A high-precision optical element laser lens control system and laser lens

Abstract

The application relates to the field of optical element control, and particularly discloses a high-precision optical element laser lens control system and a laser lens. The control system compares a pre-acquired image of the laser lens with a high-definition image through a foreign matter attachment judgment module, judges whether foreign matter is attached to the surface of the lens and determines the attachment area according to image blurring judgment rules; a pre-heating module pre-heats the lens, identifies whether the foreign matter is water mist according to the area and position changes of the foreign matter attachment area in the heating process, and then determines subsequent operations; a pre-ash removal module evaluates the image quality improvement effect of the foreign matter attachment area after pre-ash removal, identifies whether the foreign matter is dust, continues to remove the ash if the foreign matter is dust, and judges that the foreign matter is a sticky foreign matter and executes a cleaning reminder module if the foreign matter is not dust. The application can accurately identify the type of foreign matter on the surface of the laser lens, take corresponding processing measures according to different types, and then guarantee the imaging quality of the laser lens and improve the working precision of the optical element.

Description

Technical Field

[0001] This invention relates to the field of optical element control, and specifically to a high-precision optical element laser lens control system and laser lens. Background Technology

[0002] Laser lenses, as precision optical components, are widely used in industrial inspection, medical imaging, autonomous driving, and other fields. However, their operating environments are often complex and variable. For example, high humidity environments can easily cause water vapor to condense on the lens surface, and dusty environments can easily cause dust or sticky foreign matter such as oily contaminants to adhere to the lens. These deposits can significantly reduce the light transmittance of the laser lens, scatter incident light, and even cause image blurring or signal distortion, seriously affecting scanning accuracy and system stability.

[0003] Traditional solutions often employ single dust removal or physical cleaning methods, but they cannot intelligently identify and differentiate different types of deposits such as water mist, dust, and sticky foreign objects. Furthermore, they lack real-time monitoring and feedback optimization of the treatment effect, resulting in low cleaning efficiency, waste of resources, and even potential damage to the lens surface due to misoperation.

[0004] For example, Chinese Patent CN112965241A discloses a microelectronic laser scanning device with protective mechanisms on its outer surfaces at both ends. The protective pads within these mechanisms protect the device from tipping over or being bumped, reducing damage. A spray mechanism allows water to be injected through the inlet, atomized by the atomizing device, and sprayed from the spray head, cooling and removing dust from the scanning lens to prevent dust from affecting the scanning effect. The fixing mechanism can hold the device in place using a movable plate and a limiting nut, or it can be fixed using a suction cup and magnetic adsorption blocks, making it suitable for various applications.

[0005] Therefore, there is an urgent need for a high-precision control system that can automatically identify the type of foreign object, dynamically adjust the treatment strategy, and continuously optimize the cleaning effect in order to improve the environmental adaptability and long-term reliability of laser lenses. Summary of the Invention

[0006] To address the aforementioned problems, this invention proposes a high-precision optical element laser lens control system and laser lens, enabling control of optical elements.

[0007] The technical solution adopted by the present invention to solve its technical problem is as follows: Firstly, the present invention provides a high-precision optical element laser lens control system, including: a foreign object attachment judgment module: by comparing the pre-collected image of the laser lens with the high-definition image and combining it with the set image blur judgment rules, the module determines whether there is foreign object attachment on the surface of the laser lens and obtains the foreign object attachment area.

[0008] Preheating module: Preheats the laser lens. By comparing the changes in the area and position of the foreign object attachment area at each monitoring time point during the preheating process, it identifies whether the foreign object is water mist. Based on the identification result, it decides whether to continue heating or execute the pre-cleaning module.

[0009] Pre-cleaning module: Pre-clean the laser lens. By comparing the image quality of the foreign object attachment area before and after pre-cleaning, it identifies whether the foreign object is dust. If it is dust, the cleaning operation continues. Otherwise, the foreign object is identified as sticky foreign object and the cleaning reminder module is activated.

[0010] Cleaning reminder module: Sends corresponding cleaning reminder information based on the foreign object type identification result.

[0011] Secondly, the present invention also provides a laser lens, the laser lens comprising a high-precision optical element laser lens control system according to the present invention.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Accurate foreign object identification: The present invention accurately determines whether there are foreign objects attached to the surface of the laser lens and obtains the foreign object attachment area by comparing the pre-collected image of the laser lens with the high-definition image. Furthermore, it further identifies the type of foreign object through preheating and pre-cleaning, thereby achieving accurate identification of diverse attached foreign objects and improving the ability to handle complex foreign object situations.

[0013] 2. Targeted treatment measures: The present invention adopts different treatment methods according to different types of foreign objects. For example, water mist is heated, dust is cleaned, and sticky foreign objects are handled manually. This differentiated treatment method is more targeted and can effectively solve the impact of different types of foreign objects on the laser lens, ensuring the normal operation of the laser lens.

[0014] 3. Improved Scanning Accuracy and Stability: By accurately identifying and effectively handling various attached foreign objects, this invention significantly reduces interference from these objects on laser lens scanning, improving scanning accuracy and ensuring the accuracy and stability of the scanning results. Whether in complex environments with water mist, dust, or sticky foreign objects, it provides strong support for the normal operation of related equipment, broadening the application scenarios of laser lenses. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a system module connection diagram of the present invention.

[0017] Figure 2 This is a flowchart illustrating the overall analysis process of the present invention.

[0018] Figure 3 This is a flowchart illustrating the operation of the preheating module of the present invention.

[0019] Figure 4 This is a flowchart of the pre-cleaning module of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 and Figure 2 As shown, the first aspect of the present invention provides a high-precision optical element laser lens control system, including a foreign object adhesion judgment module, a preheating module, a pre-dust removal module, and a cleaning reminder module.

[0022] The preheating module is connected to the foreign matter attachment judgment module and the pre-dust cleaning module, respectively, and the cleaning reminder module is connected to the pre-dust cleaning module.

[0023] The foreign object attachment judgment module compares the pre-captured image of the laser lens with the high-definition image and combines it with the set image blur judgment rules to determine whether there is foreign object attachment on the surface of the laser lens and obtain the foreign object attachment area.

[0024] Furthermore, the specific working process of the foreign object attachment judgment module includes: acquiring a pre-collected image before using the laser lens, dividing the pre-collected image into a grid and comparing it point-to-point with the high-definition image stored in the database, and using image processing technology to analyze the gray value deviation and contrast deviation of each sub-region in the pre-collected image relative to the high-definition image.

[0025] In one specific embodiment, the laser lens pre-captures an image of a designated object or area and compares the pre-captured image with a high-definition image of the designated object or area.

[0026] As a preferred approach, the grayscale value deviation and contrast deviation of each sub-region in the pre-acquired image relative to the high-definition image are analyzed. The specific process is as follows: The pre-acquired image and the high-definition image are divided into grids using the same method. Image processing techniques are used to obtain the grayscale values ​​and contrast of each sub-region in the pre-acquired image and the high-definition image. This is then analyzed using formulas. and Calculate the grayscale deviation of each sub-region in the pre-acquired image relative to the high-resolution image. and contrast deviation ,in Indicates the first image in the pre-acquired image and the high-resolution image. The sub-region numbering, , , These represent the first and second images in the pre-acquired image. The grayscale values ​​of each sub-region and the corresponding grayscale values ​​of the sub-regions in the high-resolution image. , These represent the first and second images in the pre-acquired image. The contrast of individual sub-regions and the contrast of corresponding sub-regions in high-resolution images.

[0027] It should be noted that foreign objects adhering to the surface of a laser lens usually cause changes in the local grayscale values ​​of the image, and the presence of foreign objects will also change the image contrast.

[0028] As a preferred solution, identifying foreign objects adhering to a lens based on images acquired using a laser lens offers several advantages over directly monitoring the lens surface with a camera. First, images acquired by a laser lens have higher resolution and accuracy, enabling clearer detection of even minute foreign objects on the lens. Second, laser technology is less affected by ambient light, allowing for stable image acquisition under varying lighting conditions, such as strong light, weak light, or complex lighting angles, ensuring accurate and reliable identification. Furthermore, this method allows for more comprehensive inspection of both the internal and external surfaces of the lens, extending beyond the surface directly observable by a camera. It can effectively identify potential foreign objects hidden within the lens structure, enabling timely problem detection and appropriate intervention, thus ensuring the normal operation of the optical system.

[0029] It's important to note that pre-capturing images before using the laser lens to check for foreign objects adhering to its surface can significantly improve the lens's accuracy. Pre-capturing images allows for the timely detection of dust, stains, and other foreign objects on the lens surface. If these objects go undetected, they can scatter or absorb the laser beam, causing uneven intensity distribution and deviations in propagation direction. This results in inaccurate laser focusing, affecting the precision of processing or measurement applications. Detecting and cleaning foreign objects in advance ensures the laser lens operates at its optimal state, allowing for accurate laser focusing and propagation, thereby improving the laser lens's accuracy in relevant applications and ensuring work quality and effectiveness.

[0030] Furthermore, the specific working process of the foreign object attachment judgment module also includes: based on the gray value deviation and contrast deviation of each sub-region in the pre-acquired image, combined with the threshold of gray value deviation and contrast deviation in the set image blur judgment rule, analyzing the blur of each sub-region in the pre-acquired image, judging whether the image pre-acquired by the laser lens is blurry, if blurry, then there is foreign object attachment on the surface of the laser lens, and the blurry area in the pre-acquired image is recorded as the foreign object attachment area.

[0031] As a preferred approach, the blurriness of each sub-region in the pre-acquired image is analyzed to determine whether the image pre-acquired by the laser lens is blurry. The specific process is as follows: Thresholds for grayscale deviation and contrast deviation are obtained according to the image blurriness determination rules, and denoted as follows: By analyzing the formula Calculate the blur of each sub-region in the pre-acquired image ,in These represent the weights of grayscale value and contrast, respectively. .

[0032] If the blurriness of a sub-region in the pre-acquired image is greater than the preset blurriness threshold, the pre-acquired image of the laser lens is blurred and there are foreign objects attached to the surface of the laser lens. The sub-regions with blurriness greater than the threshold in the pre-acquired image are counted and stitched together to obtain the blurred region of the pre-acquired image, and recorded as the foreign object attachment region.

[0033] It should be noted that the weights of grayscale value and contrast in the above blurriness analysis formula can be set according to the influence of grayscale value and contrast on the judgment of whether an image is blurry in the application scenario. Alternatively, a large number of experiments can be conducted to compare the degree of fit between the image blurriness judgment results under different weight combinations and the actual image blurriness, and select the weight combination that maximizes the judgment accuracy and minimizes the false judgment rate. In a specific embodiment, the weights of grayscale value and contrast are 0.5 and 0.5, respectively.

[0034] The preheating module preheats the laser lens and identifies whether the foreign object is water mist by comparing the changes in the area and position of the foreign object attachment area at each monitoring time point during the preheating process. Based on the identification result, it decides whether to continue heating or execute the pre-cleaning module.

[0035] Further, see Figure 3 As shown, the specific working process of the preheating module includes: setting the temperature and duration of laser lens preheating according to preset principles, setting each monitoring time point during the preheating process, preheating the laser lens through the heating device built into the laser lens, acquiring images collected by the laser lens at each monitoring time point during the preheating process, and marking the foreign object attachment area.

[0036] It should be noted that preheating is a process to test whether the foreign object in the laser lens is water vapor. Insufficient heating will result in an inconspicuous effect and make it difficult to observe, while excessive heating will waste energy. Therefore, the preheating temperature and duration should be moderate during actual operation. Furthermore, the preheating area can be selected, and the heating device can be adjusted to heat only the area where the foreign object is located.

[0037] In one specific embodiment, monitoring time points are set during the preheating process according to the principle of equal time intervals.

[0038] As a preferred solution, the specific method for obtaining the image captured by the laser lens at a certain monitoring time point during the preheating process is as follows: start timing from the start of preheating, when the monitoring time point is reached, the heating device stops working, and the image is acquired after the laser lens has cooled for a set time. After the image acquisition is completed, the heating device is restarted to obtain the image captured by the laser lens at the next monitoring time point.

[0039] Furthermore, the specific working process of the preheating module also includes: during the preheating process, the boundary line of the foreign object attachment area is drawn in the image acquired by the laser lens at each monitoring time point, and the area and geometric center point of the polygon formed by the boundary line are obtained, and these are recorded as the area and position of the foreign object attachment area at each monitoring time point.

[0040] By comparing the area and location of the foreign object attachment area at each monitoring time point, the rate of area shrinkage and the rate of location movement of the foreign object attachment area were obtained and denoted as follows: By analyzing the formula Calculate the water mist coefficient of attached foreign matter ,in These represent the preset thresholds for area shrinkage rate and position movement rate, respectively.

[0041] As a preferred method, the shrinkage rate of the foreign object attachment area is obtained by recording the area of ​​the foreign object attachment area at each monitoring time point during the preheating process as follows: , Indicates the first The number of each monitoring time point, By analyzing the formula Obtain the rate of shrinkage of the foreign object attachment area ,in Indicates the first The area of ​​the foreign object attachment zone at each monitoring time point , Indicates the time interval between monitoring points. This indicates the number of monitoring time points.

[0042] As a preferred approach, the positional movement rate of the foreign object attachment area is obtained as follows: A planar coordinate system is established in the images acquired by the laser lens at each monitoring time point using the same method. Based on the position of the foreign object attachment area at each monitoring time point, the position coordinates of the foreign object attachment area at each monitoring time point are marked. The movement distance of the foreign object attachment area at each monitoring time point is obtained using the distance calculation formula between two points, and the ratio is taken as the time interval between the monitoring time points to obtain the positional movement rate of the foreign object attachment area at each monitoring time point. The average value is then calculated to obtain the positional movement rate of the foreign object attachment area.

[0043] As a preferred approach, a large number of experiments were conducted to simulate heating when there is water mist in the laser lens, and the average values ​​of the area shrinkage rate and position movement rate of the water mist area were obtained. These values ​​were then used as the threshold values ​​for the area shrinkage rate and position movement rate in the water mist coefficient analysis formula for the attached foreign matter.

[0044] It's important to note that by monitoring two key characteristics—the reduction in area and the change in position of the foreign object region—during laser lens heating, the foreign object can be accurately identified as water mist. Firstly, when the laser lens is heated, the small water droplets in the water mist absorb heat due to heat transfer. According to thermal principles, liquids absorb heat, accelerating their evaporation rate. The small water droplets in the water mist gradually vaporize into water vapor, thus reducing the overall volume of the water mist. This is reflected on the lens as a gradual reduction in the area of ​​the foreign object region. This is a crucial characteristic that distinguishes water mist from other solid or liquid foreign objects, as typical solid foreign objects do not exhibit a significant reduction in area upon heating. While some viscous liquid foreign objects may undergo morphological changes during heating, they typically do not experience the rapid area reduction due to evaporation seen in water mist. Secondly, during the heating process, the temperature may vary in different parts of the lens, leading to different evaporation rates for the water mist. Higher-temperature areas experience faster evaporation, while lower-temperature areas experience slower evaporation. This uneven evaporation causes thermal convection in the small water droplets within the water mist. This thermal convection causes the water mist to move from higher-temperature areas to lower-temperature areas, manifesting as a change in the position of the foreign object region. Furthermore, the airflow caused by heating also propels the water mist, further causing it to change position. Other types of foreign objects, such as dust and grease, usually do not undergo this significant positional movement due to heating; their positions on the lens remain relatively fixed unless subjected to a direct external force.

[0045] Furthermore, the specific working process of the preheating module also includes: comparing the water mist coefficient of the attached foreign matter with a preset water mist coefficient threshold. If the water mist coefficient of the attached foreign matter is greater than the preset water mist coefficient threshold, then the type of foreign matter attached to the laser lens is water mist and the heating parameters are adjusted to continue heating; otherwise, the pre-cleaning module is executed.

[0046] As a preferred embodiment, the specific process of adjusting the heating parameters is as follows: extracting the heating temperature and heating duration of the heating device when water mist adheres to the laser lens from the database, and then updating the heating parameters for preheating. Specifically, the heating parameters for the continued heating stage are greater than the heating parameters for the preheating stage.

[0047] The pre-cleaning module pre-cleans the laser lens. By comparing the image quality of the foreign object attachment area before and after pre-cleaning, it identifies whether the foreign object is dust. If it is dust, the cleaning operation continues; otherwise, the foreign object is identified as sticky and the cleaning reminder module is activated.

[0048] Further, see Figure 4 As shown, the specific working process of the pre-cleaning module includes:

[0049] The wind speed and duration for pre-cleaning the laser lens are set according to preset principles. The laser lens is pre-cleaned using the built-in cleaning device. Images collected by the laser lens before and after pre-cleaning are obtained, and images of the area where foreign objects are attached are extracted from them.

[0050] It should be noted that pre-cleaning is a process to test whether the foreign object on the laser lens is dust. If the cleaning force is too weak, the effect will be inconspicuous and difficult to observe, while the cleaning force will waste energy. Therefore, in actual operation, the air speed and duration of pre-cleaning should be moderate. At the same time, the area to be pre-cleaned can be selected, and the cleaning device can be adjusted to blow only on the area where the foreign object is located.

[0051] Furthermore, the specific working process of the pre-cleaning module also includes: acquiring and comparing the image quality parameters of the foreign object attachment area before and after pre-cleaning, obtaining the increment of each sub-item of the image quality parameters of the foreign object attachment area after pre-cleaning and substituting it into a preset image quality improvement effect evaluation model to obtain the image quality improvement effect of the foreign object attachment area after pre-cleaning. The image quality parameters include sharpness, brightness and color reproduction. The image quality improvement effect evaluation model includes the quantitative mapping relationship between the increment of each sub-item of the image quality parameters after pre-cleaning and the image quality improvement effect.

[0052] As a preferred approach, the increment of each sub-item of the image quality parameter of the foreign matter attachment area after pre-cleaning is obtained by subtracting the image quality parameter of the foreign matter attachment area before pre-cleaning from the image quality parameter of the foreign matter attachment area after pre-cleaning.

[0053] It should be noted that the larger the increment of each sub-item of the image quality parameters of the foreign object attachment area after pre-cleaning, the better the image quality improvement effect is.

[0054] It should be noted that if a laser lens is covered in dust, cleaning the lens surface will make it clean, allowing the laser to focus and transmit normally. This will significantly improve image clarity, making previously blurry areas clearer, sharper object edges, and better detail. Furthermore, after cleaning, the lens's light transmittance returns to normal, allowing more laser light to reach the sensor, increasing overall image brightness and creating a more uniform brightness distribution, eliminating localized dark areas caused by dust obstruction. Simultaneously, the clean lens and normal light propagation improve color reproduction, resulting in more vibrant and accurate colors that truly reflect the original colors of objects. Therefore, the change in image quality in the area with foreign matter attachment before and after pre-cleaning can accurately identify whether the foreign matter is dust.

[0055] Furthermore, the specific working process of the pre-cleaning module also includes: comparing the image quality improvement effect of the foreign object attachment area after pre-cleaning with a preset image quality improvement effect threshold. If the image quality improvement effect of the foreign object attachment area after pre-cleaning is greater than the threshold, the type of foreign object attached to the laser lens is dust and the cleaning parameters are adjusted to continue the cleaning operation; otherwise, the type of foreign object is sticky foreign object and the cleaning reminder module is executed.

[0056] As a preferred embodiment, the specific process of adjusting the cleaning parameters is as follows: extracting the wind speed and duration of the cleaning device when dust adheres to the laser lens from the database, and then updating the cleaning parameters for the pre-cleaning stage. Specifically, the cleaning parameters for the continued cleaning stage are greater than the cleaning parameters for the pre-cleaning stage.

[0057] It should be noted that this invention compares the image quality parameters of the foreign object attachment area before and after pre-cleaning, evaluates the image quality improvement effect by combining a preset evaluation model, and compares it with a preset threshold. This allows for continuous monitoring of the cleaning effect, enabling operators to understand in a timely manner whether the cleaning operation is effective. If the effect does not meet expectations, the cleaning parameters can be adjusted or other measures can be taken in a timely manner to ensure that the laser lens always maintains a good working condition.

[0058] The cleaning reminder module sends corresponding cleaning reminder information based on the foreign object type identification result.

[0059] It should be noted that when the foreign object is water mist or dust, it can be removed by the heating device or dust removal device built into the laser lens. However, when the foreign object is sticky, it needs to be cleaned manually, and a cleaning reminder message will be sent.

[0060] It should be noted that the present invention adopts different treatment methods according to different types of foreign objects. For example, water mist is heated, dust is cleaned, and sticky foreign objects are handled manually. This differentiated treatment method is more targeted and can effectively solve the impact of different types of foreign objects on the laser lens, ensuring the normal operation of the laser lens.

[0061] It should be noted that this invention, by accurately identifying and effectively handling various attached foreign objects, can significantly reduce interference from these objects on laser lens scanning, improve scanning accuracy, and ensure the accuracy and stability of scanning results. Whether in complex environments with water mist, dust, or sticky foreign objects, it provides strong support for the normal operation of related equipment, thus broadening the application scenarios of laser lenses.

[0062] Secondly, the present invention also provides a laser lens, the laser lens comprising a high-precision optical element laser lens control system according to the present invention.

[0063] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0064] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0065] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0066] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0067] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0068] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-precision optical element laser lens control system, characterized in that, include: Foreign object attachment detection module: By comparing the pre-captured image of the laser lens with the high-definition image and combining it with the set image blur detection rules, it determines whether there is foreign object attachment on the surface of the laser lens and obtains the foreign object attachment area; Preheating module: Preheats the laser lens. By comparing the changes in the area and position of the foreign object attachment area at each monitoring time point during the preheating process, it identifies whether the foreign object is water mist. Based on the identification result, it decides whether to continue heating or execute the pre-cleaning module. Pre-cleaning module: Pre-clean the laser lens. By comparing the image quality of the foreign matter attachment area before and after pre-cleaning, it identifies whether the foreign matter is dust. If it is dust, the cleaning operation continues. Otherwise, the foreign matter is identified as sticky foreign matter and the cleaning reminder module is activated. Cleaning reminder module: Sends corresponding cleaning reminder information based on the foreign object type identification result; The specific working process of the preheating module includes: setting the temperature and duration of laser lens preheating according to preset principles, setting each monitoring time point during the preheating process, preheating the laser lens through the heating device built into the laser lens, acquiring images collected by the laser lens at each monitoring time point during the preheating process, and marking the foreign object attachment area. The specific working process of the preheating module also includes: During the preheating process, the boundary lines of the foreign object attachment area are drawn from the images acquired by the laser lens at each monitoring time point. The area and geometric center point of the polygon formed by the boundary lines are obtained and recorded as the area and position of the foreign object attachment area at each monitoring time point. By comparing the area and location of the foreign object attachment area at each monitoring time point, the rate of area shrinkage and the rate of location movement of the foreign object attachment area were obtained and denoted as follows: By analyzing the formula Calculate the water-like mist coefficient of attached foreign matter ,in These represent the preset thresholds for area shrinkage rate and position movement rate, respectively.

2. The high-precision optical element laser lens control system according to claim 1, characterized in that: The specific working process of the foreign object adhesion detection module includes: Before using the laser lens, pre-captured images are obtained. The pre-captured images are then divided into grids and compared point-to-point with high-definition images stored in the database. Image processing techniques are used to analyze the grayscale value deviation and contrast deviation of each sub-region in the pre-captured images relative to the high-definition images.

3. A high-precision optical element laser lens control system according to claim 2, characterized in that: The specific working process of the foreign object adhesion detection module also includes: Based on the grayscale value deviation and contrast deviation of each sub-region in the pre-acquired image, and combined with the thresholds for grayscale value deviation and contrast deviation in the set image blur determination rules, the blur of each sub-region in the pre-acquired image is analyzed to determine whether the image pre-acquired by the laser lens is blurry. If it is blurry, there are foreign objects attached to the surface of the laser lens, and the blurry area in the pre-acquired image is recorded as the foreign object attachment area.

4. A high-precision optical element laser lens control system according to claim 1, characterized in that: The specific working process of the preheating module also includes: The water mist-like coefficient of the attached foreign object is compared with the preset water mist-like coefficient threshold. If the water mist-like coefficient of the attached foreign object is greater than the preset water mist-like coefficient threshold, the type of foreign object attached to the laser lens is water mist and the heating parameters are adjusted to continue heating. Otherwise, the pre-cleaning module is executed.

5. A high-precision optical element laser lens control system according to claim 1, characterized in that: The specific working process of the pre-cleaning module includes: The wind speed and duration for pre-cleaning the laser lens are set according to preset principles. The laser lens is pre-cleaned using the built-in cleaning device. Images collected by the laser lens before and after pre-cleaning are obtained, and images of the area where foreign objects are attached are extracted from them.

6. A high-precision optical element laser lens control system according to claim 1, characterized in that: The specific working process of the pre-cleaning module also includes: Image quality parameters of the foreign object attachment area before and after pre-cleaning are obtained and compared. The increment of each sub-item of the image quality parameters of the foreign object attachment area after pre-cleaning is obtained and substituted into a preset image quality improvement effect evaluation model to obtain the image quality improvement effect of the foreign object attachment area after pre-cleaning. The image quality parameters include sharpness, brightness and color reproduction. The image quality improvement effect evaluation model includes the quantitative mapping relationship between the increment of each sub-item of the image quality parameters after pre-cleaning and the image quality improvement effect.

7. A high-precision optical element laser lens control system according to claim 6, characterized in that: The specific working process of the pre-cleaning module also includes: The image quality improvement effect of the area with foreign objects attached after pre-cleaning is compared with the preset image quality improvement effect threshold. If the image quality improvement effect of the area with foreign objects attached after pre-cleaning is greater than the threshold, the type of foreign object attached to the laser lens is dust and the cleaning parameters are adjusted to continue the cleaning operation. Otherwise, the type of foreign object is sticky foreign object and the cleaning reminder module is executed.

8. A laser lens, characterized in that: The laser lens includes a high-precision optical element laser lens control system according to any one of claims 1-7.

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