission unit (1), the detection optical lens adjustment unit (2), and the micro-displacement adjustment platform (703) of the laser telemetry optomechanism to be adjusted.

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