CN115326037B - Automatic direction adjusting device and method for collimated light in three-dimensional space - Google Patents
Automatic direction adjusting device and method for collimated light in three-dimensional space Download PDFInfo
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- CN115326037B CN115326037B CN202211270963.4A CN202211270963A CN115326037B CN 115326037 B CN115326037 B CN 115326037B CN 202211270963 A CN202211270963 A CN 202211270963A CN 115326037 B CN115326037 B CN 115326037B
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Abstract
The invention relates to a collimated light three-dimensional space automatic direction adjusting device and a method, wherein a three-dimensional space measuring model is arranged; randomly taking a group of three-dimensional space points to be measured, calculating the difference value between each three-dimensional space point and the next three-dimensional space point to be measured, and constructing a difference model; checking, if the difference model is satisfied, correcting collimated light based on the difference model to finish automatic direction adjustment, otherwise, increasing the number of the three-dimensional space points to be detected, and repeatedly constructing the difference model; the device comprises a collimated light output end, a rotation platform, a turnover platform and a translation platform which are matched with the collimated light output end, and collimated light is output after automatic direction adjustment. According to the method, a model is established through a collimated light three-dimensional space automatic direction adjusting method, a difference model of diameter loss and light intensity loss of different steering schemes in a certain emergent distance is obtained, in practical application, the optimal output diameter and light intensity are obtained through obtaining the current steering scheme and performing optimization calculation by integrating the diameter loss and the light intensity loss, further the consistency of collimated light output is achieved, and the output instability caused by light loss is reduced.
Description
Technical Field
The present invention relates to measurement; the technical field of testing, in particular to a device and a method for automatically adjusting direction of collimated light in three-dimensional space.
Background
Collimated light is a beam, generally a laser beam, that does not change significantly after a small beam divergence angle, and is characterized by the fact that no major changes in the beam radius occur after a certain propagation distance, which makes it more convenient to apply to the processing of three-dimensional products, such as cutting, welding, cladding.
In fact, the output of collimated light itself has problems such as certain light energy loss and light emission unevenness due to unstable emission, and particularly, in the direction adjustment of collimated light, a series of output adjustments are required to cope with these light energy losses.
In the prior art, put a large amount of research works on the base of collimated light, realize the stability in the collimated light outgoing process through the precision and the stability that increase the base, reduce because the light path shake or turn to and lead to the light energy loss, the light-emitting is uneven, but in fact, even infinitely promote mechanical precision, its itself all exists or will appear mechanical wear, slight calorie etc. problem, based on this, except that carry out mechanical precision to the base of straight light and promote, should consider more from the output of light path self alignment straight light and rectify.
Disclosure of Invention
The invention solves the problems in the prior art and provides a device and a method for automatically adjusting the direction of collimated light in a three-dimensional space.
The technical scheme adopted by the invention is that the automatic direction adjusting method for the collimated light three-dimensional space comprises the following steps:
step 1: initializing current collimated light to obtain initial data;
step 2: setting a three-dimensional space measurement model based on the current collimated light;
and step 3: randomly acquiring a group of three-dimensional space points to be detected;
and 4, step 4: taking a first three-dimensional space point to be detected, constructing a plane, and acquiring light ray information from an emergent point to the current three-dimensional space point to be detected;
and 5: acquiring a next three-dimensional space point to be detected, constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be detected, acquiring new light ray information and calculating a difference value E;
step 6: if the three-dimensional space point to be detected still exists, returning to the step 5, otherwise, performing the next step;
and 7: storing all difference values of the current set of three-dimensional space points to be detected, and constructing a difference model;
and step 8: and (4) taking a new group of three-dimensional space points to be detected for inspection, processing the direct light by using the difference model, correcting the direct light based on the difference model if the light ray information accords with the difference model to finish automatic direction adjustment, otherwise, increasing the number of the three-dimensional space points to be detected, and repeating the step (4).
Preferably, in step 1, initializing the collimated light includes setting the collimated light to be a set of N beams of light, and aligning the output beams.
Preferably, the initial data is M-beam split output after initialization and the corresponding spot diameter L 0 And light intensity Q 0 ；M＜N。
Preferably, in the step 2, the three-dimensional space measurement model is a sphere, and the emergent point of the collimated light is a sphere center; all the three-dimensional space points to be measured are points on the surface of the sphere.
Preferably, in the step 4, sequencing all the three-dimensional space points to be measured to construct a collimated light direction-adjusting scheme, wherein the scheme is a direction-adjusting path between two adjacent points;
taking a first three-dimensional space point to be measured, taking a plane tangent to the point, obtaining light information from an emergent point to the current three-dimensional space point to be measured, comparing the light information with initial data, and obtaining a light spot diameter L 1 Sum light intensity Q 1 Recording the diameter loss delta of the currently collimated light output L1 And light intensity loss delta Q1 。
Preferably, the step 5 comprises the following steps:
step 5.1: acquiring a next three-dimensional space point to be measured, and constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be measured, wherein the plane is tangent to the next three-dimensional space point to be measured; setting a target spot diameter value L d And a light intensity target value Q d ；
Step 5.2: obtaining the latest light spot diameter L of the next three-dimensional space point to be measured i And light intensity Q i Calculating the diameter loss delta of the collimated light output at the next three-dimensional space point to be measured Li And light intensity loss delta Qi I is a positive integer starting with 2;
step 5.3: and acquiring an included angle between the current light path and the reference light path.
Preferably, in step 7, based on the included angle in step 5.3, a difference model E is respectively established for the direct loss and the light intensity loss 1 And E 2 The increase and decrease of the light beam are matched based on the difference model, and the light intensity is adjusted corresponding to the change in the number of the light beams.
Preferably, in the step 7, a quadratic tuning function is set, so that J = L T GL+Q T PQ, G and P are preset adjusting matrixes; and J is optimized, and the optimal values of L and Q are obtained.
Preferably, the collimated light vectors constructed by all the groups of the three-dimensional space points to be detected are fitted into a sphere.
A three-dimensional automatic direction adjusting device for collimated light comprises a collimated light output end, wherein a six-axis rotating mechanism is arranged in cooperation with the collimated light output end; the device adopts the collimated light three-dimensional space automatic direction adjusting method to realize the output of collimated light after automatic direction adjustment.
The invention relates to a collimated light three-dimensional space automatic direction adjusting device and a method, which are characterized in that initial data is obtained after current collimated light is initialized, and a three-dimensional space measuring model is set; randomly acquiring a group of three-dimensional space points to be detected, acquiring a first three-dimensional space point to be detected, constructing a plane, acquiring light information from an emergent point to the current three-dimensional space point to be detected, acquiring a next three-dimensional space point to be detected, constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be detected, acquiring new light information, calculating a difference value E, repeating until all the three-dimensional space points to be detected are processed, and constructing a difference model based on all the difference values; taking a new group of three-dimensional space points to be detected for inspection, processing the direct light by using the difference model, correcting the direct light based on the difference model if the light ray information accords with the difference model, completing automatic direction adjustment, otherwise, increasing the number of the three-dimensional space points to be detected, and repeatedly constructing the difference model; the device comprises a collimated light output end, and a self-rotating platform, a turnover table and a translation table are arranged in cooperation with the collimated light output end; the device adopts the method to realize the collimated light output after automatic direction adjustment.
The method has the advantages that a model is built through a collimated light three-dimensional space automatic direction adjusting method, and a difference model of diameter loss and light intensity loss of different steering schemes in a certain emergent distance is obtained, so that in practical application, the optimal output diameter and light intensity are obtained by obtaining the current steering scheme and performing optimization calculation by integrating the diameter loss and the light intensity loss, further the output consistency of collimated light is achieved, and the output instability caused by light loss is reduced.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional space measurement model of the present invention, in which a central solid point is a collimated light emitting end, A and B are three-dimensional space points to be measured, respectively, and an arrow is a collimated light emitting direction;
FIG. 3 is a schematic diagram of the apparatus of the present invention, ending in a collimated light output.
Detailed Description
The present invention is described in further detail with reference to the following examples, but the scope of the present invention is not limited thereto.
As shown in fig. 1, the present invention relates to an automatic direction-adjusting method for a collimated light three-dimensional space, which obtains different collimated light direction-adjusting data and matches the corresponding collimated light data on the premise of a certain three-dimensional space, and further adjusts the light intensity of all direction-adjusting actions in the certain three-dimensional space, so as to minimize the diameter loss and the light intensity loss of the output collimated light.
Example 1
The method comprises the following steps:
step 1: initializing current collimated light to obtain initial data;
step 2: setting a three-dimensional space measurement model based on the current collimated light;
and step 3: randomly acquiring a group of three-dimensional space points to be detected;
and 4, step 4: taking a first three-dimensional space point to be detected, constructing a plane, and acquiring light ray information from an emergent point to the current three-dimensional space point to be detected;
and 5: acquiring a next three-dimensional space point to be detected, constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be detected, acquiring new light ray information and calculating a difference value E;
step 6: if the three-dimensional space point to be detected still exists, returning to the step 5, otherwise, performing the next step;
and 7: storing all difference values of the current set of three-dimensional space points to be detected, and constructing a difference model;
and 8: and (4) taking a new group of three-dimensional space points to be detected for inspection, processing the alignment straight light by using the difference model, if the light ray information accords with the difference model, correcting the alignment straight light based on the difference model to finish automatic direction adjustment, otherwise, increasing the number of the three-dimensional space points to be detected, and repeating the step (4).
In this embodiment, the current collimated light, that is, the emergent light, is initialized, the initial data is obtained, the initial data is related to the collimated light, and is generally related to the spot diameter and the light intensity, and the three-dimensional space measurement model is set based on the initial data, that is, the working radius is limited, and the calibration within a certain range is only effective.
In this embodiment, a group of randomly acquired three-dimensional space points to be measured is used to construct a calibration model, and based on this, as many three-dimensional space points to be measured as possible should be selected on the premise that conditions allow, and should cover multiple light path vectors, in this process, the three-dimensional space points to be measured may be cleaned, and one of the three-dimensional space points to be measured corresponding to a repeated light path vector may be deleted.
In this embodiment, the last point, including the exit point and the three-dimensional space point for testing, can be obtained by obtaining the three-dimensional space points to be tested one by one and constructing a plane, and the light information of the current three-dimensional space point to be tested is obtained, and the difference value E is calculated successively through the light information, and a difference model is constructed based on all the difference values, and the difference model actually includes the diameter loss and the light intensity loss corresponding to each light path vector; on the basis, a new group of three-dimensional space points to be detected are taken for inspection, the difference model is used for aligning the direct light for processing, the diameter loss and the light intensity loss are checked based on each light path vector, if the diameter loss and the light intensity loss are met, the direct light is aligned based on the difference model for correction, the automatic direction adjustment can be completed, otherwise, the number of the three-dimensional space points to be detected is increased, and the steps are repeated for calibration.
Example 2
On the basis of embodiment 1, in step 1, initializing collimated light includes setting the collimated light as a set of N beams of split light, and straightening split light to be output.
The initial data is M beams of light beams output after initialization and corresponding spot diameter L 0 And light intensity Q 0 ；M＜N。
In this embodiment, in order to align the direction of the collimated light more accurately for calibration, the collimated light is set as a set of N beams of light, and the number of N may be adjusted based on actual requirements; in the initial output state, only M beams of light are taken, and the increase and the decrease of the light beams can be ensured in the correction process.
Example 3
As shown in fig. 2, in the step 2, based on the embodiment 1, the three-dimensional space measurement model is a sphere, and the exit point of the collimated light is taken as the center of the sphere; all the three-dimensional space points to be measured are points on the surface of the sphere.
Example 4
As shown in fig. 2, on the basis of embodiment 1, in step 4, all three-dimensional space points to be measured are sequenced to construct a collimated light direction-adjusting scheme, where the scheme is a direction-adjusting path between two adjacent points;
taking a first three-dimensional space point to be measured, taking a plane tangent to the first three-dimensional space point, obtaining light ray information from an emergent point to the current three-dimensional space point to be measured, comparing the light ray information with initial data, and obtaining the diameter L of a light spot 1 Sum light intensity Q 1 Recording the diameter loss delta of the currently collimated light output L1 And light intensity loss delta Q1 。
The step 5 comprises the following steps:
step 5.1: acquiring a next three-dimensional space point to be detected, and constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be detected, wherein the plane is tangent to the next three-dimensional space point to be detected; setting a target spot diameter value L d And a light intensity target value Q d ；
And step 5.2: obtaining the latest light spot diameter L of the next three-dimensional space point to be measured i And light intensity Q i And calculating the diameter loss delta of collimated light output at the next three-dimensional space point to be measured Li Sum light intensity loss delta Qi I is a positive integer starting with 2;
step 5.3: and acquiring an included angle between the current light path and the reference light path.
In the step 7, based on the included angle in the step 5.3, a difference model E is respectively established for the direct loss and the light intensity loss 1 And E 2 The increase and decrease of the light beam are matched based on the difference model, and the light intensity is adjusted corresponding to the change in the number of the light beams.
In the step 7, a quadratic tuning function is set, and J = L is set T GL+Q T PQ, G and P are preset adjusting matrixes; and J is optimized, and the optimal values of L and Q are obtained.
In the embodiment, all three-dimensional space points to be detected are sequenced to construct a collimated light direction adjusting scheme, wherein the scheme is a direction adjusting path between two adjacent points; in this process, actually, the light path vectors are put into calibration, for example, 50 three-dimensional space points to be measured are taken and arranged in sequence, and from the exit point of the collimated light, the subsequent 50 light path vectors (directions) should be different, and if any light path vector is the same as the previous light path vector (direction is the same), one of the three-dimensional space points to be measured of the current light path vector can be deleted.
In this embodiment, for the first three-dimensional space point to be measured, a plane tangent to the point is taken, so that light information from the exit point to the current three-dimensional space point to be measured can be obtained, and the light spot diameter L is obtained 1 Sum light intensity Q 1 And with the initial data, i.e. spot diameter L 0 And light intensity Q 0 The comparison is made and the diameter loss delta of the current collimated light output is recorded L1 And light intensity loss delta Q1 ，δ L1 = L 1 - L 0 ，δ Q1 = Q 1 - Q 0 。
In this embodiment, a next three-dimensional space point to be measured is obtained, a new plane is constructed based on the current three-dimensional space point and the next three-dimensional space point to be measured, and the plane is tangent to the next three-dimensional space point to be measured, and at this time, a new light path vector actually corresponds to the new plane; firstly, presetting a target value L of the diameter of a light spot d And a light intensity target value Q d Obtaining the latest light spot diameter L at the next three-dimensional space point to be measured i And light intensity Q i Then, calculating the diameter loss and the light intensity loss of collimated light output at the next three-dimensional space point to be measured by the same method;
obtaining the included angle between the current light path and the reference light path, namely the included angle between the light path vectors of the previous light path and the reference light path, and respectively establishing a difference model E for the diameter loss and the light intensity loss based on the included angle 1 And E 2 Matching the increase and decrease of the light beams based on the difference model and adjusting the light intensity corresponding to the number variation of the light beams; that is, during the adjustment from the first optical path vector to the second optical path vector, the difference model E is passed 1 And E 2 Obtaining what is actually possibleThe diameter loss and the light intensity loss are used for increasing and decreasing correction of the diameter and the light intensity based on the diameter loss and the light intensity loss, so that the collimated light is always kept at a stable level; wherein, the diameter correction can be realized by increasing or decreasing the light beam, and the light intensity correction is further performed on the basis of the diameter correction.
In this embodiment, a quadratic tuning function may be further set, and let J = L T GL+Q T PQ, G and P are preset adjustment matrices, specifically, PQ, G and P
Is an error weight matrix, wherein k is the number of three-dimensional space points,
for the control quantity weight matrix, M is the number of control quantities, J is optimized, and the optimal values of L and Q are found, which should be chosen to ensure the adjustment of the diameter L with the minimum adjustment of the Q value.
Example 5
On the basis of the embodiment 1, collimated light vectors constructed by all groups of the three-dimensional space points to be detected are fitted into a sphere.
In this embodiment, when the number of data segments is large enough, the collimated light vectors (light path vectors) constructed by all the groups of three-dimensional space points to be measured can be finally fitted into a sphere.
As shown in fig. 3, the invention also relates to a collimated light three-dimensional space automatic direction adjusting device, which comprises a collimated light output end, wherein a six-axis rotating mechanism is arranged in cooperation with the collimated light output end; the device adopts the collimated light three-dimensional space automatic direction adjusting method to realize the collimated light output after automatic direction adjustment.
In this embodiment, through the calibration of the method, the six-axis rotating mechanism is matched to realize the automatic direction adjustment of the collimated light in the three-dimensional space, and specifically, the six-axis rotating mechanism can complete the rotation of the collimated light outgoing around the X, Y and Z axes.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A collimated light three-dimensional space automatic direction adjusting method is characterized by comprising the following steps: the method comprises the following steps:
step 1: initializing current collimated light to obtain initial data;
step 2: setting a three-dimensional space measurement model based on the current collimated light;
and 3, step 3: randomly acquiring a group of three-dimensional space points to be detected;
and 4, step 4: taking a first three-dimensional space point to be detected, constructing a plane, and acquiring light ray information from an emergent point to the current three-dimensional space point to be detected;
and 5: acquiring a next three-dimensional space point to be detected, constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be detected, acquiring new light ray information and calculating a difference value E;
step 6: if the three-dimensional space point to be detected still exists, returning to the step 5, otherwise, performing the next step;
and 7: storing all difference values of the current set of three-dimensional space points to be detected, and constructing a difference model;
and step 8: and (4) taking a new group of three-dimensional space points to be detected for inspection, processing the alignment straight light by using the difference model, if the light ray information accords with the difference model, correcting the alignment straight light based on the difference model to finish automatic direction adjustment, otherwise, increasing the number of the three-dimensional space points to be detected, and repeating the step (4).
2. The method of claim 1 for automatically steering the collimated light in the three-dimensional space, wherein the method comprises the following steps: in step 1, initializing collimated light includes setting the collimated light as a set of N beams of light, and aligning output beams of light.
3. The method for automatically adjusting the direction of the collimated light in the three-dimensional space according to claim 2, wherein the method comprises the following steps: the initial data is M beams of light beams output after initialization and corresponding spot diameter L 0 And light intensity Q 0 ；M＜N。
4. The automatic direction adjusting method for the collimated light three-dimensional space according to claim 1, characterized by comprising the following steps of: in the step 2, the three-dimensional space measurement model is a sphere, and the emergent point of collimated light is taken as the center of the sphere; all the three-dimensional space points to be measured are points on the surface of the sphere.
5. The method for automatically adjusting the direction of the collimated light in the three-dimensional space according to claim 3, wherein the method comprises the following steps: in the step 4, sequencing all the three-dimensional space points to be detected, and constructing a collimated light direction adjusting scheme, wherein the scheme is a direction adjusting path between two adjacent points;
taking a first three-dimensional space point to be measured, taking a plane tangent to the point, obtaining light information from an emergent point to the current three-dimensional space point to be measured, comparing the light information with initial data, and obtaining a light spot diameter L 1 Sum light intensity Q 1 Recording the diameter loss delta of the currently collimated light output L1 And light intensity loss delta Q1 。
6. The method of claim 5, wherein the method comprises the following steps: the step 5 comprises the following steps:
step 5.1: acquiring a next three-dimensional space point to be measured, and constructing a new plane based on the current three-dimensional space point and the next three-dimensional space point to be measured, wherein the plane is tangent to the next three-dimensional space point to be measured; setting a target spot diameter value L d And a light intensity target value Q d ；
Step 5.2: obtaining the latest point of the next three-dimensional space to be measuredSpot diameter L of i And light intensity Q i And calculating the diameter loss delta of collimated light output at the next three-dimensional space point to be measured Li And light intensity loss delta Qi I is a positive integer starting with 2;
step 5.3: and acquiring an included angle between the current light path and the reference light path.
7. The method of claim 6, wherein the method comprises the following steps: in the step 7, based on the included angle in the step 5.3, a difference model E is respectively established for the direct loss and the light intensity loss 1 And E 2 The increase and decrease of the light beam are matched based on the difference model, and the light intensity is adjusted corresponding to the change in the number of the light beams.
8. The method of claim 7, wherein the method comprises the following steps: in the step 7, a quadratic tuning function is set, and J = L T GL+Q T PQ, G and P are preset adjusting matrixes; and J is optimized, and the optimal values of L and Q are obtained.
9. The method of claim 1 for automatically steering the collimated light in the three-dimensional space, wherein the method comprises the following steps: and fitting collimated light vectors constructed by all the groups of the three-dimensional space points to be detected into a sphere.
10. The utility model provides an automatic device of turning to of collimated light three-dimensional space which characterized in that: the device comprises a collimated light output end, and a six-axis rotating mechanism is arranged in cooperation with the collimated light output end; the device adopts the collimated light three-dimensional space automatic direction adjusting method of any one of claims 1 to 9 to realize collimated light output after automatic direction adjustment.
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