CN117192707B - Optical fiber coupling device and automatic coupling control method of optical fiber coupling device - Google Patents
Optical fiber coupling device and automatic coupling control method of optical fiber coupling device Download PDFInfo
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- CN117192707B CN117192707B CN202311445689.4A CN202311445689A CN117192707B CN 117192707 B CN117192707 B CN 117192707B CN 202311445689 A CN202311445689 A CN 202311445689A CN 117192707 B CN117192707 B CN 117192707B
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- 239000013307 optical fiber Substances 0.000 title claims abstract description 117
- 230000008878 coupling Effects 0.000 title claims abstract description 77
- 238000010168 coupling process Methods 0.000 title claims abstract description 77
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000013598 vector Substances 0.000 claims description 96
- 238000012795 verification Methods 0.000 claims description 35
- 238000006073 displacement reaction Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000000919 ceramic Substances 0.000 claims description 12
- 230000001276 controlling effect Effects 0.000 claims 5
- 230000001105 regulatory effect Effects 0.000 claims 1
- 239000000835 fiber Substances 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 230000004308 accommodation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Abstract
The invention relates to the technical field of optical fiber coupling equipment, and particularly discloses an optical fiber coupling device and an automatic coupling control method of the optical fiber coupling device, wherein the optical fiber coupling device comprises a degree of freedom adjusting mechanism, a photoelectric sensor and a master controller, the degree of freedom adjusting mechanism comprises a base, a fixing piece and a multi-dimensional adjusting component, and the multi-dimensional adjusting component is movably connected with the base; one end of the multidimensional adjusting component, which is far away from the base, is connected with a fixing piece, and the fixing piece is used for fixing an optical fiber to be coupled; the photoelectric sensor is arranged adjacent to the base, and the detection element of the photoelectric sensor is arranged opposite to the optical fiber of the fixing piece; the main controller is electrically connected with the photoelectric sensor and is used for receiving photoelectric signals of the photoelectric sensor and controlling the multi-dimensional adjusting assembly to move. According to the technical scheme, the multidimensional adjusting component can accurately drive the optical fiber to move in multiple dimension directions to adjust the posture according to the photoelectric signals detected by the photoelectric sensor, so that the optical fiber coupling device meets the actual requirements.
Description
Technical Field
The invention relates to the technical field of optical fiber coupling equipment, in particular to an optical fiber coupling device and an automatic coupling control method of the optical fiber coupling device.
Background
The space light-optical fiber coupling is a key link in the fields of free space light communication, optical fiber laser assembly, optical fiber signal test and the like, and determines the transmission loss rate of optical power and the optical fiber error rate. Chinese patent 202010479253.7 discloses a high-efficiency space light-optical fiber coupling device and method based on power feedback. The method realizes the alignment of the optical fiber and the space light by 6 piezoelectric ceramic driving pairs of adjusting mechanisms. The Chinese patent '201210330164.1' discloses an automatic single-mode fiber coupling device for an optical fiber laser, which is used for respectively carrying out posture adjustment on two convex lenses through one-dimensional piezoelectric ceramic and one two-dimensional piezoelectric ceramic to complete the optical fiber coupling task. The Chinese patent 201910085203.8 discloses an automatic optical fiber coupling device which utilizes a stepping motor to drive two optical wedges respectively to realize optical fiber coupling. The prior art represented by the above method provides a method for implementing optical fiber coupling, but still has the following problems.
The optical fiber coupling device is often disturbed by environmental influence due to space light, so that the disturbance range of optical fiber adjustment of the optical fiber coupling device is larger, and the optical fiber adjustment range is often in the millimeter range in consideration of limited mechanism installation precision. The coupling object of the optical fiber coupling device is a single-mode optical fiber with a diameter of only a few micrometers, and the adjustment precision requirement often needs to be at a submicron level. Therefore, the adjusting mechanism and the coupling object of the optical fiber coupling device with the existing structure are difficult to match, and the requirements of rapidness, high precision and large range cannot be simultaneously realized, so that a certain gap exists between the existing optical fiber coupling device and the actual requirement.
Disclosure of Invention
The invention mainly aims to provide an optical fiber coupling device and an automatic coupling control method of the optical fiber coupling device, and aims to ensure that a multi-dimensional adjusting component does not need to avoid micro-sized optical fibers, and can accurately drive the optical fibers to move in multiple dimension directions to adjust the gesture according to photoelectric signals detected by a photoelectric sensor, so that the adjusting accuracy of the multi-dimensional adjusting component is improved, the adjusting range is enlarged, and the optical fiber coupling device meets the practical requirement.
In order to achieve the above object, an optical fiber coupling device according to the present invention includes:
The freedom degree adjusting mechanism comprises a base, a fixing piece and a multi-dimensional adjusting component, wherein the multi-dimensional adjusting component is movably connected to the base; one end of the multidimensional adjusting component, which is far away from the base, is connected with the fixing piece, and the fixing piece is used for fixing the optical fiber to be coupled;
the photoelectric sensor is arranged adjacent to the base, and a detection element of the photoelectric sensor is arranged opposite to the optical fiber of the fixing piece;
the master controller is electrically connected with the photoelectric sensor and the multi-dimensional adjusting component and is used for receiving photoelectric signals of the photoelectric sensor and controlling the multi-dimensional adjusting component to move;
the main controller controls the multi-dimensional adjusting assembly to move along multiple dimension directions according to photoelectric signals of the photoelectric sensor so that optical fibers positioned on the fixing piece are aligned and coupled with external laser beams.
In one embodiment, the multi-dimensional adjustment assembly comprises:
the first adjusting unit is movably connected to the base;
the displacement table is arranged on one side, far away from the base, of the first adjusting unit, so that the first adjusting unit drives the displacement table to move along two different dimension directions relative to the base;
The second adjusting unit is arranged on one side of the displacement table, which is opposite to the first adjusting unit, and the fixing piece is arranged on one side of the second adjusting unit, which is opposite to the displacement table, so that the second adjusting unit drives the fixing piece to move along three different dimension directions.
In one embodiment, the displacement stage comprises a first mobile station and a second mobile station, and the first mobile station and the second mobile station are arranged in a stacked arrangement;
the first adjusting unit comprises a first adjusting piece and a second adjusting piece, and the first adjusting piece is arranged on the base and is in transmission connection with the first mobile station; the second adjusting piece is arranged on the first mobile station and is in transmission connection with the second mobile station;
the second adjusting unit comprises a third adjusting piece, a fourth adjusting piece and a fifth adjusting piece, wherein one ends of the third adjusting piece, the fourth adjusting piece and the fifth adjusting piece are connected with one side, opposite to the second adjusting piece, of the second mobile station, and one ends, far away from the second mobile station, of the third adjusting piece, the fourth adjusting piece and the fifth adjusting piece are connected with the fixing piece.
In an embodiment, the first mobile station is provided with a first guiding arm, the second mobile station is provided with a second guiding arm, and the first guiding arm and the second guiding arm are respectively arranged in an extending way along different two dimension directions;
the first adjusting piece comprises a first voice coil motor, a first connecting block and a first locking block, the first voice coil motor is arranged on the base, and an output shaft of the first voice coil motor is in transmission connection with the first mobile station; the first connecting block is fixed on the base; the first locking block is arranged on the first connecting block, and the first locking block is movably close to or far away from the first guide arm so as to lock the position of the first mobile station in one dimension direction;
the second adjusting piece comprises a second voice coil motor, a second connecting block and a second locking block, the second voice coil motor is arranged on the first moving table, and an output shaft of the second voice coil motor is in transmission connection with the second moving table; the second connecting block is fixed on the first mobile station; the second locking block is arranged on the second connecting block, and the second locking block is movably close to or far away from the second guide arm so as to lock the position of the second mobile station in the other dimension direction;
The first voice coil motor drives the first moving table to move along one dimension direction, and the second voice coil motor drives the second moving table to move along the other dimension direction, so that the fixing piece is adjusted to move along two different dimension directions.
In one embodiment, the third adjustment member comprises:
the fixed block is arranged on the second mobile station;
the third locking block is arranged on the fixed block;
the sliding block is connected to one side, opposite to the fixed block, of the third locking block in a sliding manner, and the third locking block is used for locking the position of the sliding block in the fixed block;
the third driving piece is arranged on the third locking block and is in transmission connection with the sliding block;
the branched chain connecting rod is arranged on one side of the sliding block, which is opposite to the third locking block, and one end of the branched chain connecting rod, which is far away from the sliding block, is connected with the fixing piece;
the third driving piece drives the branched chain connecting rod to move along the sliding stroke of the sliding block so that the branched chain connecting rod drives the fixing piece to move along the other dimension direction;
The structures of the fourth adjusting piece and the fifth adjusting piece are the same as those of the third adjusting piece.
The invention also provides an automatic coupling control method of the optical fiber coupling device, which comprises the following steps:
the main controller controls the photoelectric sensor to detect the photoelectric signal of the optical fiber and receives the detection result output by the photoelectric sensor;
the main controller analyzes the detection result to determine an optimal five-dimensional vector;
the master controller controls the multi-dimensional adjusting component to move according to the optimal gesture five-dimensional vector;
the multi-dimensional adjusting component drives the optical fiber positioned on the fixing piece to move so that the optical fiber forms an optimal posture of aligning and coupling with an external laser beam.
In an embodiment, the step of controlling the photoelectric sensor by the master controller to detect the photoelectric signal of the optical fiber and receiving the detection result output by the photoelectric sensor includes:
after the main controller acquires a first photoelectric signal sent by the photoelectric sensor, recording an initial gesture corresponding to the first photoelectric signal;
the master controller determines that the multi-dimensional adjusting component has five dimensional directions according to the initial gesture, and outputs a first five-dimensional vector corresponding to the initial gesture;
The main controller controls the multi-dimensional adjusting component to sequentially perform full-stroke movement along the five dimension directions, and sequentially determines peak photoelectric signals corresponding to each dimension direction;
and combining the five peak photoelectric signals to form the detection result after the main controller determines the five peak photoelectric signals corresponding to the dimension direction.
In one embodiment, the step of the master analyzing the detection result to determine the optimal pose five-dimensional vector comprises:
after the main controller obtains one peak photoelectric signal, the main controller changes one dimension vector in the first five-dimension vector according to the peak photoelectric signal;
after the master controller completely changes all the dimension vectors in the first five-dimensional vector, the master controller defines the changed first five-dimensional vector as a second five-dimensional vector;
and the master controller performs optimal gesture verification according to the second five-dimensional vector so as to judge whether the second five-dimensional vector is the optimal gesture five-dimensional vector.
In an embodiment, the step of controlling the multi-dimensional adjusting component to sequentially perform full-stroke movement along five dimension directions by the master controller, and sequentially determining the peak photoelectric signal corresponding to each dimension direction includes:
The master controller controls the multi-dimensional adjusting assembly to perform full-stroke movement along each dimension direction, and obtains a plurality of sub-photoelectric signals formed in the process that the photoelectric sensor detects the multi-dimensional adjusting assembly to move along each dimension direction;
the main controller determines the numerical values corresponding to the sub photoelectric signals according to the sub photoelectric signals corresponding to each dimension direction, selects the sub photoelectric signal with the largest numerical value from the sub photoelectric signals, and determines the sub photoelectric signal with the largest numerical value as the peak photoelectric signal corresponding to the dimension direction.
In one embodiment, the optimal pose verification step includes:
the master controller randomly generates a third five-dimensional vector according to the second five-dimensional vector, and controls the multi-dimensional adjusting component to move according to the third five-dimensional vector to form a verification pose;
the master controller receives five verification photoelectric signals corresponding to the third five-dimensional vector detected by the photoelectric sensor;
the master controller compares the verification photoelectric signal with the peak photoelectric signal, judges whether the peak photoelectric signal is larger than the verification photoelectric signal or not, and outputs a judging result;
If the judgment result is affirmative, the second five-dimensional vector corresponding to the peak photoelectric signal is considered as the optimal posture five-dimensional vector;
if the judging result is negative, defining the verification pose as an initial pose, and continuously executing the steps of controlling the photoelectric sensor by the main controller to detect the photoelectric signal of the optical fiber and receiving the detecting result output by the photoelectric sensor until the judging result is positive.
The optical fiber coupling device comprises a freedom degree adjusting mechanism, a photoelectric sensor and a master controller, wherein the freedom degree adjusting mechanism comprises a base, a fixing piece and a multi-dimensional adjusting component, and the multi-dimensional adjusting component is movably connected with the base; one end of the multidimensional adjusting component, which is far away from the base, is connected with a fixing piece, and the fixing piece is used for fixing an optical fiber to be coupled; the photoelectric sensor is arranged adjacent to the base, and the detection element of the photoelectric sensor is arranged opposite to the optical fiber of the fixing piece; the main controller is electrically connected with the photoelectric sensor and is used for receiving photoelectric signals of the photoelectric sensor and controlling the multi-dimensional adjusting assembly to move; the main controller controls the multi-dimensional adjusting assembly to move along multiple dimension directions according to photoelectric signals of the photoelectric sensor so as to align and couple the optical fiber positioned on the fixing piece with an external laser beam; so, through addding photoelectric sensor, multidimensional adjustment subassembly and master controller cooperation for multidimensional adjustment subassembly need not to take care of miniature size's optic fibre, also can drive the optic fibre in a plurality of dimension directions to remove according to photoelectric signal that photoelectric sensor detected accurately and adjust the gesture, and then promote multidimensional adjustment subassembly's regulation precision and increase accommodation, make optic fibre can align with laser beam more soon, thereby make optical fiber coupling device accord with actual demand and use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an embodiment of an optical fiber coupling device according to the present invention;
FIG. 2 is a schematic view of a multi-dimensional adjusting assembly of the optical fiber coupling device according to the present invention;
FIG. 3 is a schematic view of a multi-dimensional adjusting assembly of the fiber coupling device according to another embodiment of the present invention;
FIG. 4 is a schematic view of a first adjusting member of a multi-dimensional adjusting assembly of the fiber coupling device according to the present invention;
FIG. 5 is a schematic structural view of a third adjusting member of the multi-dimensional adjusting assembly of the optical fiber coupling device according to the present invention;
FIG. 6 is a flow chart of an automatic coupling control method of the optical fiber coupling device of the present invention;
FIG. 7 is a flowchart illustrating a refinement step of S10 in the method for controlling automatic coupling of an optical fiber coupling device according to the present invention;
FIG. 8 is a flowchart illustrating a refinement step of S20 in the method for controlling automatic coupling of an optical fiber coupling device according to the present invention;
fig. 9 is a flowchart illustrating a refinement step of S13 in the automatic coupling control method of the optical fiber coupling device according to the present invention.
Reference numerals illustrate:
10. a degree of freedom adjustment mechanism; 11. a base; 12. a fixing member; 13. a multi-dimensional adjustment assembly; 131. a first adjusting unit; 1311. a first adjustment member; 1311a, first connection block; 1311b, first locking block; 1312. a second adjusting member; 132. a displacement table; 1321. a first mobile station; 1322. a second mobile station; 20. a photoelectric sensor; 30. a master controller; 133. a second adjusting unit; 1331. a third adjustment member; 1331a, a fixed block; 1331b, a third locking block; 1331c, a slider; 1331d, branched links; 1332. a fourth adjustment member; 1333. a fifth adjusting member; 1. laser; 2. an optical fiber.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The adjusting mechanism, the driving mechanism and the coupling object of the optical fiber coupling device with the existing structure are difficult to match, and the requirements on rapidness, high precision and large range cannot be simultaneously met, so that a certain gap exists between the existing optical fiber coupling device and the actual requirement.
In the embodiment of the present invention, referring to fig. 1 and 2, the optical fiber coupling device includes a degree of freedom adjusting mechanism 10, a photoelectric sensor 20 and a main controller 30, wherein the degree of freedom adjusting mechanism 10 includes a base 11, a fixing member 12 and a multi-dimensional adjusting component 13, and the multi-dimensional adjusting component 13 is movably connected to the base 11; one end of the multidimensional adjusting component 13, which is far away from the base 11, is connected with a fixing piece 12, and the fixing piece 12 is used for fixing the optical fiber 2 to be coupled; the photoelectric sensor 20 is arranged adjacent to the base 11, and the detection element of the photoelectric sensor 20 is arranged opposite to the optical fiber 2 of the fixing piece 12; the main controller 30 is electrically connected with the photoelectric sensor 20 and the multi-dimensional adjusting component 13, and the main controller 30 is used for receiving photoelectric signals of the photoelectric sensor 20 and controlling the multi-dimensional adjusting component 13 to move; the master controller 30 controls the multi-dimensional adjusting component 13 to move along multiple dimensions according to the photoelectric signal of the photoelectric sensor 20, so that the optical fiber 2 positioned on the fixing piece 12 is aligned and coupled with the external laser 1.
Specifically, the fixing piece 12 is provided with a fixing hole, and the optical fiber 2 to be coupled is penetrated through the fixing hole so as to fix the position of the optical fiber 2; firstly, the main controller 30 controls the detection element of the photoelectric sensor 20 to be opposite to the optical fiber 2 on the fixing piece 12, so that the photoelectric sensor 20 can detect the optical fiber 2, and whether the optical fiber 2 has photoelectric signals or not can be detected; the main controller 30 analyzes the photoelectric signals detected by the photoelectric sensor 20 and outputs the optimal five-dimensional posture vector; the main controller 30 controls the multi-dimensional adjusting component 13 to move along the directions of multiple dimensions according to the five-dimensional vector of the optimal gesture, so that the multi-dimensional adjusting component 13 drives the optical fiber 2 positioned on the fixing piece 12 to form the optimal gesture, and the optical fiber 2 is rapidly aligned and coupled with the external laser 1.
According to the scheme, the photoelectric sensor 20 and the multi-dimensional adjusting component 13 are additionally arranged to be matched with the main controller 30, so that the multi-dimensional adjusting component 13 does not need to be in charge of micro-sized optical fibers 2, and can accurately drive the optical fibers 2 to move in multiple dimension directions to adjust the gesture according to photoelectric signals detected by the photoelectric sensor 20, and further the adjusting accuracy and the increasing adjusting range of the multi-dimensional adjusting component 13 are improved, so that the optical fibers 2 can be aligned with laser 1 beams more quickly, and the optical fiber coupling device meets the actual requirements.
In an embodiment, referring to fig. 2 and 3, the multi-dimensional adjusting assembly 13 includes a first adjusting unit 131, a displacement table 132, and a second adjusting unit 133, where the first adjusting unit 131 is movably connected to the base 11; the displacement table 132 is disposed at a side of the first adjusting unit 131 away from the base 11, so that the first adjusting unit 131 drives the displacement table 132 to move along two different dimension directions relative to the base 11; the second adjusting unit 133 is disposed on a side of the displacement table 132 facing away from the first adjusting unit 131, and a fixing member 12 is disposed on a side of the second adjusting unit 133 facing away from the displacement table 132, so that the second adjusting unit 133 drives the fixing member 12 to move along three different dimension directions.
Specifically, by separately arranging the multi-dimensional adjusting component 13 with the first adjusting unit 131 and the second adjusting unit 133 and arranging the displacement table 132 between the first adjusting unit 131 and the second adjusting unit 133, the displacement table 132 is driven by the first adjusting unit 131 to move along two dimensions without interference, so that the position of the displacement table 132 in the two dimensions can be adjusted more accurately by the first adjusting unit 131; the second adjusting unit 133 drives the fixing member 12 to move along the three dimension directions without interference, so that the second adjusting unit 133 can more accurately adjust the positions of the fixing member 12 along the three dimension directions, thereby improving the adjustment accuracy of the whole multi-dimension adjusting assembly 13.
In one embodiment, referring to fig. 2, the displacement stage 132 includes a first mobile station 1321 and a second mobile station 1322, where the first mobile station 1321 and the second mobile station 1322 are disposed in a stacked arrangement; the first adjusting unit 131 comprises a first adjusting member 1311 and a second adjusting member 1312, wherein the first adjusting member 1311 is arranged on the base 11 and is in transmission connection with the first moving table 1321; the second adjusting member 1312 is disposed on the first mobile station 1321 and is in transmission connection with the second mobile station 1322; the second adjusting unit 133 includes a third adjusting member 1331, a fourth adjusting member 1332 and a fifth adjusting member 1333, wherein one ends of the third adjusting member 1331, the fourth adjusting member 1332 and the fifth adjusting member 1333 are connected to one side of the second moving table 1322 opposite to the second adjusting member 1312, and one ends of the third adjusting member 1331, the fourth adjusting member 1332 and the fifth adjusting member 1333, which are far away from the second moving table 1322, are connected to the fixing member 12.
Specifically, the displacement stage 132 is divided into a first mobile stage 1321 and a second mobile stage 1322, and the first mobile stage 1321 and the base 11 are connected by the first adjusting member 1311, and the first mobile stage 1321 and the second mobile stage 1322 are connected by the second adjusting member 1312, so that the first mobile stage 1321 and the second mobile stage 1322 are movable relative to each other in the vertical direction, and the space of the multi-dimensional adjusting assembly 13 is reduced; the third adjusting member 1331, the fourth adjusting member 1332 and the fifth adjusting member 1333 are all disposed on the second moving table 1322, so that the second adjusting unit 133 can simultaneously adjust the positions of the fixing member 12 in three dimensions on a horizontal plane, and the three adjusting members of the second adjusting unit 133 are not interfered with each other, so as to accelerate the adjusting speed of the multi-dimensional adjusting assembly 13.
The first adjusting member 1311 described herein adjusts the position of the first moving stage 1321 to move linearly in the X direction, and the second adjusting member 1312 adjusts the position of the second moving stage 1322 to move linearly in the Y direction; the third adjusting piece 1331 adjusts the position of the fixing piece 12 linearly moving in the Z direction, the fourth adjusting piece 1332 adjusts the position of the fixing piece 12 rotating in the X direction, and the fifth adjusting piece 1333 adjusts the position of the fixing piece 12 rotating in the Y direction.
In an embodiment, referring to fig. 2 and 3, the first mobile station 1321 is provided with a first guiding arm, the second mobile station 1322 is provided with a second guiding arm, and the first guiding arm and the second guiding arm are respectively arranged along different two dimension directions in an extending manner; the first adjusting piece 1311 comprises a first voice coil motor, a first connecting block 1311a and a first locking block 1311b, the first voice coil motor is arranged on the base 11, and an output shaft of the first voice coil motor is in transmission connection with the first mobile station 1321; the first connecting block 1311a is fixed to the base 11; the first locking block 1311b is disposed on the first connecting block 1311a, and the first locking block 1311b is movably close to or far from the first guiding arm, so as to lock the position of the first mobile station 1321 in one dimension direction; the second adjusting piece 1312 comprises a second voice coil motor, a second connecting block and a second locking block, the second voice coil motor is arranged on the first moving table 1321, and an output shaft of the second voice coil motor is in transmission connection with the second moving table 1322; the second connection block is fixed to the first mobile station 1321; the second locking block is arranged on the second connecting block, and the second locking block is movably close to or far away from the second guiding arm so as to lock the position of the second mobile station 1322 in the other dimension direction; wherein the first voice coil motor drives the first moving stage 1321 to move in one of the dimension directions and the second voice coil motor drives the second moving stage 1322 to move in the other of the dimension directions, thereby moving the adjustment fixture 12 in two different of the dimension directions.
Specifically, the structural composition of the first adjusting member 1311 is the same as that of the second adjusting member 1312, and the difference between the two is that the first adjusting member 1311 is connected to the first mobile station 1321 and the base 11 through the first voice coil motor, and the second adjusting member 1312 is connected to the first mobile station 1321 and the second mobile station 1322 through the second voice coil motor; the first voice coil motor and the second voice coil motor are a linear displacement device driven by electromagnetic force, and the moving speed of the first voice coil motor and the second voice coil motor is proportional to the driving current, so that the extremely high moving speed of the first adjusting member 1311 and the second adjusting member 1312 can be achieved by supplying high current.
When the output shaft of the first voice coil motor drives the first moving stage 1321 to move, the first moving stage 1321 can move along the X direction relative to the base 11; when the output shaft of the second voice coil motor drives the second moving stage 1322 to move, the second moving stage 1322 can move along the Y direction relative to the first moving stage 1321.
The first guide arm extends along the X direction, the second guide arm extends along the Y direction, the first locking block 1311b and the second locking block are provided with elastic force, so that the first locking block 1311b and the second locking block provide a retaining force under the condition of power failure, the first adjusting piece 1311 can be matched with the first guide arm through the first locking block 1311b so as to realize the mechanical self-locking of the first adjusting piece 1311 in the X direction, and the second adjusting piece 1312 can be matched with the second guide arm through the second locking block so as to realize the mechanical self-locking of the second adjusting piece 1312 in the Y direction.
In an embodiment, referring to fig. 2 and 4, the third adjusting piece 1331 includes a fixing piece 1331a, a third locking piece 1331b, a sliding block 1331c, a third driving piece and a branched link 1331d, and the fixing piece 1331a is disposed on the second moving table 1322; the third locking block 1331b is arranged on the fixing block 1331a; the sliding block 1331c is slidably connected to a side of the third locking block 1331b opposite to the fixed block 1331a, and the third locking block 1331b is used for locking the position of the sliding block 1331c in the fixed block 1331a; the third driving piece is arranged on the third locking block 1331b and is in transmission connection with the sliding block 1331 c; the branched chain connecting rod 1331d is arranged on one side of the sliding block 1331c, which is opposite to the third locking block 1331b, and one end of the branched chain connecting rod 1331d, which is far away from the sliding block 1331c, is connected with the fixing piece 12; wherein, the third driving member drives the branched link 1331d to move along the sliding stroke of the slider 1331c, so that the branched link 1331d drives the fixing member 12 to move along the direction of the dimension; the fourth and fifth adjusting members 1332 and 1333 have the same structure as the third adjusting member 1331.
Specifically, the branched link 1331d is freely slid on the third locking piece 1331b by the slider 1331c, and thus the position of the fixing piece 12 connected to the branched link 1331d in the sliding stroke of the slider 1331c can be adjusted; the third locking block 1331b can perform mechanical self-locking when the sliding block 1331c moves to a proper position, so that the position of the fixing piece 12 on the fixing block 1331a is locked, and the fixing piece 12 can accurately and stably position the optical fiber 2. The third driving member is a voice coil motor, and accelerates the reaction speed of the third adjusting member 1331, the fourth adjusting member 1332 and the fifth adjusting member 1333. The third adjusting piece 1331, the fourth adjusting piece 1332 and the fifth adjusting piece 1333 are arranged around the periphery of the second moving table 1322 at intervals, so that the fixing piece 12 can be better supported by the third adjusting piece 1331, the fourth adjusting piece 1332 and the fifth adjusting piece 1333.
The third locking block 1331b comprises a fixing part, telescopic piezoelectric ceramics and an elastic clamping piece, wherein the fixing part is arranged on the fixing block 1331a, and the telescopic piezoelectric ceramics are connected with the fixing part and are positioned below the sliding block 1331c; the elastic clamping piece comprises a body and an elastic structure movably connected with the body, and the body is fixed on the fixing part; the telescopic piezoelectric ceramic is in telescopic contact with the elastic structure to push the elastic structure to be close to or far away from the sliding block 1331c; the third driving piece has a locking state and an unlocking state; when the optical fiber is in the locking state, the telescopic piezoelectric ceramic is powered off and is far away from the elastic structure, so that the elastic structure clamps the sliding block 1331c, the third locking block 1331b can be mechanically self-locked when the sliding block 1331c moves to a proper position, the position of the fixing piece 12 on the fixing block 1331a is further locked, and the fixing piece 12 can enable the optical fiber 2 to be accurately and stably positioned; in the unlocked state, the telescoping piezoceramic is electrically contacted with the elastic structure to move the elastic structure away from the slider 1331c, such that the third driver is again moved.
The invention also provides an automatic coupling control method of the optical fiber coupling device, which comprises the following steps:
Referring to fig. 6, S10: the main controller 30 controls the photoelectric sensor 20 to detect the photoelectric signal of the optical fiber 2 and receives the detection result output by the photoelectric sensor 20;
s20: the master controller 30 analyzes the detection result to determine an optimal pose five-dimensional vector;
s30: the master controller 30 controls the multi-dimensional adjusting component 13 to move according to the optimal posture five-dimensional vector;
s40: the multi-dimensional adjusting component 13 drives the optical fiber 2 positioned on the fixing piece 12 to move so as to enable the optical fiber 2 to form an optimal posture of aligning and coupling with the external laser 1.
The master controller 30 controls the photoelectric sensor 20 to detect the photoelectric signal of the optical fiber 2 positioned on the fixing member 12; and the photoelectric signal detected by the photoelectric sensor 20 is a detection result, and the main controller 30 receives the detection result; the master controller 30 then checks whether the optical fiber 2 has an optical-electrical signal by detecting the result; the main controller 30 analyzes the photoelectric signals detected by the photoelectric sensor 20 and outputs the optimal five-dimensional posture vector; the main controller 30 controls the multi-dimensional adjusting component 13 to move along the directions of multiple dimensions according to the five-dimensional vector of the optimal gesture, so that the multi-dimensional adjusting component 13 drives the optical fiber 2 positioned on the fixing piece 12 to form the optimal gesture, and the optical fiber 2 is rapidly aligned and coupled with the external laser 1.
Only a portion of the optical fiber 2 is aligned with the laser 1 beam or all of the optical fiber 2 is aligned with the laser 1 beam, at which time the photoelectric sensor 20 can detect a photo-electric signal; the alignment of the optical fiber 2 with the laser 1 beam is directly proportional to the intensity of the photo-electric signal. That is, the greater the alignment degree of the optical fiber 2 and the laser 1 beam, the greater the intensity of the photoelectric signal detected by the photoelectric sensor 20, so that the master controller 30 can determine the alignment degree of the optical fiber 2 and the laser 1 beam according to the intensity of the photoelectric signal.
Referring to fig. 7, S10: the step of controlling the photoelectric sensor 20 by the main controller 30 to detect the photoelectric signal of the optical fiber 2 and receiving the detection result output by the photoelectric sensor 20 includes:
s11: after acquiring the first photoelectric signal sent by the photoelectric sensor 20, the main controller 30 records an initial gesture corresponding to the first photoelectric signal;
s12: the main controller 30 determines that the multi-dimensional adjusting component 13 has five dimensional directions according to the initial gesture and outputs a first five-dimensional vector corresponding to the initial gesture;
s13: the main controller 30 controls the multi-dimensional adjusting component 13 to sequentially perform full-stroke movement along five dimension directions, and sequentially determines peak photoelectric signals corresponding to each dimension direction;
s14: until the main controller 30 determines the peak photoelectric signals corresponding to the five dimension directions, the five peak photoelectric signals are combined to form a detection result.
Specifically, when the master 30 does not acquire the photoelectric signal from the photoelectric sensor 20, a set of five-dimensional vectors X [ a ] are randomly generated 1 、a 2 、a 3 、a 4 、a 5 ]And controls the multi-dimensional adjustment component 13 to follow the generated five-dimensional vector xa 1 、a 2 、a 3 、a 4 、a 5 ]The step of adjusting the posture of the mount 12 is performed until the photoelectric sensor 20 detects the photoelectric signal, and the random generation of the five-dimensional vector is stopped.
When the master controller 30 obtains the photoelectric signal sent by the photoelectric sensor 20 for the first time, the photoelectric signal is defined as a first photoelectric signalRecording the current gesture of the multi-dimensional adjusting component 13 at the moment, and defining the current gesture of the multi-dimensional adjusting component 13 as an initial gesture which is bound with the first photoelectric signal; the main controller 30 uses the initial gesture of the multi-dimensional adjusting component 13 as an adjusting starting point, further determines five dimension directions in which the multi-dimensional adjusting component 13 can move in an adjustable manner, determines corresponding dimension vectors according to the five dimension directions of the multi-dimensional adjusting component 13, and finally combines the five dimension vectors to form a first five-dimensional vector, wherein the first five-dimensional vector can be expressed as X 0 [a 0 、a 0 、a 0 、a 0 、a 0 ]. Then, the main controller 30 controls the multi-dimensional adjusting component 13 to sequentially perform full-stroke movement along five dimension directions, namely, the main controller 30 needs to control the multi-dimensional adjusting component 13 to perform five full-stroke movements along the five dimension directions, in the process of five full-stroke movements of the multi-dimensional adjusting component 13, the photoelectric sensor 20 can detect the whole process, the main controller 30 obtains peak photoelectric signals in the photoelectric sensor 20 in the whole process of detection, so that the main controller 30 can analyze five-dimensional vectors more fitting the optimal gesture through the peak photoelectric signals of the five dimension directions, and the adjustment accuracy of the multi-dimensional adjusting component 13 is improved.
Referring to fig. 8, S20: the step of the master controller 30 analyzing the detection result to determine the optimal pose five-dimensional vector includes:
s21: after the main controller 30 obtains a peak photoelectric signal, the main controller 30 changes one dimension vector in the first five-dimension vector according to the peak photoelectric signal;
s22: after the master controller 30 completely changes all the dimension vectors in the first five-dimensional vector, the master controller 30 defines the changed first five-dimensional vector as a second five-dimensional vector;
s23: the master controller 30 performs the best pose verification according to the second five-dimensional vector to determine whether the second five-dimensional vector is the best pose five-dimensional vector.
The main controller 30 can accurately acquire the peak photoelectric signal every time the multi-dimensional adjusting assembly 13 is controlled to move in a full stroke; master 30 may then analytically convert the peak photoelectric signal to one of the first five-dimensional vectors in accordance with the relationship of the dimension vector of each position of multi-dimensional adjustment assembly 13 in each dimension direction to the photoelectric signal.
Specifically, after a first dimension vector of the first five-dimension vector is determined by the first peak photoelectric signal, an X is formed 1 [a 1* 、a 0 、a 0 、a 0 、a 0 ]The method comprises the steps of carrying out a first treatment on the surface of the After the second dimension vector of the first five-dimension vector is determined by the second peak photoelectric signal, an X is formed 2 [a 1* 、a 2* 、a 0 、a 0 、a 0 ]The method comprises the steps of carrying out a first treatment on the surface of the And so on, until five dimension vectors in the first five-dimension vector are all determined by five peak photoelectric signals, a second five-dimension vector is formed immediately, and the second five-dimension vector can be expressed as X 5 [a 1* 、a 2* 、a 3* 、a 4* 、a 5* ]。
In order to ensure that the posture represented by the changed second five-dimensional vector is closer to the optimal posture, the master controller 30 performs optimal posture verification by using the second five-dimensional vector; when the second five-dimensional vector passes the optimal gesture verification, the second five-dimensional vector is considered as the optimal gesture five-dimensional vector; when the second five-dimensional vector fails the best pose verification, the second five-dimensional vector is deemed not to be the best pose five-dimensional vector.
Referring to fig. 9, S13: the step of controlling the multi-dimensional adjusting component 13 by the master controller 30 to sequentially perform full-stroke movement along five dimension directions and sequentially determining the peak photoelectric signal corresponding to each dimension direction includes:
s131: the main controller 30 controls the multi-dimensional adjusting component 13 to perform full stroke movement along each dimension direction, and obtains a plurality of sub photoelectric signals formed in the process that the photoelectric sensor 20 detects the multi-dimensional adjusting component 13 to move along each dimension direction;
s132: the main controller 30 determines the values corresponding to the plurality of sub-photoelectric signals according to the plurality of sub-photoelectric signals corresponding to each dimension direction, selects the sub-photoelectric signal with the largest value from the plurality of sub-photoelectric signals, and determines the sub-photoelectric signal with the largest value as the peak photoelectric signal corresponding to the dimension direction.
Specifically, according to the mapping relation between each position of the multi-dimensional adjusting component 13 moving along each dimension direction and the photoelectric signal, the corresponding value of the sub-photoelectric signal can be obtained by obtaining a plurality of sub-photoelectric signals detected by the multi-dimensional adjusting component 13 moving along the whole stroke of each dimension direction; in this way, the main controller 30 can obtain that the optical fiber 2 has the best coupling effect with the laser 1 beam at the position corresponding to the sub photoelectric signal by selecting the sub photoelectric signal with the maximum value from the plurality of sub photoelectric signals; by defining the sub-photoelectric signal with the maximum value as the peak photoelectric signal in the dimension direction, the main controller 30 is convenient to distinguish the positions of other sub-photoelectric signals and the peak photoelectric signal, so that the main controller 30 can obtain the dimension vector corresponding to the peak photoelectric signal more quickly, and the data processing efficiency of the main controller 30 is improved.
The optimal pose verification includes:
the master controller 30 randomly generates a third five-dimensional vector according to the second five-dimensional vector, and controls the multi-dimensional adjusting component 13 to move according to the third five-dimensional vector to form a verification pose;
the master controller 30 receives five verification photoelectric signals corresponding to the third five-dimensional vector detected by the photoelectric sensor 20;
The main controller 30 compares the verification photoelectric signal with the peak photoelectric signal to judge whether the peak photoelectric signal is larger than the verification photoelectric signal or not, so as to output a judging result;
if the judgment result is affirmative, the second five-dimensional vector corresponding to the peak photoelectric signal is considered as the optimal posture five-dimensional vector;
if the determination result is negative, the verification pose is defined as the initial pose, and the step of the master controller 30 controlling the photoelectric sensor 20 to detect the photoelectric signal of the optical fiber 2 and receiving the detection result output by the photoelectric sensor 20 is continued until the determination result is affirmative.
Specifically, the master controller 30 selects a position near the second five-dimensional vector, and defines the five-dimensional vector corresponding to the position as a third five-dimensional vector; then the master controller 30 controls the multi-dimensional adjusting component 13 to move according to the third five-dimensional vector to form a verification pose; in this way, the multi-dimensional adjusting component 13 forming the verification pose can be detected by the photoelectric sensor 20, so that the photoelectric sensor 20 can acquire photoelectric signals corresponding to each dimension vector of the verification pose, and each photoelectric signal obtained by detection is defined as a verification photoelectric signal; finally, the master controller 30 compares the verification photoelectric signal with the peak photoelectric signal obtained after full-stroke movement, and judges whether the peak photoelectric signal is larger than the verification photoelectric signal; if the peak optical signal is greater than the verification optical signal, the master controller 30 determines that the peak optical signal is the maximum value, that is, controls the multi-dimension adjusting component 13 to move to the position of the dimension vector corresponding to the peak optical signal, so that the optical fiber 2 is closer to the laser beam, and the optical fiber 2 can be coupled with the laser beam.
If the peak photoelectric signal is smaller than the verification photoelectric signal, the verification gesture is taken as an initial gesture, and the steps from S11 to S14 are continuously executed to obtain a new peak photoelectric signal; and then comparing the new peak photoelectric signal with the verification photoelectric signal until the new peak photoelectric signal is larger than the verification photoelectric signal, determining that the new peak photoelectric signal is the maximum value at the moment, and outputting a second five-dimensional vector corresponding to the new peak photoelectric signal as the optimal posture five-dimensional vector.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (7)
1. An optical fiber coupling device, characterized in that the optical fiber coupling device comprises:
the freedom degree adjusting mechanism comprises a base, a fixing piece and a multi-dimensional adjusting component, wherein the multi-dimensional adjusting component is movably connected to the base; one end of the multidimensional adjusting component, which is far away from the base, is connected with the fixing piece, and the fixing piece is used for fixing the optical fiber to be coupled;
The photoelectric sensor is arranged adjacent to the base, and a detection element of the photoelectric sensor is arranged opposite to the optical fiber of the fixing piece;
the master controller is electrically connected with the photoelectric sensor and the multi-dimensional adjusting component and is used for receiving photoelectric signals of the photoelectric sensor and controlling the multi-dimensional adjusting component to move;
the main controller controls the multi-dimensional adjusting assembly to move along multiple dimension directions according to photoelectric signals of the photoelectric sensor so as to align and couple the optical fiber positioned on the fixing piece with an external laser beam;
the multi-dimensional adjustment assembly includes:
the first adjusting unit is movably connected to the base;
the displacement table is arranged on one side, far away from the base, of the first adjusting unit, so that the first adjusting unit drives the displacement table to move along two different dimension directions relative to the base;
the second adjusting unit is arranged on one side of the displacement table, which is away from the first adjusting unit, and the fixing piece is arranged on one side of the second adjusting unit, which is away from the displacement table, so that the second adjusting unit drives the fixing piece to move along three different dimension directions;
The displacement platform comprises a first mobile platform and a second mobile platform, and the first mobile platform and the second mobile platform are arranged in a stacking way;
the first adjusting unit comprises a first adjusting piece and a second adjusting piece, and the first adjusting piece is arranged on the base and is in transmission connection with the first mobile station; the second adjusting piece is arranged on the first mobile station and is in transmission connection with the second mobile station;
the second adjusting unit comprises a third adjusting piece, a fourth adjusting piece and a fifth adjusting piece, one ends of the third adjusting piece, the fourth adjusting piece and the fifth adjusting piece are connected with one side, away from the second adjusting piece, of the second mobile station, and one ends, far away from the second mobile station, of the third adjusting piece, the fourth adjusting piece and the fifth adjusting piece are connected with the fixing piece;
the third regulating member includes:
the fixed block is arranged on the second mobile station;
the third locking block is arranged on the fixed block;
the sliding block is connected to one side, opposite to the fixed block, of the third locking block in a sliding manner, and the third locking block is used for locking the position of the sliding block in the fixed block;
The third driving piece is arranged on the third locking block and is in transmission connection with the sliding block;
the branched chain connecting rod is arranged on one side of the sliding block, which is opposite to the third locking block, and one end of the branched chain connecting rod, which is far away from the sliding block, is connected with the fixing piece;
the third driving piece drives the branched chain connecting rod to move along the sliding stroke of the sliding block so that the branched chain connecting rod drives the fixing piece to move along the other dimension direction;
the structures of the fourth adjusting piece and the fifth adjusting piece are the same as those of the third adjusting piece; the third locking block comprises a fixed part, telescopic piezoelectric ceramics and an elastic clamping piece, wherein the fixed part is arranged on the fixed block, and the telescopic piezoelectric ceramics is connected with the fixed part and is positioned below the sliding block; the elastic clamping piece comprises a body and an elastic structure movably connected with the body, and the body is fixed on the fixing part; the telescopic piezoelectric ceramic can be contacted with the elastic structure in a telescopic way so as to push the elastic structure to be close to or far away from the sliding block; the third driving piece has a locking state and an unlocking state; when the sliding block is in the locking state, the telescopic piezoelectric ceramic is powered off and is far away from the elastic structure, so that the elastic structure clamps the sliding block; when the sliding block is in the unlocking state, the elastic structure is electrically contacted with the telescopic piezoelectric ceramic, so that the elastic structure is far away from the sliding block.
2. The optical fiber coupling device according to claim 1, wherein the first moving stage is provided with a first guide arm, the second moving stage is provided with a second guide arm, and the first guide arm and the second guide arm are respectively arranged in an extending manner along different two dimension directions;
the first adjusting piece comprises a first voice coil motor, a first connecting block and a first locking block, the first voice coil motor is arranged on the base, and an output shaft of the first voice coil motor is in transmission connection with the first mobile station; the first connecting block is fixed on the base; the first locking block is arranged on the first connecting block, and the first locking block is movably close to or far away from the first guide arm so as to lock the position of the first mobile station in one dimension direction;
the second adjusting piece comprises a second voice coil motor, a second connecting block and a second locking block, the second voice coil motor is arranged on the first moving table, and an output shaft of the second voice coil motor is in transmission connection with the second moving table; the second connecting block is fixed on the first mobile station; the second locking block is arranged on the second connecting block, and the second locking block is movably close to or far away from the second guide arm so as to lock the position of the second mobile station in the other dimension direction;
The first voice coil motor drives the first moving table to move along one dimension direction, and the second voice coil motor drives the second moving table to move along the other dimension direction, so that the fixing piece is adjusted to move along two different dimension directions.
3. An automatic coupling control method of an optical fiber coupling device according to claim 1 or 2, characterized in that the step of the automatic coupling control method of an optical fiber coupling device comprises:
the main controller controls the photoelectric sensor to detect the photoelectric signal of the optical fiber and receives the detection result output by the photoelectric sensor;
the main controller analyzes the detection result to determine an optimal five-dimensional vector;
the master controller controls the multi-dimensional adjusting component to move according to the optimal gesture five-dimensional vector;
the multi-dimensional adjusting component drives the optical fiber positioned on the fixing piece to move so that the optical fiber forms an optimal posture of aligning and coupling with an external laser beam.
4. The method for controlling automatic coupling of an optical fiber coupling apparatus according to claim 3, wherein the step of controlling the photoelectric sensor to detect the photoelectric signal of the optical fiber and receiving the detection result outputted from the photoelectric sensor by the master controller comprises:
After the main controller acquires a first photoelectric signal sent by the photoelectric sensor, recording an initial gesture corresponding to the first photoelectric signal;
the master controller determines that the multi-dimensional adjusting component has five dimensional directions according to the initial gesture, and outputs a first five-dimensional vector corresponding to the initial gesture;
the main controller controls the multi-dimensional adjusting component to sequentially perform full-stroke movement along the five dimension directions, and sequentially determines peak photoelectric signals corresponding to each dimension direction;
and combining the five peak photoelectric signals to form the detection result after the main controller determines the five peak photoelectric signals corresponding to the dimension direction.
5. The method of automatic coupling control of an optical fiber coupling device according to claim 4, wherein the step of analyzing the detection result by the master controller to determine the optimal pose five-dimensional vector comprises:
after the main controller obtains one peak photoelectric signal, the main controller changes one dimension vector in the first five-dimension vector according to the peak photoelectric signal;
after the master controller completely changes all the dimension vectors in the first five-dimensional vector, the master controller defines the changed first five-dimensional vector as a second five-dimensional vector;
And the master controller performs optimal gesture verification according to the second five-dimensional vector so as to judge whether the second five-dimensional vector is the optimal gesture five-dimensional vector.
6. The method of automatic coupling control of an optical fiber coupling device according to claim 5, wherein the step of controlling the multi-dimensional adjusting assembly to sequentially perform full-stroke movement along five of the dimension directions by the master controller, and sequentially determining a peak optical-electrical signal corresponding to each of the dimension directions comprises:
the master controller controls the multi-dimensional adjusting assembly to perform full-stroke movement along each dimension direction, and obtains a plurality of sub-photoelectric signals formed in the process that the photoelectric sensor detects the multi-dimensional adjusting assembly to move along each dimension direction;
the main controller determines the numerical values corresponding to the sub photoelectric signals according to the sub photoelectric signals corresponding to each dimension direction, selects the sub photoelectric signal with the largest numerical value from the sub photoelectric signals, and determines the sub photoelectric signal with the largest numerical value as the peak photoelectric signal corresponding to the dimension direction.
7. The method for automatic coupling control of an optical fiber coupling device according to claim 6, wherein the optimal posture verification step includes:
The master controller randomly generates a third five-dimensional vector according to the second five-dimensional vector, and controls the multi-dimensional adjusting component to move according to the third five-dimensional vector to form a verification pose;
the master controller receives five verification photoelectric signals corresponding to the third five-dimensional vector detected by the photoelectric sensor;
the master controller compares the verification photoelectric signal with the peak photoelectric signal, judges whether the peak photoelectric signal is larger than the verification photoelectric signal or not, and outputs a judging result;
if the judgment result is affirmative, the second five-dimensional vector corresponding to the peak photoelectric signal is considered as the optimal posture five-dimensional vector;
if the judging result is negative, defining the verification pose as an initial pose, and continuously executing the steps of controlling the photoelectric sensor by the main controller to detect the photoelectric signal of the optical fiber and receiving the detecting result output by the photoelectric sensor until the judging result is positive.
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