实现精密光学系统自主装配与自修复，打破人工操作瓶颈。
A Framework for Closed-Loop Robotic Assembly, Alignment and Self-Recovery of Precision Optical Systems
- 分层视觉+优化算法+定制工具，构建闭环机器人框架
- 全自动完成激光腔组装、对准及模式选择全过程
- 适合高精度光学实验自动化，推动科研流程变革
机器人自动化已改变化学与材料科学等领域的科研流程，但自由空间光学仍以人工为主。光学系统对空间和角度要求极高，性能受多重物理参数紧密耦合影响，通用自动化难度大。本文提出一种机器人框架，可自主完成精密光学系统的构建、对准与维护。系统融合分层计算机视觉、优化算法与定制工具，实现从随机分布组件出发的桌面激光腔全自动组装。功能包括激光光束中心对准、多光束空间对齐、谐振腔对准、激光模式选择以及因扰动导致失准后的自恢复。该工作为高敏感光学系统实现闭环自治，奠定了跨领域自动化光学实验的基础。
原文摘要 · Abstract (English)
Robotic automation has transformed scientific workflows in domains such as chemistry and materials science, yet free-space optics, which is a high precision domain, remains largely manual. Optical systems impose strict spatial and angular tolerances, and their performance is governed by tightly coupled physical parameters, making generalizable automation particularly challenging. In this work, we present a robotics framework for the autonomous construction, alignment, and maintenance of precision optical systems. Our approach integrates hierarchical computer vision systems, optimization routines, and custom-built tools to achieve this functionality. As a representative demonstration, we perform the fully autonomous construction of a tabletop laser cavity from randomly distributed components. The system performs several tasks such as laser beam centering, spatial alignment of multiple beams, resonator alignment, laser mode selection, and self-recovery from induced misalignment and disturbances. By achieving closed-loop autonomy for highly sensitive optical systems, this work establishes a foundation for autonomous optical experiments for applications across technical domains.
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