Laser light spot shaping method and device, controller and medium

Abstract

The invention relates to the technical field of optics, and discloses a laser light spot shaping method and device, a controller and a medium, and the method comprises the steps: obtaining a light spot shaping parameter, and calculating an initial rotation angle of a prism based on the light spot shaping parameter; controlling the prism to rotate based on the initial rotation angle; after the prism rotates to the initial rotation angle, performing denoising enhancement processing on the light spot image; and determining the current adjustment magnification of the light spot based on the light spot image after denoising enhancement processing, and calculating a high-precision rotation angle according to the size relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle. According to the method, the prism is adjusted for the first time according to the light spot shaping parameters, the collected light spot image is subjected to image processing, the second adjustment of the prism is further determined after the precision of the light spot image is improved, and the process of continuous adjustment is fed back in real time, so that rounding shaping of the output light spot image is achieved, and the precision of the output image is improved.

Description

Technical Field

[0001] The present invention relates to the field of optical technology, and in particular to a laser spot shaping method, device, controller and medium. Background Art

[0002] The array atomic magnetometer is a precision magnetic field measurement tool with the advantage of ultra-high sensitivity. It is widely used in measurement, medical treatment, and military industry. Array atomic magnetometers generally use lasers as pump light sources. For lasers, the spot shape is an important parameter, which directly affects the output power of the laser, thereby causing a decrease in the measurement accuracy of the array atomic magnetometer. Traditional laser spot shaping solutions have problems such as long time consumption and insufficient adjustment accuracy due to blurred spot edges. To address this problem, related technologies usually manually shape the spot by designing corresponding lenses, or perform adaptive spot shaping through piezoelectric deformable mirrors. The manual spot shaping method is too complicated and the adjustment accuracy cannot be quantified. Therefore, how to adaptively adjust the shaping prism with high precision, complete the high-precision circular shaping of the spot, and simplify the laser spot shaping process has become an urgent problem to be solved. Summary of the Invention

[0003] In view of this, the present invention provides a laser spot shaping method, device, controller and medium to solve the problem of insufficient adjustment accuracy caused by blurred spot edges.

[0004] In a first aspect, the present invention provides a laser spot shaping method, the method comprising: Acquiring light spot shaping parameters, and calculating an initial rotation angle of the prism based on the light spot shaping parameters, wherein the light spot shaping parameters include at least a light spot target adjustment magnification, a prism angle, and a prism refractive index; controlling the rotation of the prism based on the initial rotation angle; After the prism rotates to the initial rotation angle, performing denoising and enhancement processing on the spot image; The current adjustment magnification of the light spot is determined based on the denoised and enhanced light spot image, and a high-precision rotation angle is calculated according to the size relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle.

[0005] In an optional embodiment, the prism includes a first prism and a second prism, and the initial rotation angle of the prism includes an initial rotation angle of the first prism and an initial rotation angle of the second prism, and the initial rotation angle of the first prism and the initial rotation angle of the second prism are determined according to the following formula:

[0006] in, represents the initial rotation angle of the first prism, represents the initial rotation angle of the second prism, represents the angle of the prism angle, represents the refractive index of the prism, Indicates the adjustment magnification of the spot target. represents the angle between the second prism's outgoing light and the prism, represents the angle between the incident light and the outgoing light of the second prism, is the incident angle to the second prism, is the angle between the outgoing light and the incident light of the second prism.

[0007] In an optional embodiment, controlling the rotation of the prism based on the initial rotation angle includes: Converting the initial rotation angle into an output pulse number, and sending the output pulse number to a rotary encoder based on the output pulse number, wherein the rotary encoder controls the rotation of the prism based on the output pulse number; The output pulse number is determined based on the following formula:

[0008] in, Indicates the number of output pulses, represents the initial rotation angle, Indicates the rotary encoder resolution.

[0009] In an optional implementation, the performing denoising and enhancement processing on the spot image includes: performing denoising processing on the light spot image to obtain a denoised light spot image; The denoised light spot image is subjected to edge enhancement processing to obtain a denoised and enhanced light spot image.

[0010] In an optional embodiment, performing denoising on the spot image to obtain a denoised spot image includes: performing discrete wavelet transform on the light spot image; A dynamic threshold is calculated based on the result of discrete wavelet transform, and high-frequency noise is eliminated according to the dynamic threshold to obtain a denoised light spot image.

[0011] In an optional embodiment, the high-precision rotation angle of the prism includes the high-precision rotation angle of the first prism and the high-precision rotation angle of the second prism, and the high-precision rotation angle is calculated according to the relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, including: determining a first fine-tuning angle corresponding to the first prism and a second fine-tuning angle corresponding to the second prism according to a relationship between a current adjustment magnification of the light spot and a target adjustment magnification of the light spot; Calculating a high-precision rotation angle of the first prism based on the initial rotation angle of the first prism and the first fine-tuning angle; Based on the initial rotation angle of the second prism and the second fine-tuning angle, a high-precision rotation angle of the second prism is calculated.

[0012] In an optional embodiment, adjusting the prism based on the high-precision rotation angle includes: If the current adjustment magnification of the light spot is greater than the target adjustment magnification of the light spot, the first prism is rotated clockwise based on the high-precision rotation angle of the first prism, and the second prism is rotated counterclockwise based on the high-precision rotation angle of the second prism; If the current adjustment magnification of the light spot is less than the target adjustment magnification of the light spot, the first prism is rotated counterclockwise based on the high-precision rotation angle of the first prism, and the second prism is rotated clockwise based on the high-precision rotation angle of the second prism.

[0013] The laser spot shaping method provided in this embodiment includes obtaining spot shaping parameters and calculating the initial rotation angle of the prism based on the spot shaping parameters, wherein the spot shaping parameters include at least the spot target adjustment magnification, the angle of the prism angle, and the prism refractive index; controlling the rotation of the prism based on the initial rotation angle; performing denoising and enhancement processing on the spot image after the prism rotates to the initial rotation angle; determining the current adjustment magnification of the spot based on the spot image after denoising and enhancement, and calculating a high-precision rotation angle based on the relationship between the current adjustment magnification of the spot and the target adjustment magnification of the spot, so as to adjust the prism based on the high-precision rotation angle. The method first adjusts the prism for the first time according to the spot shaping parameters, and performs image processing on the collected spot image. After improving the accuracy of the spot image, a second adjustment of the prism is further determined. Through the process of continuous adjustment with real-time feedback, the circular shaping of the output spot image is achieved, thereby improving the accuracy of the output image.

[0014] In a second aspect, the present invention provides a laser spot shaping device, comprising: a parameter acquisition module for acquiring light spot shaping parameters and calculating an initial rotation angle of the prism based on the light spot shaping parameters, wherein the light spot shaping parameters include at least a light spot target adjustment magnification, a prism angle, and a prism refractive index; a first adjustment module, configured to control the rotation of the prism based on the initial rotation angle; An image processing module, configured to perform denoising and enhancement processing on the spot image after the prism rotates to the initial rotation angle; The second adjustment module is used to determine the current adjustment magnification of the light spot based on the light spot image after denoising and enhancement processing, and calculate the high-precision rotation angle according to the size relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle.

[0015] In a third aspect, the present invention provides a controller comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to thereby execute the laser spot shaping method of the first aspect or any corresponding embodiment thereof.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the laser spot shaping method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic diagram of a laser spot shaping system according to an embodiment of the present invention; Figure 2 1 is a flow chart of a laser spot shaping method according to an embodiment of the present invention; Figure 3 is a structural block diagram of a laser spot shaping device according to an embodiment of the present invention; Figure 4 Schematic diagram of the hardware structure of the controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0020] An array atomic magnetometer is a precision magnetic field measurement tool with the advantage of ultra-high sensitivity. It is widely used in measurement, medical treatment, and military industry. Array atomic magnetometers generally use lasers as pump light sources. For lasers, the spot shape is an important parameter, which directly affects the output power of the laser, thereby causing a decrease in the measurement accuracy of the array atomic magnetometer. Traditional laser spot shaping solutions have problems such as a long time consumption and insufficient adjustment accuracy due to blurred spot edges. Therefore, how to adaptively adjust the shaping prism with high precision, complete the high-precision circular shaping of the spot, and simplify the laser spot shaping process has become an urgent problem to be solved. In the related art, the spot shaping technology based on prism pairs usually manually performs spot shaping by designing corresponding lenses, or performs adaptive spot shaping by using piezoelectric deformable mirrors. The manual spot shaping method is too complicated and the adjustment accuracy cannot be quantified. Based on this, the present invention proposes a laser spot shaping method.

[0021] According to an embodiment of the present invention, an embodiment of a laser spot shaping method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0022] like Figure 1 The laser spot shaping system provided by the present invention is shown, including a controller 1, a spot measuring instrument 2, a first prism 3, a rotating code disk 4, a rotary encoder 5, and a second prism 6. The laser spot shaping method provided by the present invention is applied to the controller to adjust the first prism 3 and the second prism 6. The prism is placed on a prism base, and the prism and prism base are fixed to the rotating code disk, which is fixed to the rotating shaft of the rotary encoder. The drive controller is connected to the spot measuring instrument via a USB cable and to the rotary encoder via a signal cable. The drive controller includes a communication module and a prism angle control module.

[0023] In this embodiment, a laser spot shaping method is provided, which can be used in the above-mentioned controller. Figure 2 FIG. 1 is a flow chart of a laser spot shaping method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps: Step S101: Obtain light spot shaping parameters, and calculate the initial rotation angle of the prism based on the light spot shaping parameters.

[0024] After turning on the laser spot shaping system, the user enters the spot shaping parameters, which are used to subsequently adjust the spot. These parameters include at least the beam spot adjustment factor, the prism angle, and the prism refractive index. The spot adjustment factor represents the required change in spot size, the prism angle determines the ability to deflect the light path, and the prism refractive index is an optical property of the prism. The laser spot shaping system includes multiple prisms, and the initial prism rotation angle includes the rotation angle of each prism.

[0025] By establishing a beam propagation model of a dual-prism system, which includes establishing a functional relationship between the spot target adjustment magnification, the prism angle, and the prism refractive index, the spot shaping parameters are substituted into the model as available parameters for calculation to obtain the corresponding rotation angle of the prism.

[0026] Step S102: controlling the rotation of the prism based on the initial rotation angle.

[0027] The controller is connected to the rotary encoder via a signal line and generates a control signal based on the initial rotation angle. For stepper motors, the control signal is a series of pulses, the number and frequency of which determine the motor's rotation angle and speed. For servo motors, the control signal is an analog voltage or digital signal, and the motor's rotation angle and direction are controlled by adjusting the signal's magnitude and direction. During the rotation process, a feedback device such as an encoder can also be used to monitor the prism's actual rotation angle in real time and transmit this feedback information back to the control system.

[0028] If the initial rotation angle includes rotation angles corresponding to a plurality of prisms, each prism is controlled to rotate to the corresponding angle.

[0029] Step S103 : After the prism rotates to the initial rotation angle, a denoising and enhancement process is performed on the spot image.

[0030] Step S102 is a rough adjustment of the prism. After the prism rotates to the initial rotation angle, in order to improve image quality and make the spot edge clearer and the contrast higher, the spot image needs to be denoised and enhanced to compensate for the spot image distortion. Specifically, this includes performing noise suppression and edge enhancement after acquiring the original spot image, thereby obtaining a denoised and enhanced spot image.

[0031] Step S104 : determining the current adjustment magnification of the light spot based on the denoised and enhanced light spot image, and calculating the high-precision rotation angle according to the relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle.

[0032] For the denoised and enhanced spot image, the system can automatically calculate the long axis parameters of the spot, and calculate the current adjustment magnification of the spot based on the preset long axis parameters of the spot. The long axis parameters of the spot include the long axis and divergence angle of the spot.

[0033] The current adjustment magnification of the light spot is compared with the target adjustment magnification in real time. If the current adjustment magnification of the light spot is greater than the target adjustment magnification, it indicates that the light spot size is too large and the beam diffusion needs to be reduced; if the current adjustment magnification of the light spot is less than the target adjustment magnification, it indicates that the light spot size is too small and the light spot needs to be enlarged. Based on the comparison result, the high-precision rotation angle is calculated specifically. The high-precision rotation angle is the angle after fine-tuning the initial rotation angle. The prism rotation is controlled based on the high-precision rotation angle, which means that the prism is controlled to rotate to the high-precision rotation angle, that is, the high-precision rotation angle represents the target angle at which the prism is expected to be located. Specifically, the current adjustment magnification of the light spot is calculated according to the following formula:

[0034] in, It represents the minor axis length or major axis length of the original spot image before denoising and enhancement processing. It represents the minor axis length or major axis length of the original spot image after denoising and enhancement. Indicates the current adjustment magnification of the light spot.

[0035] The laser spot shaping method provided in this embodiment includes obtaining spot shaping parameters and calculating the initial rotation angle of the prism based on the spot shaping parameters, wherein the spot shaping parameters include at least the spot target adjustment magnification, the angle of the prism angle, and the prism refractive index; controlling the rotation of the prism based on the initial rotation angle; performing denoising and enhancement processing on the spot image after the prism rotates to the initial rotation angle; determining the current adjustment magnification of the spot based on the spot image after denoising and enhancement, and calculating the high-precision rotation angle based on the relationship between the current adjustment magnification of the spot and the target adjustment magnification of the spot, so as to adjust the prism based on the high-precision rotation angle. The method first performs a first coarse adjustment on the prism based on the spot shaping parameters, and performs image processing on the collected spot image. After improving the accuracy of the spot image, a second fine adjustment of the prism is further determined. Through the process of continuous adjustment with real-time feedback, the circular shaping of the output spot image is achieved, thereby improving the accuracy of the output image.

[0036] In some optional embodiments, the prism includes a first prism and a second prism, and the initial rotation angle of the prism includes an initial rotation angle of the first prism and an initial rotation angle of the second prism, and the initial rotation angle of the first prism and the initial rotation angle of the second prism are determined according to the following formula:

[0037] in, represents the initial rotation angle of the first prism, represents the initial rotation angle of the second prism, represents the angle of the prism angle, represents the refractive index of the prism, Indicates the adjustment magnification of the spot target. represents the angle between the second prism's outgoing light and the prism, represents the angle between the incident light and the outgoing light of the second prism, is the incident angle to the second prism, is the angle between the outgoing light and the incident light of the second prism.

[0038] In some optional implementations, the above step S102 includes: converting the initial rotation angle into an output pulse number, and sending the output pulse number to a rotary encoder based on the output pulse number, wherein the rotary encoder controls the rotation of the prism based on the output pulse number.

[0039] The drive controller is connected to the rotary encoder via a signal cable, converting the initial rotation angle into an output pulse number, which is then sent to the rotary encoder, thereby driving the rotary code disk to rotate, and thus rotating the prism to the initial rotation angle. The output pulse number is determined based on the following formula:

[0040] in, Indicates the number of output pulses, represents the initial rotation angle, Indicates the rotary encoder resolution.

[0041] It should be noted that if a first prism and a second prism are included, the corresponding initial rotation angles can be substituted into the formula to calculate the number of input pulses corresponding to the prisms respectively.

[0042] In some optional implementations, the above step S103 includes: Step S201 , performing denoising processing on the light spot image to obtain a denoised light spot image.

[0043] Specifically, denoising the spot image to obtain the denoised spot image includes: performing discrete wavelet transform on the spot image; calculating a dynamic threshold based on the result of the discrete wavelet transform, eliminating high-frequency noise according to the dynamic threshold, and obtaining the denoised spot image.

[0044] The original spot image is the spot image collected before denoising and enhancement processing. First, the original spot image is enhanced to eliminate high-frequency noise from the collected spot image and retain the spot contour details. First, the spot image is subjected to discrete wavelet transform:

[0045] in, represents the original spot image, represents the low-frequency approximation coefficient, Represents the horizontal detail coefficient, which is used to characterize the horizontal edge and texture of the image. Represents the vertical detail coefficient, which is used to characterize the vertical edge and texture of the image. Represents the diagonal detail coefficient, which is used to characterize the edges and textures of the image in a set of diagonal directions (for example, a set of diagonal directions is 45° and 135°). Indicates the number of decomposition levels.

[0046] Then, the high-frequency coefficients are subjected to soft threshold processing, and the threshold T is dynamically calculated according to the noise level. The process is as follows:

[0047] in, represents the original spot image, is the low-frequency approximation coefficient.

[0048]

[0049] in, represents the original spot image, represents the low-frequency approximation coefficient, Represents the high frequency detail coefficient.

[0050] According to the obtained soft threshold T, wavelet reconstruction is performed to obtain the denoised image. The process is as follows:

[0051] in, represents the coefficients after wavelet decomposition, represents the symbolic function, represents the obtained threshold, Represents the coefficient after denoising.

[0052]

[0053] in, represents the denoised image, Represents the inverse wavelet transform.

[0054] Step S202 : performing edge enhancement processing on the denoised light spot image to obtain a denoised and enhanced light spot image.

[0055] The denoised image is subjected to multi-scale morphological edge enhancement processing to enhance the edge contrast of the spot and suppress the residual noise. First, two circular structural elements of different sizes are defined: It is a circular structure with a radius of 3 pixels, used to extract rough edges. It is a circular structure with a radius of 1 pixel, which is used to extract fine edges. Then, the denoised image is opened and closed respectively, and the edge is enhanced by difference. Finally, contrast stretching is performed to expand the difference between the edge and the background. The process is as follows:

[0056] in, represents the image after opening operation, Represents the denoised image.

[0057]

[0058] in, represents the image after closing operation, Represents the denoised image.

[0059]

[0060] in, Represents an edge image.

[0061]

[0062] in, represents the spot image after denoising and enhancement processing, Represents an edge image.

[0063] In some optional embodiments, the high-precision rotation angle of the prism includes a high-precision rotation angle of the first prism and a high-precision rotation angle of the second prism, and the above step S104 includes: Step S301 : determining a first fine-tuning angle corresponding to the first prism and a second fine-tuning angle corresponding to the second prism according to a magnitude relationship between a current adjustment magnification of the light spot and a target adjustment magnification of the light spot.

[0064] The current adjustment magnification of the light spot is compared with the target adjustment magnification of the light spot. For the two situations where the current adjustment magnification of the light spot is greater than the target adjustment magnification, and the current adjustment magnification of the light spot is less than the target adjustment magnification, a corresponding first fine-tuning angle corresponding to the first prism and a second fine-tuning angle corresponding to the second prism are preset. The first fine-tuning angle corresponding to the first prism and the second fine-tuning angle corresponding to the second prism are respectively the fine-tuning angles of the prisms, which are used to further fine-tune the initial rotation angle to obtain a high-precision rotation angle.

[0065] If the current adjustment magnification of the spot is greater than the target adjustment magnification, the first fine-tuning angle corresponding to the first prism is positive, and the second fine-tuning angle corresponding to the second prism is negative. If the current adjustment magnification of the spot is less than the target adjustment magnification, the first fine-tuning angle corresponding to the first prism is negative, and the second fine-tuning angle corresponding to the second prism is positive. A positive value indicates clockwise rotation of the prism, and a negative value indicates counterclockwise rotation.

[0066] Exemplarily, the first fine-tuning angle is ±0.05°, and the second fine-tuning angle is ±0.05°.

[0067] If the current adjustment magnification of the light spot is equal to the target adjustment magnification of the light spot, there is no need to adjust the first prism and the second prism again.

[0068] Step S302 : Calculating a high-precision rotation angle of the first prism based on the initial rotation angle and the first fine-tuning angle of the first prism.

[0069] Step S303 : calculating a high-precision rotation angle of the second prism based on the initial rotation angle and the second fine-tuning angle of the second prism.

[0070] Step S304 , if the current adjustment magnification of the light spot is greater than the target adjustment magnification of the light spot, the first prism is rotated clockwise based on the high-precision rotation angle of the first prism, and the second prism is rotated counterclockwise based on the high-precision rotation angle of the second prism; Step S305 : If the current adjustment magnification of the light spot is less than the target adjustment magnification of the light spot, the first prism is rotated counterclockwise based on the high-precision rotation angle of the first prism, and the second prism is rotated clockwise based on the high-precision rotation angle of the second prism.

[0071] Specifically, the high-precision rotation angle of the first prism is determined according to the following formula:

[0072] The high-precision rotation angle of the second prism is determined by the following formula:

[0073] in, Indicates the high-precision rotation angle of the first prism, represents the initial rotation angle of the first prism, represents the first fine-tuning angle of the first prism, Indicates the high-precision rotation angle of the second prism, represents the initial rotation angle of the second prism, Indicates the second fine-tuning angle of the second prism.

[0074] Among them, if the current adjustment magnification of the spot is greater than the target adjustment magnification of the spot, is a positive value, A negative value indicates that the first prism is rotated clockwise and the second prism is rotated counterclockwise, thereby reducing the current adjustment magnification. If the current adjustment magnification of the spot is less than the target adjustment magnification of the spot, is a negative value, A positive value means rotating the first prism counterclockwise and the second prism clockwise, thereby increasing the current adjustment ratio.

[0075] This embodiment also provides a laser spot shaping device for implementing the above-mentioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0076] This embodiment provides a laser spot shaping device, such as Figure 3 As shown, including: a parameter acquisition module for acquiring light spot shaping parameters and calculating an initial rotation angle of the prism based on the light spot shaping parameters, wherein the light spot shaping parameters include at least a light spot target adjustment magnification, a prism angle, and a prism refractive index; a first adjustment module, configured to control the rotation of the prism based on the initial rotation angle; An image processing module, configured to perform denoising and enhancement processing on the spot image after the prism rotates to the initial rotation angle; The second adjustment module is used to determine the current adjustment magnification of the light spot based on the light spot image after denoising and enhancement processing, and calculate the high-precision rotation angle according to the size relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle.

[0077] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0078] The laser spot shaping device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0079] The embodiment of the present invention further provides a controller having the above Figure 3 The laser spot shaping device shown.

[0080] See also Figure 4 , Figure 4: is a schematic diagram of the structure of a controller provided by an optional embodiment of the present invention, such as Figure 4 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 A processor 10 is taken as an example.

[0081] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0082] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0083] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0084] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0085] The controller further includes a communication interface 30 for the controller to communicate with other devices or a communication network.

[0086] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0087] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0088] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the present invention.

Claims

1. A laser spot shaping method, characterized in that: The method comprises: Acquiring light spot shaping parameters, and calculating an initial rotation angle of the prism based on the light spot shaping parameters, wherein the light spot shaping parameters include at least a light spot target adjustment magnification, a prism angle, and a prism refractive index; controlling the rotation of the prism based on the initial rotation angle; After the prism rotates to the initial rotation angle, performing denoising and enhancement processing on the spot image; The current adjustment magnification of the light spot is determined based on the denoised and enhanced light spot image, and a high-precision rotation angle is calculated according to the size relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle.

2. The method according to claim 1, characterized in that The prism includes a first prism and a second prism. The initial rotation angle of the prism includes an initial rotation angle of the first prism and an initial rotation angle of the second prism. The initial rotation angle of the first prism and the initial rotation angle of the second prism are determined according to the following formula: in, represents the initial rotation angle of the first prism, represents the initial rotation angle of the second prism, represents the angle of the prism angle, represents the refractive index of the prism, Indicates the adjustment magnification of the spot target. represents the angle between the second prism's outgoing light and the prism, represents the angle between the incident light and the outgoing light of the second prism, is the incident angle to the second prism, is the angle between the outgoing light and the incident light of the second prism.

3. The method according to claim 1, characterized in that The controlling the rotation of the prism based on the initial rotation angle includes: Converting the initial rotation angle into an output pulse number, and sending the output pulse number to a rotary encoder based on the output pulse number, wherein the rotary encoder controls the rotation of the prism based on the output pulse number; The output pulse number is determined based on the following formula: in, Indicates the number of output pulses, represents the initial rotation angle, Indicates the rotary encoder resolution.

4. The method according to claim 1, wherein The denoising and enhancement processing of the spot image includes: performing denoising processing on the light spot image to obtain a denoised light spot image; The denoised light spot image is subjected to edge enhancement processing to obtain a denoised and enhanced light spot image.

5. The method according to claim 4, characterized in that The performing denoising on the light spot image to obtain a denoised light spot image includes: performing discrete wavelet transform on the light spot image; A dynamic threshold is calculated based on the result of discrete wavelet transform, and high-frequency noise is eliminated according to the dynamic threshold to obtain a denoised light spot image.

6. The method according to claim 2, characterized in that The high-precision rotation angle of the prism includes the high-precision rotation angle of the first prism and the high-precision rotation angle of the second prism, and the high-precision rotation angle is calculated according to the relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, including: determining a first fine-tuning angle corresponding to the first prism and a second fine-tuning angle corresponding to the second prism according to a relationship between a current adjustment magnification of the light spot and a target adjustment magnification of the light spot; Calculating a high-precision rotation angle of the first prism based on the initial rotation angle of the first prism and the first fine-tuning angle; Based on the initial rotation angle of the second prism and the second fine-tuning angle, a high-precision rotation angle of the second prism is calculated.

7. The method according to claim 6, characterized in that The adjusting the prism based on the high-precision rotation angle includes: If the current adjustment magnification of the light spot is greater than the target adjustment magnification of the light spot, the first prism is rotated clockwise based on the high-precision rotation angle of the first prism, and the second prism is rotated counterclockwise based on the high-precision rotation angle of the second prism; If the current adjustment magnification of the light spot is less than the target adjustment magnification of the light spot, the first prism is rotated counterclockwise based on the high-precision rotation angle of the first prism, and the second prism is rotated clockwise based on the high-precision rotation angle of the second prism.

8. A laser spot shaping device, characterized in that: The device comprises: a parameter acquisition module for acquiring light spot shaping parameters and calculating an initial rotation angle of the prism based on the light spot shaping parameters, wherein the light spot shaping parameters include at least a light spot target adjustment magnification, a prism angle, and a prism refractive index; a first adjustment module, configured to control the rotation of the prism based on the initial rotation angle; An image processing module, configured to perform denoising and enhancement processing on the spot image after the prism rotates to the initial rotation angle; The second adjustment module is used to determine the current adjustment magnification of the light spot based on the light spot image after denoising and enhancement processing, and calculate the high-precision rotation angle according to the size relationship between the current adjustment magnification of the light spot and the target adjustment magnification of the light spot, so as to adjust the prism based on the high-precision rotation angle.

9. A controller, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the laser spot shaping method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the laser spot shaping method according to any one of claims 1 to 7.

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