A portable long-distance autofocus laser emission system

Abstract

The present invention discloses a portable long-distance autofocus laser emission system, which relates to the field of optical instrument autofocus technology. The system includes a distance measurement and focus quantification module, a focal length control module, and a light spot quality quantification and control module. The present invention obtains the focus adaptability through the acquired focus control deviation parameter, and determines whether to perform focus control. After the focus is qualified, the light spot control deviation is obtained in combination with the light spot quality parameter obtained during the pre-emission process of the laser emitter, and it is determined whether to perform light spot control. After the light spot is qualified, a laser emission instruction for removing wire-mounted foreign matter is sent to perform laser emission for removing the target object, thereby improving the focus and emission accuracy and the light spot morphology in the process of emitting laser to remove the target object by the laser emission device, and solving the problem of low focus and emission accuracy caused by insufficient consideration of the position fluctuation of foreign matter when removing foreign matter on the high-voltage line by laser in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic focusing of optical instruments, and in particular to a portable long-distance automatic focusing laser emission system. Background Art

[0002] In the scenario of removing foreign objects from high-voltage power lines, such as when removing target foreign objects (such as kite strings) on high-voltage power lines, a CCD (Charge-Coupled Device) camera is used to capture images of the high-voltage power lines and their surroundings. The target object, due to its slenderness and possible reflective properties, appears as a slender bright line or reflective point in the image. By analyzing the clarity of the image, such as using the Laplace operator to calculate the gradient amplitude of the image, the CCD camera can be used to determine whether the current camera lens has roughly focused on the target. The judgment result (whether the target is clear) can be used as indirect information to assist the operator in determining whether the target is at the appropriate working distance and angle, providing a reference for subsequent laser ranging and emission. Based on the image of the CCD camera, the laser point of the laser rangefinder is used to aim at the target foreign object, triggering ranging. The surface of the target foreign object is quickly scanned using dynamic Z-axis scanning technology, simultaneously performing imaging and focusing. Based on the ranging result, the motor drives the lens to move back and forth along the optical axis, directly changing the image distance (the distance from the lens to the focus), thereby adjusting the focus position. TOF (Time of Flight) A time-of-flight (TOF) sensor measures the target distance in real time, while the coordinated deflection of the X / Y galvanometers changes the laser beam's angle of departure. Once the focus is locked on the target and the distance is measured and the focus is adjusted, a trigger button fires a sequence of laser pulses. High-energy pulsed laser light strikes the target, rapidly melting the material and causing it to fall off due to gravity.

[0003] For example, the Chinese invention patent publication number CN115933152A discloses a real-time multi-faceted autofocus system and focusing method, which include: a focusing light source, a laser attenuation plate, a pinhole aperture, a first dichroic mirror, a first tube lens, a second dichroic mirror, and an objective lens driven and moved by a motor. The light emitted by the focusing light source passes through the laser attenuation plate and the pinhole aperture in sequence, is transmitted from the first dichroic mirror, and then passes through the first tube lens and the second dichroic mirror in sequence to enter the objective lens; the first dichroic mirror reflects the light from the illumination system and combines it with the light from the focusing light source to form a coaxial optical path; the second dichroic mirror transmits the combined light and reflects the fluorescence passing through the objective lens to the imaging system; the motor and the imaging system are respectively electrically connected to a control host.

[0004] For example, the Chinese invention patent publication number CN117741939A discloses an autofocus system and autofocus method, which include: a laser beam emitted by a laser passes through a first lens and a second lens in sequence to form a parallel annular beam, half of the annular beam is blocked by an aperture stop, and the other half is folded by a first reflector and focused on an image plane by a third lens. After being reflected by the image plane, it passes through the third lens, the second reflector, and the fourth lens in sequence to form an image on a CMOS.

[0005] The above technology has at least the following technical problems:

[0006] In the scenario of removing foreign objects on high-voltage lines, such as removing target foreign objects on high-voltage lines, the energy density of the laser is closely related to its focal position. When working at long distances, the target distance may vary within a certain range, and the laser needs to be adjusted to point to targets at different distances.

[0007] When the target distance changes, the laser focus cannot automatically follow and adjust to the target, resulting in the laser energy being unable to be concentrated on the target. The energy density drops significantly, which is insufficient to effectively remove foreign objects such as burned kite strings, resulting in low removal efficiency.

[0008] In addition, the light spot needs to be scanned along its length, which results in low cleaning efficiency and a slow process. It is impossible to achieve more efficient energy coverage and cleaning, resulting in a lengthy cleaning process. When using laser to remove foreign objects on high-voltage lines, the problem of low focusing and emission accuracy caused by the position fluctuation of foreign objects is not fully considered. Summary of the Invention

[0009] The embodiments of the present application provide a portable long-distance auto-focus laser emission system to solve the problem of low focusing and emission accuracy caused by insufficient consideration of position fluctuations of foreign objects when removing foreign objects on high-voltage lines by laser in the prior art, thereby improving the focusing and emission accuracy and the spot shape in the process of removing target objects by emitting laser through a laser emission device.

[0010] The embodiment of the present application provides a portable long-distance autofocus laser emission system, including: a distance measurement and focus quantification module, a focal length control module, and a spot quality quantification and control module: wherein the distance measurement and focus quantification module is used to pre-set the focal length of the distance of the target object relative to the laser emission device measured by a laser rangefinder, and obtain the focus adaptation according to the focus control deviation parameter obtained during the focus pre-setting process to reflect the adaptation between the target object and the focus accuracy during the focus adjustment process, and at the same time send the obtained focus adaptation to the focus control module; the focus control module is used to determine whether to perform focus adjustment according to the received focus adaptation, and send a focus qualified instruction to the spot quality quantification and control module, and the focus adjustment includes adjusting the focal point position to reduce the focusing error. The focus adaptation difference caused by the change of the target position during the process, and the spot coverage difference caused by the deviation between the emission direction of the laser beam and the target; the spot quality quantification and control module is used to obtain the spot control deviation after receiving the focus qualification instruction, combining the spot quality parameters obtained during the pre-emission process of the laser transmitter to reflect the degree of deviation between the actual state of the spot clearing the target foreign matter and the ideal state of clearing the target foreign matter, judge whether to perform spot control according to the spot control deviation, and send the laser emission to clear the wire-mounted foreign matter instruction after the spot is qualified. The spot control includes adjusting the galvanometer deflection to correct the non-parallel state of the long axis direction of the spot and the extension direction of the target, and adjusting the laser output power to improve the adaptability of the laser output power to the burning target.

[0011] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0012] 1. The focus is pre-set by measuring the distance of the target relative to the laser emitting device using a laser rangefinder, effectively avoiding target imaging blur caused by real-time focus delay, and significantly improving the positioning accuracy of dynamic targets. The focus adaptation is obtained based on the focus control deviation parameters obtained during the focus pre-setting process, which can accurately quantify the adaptation between the target and the focus accuracy during the focus adjustment process. The focus adaptation is then used to determine whether to adjust the focus, effectively improving the adaptive focusing capability of the target, significantly reducing problems such as target imaging blur or positioning misalignment caused by focus deviation, and improving the target imaging clarity, thereby improving the ability to identify target foreign objects, laying the foundation for subsequent precise processing, and thus improving the focus and emission accuracy in the process of removing foreign objects on high-voltage lines by emitting lasers.

[0013] 2. The focus adaptability is used to determine whether to perform focus adjustment, so as to avoid target focus detection delay caused by invalid focus adjustment. When performing focus adjustment, whether to adjust the focus point position is determined based on the change in the relative distance of the target. While avoiding target focus detection delay caused by invalid focus adjustment, the focus point position is dynamically optimized to quickly eliminate focus errors, reduce focus adaptation differences caused by target position changes during focusing, significantly improve focus detection response speed and positioning accuracy, and achieve efficient and stable target detection. Then, based on the beam divergence angle judgment value, it is determined whether to adjust the beam divergence angle. The beam divergence angle is adaptively adjusted to reduce the spot coverage difference caused by beam diffusion, avoid insufficient spot energy due to the beam divergence angle, and improve the beam matching ability for targets at different distances, thereby improving the effective utilization rate of laser beam energy on the target foreign matter, ensuring precise control of the laser action area, and thereby improving the focus accuracy in the process of removing foreign matter on high-voltage lines by emitting lasers.

[0014] 3. The spot control deviation is obtained by obtaining the spot quality parameters, and the compatibility between the spot and the target foreign matter to be removed is quantified to avoid low removal efficiency caused by poor spot quality. The spot control deviation is used to determine whether to perform spot control to eliminate the matching error between the spot shape and the removal requirements of linear foreign matter. Based on the spot-target foreign matter angle deviation, it is determined whether to adjust the galvanometer deflection to ensure that the spot can be accurately irradiated on the target foreign matter and the long axis direction of the spot is parallel to the target object, thereby correcting the spot-target foreign matter angle deviation and improving the positioning accuracy of the beam scanning; then, based on the line spot width judgment value, it is determined whether to adjust the laser power to eliminate the energy focusing problem. After the spot has been correctly irradiated on the target object, the target object removal effect is optimized, thereby improving the laser emission accuracy, thereby ensuring that the laser beam energy can act more concentratedly and effectively on the target foreign matter, improving the targetedness and efficiency of the removal, and thereby improving the emission accuracy and spot shape. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic structural diagram of a portable long-distance autofocus laser emission system provided in an embodiment of the present application;

[0016] Figure 2 The embodiment of the present application provides a laser emitting device of a portable long-distance autofocus laser emitting system, comprising: 1 for the laser fiber outlet, 2 for the laser fiber end cap, 3 for the laser collimating lens, 4 for the microlens group, 5 for the variable magnification cylindrical lens group, 6 for the first dichroic mirror, 7 for the focusing lens, 8 for the second dichroic mirror, 9 for the visual lens, 10 for the laser rangefinder, 11 for the 1.535 μm narrowband filter, 12 for the laser ranging optical path, 13 for the visual optical path, and 14 for the laser ranging reflector;

[0017] Figure 3 A flowchart for adjusting the beam divergence angle of a portable long-distance autofocus laser emission system provided in an embodiment of the present application;

[0018] Figure 4 A flowchart for adjusting the galvanometer deflection amount of a portable long-distance autofocus laser emission system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The embodiment of the present application provides a portable long-distance auto-focus laser emission system, which solves the problem of low focusing and emission accuracy caused by insufficient consideration of the position fluctuation of foreign objects when removing foreign objects on high-voltage lines by laser in the prior art. The ranging and focusing quantification module first pre-sets the focus according to the distance of the target object relative to the laser emitting device measured by the laser rangefinder, obtains the focus adaptability according to the focus control deviation parameter obtained in the focus pre-setting process, judges whether to perform focus control and sends the focus qualification instruction to the spot quality quantification and control module. After receiving the focus control qualification instruction, the spot control deviation is obtained in combination with the spot quality parameter obtained in the pre-emission process of the laser emitter, and judges whether to perform spot control. After the spot is qualified, the laser emission instruction for removing wire-mounted foreign objects is sent, thereby improving the focusing and emission accuracy and the spot shape in the process of emitting laser to remove the target object by the laser emitting device.

[0020] The technical solution in the embodiments of the present application is to solve the problem of low focusing and emission accuracy caused by insufficient consideration of the position fluctuation of foreign matter when removing foreign matter from high-voltage wires by laser. The overall idea is as follows:

[0021] The focus is pre-set based on the distance of the target object relative to the laser emitting device measured by the laser rangefinder. According to the focus control deviation parameter obtained during the focus pre-setting process, it is judged whether to perform focus control and a focus qualification instruction is sent. After receiving the focus qualification instruction, the spot control deviation is obtained in combination with the spot quality parameter obtained during the pre-emission process of the laser emitter to judge whether to perform spot control, and a laser emission instruction for removing wire-mounted foreign matter is sent after the spot is qualified, thereby improving the focus and emission accuracy and the spot shape in the process of emitting laser to remove the target object through the laser emitting device.

[0022] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] like Figure 1 As shown, it is a structural diagram of a portable long-distance autofocus laser emitting system provided in an embodiment of the present application. The portable long-distance autofocus laser emitting system provided in an embodiment of the present application includes: a ranging and focusing quantification module, a focal length control module, and a spot quality quantification and control module.

[0024] As the first module of the autofocus laser emitting system of the present application, the ranging and focusing quantification module is used to pre-set the focal length based on the distance of the target object relative to the laser emitting device measured by the laser rangefinder, and obtain the focusing adaptability based on the focusing control deviation parameter obtained during the focal length pre-setting process to reflect the adaptability between the target object and the focusing accuracy during the focal length adjustment process. At the same time, the obtained focusing adaptability is sent to the focal length control module. The focal length pre-setting refers to the process of emitting a beam of laser pulses through a laser rangefinder according to the measured distance of the target object relative to the laser emitting device, irradiating the target object, and receiving the signal reflected from the surface of the foreign object. The target object in the present application refers to a type of linear obstacle on the high-voltage line that appears to be linearly extended in the image, such as a kite line.

[0025] Among them, the focusing control deviation parameters specifically include the target relative distance change, the beam divergence angle deviation and the focal length preset time, and the specific acquisition method is as follows: the distance of the target object relative to the laser emitting device measured by the laser rangefinder is recorded as the target distance, the target distance corresponding to the focus preset start time and the focus preset end time is obtained, and comparison processing is performed to obtain the target relative distance change; the cross-section of the light beam corresponding to the focus preset is scanned and measured by the beam quality analyzer, and recorded as the actual beam divergence angle, and the deviation between the actual beam divergence angle and the preset beam divergence angle standard value is recorded as the beam divergence angle deviation. The preset beam divergence angle standard value is used to characterize an expected beam divergence angle set by the preset personnel for the laser beam during the propagation process, as a benchmark value for measuring whether the actual beam divergence angle meets the standard; the focus preset time is obtained based on the focus preset start time and the focus preset end time.

[0026] In addition, if Figure 2 The figure shows a laser emitting device for a portable long-distance autofocus laser emitting system provided by an embodiment of the present application. The system uses a CCD and autofocus module to capture and locate the target position (object), measures the target distance to the target position (object) through laser ranging, adjusts the laser focal length to keep it consistent with the measured distance, adjusts the laser energy as needed, confirms that the focus and target are consistent, and then emits the laser. The laser spot shape uses an optical lens assembly that can be linearly adjusted from point to line and can be rotated at an angle. The laser focal depth is set to a certain distance to accommodate the errors of the rangefinder. The system can be manually carried or mounted on mobile equipment such as drones and vehicles as needed to ensure that the system operates within the effective range. It is equipped with a corresponding lithium battery pack for portable and quick disassembly and assembly.

[0027] It should be understood that when designing a portable long-distance autofocus laser emission system, an autofocus database is pre-built to store various key setting data, including various preset data required in the system, such as preset change thresholds, beam divergence angle deviation thresholds, and focus adjustment time thresholds. The initial values ​​of these parameters are not set out of thin air, but are calculated by summing and averaging the data accumulated in the database, ensuring that the initial settings are objective and representative. In addition, in order to adapt to the complexity and ever-changing needs of actual application scenarios, all these values ​​in the database are not fixed, but allow technicians to manually set, adjust, and fine-tune according to the performance of the system during the actual debugging process, so as to achieve the optimization of system parameters.

[0028] As a further solution, the specific process of obtaining the focus adaptation is: obtaining the focus control deviation threshold and the focus control deviation compensation factor from the constructed autofocus database, the focus control deviation threshold is used to compare with the focus control deviation parameter to reflect whether the current focus position has reached the preset focus position, the focus control deviation threshold specifically includes the preset change threshold, the divergence angle deviation threshold and the focal length preset time threshold, the focus control deviation compensation factor is used to reflect the applicability of the focus control deviation parameter to the focus adaptation, the focus control deviation compensation factor includes the target relative distance change compensation factor, the divergence angle deviation compensation factor and the focal length preset time compensation factor; the focus control deviation threshold is compared with the corresponding focus control deviation parameter (the comparison processing is division), and the focus control deviation compensation factor is weightedly coupled with the corresponding comparison processing result to obtain the focus adaptation, which represents the data for jointly quantifying the focal length preset adaptation degree through the focus control deviation parameters.

[0029] Specifically, the steps for obtaining the focus adaptation are:

[0030] First, the target relative distance change compensation factor is used to weight the result of the comparison between the preset change threshold and the target relative distance change to obtain the relative distance change compliance value. The specific restriction expression is:

[0031] ;

[0032] Wherein, A represents the relative distance variation compliance value, N1 represents the target relative distance variation compensation factor, As0 represents the preset variation threshold obtained from the autofocus database, As represents the target relative distance variation, and the first target point in the target foreign object image is taken as the position of the target object. Because the emitted laser generally scans horizontally along the target object, the first target point refers to the first line point from left to right in the target object image. k1 represents a constant to avoid meaningless numbers. Among them, the target relative distance variation is negatively correlated with the focus adaptation. The larger the target relative distance variation, the greater the degree to which the lens focus deviates from the target plane (high-voltage line), and the smaller the focus adaptation.

[0033] Secondly, the divergence angle deviation compensation factor is used to weight the result of comparing the divergence angle deviation threshold with the beam divergence angle deviation to obtain the divergence angle deviation compliance value. The specific restriction expression is:

[0034] ;

[0035] Wherein, B represents the divergence angle deviation compliance value, N2 represents the divergence angle deviation compensation factor obtained from the autofocus database, Bs0 represents the beam divergence angle deviation threshold obtained from the autofocus database, and Bs represents the beam divergence angle deviation. There is a negative correlation between the beam divergence angle deviation and the focus adaptation. The larger the beam divergence angle deviation, the greater the deviation between the actual beam divergence angle and the preset beam divergence angle standard value, resulting in the beam diverging too quickly and the focus being diffused, which leads to the light spot at the target being too large or too small, the target foreign body imaging being blurred, and the focus adaptation being smaller.

[0036] Then, the focus preset duration compensation factor is used to weight the result of the comparison between the focus preset duration threshold and the focus preset duration to obtain the preset duration compliance value. The specific restriction expression is:

[0037] ;

[0038] Wherein, C represents the preset duration compliance value, N3 represents the focus preset duration compensation factor obtained from the autofocus database, Cs0 represents the focus preset duration threshold obtained from the autofocus database, and Cs represents the focus preset duration. There is a negative correlation between the focus preset duration and the focus adaptation. The longer the focus preset duration, the greater the change of the corresponding target foreign object, the more unstable the target position, and the smaller the focus adaptation.

[0039] Finally, by coupling the relative distance change compliance value, the divergence angle deviation compliance value, and the preset time compliance value, the focus adaptation degree is obtained. The specific restriction expression is:

[0040] ;

[0041] Where D represents the focus adaptation.

[0042] In addition, the autofocus database stores compensation factors corresponding to the focus control deviation parameters, namely the relative distance change compensation factor, the divergence angle deviation compensation factor, and the focal length preset duration compensation factor. The values ​​usually range from 0 to 1, and the sum of the three is 1. There is a pre-set mapping relationship between these compensation factors and the focus control deviation parameters. This mapping relationship can be one-to-one or many-to-one. For example, in actual applications, the real-time focus control deviation parameters can be input into this mapping relationship to quickly obtain the corresponding compensation factors.

[0043] At the same time, there is a correlation between the parameters involved in the focus adaptability, as follows: the greater the change in the relative distance to the target, the more unstable the target position is in the focus preset, and the originally aligned focus position is no longer applicable, that is, the adaptability between the target distance and the focus position is reduced, resulting in a longer focus adjustment time; the longer the focus preset time, the longer the time required to move the focus position to the preset focus position standard value, resulting in a greater change in the relative distance to the target, and the angle scanned by the laser rangefinder on the target foreign object will also become larger, resulting in a greater deviation in the beam divergence angle; the greater the change in the relative distance to the target, the more it will affect the size of the light spot on the target, and even make it impossible to align, and the greater the deviation in the beam divergence angle. In short, by understanding the correlation between the relative distance change to the target, the beam divergence angle deviation and the focus preset time, it is helpful to reserve enough time to complete the focus adjustment in the focus control, avoid operation delays or failures, and by considering the positive and negative correlations between the above three parameters and the focus adaptability, it is helpful to perform focus control, thereby significantly improving the focusing accuracy.

[0044] As the second module of the autofocus laser emission system of the present application, the focus control module is used to determine whether to perform focus control based on the received focus adaptability, and send the focus qualification instruction to the spot quality quantification and control module. The focus control includes adjusting the focal point position to reduce the focus adaptation difference caused by the change of the target position during the focusing process, and adjusting the spot coverage difference caused by the deviation between the emission direction of the laser beam and the target object.

[0045] As the third module of the autofocus laser emission system of the present application, the spot quality quantification and control module is used to obtain the spot control deviation after receiving the focus qualification instruction, combined with the spot quality parameters obtained during the pre-emission process of the laser emitter to reflect the degree of deviation between the actual state of the spot clearing the target foreign matter and the ideal state of clearing the target foreign matter. The laser emitter pre-emission refers to the process of emitting a short pulse through a laser rangefinder to verify the beam quality after the focus is qualified. It is judged whether to perform spot control based on the spot control deviation, and a laser emission instruction for clearing linear foreign matter is sent after the spot is qualified. The spot control includes adjusting the galvanometer deflection amount to correct the non-parallel state of the long axis direction of the spot and the extension direction of the target object, and adjusting the laser output power to improve the adaptability of the laser output power to the burning target object. The shape of the laser spot can be adjusted according to the size of the target object. The spot shape can be dynamically adjusted from a point spot to a line spot using an optical lens group according to the state of the target object.

[0046] Among them, the spot quality parameters specifically include the line spot width deviation and the line spot length deviation; the line spot width deviation indicates the deviation between the actual line spot width and the preset line spot width standard value, and the actual line spot width is represented by the width of the line spot measured by the laser beam quality analyzer; the line spot length deviation indicates the deviation between the actual line spot length and the preset line spot length standard value, and the actual line spot length is represented by measuring the length of the line spot formed after focusing the cylindrical lens using a linear array CCD analyzer. The preset line spot width standard value is used to characterize the ideal value of the width of the expected line spot in the direction perpendicular to its length direction, and the preset linear spot length standard value is used to characterize the ideal value of the length of the expected line spot along its extension direction.

[0047] As a further solution, the specific steps for obtaining the spot control deviation are as follows: obtaining the spot control deviation threshold, the spot control compensation factor and the focus adaptability compensation factor from the constructed autofocus database, the spot control deviation threshold is used to compare with the spot quality parameter to reflect whether the current spot meets the preset spot state, the preset spot state is used to characterize the energy distribution of the expected line spot on the target foreign matter, and the spot control compensation factor is used to reflect the degree of deviation of the spot quality parameter from the spot control deviation; the corresponding spot quality parameter and the spot control deviation threshold are compensated by the spot quality compensation factor, and then coupled to obtain a first deviation index; the focus adaptability and the focus adaptability threshold are compensated by the focus adaptability compensation factor to obtain a second deviation index, and the first deviation index and the second deviation index are coupled to obtain the spot control deviation, which represents data that quantifies the degree of deviation of the spot formed by the pre-emission of the laser emitter through the spot quality parameter and the focus adaptability.

[0048] The specific steps for obtaining the first indicator of deviation are further explained as follows:

[0049] First, the result of the analysis of the ratio of the line spot width deviation to the width deviation threshold is compensated by the width deviation compensation factor to obtain the line spot width deviation index. The specific restriction expression is:

[0050] ;

[0051] Wherein, E represents the line spot width deviation index, P1 represents the width deviation compensation factor obtained from the autofocus database, Qx represents the line spot width deviation, and the line spot width deviation is calculated by the actual line spot width measured by the laser beam quality analyzer and the preset line spot width standard value. If the actual line spot width is greater than or equal to the preset line spot width standard value, the difference between the actual line spot width and the preset line spot width standard value is recorded as the line spot width deviation; otherwise, the difference between the preset line spot width standard value and the actual line spot width is recorded as the line spot width deviation. Qx0 represents the width deviation threshold obtained from the autofocus database. There is a positive correlation between the line spot width deviation and the spot control deviation. The larger the line spot width deviation, the greater the deviation between the actual line spot width and the preset line spot width standard value, and the greater the spot control deviation.

[0052] Secondly, the length deviation compensation factor is used to compensate for the analysis result of the line spot length deviation and the length deviation threshold ratio, and the line spot length deviation index is obtained. The specific restriction expression is:

[0053] ;

[0054] Wherein, G represents the line spot length deviation index, P2 represents the length deviation compensation factor obtained from the autofocus database, Ux represents the line spot length deviation, and the line spot length deviation is calculated by measuring the actual line spot length formed after the cylindrical lens is focused by the linear array CCD analyzer and the preset line spot length standard value. If the actual line spot length is greater than or equal to the preset line spot length standard value, the difference between the actual line spot length and the preset line spot length standard value is recorded as the line spot length deviation; otherwise, the difference between the preset line spot length standard value and the actual line spot length is recorded as the line spot length deviation. Ux0 represents the length deviation threshold obtained from the autofocus database. There is a positive correlation between the line spot length deviation and the spot control deviation. The larger the line spot length deviation, the greater the deviation between the actual physical length of the linear spot formed after the cylindrical lens is focused and the preset linear spot standard value, and the greater the spot control deviation.

[0055] The first deviation index is obtained by coupling the line spot width deviation index and the line spot length deviation index. The specific restriction expression is:

[0056] ;

[0057] Where M represents the first indicator of deviation.

[0058] Then, the focus adaptation compensation factor is used to compensate the focus adaptation threshold and the focus adaptation ratio analysis results to obtain the second deviation index. The specific restriction expression is:

[0059] ;

[0060] Wherein, F represents the second index of deviation, P3 represents the focus adaptation compensation factor obtained from the autofocus database, Nx represents the focus adaptation, and Nx0 represents the focus adaptation threshold obtained from the autofocus database. There is a negative correlation between the second index of deviation and the deviation of light spot control. The larger the second index of deviation, the better the focusing effect, the clearer the target imaging, and the smaller the deviation of light spot control.

[0061] Finally, the first deviation index and the second deviation index are coupled to obtain the spot control deviation. The specific restriction expression is:

[0062] ;

[0063] Where H represents the deviation of light spot control.

[0064] Specifically, the autofocus database stores compensation factors corresponding to the spot quality parameters: width deviation compensation factor, focus adaptability compensation factor, and length deviation compensation factor. These factors typically range from 0 to 1, and their sum is 1. These compensation factors are mapped to the spot quality parameters in a pre-defined relationship, which can be either one-to-one or many-to-one. For example, in practical applications, real-time spot quality parameters can be input into this mapping to quickly retrieve the corresponding compensation factors.

[0065] In addition, there is a correlation between the parameters involved in the spot control deviation, as follows: the larger the line spot width deviation, the greater the deviation between the actual line spot width and the preset line spot width standard value, and the slower the response to the adjustment of the beam direction. In applications that require rapid target tracking or rapid changes in the scanning path, such as laser scanning imaging, this will lead to lower focus adaptation; the line spot length deviation directly reflects the focus quality of the line spot in the length direction, which means that the cylindrical focusing effect is poor and the spot quality is reduced, so the focus adaptation will be reduced; the line spot is adjusted by changing the focal length of the cylindrical lens. The focal length change affects both the width and length. Increasing the focal length narrows the line spot width and lengthens the line spot length. As a result, the larger the line spot width deviation, the larger the line spot length deviation. By considering the correlation between the above three parameters, the control of the line spot shape is upgraded from single parameter adjustment to multi-parameter coupling optimization, which can bring faster, more stable and more precise beam control capabilities. By considering the positive and negative correlation between the above three parameters and the light spot adaptability, it is helpful to control the light spot, thereby significantly improving the cleaning efficiency.

[0066] In this embodiment, the portable long-distance autofocus laser emission system of the present application, through the precise linkage of three modules: the distance measurement and focusing quantification module, the focal length control module, and the light spot quality quantification and control module, constructs a full-process intelligent control chain from target detection to laser removal. It mainly solves the problem of clearing target objects in outdoor scenes and scenes that cannot be reached by manpower, such as foreign body removal on high-voltage lines, which can greatly reduce labor intensity and reduce safety risks. Long-distance bomb disposal can reduce personnel safety risks, etc. First, accurately obtain the target distance and predict the focus adaptability. Based on this, optimize the dynamic focus and beam divergence angle to ensure that the laser energy is accurately focused on the target area and output a focus qualified signal. After confirming that the focal length is qualified, the light spot quality module further combines the light spot quality parameters in the pre-emission process to evaluate the adaptability between the light spot quality and the target foreign object, corrects the light spot direction by adjusting the galvanometer deflection, adjusts the laser power to match the removal requirements, and finally issues a laser emission instruction when the light spot quality meets the standard. This multi-module, phased, collaborative working mechanism based on real-time parameter feedback ensures that the system can adapt to the dynamic changes of distant targets, realizes automatic focusing of laser emission, and precise adaptation of spot shape and energy, ultimately achieving efficient and accurate removal of targets.

[0067] Furthermore, the specific judgment process of determining whether to perform focus adjustment based on the focus adaptation is as follows: by obtaining a preset focus adaptation threshold from the constructed autofocus database, the preset focus adaptation threshold is used to set a judgment standard to determine whether the current focus state has reached the preset focus state, thereby determining whether to perform focus adjustment; if the focus adaptation is greater than or equal to the preset focus adaptation threshold, focus adjustment is not performed, and a focus qualified instruction is sent; if the focus adaptation is less than the preset focus adaptation threshold, whether to adjust the focal point position is determined based on the change in the relative distance of the target. If so, whether to adjust the light beam divergence angle is determined after adjusting the focal point position, otherwise it is directly determined whether to adjust the light beam divergence angle.

[0068] As a further solution, the specific steps for determining whether to adjust the focal point position are as follows:

[0069] If the change in the relative distance of the target is greater than the preset change threshold, the focus adaptability-focal length influence and the distance change-focal length influence are harmonized and averaged to obtain the focal length change. The result of adding the focal length change to the initial focal length is used as the focal length correction position, so that the initial focus position is moved away from the laser source by the voice coil motor to the focal length correction position to extend the focal length, move the focus back, and realign to a farther target. This realizes intelligent and dynamic adjustment of the laser focal length to adapt to changes in the target distance, so that the laser beam can form a focus with the highest energy density at a farther distance. Increasing the focal length to match a farther target distance can ensure that the highest possible energy density is obtained at the target position, which is crucial for applications that require high energy to remove the target, and is expected to improve the focusing accuracy and efficiency in application scenarios such as high-voltage line foreign matter removal.

[0070] Among them, the focus adaptation degree-focal length influence amount represents the inverse of the difference between the preset focus adaptation degree threshold and the focus adaptation degree, and the distance change amount-focal length influence amount represents the inverse of the difference between the target relative distance change amount and the preset change amount threshold.

[0071] If the target relative distance change is equal to the preset change threshold, the current focal length position is maintained unchanged.

[0072] If the change in the relative distance of the target is less than the preset change threshold, the focus adaptation-focal length influence and the distance change-focal length correction are harmonized and averaged to obtain the focal length correction. The difference between the focal length correction and the initial focal length is used as the focal length correction position, so that the initial focal position is moved toward the laser source by the voice coil motor to adjust to the focal length correction position. Because the target distance has become smaller, the focus needs to be moved forward and the lens group is moved toward the laser source. Therefore, the new focal length value should be smaller than the initial focal length, so that the laser beam can form a focus with the highest energy density at a closer distance, so that it can effectively act on nearby targets. Reducing the focal length to match the closer target distance can ensure that the highest possible energy density is obtained at the target position.

[0073] The distance change amount minus the focal length correction amount represents the inverse of the difference between the preset change amount threshold and the target relative distance change amount.

[0074] In this embodiment, an intelligent, dynamic focus adjustment mechanism is established by integrating two key parameters: the change in relative distance to the target and the current focus adaptability. A harmonic average calculation method is then used to comprehensively determine the necessity and amount of focus adjustment. This mechanism accurately calculates whether the focal length needs to be increased or decreased based on whether the target is moving away or approaching, and drives the voice coil motor to quickly and accurately adjust the position of the lens group to realign the laser focus to the target. This adaptive adjustment based on multi-parameter feedback and intelligent calculation not only significantly improves the accuracy of focus adjustment and the system's adaptability to dynamic environments, but more importantly, ensures that the laser beam can always achieve the highest energy density at the target object at varying distances. This greatly improves focusing accuracy, operational efficiency, and overall system reliability for applications requiring high-energy processing, such as removing foreign matter from high-voltage lines.

[0075] like Figure 3 As shown, this is a flow chart for adjusting the beam divergence angle of a portable long-distance autofocus laser emitting system provided in an embodiment of the present application. The specific process is: compare the beam divergence angle judgment value with the preset divergence angle standard value. If it is greater than, calculate the divergence angle expansion ratio compensation amount to expand the beam divergence angle, and send a focus pass instruction after the expansion is completed; if it is equal to, directly send a focus pass instruction; if it is less than, calculate the contraction ratio correction amount to contract the beam divergence angle, and send a focus pass instruction after the contraction is completed.

[0076] As a further solution, the specific steps for determining whether to adjust the beam divergence angle are as follows:

[0077] If the focus point position adjustment has been performed, the beam divergence angle corresponding to the adjusted focus is recorded as the beam divergence angle determination value; otherwise, the actual beam divergence angle obtained during the focus presetting process is recorded as the beam divergence angle determination value.

[0078] It should be noted that when the beam divergence angle judgment value is greater than the preset divergence angle standard value, it also includes sending a focal length qualified instruction after the end, and the divergence angle correction amount is used to quantify the difference between the beam divergence angle judgment value and the preset divergence angle standard value.

[0079] If the beam divergence angle judgment value is greater than the preset divergence angle standard value, it means that the beam diffuses quickly during propagation, resulting in a larger light spot at the target distance and a lower energy density. The focus adaptability-focal length influence amount and the divergence angle correction amount are harmonically averaged and rounded up as the divergence angle beam expansion magnification compensation amount to suppress or correct the excessive beam divergence angle. The result of multiplying the divergence angle beam expansion magnification compensation amount by the beam expander multiple is used as the beam divergence correction value to reduce the divergence angle, increase the output beam diameter, and slow down the beam energy decay, which is suitable for long-distance operations such as high-voltage lines. The beam expander adjustment motor is driven to increase the beam expansion multiple, improve energy concentration and transmission efficiency. At the high-voltage line, due to the slow diffusion of the beam, the width of the linear light spot formed will be relatively narrower or at least will not become wider as the distance increases, resulting in a higher energy density of the linear light spot, and a focus qualified instruction is sent after the adjustment is completed. The divergence angle correction amount is used to quantify the difference between the beam divergence angle judgment value and the preset divergence angle standard value; if the beam divergence angle judgment value is equal to the preset divergence angle standard value, the current beam divergence angle is maintained unchanged, and a focal length qualified instruction is sent; if the beam divergence angle judgment value is less than the preset divergence angle standard value, the focus adaptability - focal length influence amount and divergence angle influence amount are harmonically averaged and rounded down as the result of the beam reduction magnification correction amount to quantify and determine the adjustment amount of the beam divergence angle that needs to be applied to the beam reducer, and this adjustment amount is calculated by comprehensively considering the focusing state and the divergence angle deviation, and is rounded down to control the adjustment step size. The result based on the beam expander magnification divided by the beam reduction magnification correction amount is used as the beam divergence adjustment value. Increasing the beam expansion magnification means that the input beam is magnified more, or in other words, in order to achieve the same output beam diameter, a smaller diameter input beam can be used. Due to the increase in the divergence angle, the laser beam can effectively cover a longer distance. At long distances, the spot size will not become too small like an overly collimated beam. At long-distance targets such as high-voltage lines, the width of the linear spot formed will be relatively larger, which helps to ensure that the energy covers linear foreign matter.

[0080] It should be noted that when the beam divergence angle judgment value is less than the preset divergence angle standard value, it also includes sending a focal length qualified instruction after the end, wherein the divergence angle influence amount is used to quantify the difference between the preset divergence angle standard value and the beam divergence angle judgment value.

[0081] In this embodiment, a closed-loop control mechanism for beam divergence angle based on real-time state determination and intelligent calculation is established to achieve dynamic and precise adjustment of the laser beam divergence angle. If the focus adaptability is strictly determined to be equal to a preset focus adaptability threshold, minor deviations could lead to erroneous judgment that focus adjustment is unnecessary. However, if the focus adaptability is less than the preset focus adaptability threshold, and both the target relative distance change and the beam divergence determination value are equal to their corresponding preset standard values, no adjustment is required. This indicates that the critical area near the preset focus adaptability threshold is covered, preventing focus drift caused by accumulated minor errors. The system calculates the corresponding beam expansion or contraction adjustment amount based on whether the beam divergence angle is excessive, insufficient, or within the standard, and drives the motor for precise correction. This improves energy concentration and transmission efficiency for long-distance operations, resulting in a narrower, higher-energy linear spot, ensuring that the spot is not too narrow at long distances and that the energy effectively covers the target. This intelligent adaptive adjustment ultimately ensures that the laser system can form a high-quality light spot of appropriate size and matching energy density at the target foreign matter at various distances, greatly improving the adaptability to dynamic environments, operation accuracy and final cleaning effect.

[0082] As a further solution, the specific judgment process of determining whether to perform spot control based on the spot control deviation is as follows: by obtaining a preset spot control deviation threshold from the constructed autofocus database, the preset spot control deviation threshold is used to set a judgment standard to determine whether the current spot control has reached the preset spot control standard, thereby determining whether to perform spot control; if the spot control deviation is lower than the preset spot control deviation threshold, the spot control is not performed, and a laser emission instruction is sent to remove wire-mounted foreign matter; if the spot control deviation is higher than or equal to the preset spot control deviation threshold, whether to adjust the galvanometer deflection amount is determined based on the spot-target foreign matter angle deviation; if so, whether to adjust the laser output power is determined after adjusting the galvanometer deflection amount; otherwise, whether to adjust the laser output power is determined directly.

[0083] like Figure 4 As shown, it is a flow chart for adjusting the galvanometer deflection of a portable long-distance autofocus laser emission system provided in an embodiment of the present application. The specific process is: obtaining the angle deviation of the light spot-target foreign object, and judging whether the angle deviation of the light spot-target foreign object is greater than or equal to the preset angle deviation threshold. If so, the light spot control adaptation contribution and the angle deviation contribution are calculated, and the weighted average is performed to obtain the galvanometer deflection increase. Based on the result of adding the galvanometer deflection increase and the current galvanometer angle (that is, the angle that the galvanometer needs to reach in the end), the galvanometer deflection is adjusted by driving the galvanometer motor. Otherwise, the current galvanometer angle is maintained unchanged.

[0084] As a further solution, the specific steps for determining whether to adjust the galvanometer deflection are as follows:

[0085] The light spot-target foreign object angle deviation is obtained. The light spot-target foreign object angle deviation represents the angle difference between the long axis direction of the light spot corresponding to the qualified focal length and the extension direction of the target object.

[0086] If the angle deviation between the light spot and the target foreign body is greater than the preset angle deviation threshold, it means that the light spot is not parallel or aligned with the target, resulting in the laser energy failing to act effectively and evenly on the entire target object. The light spot control adaptation contribution and the angle deviation contribution are weighted averaged to obtain the galvanometer deflection increase. The result of adding the galvanometer deflection increase and the current galvanometer angle is used as the galvanometer deflection correction value. The galvanometer motor is then driven to accurately adjust the deflection of the galvanometer to reach the galvanometer deflection correction value. In this way, the emission direction of the laser beam will change more significantly relative to the current position, so that the light spot projected on the target moves more and moves toward the target object.

[0087] Among them, the spot control adaptation contribution is used to quantify the difference between the spot control deviation and the preset spot control deviation threshold, and the angle deviation contribution is used to quantify the difference between the spot-target foreign body angle deviation and the preset angle deviation threshold.

[0088] If the angle deviation between the light spot and the target foreign object is less than or equal to the preset angle deviation threshold, the current galvanometer angle remains unchanged.

[0089] This embodiment automatically, quickly, and precisely corrects the angular deviation of the laser line spot relative to the target. This ensures that the laser energy is effectively and evenly distributed or applied along the entire length of the target or to specific areas, significantly improving the precision, efficiency, and reliability of the target removal operation. Through this intelligent angle control, the system can better adapt to changes in target posture or inaccuracies in initial alignment, maintaining optimal operation at all times.

[0090] It should be noted that the specific steps for determining whether to adjust the laser output power are as follows:

[0091] If the galvanometer deflection adjustment has been executed, the line spot width corresponding to the adjusted galvanometer deflection is recorded as the line spot width judgment value; otherwise, the actual line spot width obtained during the pre-emission process of the laser transmitter is recorded as the line spot width judgment value.

[0092] If the line spot width judgment value is greater than the preset line spot width standard value, it means that the coverage range of the spot on the target is too wide. The spot control adaptation contribution and the line spot width compensation amount are weighted averaged to obtain the laser output power reduction amount, which aims to correct the problem of the line spot being too wide by reducing the power and restore it to the preset standard width. The difference between the laser output power reduction amount and the initial laser output power is used as the final value of the laser emission power to reduce the laser output power, providing the laser with a clear control instruction for executing adjustments.

[0093] It should be noted that when the line spot width judgment value is greater than the preset line spot width standard value, it also includes sending a laser emission instruction to remove line-mounted foreign matter after the end. The line spot width compensation amount is used to quantify the difference between the line spot width judgment value and the preset line spot width standard value.

[0094] If the line spot width judgment value is equal to the preset line spot width standard value, the current laser output power is maintained unchanged, and a laser emission instruction is sent to remove line-mounted foreign matter;

[0095] If the line spot width judgment value is less than the preset line spot width standard value, it means that the coverage of the spot on the target is too narrow. The laser output power increase amount is obtained by weighted averaging the spot control adaptation contribution and the line spot width correction amount. This not only takes into account the width deviation itself, but also combines the overall control state of the spot, making the power adjustment more intelligent and comprehensive. Based on the result of adding the laser output power increase amount to the initial laser output power as the final laser output power, the calculated power increase demand is accurately converted into a specific, improved laser output power setting value, and directly used as the final power control instruction, ensuring that it can respond quickly and accurately to the situation where the line spot is too narrow. By increasing the power to expand the spot coverage range, the goal of adjusting the line spot width back to the preset standard is finally achieved, providing the required energy distribution for subsequent precision operations (such as ablation, etc.).

[0096] It should be noted that when the line spot width judgment value is less than the preset line spot width standard value, it also includes sending a laser emission instruction to remove line-mounted foreign matter after the end. The line spot width correction amount is used to quantify the difference between the preset line spot width standard value and the line spot width judgment value.

[0097] In this embodiment, if the spot control deviation is greater than or equal to a preset spot control deviation threshold, and the spot-target foreign object angular deviation is less than or equal to the preset angular deviation threshold, and the linear spot width determination value is equal to the preset linear spot width standard value, no adjustment is required. This avoids unnecessary spot control, reduces oscillation, and improves laser emission stability. Frequent, small-amplitude spot control can introduce noise or error, and focus drift caused by the accumulation of small errors is avoided. This achieves automatic and precise control of the laser output power. Specifically, this closed-loop control mechanism based on real-time feedback ensures that regardless of the initial spot state, it can be quickly and accurately adjusted to the optimal width, providing a stable and satisfactory energy distribution for subsequent precision operations (such as ablation), thereby improving the efficiency and effectiveness of target processing.

[0098] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] The present invention is described with reference to flowcharts and / or block diagrams of systems, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0102] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0103] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A portable long-distance auto-focus laser emission system, characterized in that: Including ranging and focusing quantification module, focal length control module, spot quality quantification and control module: The distance measurement and focus quantification module is used to pre-set the focal length based on the distance of the target object relative to the laser emitting device measured by the laser rangefinder, and to obtain the focus adaptation degree based on the focus control deviation parameter obtained during the focus pre-setting process to reflect the adaptation degree between the target object and the focus accuracy during the focus adjustment process, and at the same time, send the obtained focus adaptation degree to the focus control module; The focus control module is used to determine whether to perform focus control based on the received focus adaptation degree, and send a focus qualification instruction to the spot quality quantification and control module. The focus control includes adjusting the focal point position to reduce the focus adaptation difference caused by the change of the target position during the focusing process, and adjusting the spot coverage difference caused by the deviation between the exit direction of the laser beam and the target object; The light spot quality quantification and control module is used to obtain a light spot control deviation after receiving a focal length qualification instruction, combined with the light spot quality parameters obtained during the pre-emission process of the laser transmitter, to reflect the degree of deviation between the actual state of the light spot in clearing the target foreign matter and the ideal state of clearing the target foreign matter, determine whether to perform light spot control based on the light spot control deviation, and send a laser emission instruction to clear the target foreign matter after the light spot is qualified. The light spot control includes adjusting the galvanometer deflection amount to correct the non-parallel state between the long axis direction of the light spot and the extension direction of the target foreign matter, and adjusting the laser output power to improve the adaptability of the laser output power to the burning target object.

2. A portable long-distance auto-focus laser emission system as claimed in claim 1, characterized in that: The focus control deviation parameters specifically include the target relative distance change, the beam divergence angle deviation, and the focal length preset time. The specific acquisition method is as follows: The distance of the target object relative to the laser emitting device measured by the laser rangefinder is recorded as the target distance, the target distance corresponding to the focus preset start time and the focus preset end time is obtained, and the target relative distance change is obtained by comparison processing; The beam quality analyzer is used to scan and measure the cross section of the beam corresponding to the preset focal length, which is recorded as the actual beam divergence angle. The deviation between the actual beam divergence angle and the preset beam divergence angle standard value is recorded as the beam divergence angle deviation; The focus preset duration is obtained based on the focus preset start time and the focus preset end time.

3. A portable long-distance auto-focus laser emission system as claimed in claim 2, characterized in that: The specific process of obtaining the focus adaptation is as follows: Obtaining a focus control deviation threshold and a focus control deviation compensation factor from a constructed autofocus database, wherein the focus control deviation threshold is used to compare with the focus control deviation parameter to reflect whether the current focus position has reached the preset focus position, the focus control deviation threshold specifically includes a preset change threshold, a divergence angle deviation threshold, and a focus preset time threshold, and the focus control deviation compensation factor is used to reflect the applicability of the focus control deviation parameter to the focus adaptability, and the focus control deviation compensation factor includes a target relative distance change compensation factor, a divergence angle deviation compensation factor, and a focus preset time compensation factor; The focus control deviation threshold is compared with the corresponding focus control deviation parameter, and the focus control deviation compensation factor is weightedly coupled with the corresponding comparison processing result to obtain the focus adaptation degree, which represents the data that jointly quantifies the degree of adaptation of the focal length preset through the focus control deviation parameter.

4. A portable long-distance auto-focus laser emission system as claimed in claim 3, characterized in that: The specific process of determining whether to perform focus adjustment based on the received focus adaptability is as follows: By obtaining a preset focus adaptation threshold from a constructed autofocus database; If the focus adaptability is greater than or equal to the preset focus adaptability threshold, focus adjustment is not performed and a focus qualified instruction is sent; If the focus adaptability is less than the preset focus adaptability threshold, the focus point position is determined based on the change in the target relative distance. If so, the beam divergence angle is determined after adjusting the focus point position. Otherwise, the beam divergence angle is directly determined.

5. A portable long-distance auto-focus laser emission system as claimed in claim 4, characterized in that: The specific steps of determining whether to adjust the focal point position are: If the target relative distance change is greater than a preset change threshold, the focus adaptability-focal length influence amount and the distance change amount-focal length influence amount are harmonically averaged to obtain a focal length change amount, and the focal length is adjusted based on the result of superposition of the focal length change amount and the initial focal length, wherein the focus adaptability-focal length influence amount represents the inverse of the difference between the preset focus adaptability threshold and the focus adaptability, and the distance change amount-focal length influence amount represents the inverse of the difference between the target relative distance change amount and the preset change threshold; If the target relative distance change is equal to the preset change threshold, the current focal length position is maintained unchanged; If the target relative distance change is less than the preset change threshold, the focus adaptability-focal length influence and the distance change-focal length correction are harmonized and averaged to obtain the focal length correction, and the focal length is adjusted based on the difference between the focal length correction and the initial focal length. The distance change-focal length correction represents the inverse of the difference between the preset change threshold and the target relative distance change.

6. A portable long-distance auto-focus laser emitting system as claimed in claim 4, characterized in that: The specific steps of determining whether to adjust the beam divergence angle are as follows: If the focus point position adjustment has been performed, the beam divergence angle corresponding to the adjusted focus is recorded as the beam divergence angle determination value; otherwise, the actual beam divergence angle obtained during the focus pre-setting process is recorded as the beam divergence angle determination value; If the beam divergence angle judgment value is greater than the preset divergence angle standard value, the focus adaptation degree - focal length influence value and divergence angle correction value are harmonically averaged and rounded up as the divergence angle beam expansion magnification compensation value. The beam divergence angle is adjusted based on the result of the composite of the divergence angle beam expansion magnification compensation value and the beam expander multiple, and a focal length qualified instruction is sent after the adjustment is completed. The divergence angle correction value is used to quantify the degree of deviation between the beam divergence angle judgment value and the preset divergence angle standard value; If the beam divergence angle judgment value is equal to the preset divergence angle standard value, the current beam divergence angle is maintained unchanged and a focal length qualified instruction is sent; If the light beam divergence angle judgment value is less than the preset divergence angle standard value, the focusing adaptability - focal length influence amount and divergence angle influence amount are harmonically averaged and rounded down as the beam reduction ratio correction amount. The light beam divergence angle is adjusted based on the result of normalization of the beam reduction ratio correction amount and the beam expander factor, and a focal length qualified instruction is sent after the adjustment is completed. The divergence angle influence amount is used to quantify the degree of deviation between the preset divergence angle standard value and the light beam divergence angle judgment value.

7. A portable long-distance auto-focus laser emitting system as claimed in claim 1, characterized in that: The light spot quality parameters specifically include a line light spot width deviation and a line light spot length deviation; The line spot width deviation represents the deviation between the actual line spot width and the preset line spot width standard value, and the actual line spot width is represented by the width of the line spot measured by the laser beam quality analyzer; The line spot length deviation represents the deviation between the actual line spot length and the preset line spot length standard value, and the actual line spot length is represented by measuring the line spot length formed after focusing of the cylindrical lens using a linear array CCD analyzer; The specific steps of obtaining the light spot control deviation are: Obtaining a spot control deviation threshold, a spot control compensation factor, and a focus adaptation compensation factor from a constructed autofocus database. The spot control deviation threshold is used to compare with the spot quality parameter to reflect whether the current spot meets a preset spot state. The spot control compensation factor is used to reflect the degree of deviation of the spot quality parameter from the spot control deviation. The spot quality parameter and the analysis result of the proportion of the spot control deviation threshold are compensated by the spot quality compensation factor, and then coupled to obtain the first deviation index; The focus adaptation compensation factor is used to compensate the analysis results of the ratio of the focus adaptation to the focus adaptation threshold to obtain the second deviation index, and the first deviation index and the second deviation index are coupled to obtain the spot control deviation. The spot control deviation represents data that quantifies the degree of deviation of the spot formed by the pre-emission of the laser emitter through the spot quality parameters and the focus adaptation.

8. A portable long-distance auto-focus laser emitting system as claimed in claim 7, characterized in that: The specific process of determining whether to perform light spot control according to the light spot control deviation is as follows: By obtaining a preset light spot control deviation threshold from a constructed autofocus database; If the light spot control deviation is lower than the preset light spot control deviation threshold, the light spot control is not performed, and a laser emission instruction to remove the wire-mounted foreign matter is sent; If the light spot control deviation is higher than or equal to the preset light spot control deviation threshold, the galvanometer deflection amount is determined based on the light spot-target foreign object angle deviation. If so, the laser output power is determined after adjusting the galvanometer deflection amount. Otherwise, the laser output power is directly determined.

9. A portable long-distance auto-focus laser emitting system as claimed in claim 8, characterized in that: The specific steps of determining whether to adjust the galvanometer deflection amount are as follows: Obtaining a light spot-target foreign object angle deviation, where the light spot-target foreign object angle deviation represents an angle deviation between the long axis direction of the light spot corresponding to a qualified focal length and the extension direction of the target object; If the angle deviation between the light spot and the target foreign body is greater than the preset angle deviation threshold, the light spot control adaptation contribution and the angle deviation contribution are weighted averaged to obtain the galvanometer deflection increase. The galvanometer deflection is adjusted based on the result of the superposition of the galvanometer deflection increase and the current galvanometer angle. The light spot control adaptation contribution is used to quantify the degree of deviation between the light spot control deviation and the preset light spot control deviation threshold, and the angle deviation contribution is used to quantify the degree of deviation between the light spot and the target foreign body angle and the preset angle deviation threshold. If the angle deviation between the light spot and the target foreign object is less than or equal to the preset angle deviation threshold, the current galvanometer angle remains unchanged.

10. A portable long-distance auto-focus laser emitting system as claimed in claim 9, characterized in that: The specific steps of determining whether to adjust the laser output power are as follows: If the galvanometer deflection adjustment has been performed, the line spot width corresponding to the adjusted galvanometer deflection is recorded as the line spot width judgment value; otherwise, the actual line spot width obtained during the pre-transmission process of the laser transmitter is recorded as the line spot width judgment value; If the line spot width judgment value is greater than the preset line spot width standard value, the spot control adaptation contribution and the line spot width compensation amount are weighted averaged to obtain the laser output power reduction amount. The laser emission power is adjusted based on the difference between the laser output power reduction amount and the initial laser output power. After the adjustment, a laser emission instruction to remove wire-mounted foreign matter is sent. The line spot width compensation amount is used to quantify the degree of deviation between the line spot width judgment value and the preset line spot width standard value. If the line spot width judgment value is equal to the preset line spot width standard value, the current laser output power is maintained unchanged, and a laser emission instruction is sent to remove line-mounted foreign matter; If the line spot width judgment value is less than the preset line spot width standard value, the spot control adaptation contribution and the line spot width correction amount are weighted averaged to obtain the laser output power increase amount, and the laser output power is adjusted based on the result of the superposition of the laser output power increase amount and the initial laser output power, and after the end, a laser emission instruction is sent to remove line-mounted foreign matter. The line spot width correction amount is used to quantify the degree of deviation between the preset line spot width standard value and the line spot width judgment value.

Images