Light beam collimation control method and device, computer equipment and storage medium

Abstract

The invention relates to a light beam collimation control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a level quantized value of a current light beam angle and a level quantized value of a position in real time; obtaining an angle difference value and a position difference value of the current light beam according to the angle level quantized value and the position level quantized value of the current light beam; based on the light beam angle difference value and the light beam position difference value, determining adjustment directions of the light beam angle and the light beam position, and respectively generating adjustment parameters of the light beam angle and the light beam position; adjusting the angle and the position of the light beam according to the light beam angle difference value, the light beam position difference value and the adjusting parameter; and the steps are repeatedly executed, and the angle difference value and the position difference value of the current light beam are controlled within a preset threshold value. According to the light beam collimation control method and device, the computer equipment and the storage medium, it can be ensured that the light beam angle and position deviation is always corrected in real time, and the directivity error is effectively controlled within the preset reasonable range.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of laser processing, and particularly relates to a light beam collimation control method and device, computer equipment and a storage medium. BACKGROUND

[0002] As a high-energy beam source, lasers have been widely used in industrial processing, medical equipment, scientific research, military equipment and many other fields. Common types of lasers include liquid lasers, gas lasers, fiber lasers and solid-state lasers. In the practical application of lasers, the directivity of the light beam is a key performance indicator, and its stability directly affects the processing accuracy, imaging quality and reliability of the system.

[0003] However, the laser is affected by various factors during use, which can easily cause the light beam to deviate or become unstable, mainly including the following aspects: thermal effect induced pointing deviation: the heat generated during laser operation can cause thermal expansion or refractive index change of optical elements, thereby causing the drift of the light beam angle and position; centroid jitter caused by laser power, frequency and mode changes: fluctuations in laser output power, frequency or mode can cause jitter in the centroid position of the light beam; mechanical vibration and structural deformation: laser cooling system operation, mirror surface changes, mirror frame mechanical deformation and vibration between different optical platforms can all interfere with the collimation of the light beam; air disturbance and external environmental factors: under different environmental conditions, factors such as air flow and temperature gradient can also affect the light beam propagation path, further exacerbating the pointing deviation.

[0004] In order to deal with the problem of light beam pointing deviation or instability, the existing technology usually uses a high-precision light beam drift detector for real-time monitoring, and corrects the light beam angle and position through a feedback control system. However, such a system puts extremely high requirements on detection accuracy, signal acquisition and processing speed, convergence of control algorithm, etc. For example, in order to achieve a light beam positioning accuracy of hundreds of nanometers, not only high-performance hardware support is needed, but also a fast and stable control strategy is needed to ensure that the system can still maintain good dynamic response and steady-state accuracy under complex working conditions. Therefore, how to ensure high precision while achieving rapid stability and automatic calibration of the light beam pointing direction has become a technical problem to be solved in the field. SUMMARY

[0005] Therefore, the present application provides a light beam collimation control method, device, computer equipment and storage medium to solve the problem of light beam collimation control of a laser.

[0006] To achieve the above object, in a first aspect, the technical solution of the present application is to provide a light beam collimation control method, comprising: acquiring a level quantization value of a current light beam angle and a level quantization value of a current light beam position in real time; comparing the level quantization value of the current light beam angle and the level quantization value of the current light beam position with preset target quantization values of the angle and the position respectively to obtain an angle difference value and a position difference value of the current light beam; determining the adjustment direction of the light beam angle and the light beam position based on the light beam angle difference value and the light beam position difference value, and generating adjustment parameters of the light beam angle and the light beam position respectively; adjusting the angle and the position of the light beam according to the light beam angle difference value, the light beam position difference value and the adjustment parameters; and repeating the above steps to control the angle difference value and the position difference value of the current light beam within a predetermined threshold.

[0007] In one embodiment, the adjustment parameters of the light beam angle and the light beam position include a pulse speed given value of the light beam angle and a pulse speed given value of the light beam position, wherein the pulse speed given value of the light beam angle is the sum of a proportional term and an integral term of the angle difference value, and the pulse speed given value of the light beam position is the sum of a proportional term and an integral term of the position difference value.

[0008] In one embodiment, the pulse speed given value of the light beam angle and the pulse speed given value of the light beam position both have a predetermined maximum speed limit value, and the pulse speed given value of the light beam angle and the pulse speed given value of the light beam position are both less than or equal to the maximum speed limit value.

[0009] In one embodiment, the adjustment parameters of the light beam angle and the light beam position further include a pulse acceleration given value of the light beam angle and a pulse acceleration given value of the light beam position, wherein the pulse acceleration given value of the light beam angle is the sum of a proportional term and an integral term of a difference value between the pulse speed given value of the light beam angle and a current pulse speed of an angle adjustment motor, and the pulse acceleration given value of the light beam position is the sum of a proportional term and an integral term of a difference value between the pulse speed given value of the light beam position and a current pulse speed of a position adjustment motor.

[0010] In one embodiment, the pulse acceleration given value of the light beam angle and the pulse acceleration given value of the light beam position both have a predetermined maximum acceleration limit value, and the pulse acceleration given value of the light beam angle and the pulse acceleration given value of the light beam position are both less than or equal to the maximum acceleration limit value.

[0011] In one specific embodiment, the acquiring the level quantization value of the current beam angle and the level quantization value of the position includes: synchronously collecting, by a two-dimensional photoelectric detection element, an angle component of the beam in an X-axis direction, an angle component of the beam in a Y-axis direction, a position component of the beam in the X-axis direction, and a position component of the beam in the Y-axis direction, and converting the angle components and the position components into analog voltage signals; performing level quantization on the analog voltage signals by an analog-digital conversion module to obtain an X-axis angle level quantization value of the current beam, a Y-axis angle level quantization value of the current beam, an X-axis position level quantization value of the current beam, and a Y-axis position level quantization value of the current beam.

[0012] In one specific embodiment, the determining the adjustment direction of the beam angle and the beam position specifically includes: taking the positive and negative of the current beam angle difference value and the position difference value as the judgment basis to determine the adjustment direction of the beam angle and the beam position, wherein when the angle difference value is positive, the adjustment direction of the beam angle is positive, and vice versa; when the position difference value is positive, the adjustment direction of the beam position is positive, and vice versa.

[0013] In a second aspect, a beam collimation control device is provided, which includes: an acquisition and conversion module configured to acquire, in real time, a level quantization value of a current beam angle and a level quantization value of a position; a difference value comparison module configured to compare the level quantization value of the current beam angle and the level quantization value of the position with preset target quantization values of an angle and a position, respectively, to obtain a beam angle difference value and a beam position difference value; a modulation module configured to determine an adjustment direction of the beam angle and the beam position based on the beam angle difference value and the beam position difference value, and generate adjustment parameters of the beam angle and the beam position, respectively; and an execution module configured to adjust the angle and the position of the beam according to the beam angle difference value, the beam position difference value, and the adjustment parameters.

[0014] In a third aspect, a computer device is provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the beam collimation control method when executing the computer program.

[0015] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the beam collimation control method.

[0016] Compared with the prior art, the beam collimation control method, device, computer device, and storage medium provided by the present application have the following beneficial effects: By means of the closed loop process of real-time acquisition of the level quantization value of the beam angle and position, comparison of the current quantization value with the target quantization value to obtain the beam angle difference value and the position difference value, determination of the adjustment direction and the adjustment parameter based on the difference value, real-time adjustment of the beam angle and position according to the adjustment parameter, and continuous circulation execution, the deviation of the beam directivity caused by real-time interference such as thermal effect and mechanical vibration can be dynamically captured, and the deviation is avoided from being accumulated and enlarged due to untimely monitoring. At the same time, by means of the circulation mechanism of acquisition, judgment and adjustment, the deviation of the beam angle and position is ensured to be real-time corrected, the directivity error is effectively controlled within the preset reasonable range, and then the long-term stability of the beam collimation is realized, thereby meeting the core requirement of the beam directivity stability in high-precision scenes such as precise laser processing and optical detection. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The application environment schematic diagram of the beam collimation control method provided by the present application is shown in the figure. Figure 2 The step flow chart of the beam collimation control method provided by the first embodiment of the present application is shown in the figure. Figure 3 The flow chart of the beam angle adjustment is shown in the figure. Figure 4 The flow chart of the beam position adjustment is shown in the figure. Figure 5 The pulse adjustment module schematic diagram of the beam angle X-axis is shown in the figure. Figure 6 The pulse adjustment module schematic diagram of the beam angle Y-axis is shown in the figure. Figure 7 The pulse adjustment module schematic diagram of the beam position X-axis is shown in the figure. Figure 8 The pulse adjustment module schematic diagram of the beam position Y-axis is shown in the figure. Figure 9 The module schematic diagram of the beam collimation control device provided by the second embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] It should be noted that all directionality indications in the embodiments of the present application are only used to explain the relative position relationship, motion condition and the like between components in a certain posture, and if the certain posture changes, the directionality indications also change accordingly.

[0020] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, the user should consider such a combination of technical solutions to be non-existent and not within the scope of protection claimed in this application.

[0021] The beam collimation control method provided in the first embodiment of this application can be applied to, for example... Figure 1 In the application environment shown, the laser beam emitted by the laser is incident on a deflector whose deflection angle and position are controlled by a motor. The motor controls the deflection of the deflector, adjusting the angle of the incident beam. The motor also adjusts the position of the deflector, adjusting the beam's position to maintain collimation and avoid directional deviations under different environments. The laser can be any type, such as a liquid laser, gas laser, fiber laser, or solid-state laser. Preferably, two deflectors are used, one to control the beam's angle and the other to control its position. When directional deviations occur, the first deflector adjusts its angle to quickly align the beam with the target area. Then, the second deflector adjusts its position to precisely move the beam spot to the center of the target. This process is repeated cyclically to achieve dynamic stability.

[0022] In one embodiment, such as Figures 2 to 8 As shown, a method for controlling beam collimation is provided, which includes: S100, real-time acquisition of the level quantization value of the current beam angle and the level quantization value of the position; For example, during the laser beam emission process, a two-dimensional position-sensitive detector (PSD) can be used as a detection device to acquire the beam angle and beam position, receiving the beam signal reflected by the beam deflection mirror in real time. The two-dimensional position-sensitive detector converts the current beam angle and position information into analog voltage signals, and then performs level quantization processing on the analog voltage signals corresponding to the beam angle and position information to obtain the level quantization values ​​of the current beam angle and position.

[0023] S200, compare the current beam's angle level quantization value and position level quantization value with the preset angle target quantization value and position target quantization value, respectively, to obtain the current beam's angle difference and position difference; Exemplarily, after obtaining the level quantization value of the current beam angle and the level quantization value of the position, the current beam angle level quantization value is compared with the preset angle target value, so that the angle deviation of the current beam is obtained, and the current beam position level quantization value is compared with the preset position target value, so that the position deviation of the current beam is obtained. After obtaining the deviation, it can be used as the basis for subsequent adjustment of the beam angle and position.

[0024] S300, based on the beam angle difference value and the beam position difference value, determining the adjustment direction of the beam angle and the beam position, and generating the adjustment parameters of the beam angle and the beam position respectively; Exemplarily, the obtained beam angle difference value and the beam position difference value are combined to determine the rotation direction of the motor this time, and the corresponding adjustment parameters are generated to serve as the reference for the adjustment in the subsequent steps.

[0025] S400, adjusting the angle and position of the beam according to the beam angle difference value, the beam position difference value and the adjustment parameters; Exemplarily, the motor drives the deflection mirror to adjust the angle and position according to the determined rotation direction and the adjustment parameters, so as to adjust the emission angle and position of the beam. In the adjustment process this time, the angle and position of the beam are adjusted to the target value.

[0026] S500, repeatedly executing the above steps to control the angle difference value and the position difference value of the current beam within a predetermined threshold; Exemplarily, based on the continuous change of the external environment, even if the single adjustment makes the angle difference value and the position difference value of the current beam zero, under the influence of the continuously changing external environment, the directivity of the beam still has the possibility of directional deviation. Therefore, the execution steps S100 to S400 are repeatedly iterated to form a self-closed loop control process, so that the angle and position of the beam are continuously adjusted to control the angle and position of the beam within a predetermined threshold, thereby ensuring the collimation of the beam. Preferably, the predetermined threshold is zero.

[0027] In one embodiment, obtaining the level quantization value of the current beam angle and the level quantization value of the position includes: The two-dimensional photoelectric detection element is used to synchronously collect the angle component in the X-axis direction, the angle component in the Y-axis direction, the position component in the X-axis direction and the position component in the Y-axis direction, and convert the angle component and the position component into analog voltage signals; The analog voltage signals are level quantized by the analog-to-digital conversion module to obtain the X-axis angle level quantization value of the current beam, the Y-axis angle level quantization value, the X-axis position level quantization value of the current beam and the Y-axis position level quantization value; The two-dimensional photoelectric detection element can be a two-dimensional position sensitive detector (PSD), a two-dimensional CCD image sensor, or a two-dimensional CMOS image sensor.

[0028] In this embodiment, the quantization precision of the analog-to-digital conversion module is not less than 16 bits, and the resolution of the quantization result meets the detection requirement of the hundred-nanometer level.

[0029] It should be noted that two independent one-dimensional photoelectric detection elements can also be used to achieve synchronous acquisition through time sequence control, for example, a first one-dimensional photoelectric detection element acquires the angle component and the position component of the light beam in the X-axis direction, and a second one-dimensional photoelectric detection element acquires the angle component and the position component of the light beam in the Y-axis direction. The analog voltage signals output by the two one-dimensional photoelectric detection elements are quantized synchronously by the analog-to-digital conversion module to obtain the X-axis level quantization value of the current light beam angle, the Y-axis level quantization value of the current light beam angle, the X-axis level quantization value of the current light beam position, and the Y-axis level quantization value of the current light beam position. The one-dimensional photoelectric detection element can be a one-dimensional PSD or a one-dimensional image sensor, and the accumulation of the two acquisition periods is not more than 10 ms.

[0030] In one embodiment, the angle target quantization value includes an angle X-axis target value and an angle Y-axis target value, and the position target quantization value includes a position X-axis target value and a position Y-axis target value; the light beam angle difference value includes an angle X-axis difference value and an angle Y-axis difference value, and the light beam position difference value includes a position X-axis difference value and a position Y-axis difference value. The angle X-axis difference value is equal to the angle X-axis target value minus the X-axis angle level quantization value of the current light beam, and the angle Y-axis difference value is equal to the angle Y-axis target value minus the Y-axis angle level quantization value of the current light beam. The position X-axis difference value is equal to the position X-axis target value minus the X-axis position level quantization value of the current light beam, and the position Y-axis difference value is equal to the position Y-axis target value minus the Y-axis position level quantization value of the current light beam.

[0031] It should be noted that the preset angle target quantization value and the position target quantization value are reference values set according to the specific application requirement of the optical system in which the laser is located for the collimation of the light beam. The reference values are obtained by calibrating the ideal light beam state during system initialization or dynamically given by an external control instruction according to actual processing, measurement, or communication tasks.

[0032] As an example, the angle X-axis target value of the light beam is first given as the angle Y-axis target value of the light beam is given as the position X-axis target value of the light beam is given as and the position Y-axis target value of the light beam is given as Then, the light beam angle signal and the light beam position signal are acquired by the two-dimensional PSD photoelectric detector, and the angle signal and the position signal are converted into the X-axis angle level quantization value , Y-axis angle level quantization value , X-axis position level quantization value , Y-axis position level quantization value ; the angle X-axis target value is subtracted from the X-axis angle level quantization value to obtain an angle X-axis difference value: Δ = - ; the angle Y-axis target value is subtracted from the Y-axis angle level quantization value to obtain an angle Y-axis difference value: Δ = - ; the position X-axis target value is subtracted from the X-axis position level quantization value to obtain a position X-axis difference value: Δ = - ; the position Y-axis target value is subtracted from the Y-axis position level quantization value to obtain a position Y-axis difference value: Δ = - ; In this way, the angle difference value and the position difference value of the current light beam can be obtained by the angle level quantization value, the position level quantization value of the current light beam, and the preset angle target quantization value and the position target quantization value, and used as a basis for subsequent adjustment of the light beam.

[0033] In one embodiment, the adjustment direction of the light beam angle and the light beam position is specifically determined as follows: The adjustment direction of the light beam angle and the light beam position is determined according to the positive and negative of the current light beam angle difference value and the position difference value, respectively, wherein when the angle difference value is positive, the adjustment direction of the light beam angle is positive, and vice versa; when the position difference value is positive, the adjustment direction of the light beam position is positive, and vice versa.

[0034] It should be noted that the positive and negative of the light beam angle and position adjustment correspond to the running direction of the motor.

[0035] A specific example is used for illustration: If the angle X-axis difference value Δ > 0, the motor driving the deflection mirror to deflect in the X-axis direction runs positively, and the adjustment direction of the light beam angle X-axis is positive, and vice versa if Δ < 0, the motor driving the deflection mirror to deflect in the X-axis direction runs negatively, and the adjustment direction of the light beam angle X-axis is negative; If the angle Y-axis difference value Δ If the value is greater than 0, the motor driving the deflector to deflect along the Y-axis moves in the positive direction, and the adjustment direction of the beam angle along the Y-axis is positive; otherwise, if Δ... If the value is less than 0, the motor that drives the deflector to deflect in the Y-axis direction will move in the opposite direction, and the adjustment direction of the beam angle Y-axis will be in the opposite direction. If the position X-axis difference Δ If Δ > 0, the motor driving the deflector moves in the positive direction along the X-axis, and the beam position adjustment direction along the X-axis is positive; otherwise, if Δ > 0, the beam position adjustment direction is positive. If <0, the motor that drives the deflector to move in the X-axis direction will move in the opposite direction, and the adjustment direction of the beam position in the X-axis will be in the opposite direction. If the position Y-axis difference Δ If Δ > 0, the motor driving the deflector moves in the positive direction along the Y-axis, and the beam position adjustment direction along the Y-axis is positive; otherwise, if Δ > 0, the beam position adjustment direction along the Y-axis is positive. If the value is less than 0, the motor that drives the deflector to move in the Y-axis direction will move in the opposite direction, and the adjustment direction of the beam position in the Y-axis will be reversed.

[0036] In one embodiment, the adjustment parameters for beam angle and beam position include a pulse velocity setpoint for beam angle and a pulse velocity setpoint for beam position, wherein the pulse velocity setpoint for beam angle is the sum of the proportional and integral terms of the angle difference, and the pulse velocity setpoint for beam position is the sum of the proportional and integral terms of the position difference.

[0037] It should be noted that the pulse velocity setpoint is generated through a PI control algorithm. The pulse velocity setpoint for the beam angle is further divided into pulse velocity setpoints for the X-axis angle and Y-axis angle, and the pulse velocity setpoint for the beam position is also divided into pulse velocity setpoints for the X-axis position and Y-axis position. The pulse velocity setpoint for the X-axis angle is the sum of the proportional and integral terms of the angle difference along the X-axis, and the pulse velocity setpoint for the Y-axis angle is the sum of the proportional and integral terms of the angle difference along the Y-axis. Similarly, the pulse velocity setpoint for the X-axis position is the sum of the proportional and integral terms of the position difference along the X-axis, and the pulse velocity setpoint for the Y-axis position is the sum of the proportional and integral terms of the position difference along the Y-axis.

[0038] Let's take a specific example as an illustration: The pulse velocity value for the X-axis angle is given as:

[0039] in, This is the difference in angle along the X-axis. This represents the cumulative value of the beam angle X-axis deviation. The output proportional gain is for the X-axis pulse velocity of the beam angle. The integral gain is the output of the beam angle X-axis pulse velocity.

[0040] The pulse velocity given value of the angle of the Y-axis is:

[0041] wherein, is the difference value of the angle of the Y-axis, is the cumulative value of the deviation of the angle of the Y-axis of the light beam, is the pulse velocity output proportional gain of the angle of the Y-axis of the light beam, is the pulse velocity output integral gain of the angle of the Y-axis of the light beam.

[0042] The pulse velocity given value of the position of the X-axis is:

[0043] wherein, is the difference value of the position of the X-axis, is the cumulative value of the deviation of the position of the X-axis of the light beam, is the pulse velocity output proportional gain of the position of the X-axis of the light beam, is the pulse velocity output integral gain of the position of the X-axis of the light beam.

[0044] The pulse velocity given value of the position of the Y-axis is:

[0045] wherein, is the difference value of the position of the Y-axis, is the cumulative value of the deviation of the position of the Y-axis of the light beam, is the pulse velocity output proportional gain of the position of the Y-axis of the light beam, is the pulse velocity output integral gain of the position of the Y-axis of the light beam.

[0046] In one embodiment, the pulse velocity given value of the angle of the light beam and the pulse velocity given value of the position of the light beam each has a predetermined maximum speed limit value, and the pulse velocity given value of the angle of the light beam and the pulse velocity given value of the position of the light beam are each less than or equal to the maximum speed limit value.

[0047] It should be noted that by setting the maximum speed limit value, the speed during the adjustment process can be prevented from being too high, thereby preventing overshoot during the adjustment or causing mechanical impact.

[0048] A specific example is described as follows: The pulse velocity given value of the angle of the X-axis , the pulse velocity given value of the angle of the Y-axis , the pulse velocity given value of the position of the X-axis , and the pulse velocity given value of the position of the Y-axis correspond to the predetermined maximum speed limit value, respectively: , , , and When the pulse velocity given value of the angle of the X-axis pulse velocity given value of X axis angle pulse velocity given value of X axis position pulse velocity given value of Y axis position greater than the corresponding maximum velocity limit value , , and pulse velocity given value of X axis angle pulse velocity given value of Y axis angle pulse velocity given value of X axis position and pulse velocity given value of Y axis position respectively. Namely, = ， = ， = ， = .

[0049] In one embodiment, the adjustment parameters of the beam angle and the beam position further include a pulse acceleration given value of the beam angle and a pulse acceleration given value of the beam position, wherein the pulse acceleration given value of the beam angle is the sum of the proportional term and the integral term of the difference between the pulse velocity given value of the beam angle and the current pulse velocity of the angle adjustment motor, and the pulse acceleration given value of the beam position is the sum of the proportional term and the integral term of the difference between the pulse velocity given value of the beam position and the current pulse velocity of the position adjustment motor.

[0050] It should be noted that the pulse acceleration given value is also generated by the PI regulation algorithm, and the pulse acceleration given value of the beam angle is divided into the pulse acceleration given value of the X-axis angle and the pulse acceleration given value of the Y-axis angle, and the pulse acceleration given value of the beam position is also divided into the pulse acceleration given value of the X-axis position and the pulse acceleration given value of the Y-axis position, wherein the pulse acceleration given value of the X-axis angle is the sum of the pulse speed given value of the X-axis angle and the proportional term and the integral term of the difference between the current speed of the X-axis pulse of the angle adjusting motor, the pulse acceleration given value of the Y-axis angle is the sum of the pulse speed given value of the Y-axis angle and the proportional term and the integral term of the difference between the current speed of the Y-axis pulse of the angle adjusting motor, and the pulse acceleration given value of the X-axis position is the sum of the pulse speed given value of the X-axis position and the proportional term and the integral term of the difference between the current speed of the X-axis pulse of the position adjusting motor, and the pulse acceleration given value of the Y-axis position is the sum of the pulse speed given value of the Y-axis position and the proportional term and the integral term of the difference between the current speed of the Y-axis pulse of the position adjusting motor.

[0051] It can be understood that the pulse speed given value of the X-axis angle, the pulse speed given value of the Y-axis angle, the pulse speed given value of the X-axis position and the pulse speed given value of the Y-axis position correspond to the pulse target speed values of the X-axis pulse speed of the angle adjusting motor, the Y-axis pulse speed of the angle adjusting motor, the X-axis pulse speed of the position adjusting motor and the Y-axis pulse speed of the position adjusting motor respectively. That is, the differences between them correspond to the current beam angle X-axis pulse speed deviation, the current beam angle Y-axis pulse speed deviation, the current beam position X-axis pulse speed deviation and the current beam position Y-axis pulse speed deviation respectively, and the corresponding pulse acceleration given value can be obtained through the PI regulation algorithm through the above deviations.

[0052] A specific example is used as an illustration: The pulse acceleration given value of the X-axis angle is:

[0053] wherein the current beam angle X-axis pulse speed deviation is the beam angle X-axis pulse speed deviation cumulative value is the beam angle X-axis pulse acceleration output proportional gain is the beam angle X-axis pulse acceleration output integral gain is The pulse acceleration given value of the Y-axis angle is:

[0054] wherein the current beam angle Y-axis pulse speed deviation is the beam angle Y-axis pulse speed deviation cumulative value is the beam angle Y-axis pulse acceleration output proportional gain is pulse acceleration output integral gain of the beam angle Y-axis; pulse acceleration given value of the X-axis position is:

[0055] wherein is the current beam position X-axis pulse velocity deviation, is the beam position X-axis pulse velocity deviation cumulative value, is the beam position X-axis pulse acceleration output proportional gain, pulse acceleration output integral gain of the beam position X-axis; pulse acceleration given value of the Y-axis position is:

[0056] wherein is the current beam position Y-axis pulse velocity deviation, is the beam position Y-axis pulse velocity deviation cumulative value, is the beam position Y-axis pulse acceleration output proportional gain, pulse acceleration output integral gain of the beam position Y-axis.

[0057] In one embodiment, the pulse acceleration given value of the beam angle and the pulse acceleration given value of the beam position both have a predetermined maximum acceleration limit value, and the pulse acceleration given value of the beam angle and the pulse acceleration given value of the beam position are both less than or equal to the maximum acceleration limit value.

[0058] It should be noted that by setting the maximum acceleration limit value, the actuator can be protected from mechanical stress exceeding the hardware tolerance limit, while ensuring the adjustment accuracy, eliminating overshoot oscillation, avoiding deviation threshold, and filtering acceleration calculation deviation caused by abnormal interference.

[0059] A specific example is used for illustration: pulse acceleration given value of the X-axis angle , pulse acceleration given value of the Y-axis angle , pulse acceleration given value of the X-axis position , and pulse acceleration given value of the Y-axis position correspond to the corresponding maximum acceleration limit value: , , , and When the pulse acceleration given value of the X-axis angle , the pulse acceleration given value of the Y-axis angle , the pulse acceleration given value of the X-axis position , and the pulse acceleration given value of the Y-axis position are calculated based on the velocity deviation, they are greater than the corresponding maximum acceleration limit value , , and pulse acceleration given value of X-axis angle pulse acceleration given value of Y-axis angle pulse acceleration given value of X-axis position and pulse acceleration given value of Y-axis position respectively select the maximum acceleration limit value. That is, , , , .

[0060] In an embodiment, only when the absolute values of the angle difference value and the position difference value obtained in step S200 are greater than zero, the subsequent steps of determining the adjustment direction, generating the adjustment parameters and performing the adjustment are performed in the process of repeatedly performing steps S100 to S400. When the absolute values of the angle difference value and the position difference value are equal to zero, it indicates that the angle and position of the current light beam have not deviated, i.e., no adjustment is needed, and only the acquisition of the current light beam signal is performed.

[0061] As shown in Figure 9 , the second embodiment of the present application provides a light beam collimation control device, which comprises: an acquisition conversion module, configured to acquire the level quantization value of the angle of the current light beam and the level quantization value of the position in real time; a difference comparison module, configured to compare the angle level quantization value and the position level quantization value of the current light beam with the preset angle target quantization value and the position target quantization value respectively, to obtain the angle difference value and the position difference value of the current light beam; a modulation module, configured to determine the adjustment direction of the angle of the light beam and the position of the light beam based on the angle difference value of the light beam and the position difference value of the light beam, and generate the adjustment parameters of the angle of the light beam and the position of the light beam respectively; an execution module, configured to adjust the angle and the position of the light beam according to the angle difference value of the light beam, the position difference value of the light beam and the adjustment parameters.

[0062] The above-mentioned modules in the light beam collimation control device can be all or partially realized by software, hardware and combinations thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0063] ​​​​It should be noted that the modulation module can be a pulse modulation module, and the acquisition and conversion module can be a combination of an acquisition module and a conversion module. For example, the acquisition module is a two-dimensional photoelectric detection element, which is configured to synchronously acquire an angle component in an X-axis direction, an angle component in a Y-axis direction, a position component in the X-axis direction, and a position component in the Y-axis direction of the light beam, and convert the angle components and the position components into analog voltage signals. The conversion module is an analog-to-digital conversion module, which is configured to perform level quantization on the analog voltage signals to obtain an X-axis angle level quantization value of the current light beam, a Y-axis angle level quantization value of the current light beam, an X-axis position level quantization value of the current light beam, and a Y-axis position level quantization value of the current light beam. The execution module can include a light beam angle adjustment module and a light beam position adjustment module, which are configured to adjust the current angle and position of the light beam, for example, by adjusting the angle of the light beam through a piezoelectric ceramic motor-driven light beam deflection mirror and adjusting the position of the light beam through a step motor or a voice coil motor-driven light beam deflection mirror.

[0064] The light beam collimation control device further includes an active equalization control unit configured to repeatedly perform steps S100 to S400 of the method in the first embodiment to control the angle difference value and the position difference value of the current light beam within the predetermined threshold.

[0065] The third embodiment of the present application provides a computer device including a memory and at least one processor, and the memory stores a computer program. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented.

[0066] The fourth embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0067] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments can be included. Any reference to a memory, a database, or other media in the embodiments provided by the present application can include at least one of a non-volatile and a volatile memory. The non-volatile memory can include a read-only memory (Read-Only Memory, ROM), a magnetic memory, a flash memory, or a disk memory (e.g., a hard disk). The memory can include at least one of a read-only memory (ROM), a flash memory, a tape, a floppy disc, a hard disc, a compact disc, a digital versatile disc (DVD), a Blu-ray disc, a memory card, a multimedia card, a magnetic tape, a soft disc, a flash memory, an optical storage, a high-density embedded nonvolatile memory, a resistive random access memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, and the like. The volatile memory can include a random access memory (RAM), an external cache memory, and the like. As an illustration, not limitation, the RAM can be a static random access memory (SRAM), a dynamic random access memory (DRAM), and the like. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, and the like, without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, and the like, without being limited thereto. The technical features of the above embodiments can be combined in any manner, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not contradict each other, they should be considered as the scope of the present application.

[0068] Compared with the prior art, the light beam collimation control method, device, computer equipment and storage medium provided by the present application can dynamically capture the light beam directivity deviation caused by real-time interference such as thermal effect and mechanical vibration, avoid the accumulation and expansion of the deviation due to the lack of timely monitoring, through the closed-loop process of real-time acquisition of the level quantization value of the light beam angle and position, comparison of the current quantization value with the target quantization value to obtain the light beam angle difference and position difference, determination of the adjustment direction and adjustment parameter based on the difference, real-time adjustment of the light beam angle and position according to the adjustment parameter, and continuous circulation execution. At the same time, with the help of the circulation mechanism of acquisition, judgment and adjustment, it is ensured that the light beam angle and position deviation is always corrected in real time, the directivity error is effectively controlled within the preset reasonable range, and the long-term stability of the light beam collimation is realized, thereby meeting the core demand of the light beam directivity stability in high-precision scenes such as precision laser processing and optical detection.

[0069] The specific embodiments of the present application described above do not constitute a limitation on the scope of protection of the present application. Any various other corresponding changes and modifications made according to the technical concept of the present application should be included in the scope of protection of the claims of the present application.

Claims

1. A method for controlling beam collimation, characterized in that, include: Real-time acquisition of the current beam angle and position level quantization values; The current beam's angle level quantization value and position level quantization value are compared with the preset angle target quantization value and position target quantization value, respectively, to obtain the current beam's angle difference and position difference; Based on the beam angle difference and beam position difference, the adjustment direction of the beam angle and beam position is determined, and the adjustment parameters of the beam angle and beam position are generated respectively. Adjust the beam angle and position based on the beam angle difference, beam position difference, and adjustment parameters; Repeat the above steps to control the angle difference and position difference of the current beam within a predetermined threshold.

2. The beam collimation control method as described in claim 1, characterized in that: The adjustment parameters for the beam angle and beam position include a pulse velocity setpoint for the beam angle and a pulse velocity setpoint for the beam position. The pulse velocity setpoint for the beam angle is the sum of the proportional and integral terms of the angle difference, and the pulse velocity setpoint for the beam position is the sum of the proportional and integral terms of the position difference.

3. The beam collimation control method as described in claim 2, characterized in that: The pulse velocity setpoints for the beam angle and the beam position both have predetermined maximum velocity limits, and the pulse velocity setpoints for the beam angle and the beam position are both less than or equal to the maximum velocity limits.

4. The beam collimation control method as described in claim 2, characterized in that: The adjustment parameters for the beam angle and beam position also include the pulse acceleration setpoint for the beam angle and the pulse acceleration setpoint for the beam position. The pulse acceleration setpoint for the beam angle is the sum of the proportional and integral terms of the pulse velocity setpoint for the beam angle and the difference between the pulse velocity setpoint for the angle adjustment motor and the current pulse velocity setpoint for the beam position.

5. The beam collimation control method as described in claim 4, characterized in that: The pulse acceleration setpoints for the beam angle and the beam position both have predetermined maximum acceleration limits, and the pulse acceleration setpoints for the beam angle and the beam position are both less than or equal to the maximum acceleration limits.

6. The beam collimation control method as described in claim 1, characterized in that, The process of obtaining the level quantization value of the current beam angle and the level quantization value of the position includes: Two-dimensional photoelectric detection elements are used to synchronously acquire the angular components of the light beam in the X-axis direction, the angular components in the Y-axis direction, the position components in the X-axis direction, and the position components in the Y-axis direction, and convert the angular components and position components into analog voltage signals; The analog voltage signal is quantized by the analog-to-digital converter module to obtain the X-axis angle level quantization value, Y-axis angle level quantization value, X-axis position level quantization value, and Y-axis position level quantization value of the current beam.

7. The beam collimation control method as described in claim 6, characterized in that, The specific adjustment direction for determining the beam angle and beam position is as follows: The direction of beam angle and beam position adjustment is determined based on the sign of the current beam angle difference and position difference, respectively. When the angle difference is positive, the beam angle adjustment direction is positive, and vice versa. When the position difference is positive, the beam position adjustment direction is positive, and vice versa.

8. A beam collimation control device, characterized in that: The acquisition and conversion module is used to acquire the level quantization value of the current beam angle and the level quantization value of the position in real time; The difference comparison module is used to compare the current beam's angle level quantization value and position level quantization value with the preset angle target quantization value and position target quantization value, respectively, to obtain the current beam's angle difference and position difference. The modulation module is used to determine the adjustment direction of the beam angle and beam position based on the beam angle difference and beam position difference, and to generate the adjustment parameters of the beam angle and beam position respectively. The execution module is used to adjust the angle and position of the beam based on the beam angle difference, beam position difference, and adjustment parameters.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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