Method for freely controlling laser by controlling graphic key points in laser output frame

Abstract

The invention discloses a method for freely controlling laser by controlling graphic key points in a laser output frame, and belongs to the technical field of laser. Comprising the following steps; the method comprises the following steps: S1, key point extraction: firstly, detecting a required graph in an input laser output frame image; the size of the graph is controlled by dragging the handles at the four corners of the inner side, then the graph is controlled to move by dragging the small square blocks in the center of the inner side in the east-south-west-north direction, when the graph needs to be distorted, the graph is distorted towards a certain angle by dragging, and then the graph is distorted towards the angle by dragging the circular handles on the outer side. If not, the graph is rotated in the dragging direction, so that the change of the graph can be controlled by controlling the control point of the handle, free control of laser is realized by controlling the key point of the graph, the flexibility of graph control is improved, the dynamic nature of the graph is improved, and the accuracy of the graph is improved.

Description

Technical Field

[0001] The invention relates to the field of laser technology, and more specifically to a method for realizing free control of laser by controlling key points of graphics in a laser output frame. Background Art

[0002] Lasers are used in industrial manufacturing for cutting, welding, material processing, surface treatment and marking. Due to their high precision and efficiency, lasers are widely used in the automotive, aerospace, electronics and other industries. Currently, most of them are regulated by controlling the entire graphic, but this will reduce the flexibility of graphic control, thereby reducing the dynamics of the graphic, which can easily cause partial position distortion of the graphic and reduce the accuracy of the graphic. Summary of the invention

[0003] The purpose of the present invention is to provide a method for achieving free control of laser by controlling key points of graphics in a laser output frame, so as to solve the problems raised in the above background technology.

[0004] A method for realizing free control of laser by controlling key points of graphics in a laser output frame, the method for realizing free control of laser by controlling key points of graphics in a laser output frame comprises the following steps:

[0005] S1. Key point extraction: if the input object is an image, firstly, in the laser output frame, an image detection algorithm is used on the relevant image to extract a list of key points on the image edge;

[0006] S2. Vector conversion: Using a vector graphics optimization algorithm, the above image edge key point list is optimized to the allowable error range, so as to minimize the key points while ensuring the quality of the graphics appearance;

[0007] S3, occlusion detection: If there is occlusion and occlusion detection is required, an occlusion detection mechanism is introduced during the graphics detection and key point extraction stage to identify and mark the occluded part. If not, this step is ignored;

[0008] S4, obtaining output key points: identifying the graphic key points that need to be output controlled in the laser output frame;

[0009] S5, handle control point selection: when a graphic is recognized, several control points with handles are marked in the recognized graphic, and then the handle control points to be operated are selected according to user needs. If one or more graphic objects are selected, the control points with handles in several directions of the circumscribed rectangle of the selected graphic objects are marked;

[0010] S6, control graphic transformation and deformation: after selecting the handle control point for operation, the user can control the size of the graphic, control the displacement, symmetry, rotation and distortion of the graphic, irregular deformation of the graphic, deformation of irregular arbitrary polygons, deformation of arbitrary circumscribed curves, and graphic mapping deformation according to user needs by operating the handle control point;

[0011] S7, Real-time feedback: When the user controls the graphics through the handle control, the system will provide real-time feedback and ask the user to confirm whether the selected handle is correct. If there is an error, the user will be asked to adjust it until the user selects the required control point, and then the graphics control operation is performed through real-time feedback;

[0012] S8, output optimization: Before laser output, the final generated vector graphics are sorted and optimized as a whole, and the output key points are optimized again.

[0013] Preferably, the S1 further comprises the following steps:

[0014] S1-1, feature extraction: firstly, the input laser output frame is subjected to image smoothing, graying and edge enhancement operations, and then the features of the graphics are extracted from the processed image;

[0015] S1-2, Image positioning: Match the extracted features with the pre-defined image template, filter and screen the matched images, remove graphics that do not meet the conditions and repeated detection results, and then locate the detected images to determine the position and posture information of the graphics in the image;

[0016] S1-3. Determine the position of key points: Determine the position of key points based on the position and posture information of the graphics in the image, and describe the features of the key points. Then, perform screening operations and remove low-quality key points and duplicate key points.

[0017] Preferably, the S2 further comprises the following steps:

[0018] S3-1, Detect occlusion position: In the process of image detection and key point extraction, use depth information and color information auxiliary data to detect occlusion, and identify and mark the occluded part;

[0019] S3-2, multi-feature tracking: after identifying and marking the occluded part, on the basis of key point tracking based on a single feature, multiple features such as corner points and edges are introduced to track different parts of the image;

[0020] S3-3, Occlusion compensation: For occluded key points, the known key point trajectory and motion model are used to estimate the position of the occluded part and compensate for the effects caused by the occlusion.

[0021] Preferably, the S4 further comprises the following steps:

[0022] S4-1. Mark key points: After the positions of key points are determined, the key points are marked, and then key points that are not included in the key point list are added to the key point list.

[0023] Preferably, the S5 further comprises the following steps:

[0024] S5-1, shape analysis detection: the system identifies key points, determines the position and shape of the key point area, and then performs shape analysis on each detected key point area to determine whether the detected key point area conforms to the shape of the handle;

[0025] S5-2, select handle: when it is detected that the key point area matches the shape of the handle, the system will mark the key point area as a control point that can be selected by the user;

[0026] S5-3. Mark control points: After marking the handle control points, the system will mark them on the graph.

[0027] Preferably, the S6 further comprises the following steps:

[0028] S6-1, select handle control points: after the system marks the key points as handle control points, select handle control points according to user needs;

[0029] S6-2. Control size: After selecting the handle control point, if you need to control the size of the graphic, drag the handles at the four inner corners to control the size of the graphic.

[0030] Preferably, S6 further comprises one or more combinations of the following steps:

[0031] S6-3. Controlling the distortion of graphics: If you need to perform displacement and distortion operations on graphics, drag the handles in the middle of the inner east, south, west, and north directions to control the movement of the graphics. If the graphics need to be distorted, drag it to a certain angle to distort the graphics to that angle.

[0032] S6-4, Graphic rotation: If you need to rotate a graphic, drag the outer circle handle to rotate the graphic in the direction of the drag;

[0033] S6-5, Irregular deformation of graphics: When the irregular deformation button is selected, drag the handles at the inner four corners to control the overall deformation of the selected graphic object into any irregular quadrilateral;

[0034] S6-6, Irregular arbitrary polygon deformation: When the irregular deformation button is selected, by adding multi-point control handles and dragging these handles, the overall deformation of the selected graphic object is controlled to be an irregular arbitrary polygon;

[0035] S6-7, Arbitrary external curve deformation: When the external curve deformation button is selected, multiple Bezier curve control point handles are added and dragged to control the overall deformation of the selected graphic object into an arbitrary external curve deformation graphic;

[0036] S6-8. Graphic mapping deformation: mapping deformation is performed on the selected graphic according to the mapping graphic appearance style set by the user.

[0037] Preferably, the S7 further comprises the following steps:

[0038] S7-1, Real-time preview: When the user performs a control graphic operation, the system will capture the user operation and update the graphic display in real time, and the updated graphic will be displayed to the user in real time;

[0039] S7-2. Adjustment operation: When the graphics are displayed to the user in real time, the system will display the current size and rotation angle information of the graphics on the interface, and then the user can adjust his operation based on the real-time feedback.

[0040] Preferably, the S8 further comprises the following steps:

[0041] S8-1, Optimization sorting: Before laser output, the final generated vector graphics are optimized and sorted as a whole, with the shortest output path and the least wear on the laser galvanometer;

[0042] S8-2, re-optimization of output key points: seven-segment S-shaped speed planning, through sigmoid function, sine curve, Bezier curve speed planning, re-optimize the output of the optimized and sorted graphic key points, and increase or decrease the output key points to make the laser galvanometer run with high efficiency and low loss, so as to increase the life of the galvanometer;

[0043] def main(amax,vmax,Sref,J,N):

[0044] #Judge whether the seven-segment S-curve planning requirements are met

[0045] T = np.zeros(7)

[0046] T[0]=amax / J

[0047] T[1]=vmax / amax-amax / J

[0048] T[2]=T[0]

[0049] T[3] = Sref / vmax - amax / J - vmax / amax

[0050] T[4] = T[0]

[0051] T[5] = T[1]

[0052] T[6] = T[0]

[0053] Tf = T.sum()

[0054] print('Tf:', Tf)

[0055] if T[1] < 0:

[0056] raise ValueError('不存在匀加速阶段')

[0057] if T[3] < 0:

[0058] raise ValueError('不存在匀速阶段')

[0059] s, a = Sacurves(Tf, J, T, N)

[0060] v = Vcurves(s, Tf, N)

[0061] t_axis = np.linspace(0, Tf, N + 1)

[0062] print(s.shape, t_axis.shape)

[0063] print(s)

[0064] fig, ax = plt.subplots(3, 1)

[0065] plt.tight_layout()

[0066] ax[0].plot(t_axis, s, color='b')

[0067] ax[0].set_title('displacement')

[0068] ax[1].plot(t_axis, v, color='g')

[0069] ax[1].set_title('velocity')

[0070] ax[2].plot(t_axis,a,color='r')

[0071] ax[2].set_title('acceleration')

[0072] plt.show().

[0073] Compared with the prior art, the advantages of the present invention are:

[0074] (1) In the present invention, the size of the graphic is controlled by dragging the handles at the four inner corners, and then the movement of the graphic is controlled by dragging the small squares in the inner southeast, northwest and central directions. When the graphic needs to be distorted, it is dragged to a certain angle to distort the graphic to that angle, and then the circle handle on the outside is dragged to rotate the graphic in the direction of the drag. In this way, the change of the graphic can be controlled by controlling the control point of the handle. In this way, the free control of the laser can be achieved by controlling the key points of the graphic, which improves the flexibility of the graphic control, thereby improving the dynamics of the graphic and further improving the accuracy of the graphic.

[0075] (2) In the present invention, during the process of image detection and key point extraction, depth information and color information auxiliary data are used to detect occlusion, and the occluded parts are identified and marked. After the occluded parts are identified and marked, on the basis of key point tracking based on a single feature, multiple features of corner points and edges are introduced to track different parts of the image. In this way, even if some parts are occluded, other features can still be used for tracking, thereby improving the robustness of the system. For occluded key points, known key point trajectories and motion models are used to estimate the position of the occluded parts and compensate for the effects caused by occlusion, thereby improving the accuracy of the laser output graphics and further improving the integrity of the laser output graphics.

[0076] (3) In the present invention, when the user performs a control graphic operation, the system will capture the user operation and update the display of the graphic in real time to reflect the user's operation, and the updated graphic will be displayed to the user in real time, which helps the user to observe the changes in the graphic in time when making adjustments. At the same time, the system will display the size and rotation angle information of the current graphic on the interface, and then the user can adjust his operation based on the real-time feedback. If the user is not satisfied with the current effect, they can continue to operate the handle or other control points until the desired result is achieved. This allows the user to control the changes in the laser graphic by controlling the key points, thereby improving the accuracy of the graphic. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a schematic diagram of the overall process of the present invention;

[0078] Figure 2It is a schematic diagram of the seven-segment S-shaped acceleration curve of the key points of the present invention;

[0079] Figure 3 It is a schematic diagram showing the operation of steps S6 and S7 of the present invention. DETAILED DESCRIPTION

[0080] Example: See Figure 1 A method for realizing free control of laser by controlling key points of graphics in a laser output frame, a method for realizing free control of laser by controlling key points of graphics in a laser output frame comprises the following steps:

[0081] S1. Key point extraction: if the input object is an image, firstly, in the laser output frame, an image detection algorithm is used on the relevant image to extract a list of key points on the image edge;

[0082] S2. Vector conversion: Using a vector graphics optimization algorithm, the above image edge key point list is optimized to the allowable error range, so as to minimize the key points while ensuring the quality of the graphics appearance;

[0083] S3, occlusion detection: If there is occlusion and occlusion detection is required, an occlusion detection mechanism is introduced during the graphics detection and key point extraction stage to identify and mark the occluded part. If not, this step is ignored;

[0084] S4, obtaining output key points: identifying the graphic key points that need to be output controlled in the laser output frame;

[0085] S5, handle control point selection: when a graphic is recognized, several control points with handles are marked in the recognized graphic, and then the handle control points to be operated are selected according to user needs. If one or more graphic objects are selected, the control points with handles in several directions of the circumscribed rectangle of the selected graphic objects are marked;

[0086] S6, control graphic transformation and deformation: after selecting the handle control point for operation, the user can control the size of the graphic, control the displacement, symmetry, rotation and distortion of the graphic, irregular deformation of the graphic, deformation of irregular arbitrary polygons, deformation of arbitrary circumscribed curves, and graphic mapping deformation according to user needs by operating the handle control point;

[0087] S7, Real-time feedback: When the user controls the graphics through the handle control, the system will provide real-time feedback and ask the user to confirm whether the selected handle is correct. If there is an error, the user will be asked to adjust it until the user selects the required control point, and then the graphics control operation is performed through real-time feedback;

[0088] S8, output optimization: Before laser output, the final generated vector graphics are sorted and optimized as a whole, and the output key points are optimized again.

[0089] Specifically, during the process of image detection and key point extraction, occlusion is detected using depth information and color information auxiliary data, and the occluded parts are identified and marked. After the occluded parts are identified and marked, on the basis of key point tracking based on a single feature, multiple features of corner points and edges are introduced to track different parts of the image. For occluded key points, known key point trajectories and motion models are used to estimate the position of the occluded parts and compensate for the effects caused by occlusion, thereby improving the accuracy of the laser output graphics and further improving the completeness of the laser output graphics.

[0090] S1 also includes the following steps:

[0091] S1-1, feature extraction: firstly, the input laser output frame is subjected to image smoothing, graying and edge enhancement operations to reduce noise and improve image quality, and then the features of the graphics are extracted from the processed image, and the features include shape, texture and edge;

[0092] S1-2, Image positioning: Match the extracted features with the pre-defined image template to detect the existence of the graphics, and filter and screen the matched images to remove graphics that do not meet the conditions and repeated detection results, and then locate the detected image to determine the position and posture information of the graphics in the image. The position and posture information in the image can be the coordinates, angles or other parameters indicating the position of the graphics;

[0093] S1-3, determine the position of key points: determine the position of key points according to the position and posture information of the graphics in the image, and perform feature description on the key points, and then perform screening operations, and remove low-quality key points and repeated key points, and the feature description usually adopts local feature description;

[0094] Local feature description is a method used to describe the features of local areas in an image, and is often used in applications such as target detection, image matching and tracking.

[0095] S2 also includes the following steps:

[0096] S3-1, Detect occlusion position: In the process of image detection and key point extraction, use depth information and color information auxiliary data to detect occlusion, and identify and mark the occluded part;

[0097] S3-2, multi-feature tracking: after identifying and marking the occluded parts, on the basis of key point tracking based on a single feature, multiple features such as corner points and edges are introduced to track different parts of the image. In this way, even if some parts are occluded, other features can still be used for tracking, thus improving the robustness of the system;

[0098] S3-3, occlusion compensation: For occluded key points, the known key point trajectory and motion model are used to estimate the position of the occluded part and compensate for the effect caused by the occlusion;

[0099] The specific formula of the motion model is:

[0100] The random walk model assumes that the target's movement is random and has no clear pattern;

[0101] Its state equation can be expressed by the following formula: Xt+1=Xt+w

[0102] Among them, Xt+1 is the target position at the next moment, Xt is the target position at the current moment, and w is the random displacement that obeys a certain random distribution.

[0103] S3 also includes the following steps:

[0104] S3-1. Marking key points: After determining the location of the key points, mark the key points and then turn them into key points.

[0105] S4 also includes the following steps:

[0106] S4-1, color recognition: when a key point becomes a key point, the system identifies the key point, determines the position and shape of the key point area, and then performs shape analysis on each detected key point area and determines whether the detected key point area conforms to the shape of the handle;

[0107] S4-2, select handle: when it is detected that the key point area matches the shape of the handle, the system will mark the key point area as a control point that can be selected by the user;

[0108] S4-3. Mark control points: After marking the handle control points, the system will mark them on the graph.

[0109] S5 also includes the following steps:

[0110] S5-1, select handle control points: after the system marks the key points as handle control points, select handle control points according to user needs;

[0111] S5-2. Control size: After selecting the handle control point, if you need to control the size of the graphic, drag the handles at the four inner corners to control the size of the graphic.

[0112] S5 also includes the following steps:

[0113] S5-3. Controlling the distortion of graphics: If you need to perform displacement and distortion operations on graphics, drag the small squares in the middle of the inner east, south, west, and north directions to control the movement of the graphics. If the graphics need to be distorted, drag them to a certain angle to distort the graphics to that angle.

[0114] S5-4. Graphic rotation: If you need to rotate a graphic, drag the outer circle handle to rotate the graphic in the direction of the drag.

[0115] Specifically, after the system marks the key points with handle control points, the handle control points are selected according to the user's needs to control the graphic operation. If the size of the graphic needs to be controlled, the size of the graphic is controlled by dragging the handles at the four inner corners. At the same time, if the graphic needs to be displaced or distorted, the movement of the graphic is controlled by dragging the small squares in the middle of the southeast, northwest, and northeast directions. When the graphic needs to be distorted, drag it to a certain angle to distort it to that angle. When the graphic needs to be rotated, drag the outer circle handle to rotate the graphic in the direction of the drag. In this way, the changes of the graphic can be controlled by controlling the handle control points. In this way, free control of the laser can be achieved by controlling the key points of the graphic, thereby improving the flexibility of graphic control.

[0116] See also Figure 3 , S6 further includes the following steps:

[0117] The S6 further comprises the following steps:

[0118] S6-1, select handle control points: after the system marks the key points as handle control points, select handle control points according to user needs;

[0119] S6-2. Control size: After selecting the handle control point, if you need to control the size of the graphic, drag the handles at the four inner corners to control the size of the graphic.

[0120] See also Figure 3 , S6 further includes one or more combinations of the following steps:

[0121] S6-3. Controlling the distortion of graphics: If you need to perform displacement and distortion operations on graphics, drag the handles in the middle of the inner east, south, west, and north directions to control the movement of the graphics. If the graphics need to be distorted, drag it to a certain angle to distort the graphics to that angle.

[0122] S6-4, Graphic rotation: If you need to rotate a graphic, drag the outer circle handle to rotate the graphic in the direction of the drag;

[0123] S6-5, Irregular deformation of graphics: When the irregular deformation button is selected, drag the handles at the inner four corners to control the overall deformation of the selected graphic object into any irregular quadrilateral;

[0124] S6-6, Irregular arbitrary polygon deformation: When the irregular deformation button is selected, by adding multi-point control handles and dragging these handles, the overall deformation of the selected graphic object is controlled to be an irregular arbitrary polygon;

[0125] S6-7, Arbitrary external curve deformation: When the external curve deformation button is selected, multiple Bezier curve control point handles are added and dragged to control the overall deformation of the selected graphic object into an arbitrary external curve deformation graphic;

[0126] S6-8. Graphic mapping deformation: mapping deformation is performed on the selected graphic according to the mapping graphic appearance style set by the user.

[0127] Specifically, when the user controls the graphic operation, the system will capture the user operation and update the graphic display in real time to reflect the user's operation, and the updated graphics will be displayed to the user in real time, which helps the user to observe the changes in the graphics in time when making adjustments. At the same time, the system will display the current graphic size and rotation angle information on the interface, and then the user can adjust their operation based on real-time feedback. If the user is not satisfied with the current effect, they can continue to operate the handle or other control points until the desired result is achieved. This allows the user to control the changes in the laser graphics by controlling the key points, thereby improving the accuracy of the graphics.

[0128] S8-1, Optimization sorting: Before laser output, the final generated vector graphics are optimized and sorted as a whole, with the shortest output path and the least wear on the laser galvanometer;

[0129] S8-2. Re-optimization of output key points: Seven-segment S-shaped speed planning, through sigmoid function, sine curve, Bezier curve speed planning, the output of the optimized and sorted graphic key points is re-optimized, and by increasing or decreasing the output key points, the laser galvanometer can operate with high efficiency and low loss to increase the life of the galvanometer.

[0130] See also Figure 2 , Figure 2 It is a typical S-shaped speed planning curve. The 7-segment S-shaped speed planning consists of 7 processes, namely: T1-acceleration motion, T2-uniform acceleration motion, T3-deceleration motion, T4-uniform speed motion, T5-T7 are symmetrical to T1-T3 and in the opposite direction.

[0131] Define jerk J = a / t. To simplify the calculation process, the following constraints are proposed:

[0132] 1) T1 = T3 = T3 = T7

[0133] 2) T2 = T6

[0134] 3) The acceleration process J is a constant

[0135] 4) Initial velocity is 0, final velocity is 0, starting acceleration is 0, and ending acceleration is 0

[0136] Therefore, the expression of acceleration is as follows:

[0137]

[0138] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for achieving free control of laser by controlling key points of graphics in laser output frames, Features: The method for realizing free control of laser by controlling key points of graphics in the laser output frame comprises the following steps: S1. Key point extraction: if the input object is an image, firstly, in the laser output frame, an image detection algorithm is used on the relevant image to extract a list of key points on the image edge; S2. Vector conversion: Using a vector graphics optimization algorithm, the above image edge key point list is optimized to the allowable error range, so as to minimize the key points while ensuring the quality of the graphics appearance; S3, occlusion detection: If there is occlusion and occlusion detection is required, an occlusion detection mechanism is introduced during the graphics detection and key point extraction stage to identify and mark the occluded part. If not, this step is ignored; S4, obtaining output key points: identifying the graphic key points that need to be output controlled in the laser output frame; S5, handle control point selection: when a graphic is recognized, several control points with handles are marked in the recognized graphic, and then the handle control points to be operated are selected according to user needs. If one or more graphic objects are selected, the control points with handles in several directions of the circumscribed rectangle of the selected graphic objects are marked; S6, control graphic transformation and deformation: after selecting the handle control point for operation, the user can control the size of the graphic, control the displacement, symmetry, rotation and distortion of the graphic, irregular deformation of the graphic, deformation of irregular arbitrary polygons, deformation of arbitrary circumscribed curves, and graphic mapping deformation according to user needs by operating the handle control point; S7, Real-time feedback: When the user controls the graphics through the handle control, the system will provide real-time feedback and ask the user to confirm whether the selected handle is correct. If there is an error, the user will be asked to adjust it until the user selects the required control point, and then the graphics control operation is performed through real-time feedback; S8, output optimization: Before laser output, the final generated vector graphics are sorted and optimized as a whole, and the output key points are optimized again.

2. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S1 further comprises the following steps: S1-1, feature extraction: firstly, the input laser output frame is subjected to image smoothing, graying and edge enhancement operations, and then the features of the graphics are extracted from the processed image; S1-2, Image positioning: Match the extracted features with the pre-defined image template, filter and screen the matched images, remove graphics that do not meet the conditions and repeated detection results, and then locate the detected images to determine the position and posture information of the graphics in the image; S1-3. Determine the position of key points: Determine the position of key points based on the position and posture information of the graphics in the image, and describe the features of the key points. Then, perform screening operations and remove low-quality key points and duplicate key points.

3. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 2, It is characterized in that The S2 further comprises the following steps: S3-1, Detect occlusion position: In the process of image detection and key point extraction, use depth information and color information auxiliary data to detect occlusion, and identify and mark the occluded part; S3-2, multi-feature tracking: after identifying and marking the occluded part, on the basis of key point tracking based on a single feature, multiple features such as corner points and edges are introduced to track different parts of the image; S3-3, Occlusion compensation: For occluded key points, the known key point trajectory and motion model are used to estimate the position of the occluded part and compensate for the effects caused by the occlusion.

4. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S4 further comprises the following steps: S4-1. Mark key points: After the positions of key points are determined, the key points are marked, and then key points that are not included in the key point list are added to the key point list.

5. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S5 further comprises the following steps: S5-1, shape analysis detection: the system identifies key points, determines the position and shape of the key point area, and then performs shape analysis on each detected key point area to determine whether the detected key point area conforms to the shape of the handle; S5-2, select handle: when it is detected that the key point area matches the shape of the handle, the system will mark the key point area as a control point that can be selected by the user; S5-3. Mark control points: After marking the handle control points, the system will mark them on the graph.

6. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S6 further comprises the following steps: S6-1, select handle control points: after the system marks the key points as handle control points, select handle control points according to user needs; S6-2. Control size: After selecting the handle control point, if you need to control the size of the graphic, drag the handles at the four inner corners to control the size of the graphic.

7. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S6 further comprises one or more combinations of the following steps: S6-3. Controlling the distortion of graphics: If you need to perform displacement and distortion operations on graphics, drag the handles in the middle of the inner east, south, west, and north directions to control the movement of the graphics. If the graphics need to be distorted, drag it to a certain angle to distort the graphics to that angle. S6-4, Graphic rotation: If you need to rotate a graphic, drag the outer circle handle to rotate the graphic in the direction of the drag; S6-5, Irregular deformation of graphics: When the irregular deformation button is selected, drag the handles at the inner four corners to control the overall deformation of the selected graphic object into any irregular quadrilateral; S6-6, Irregular arbitrary polygon deformation: When the irregular deformation button is selected, by adding multi-point control handles and dragging these handles, the overall deformation of the selected graphic object is controlled to be an irregular arbitrary polygon; S6-7, Arbitrary external curve deformation: When the external curve deformation button is selected, multiple Bezier curve control point handles are added and dragged to control the overall deformation of the selected graphic object into an arbitrary external curve deformation graphic; S6-8. Graphic mapping deformation: mapping deformation is performed on the selected graphic according to the mapping graphic appearance style set by the user.

8. The method of realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S7 further comprises the following steps: S7-1, Real-time preview: When the user performs a control graphic operation, the system will capture the user operation and update the graphic display in real time, and the updated graphic will be displayed to the user in real time; S7-2. Adjustment operation: When the graphics are displayed to the user in real time, the system will display the current size and rotation angle information of the graphics on the interface, and then the user can adjust his operation based on the real-time feedback.

9. A method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, It is characterized in that The S8 further comprises the following steps: S8-1, Optimization sorting: Before laser output, the final generated vector graphics are optimized and sorted as a whole, with the shortest output path and the least wear on the laser galvanometer; S8-2. Re-optimization of output key points: Seven-segment S-shaped speed planning, through sigmoid function, sine curve, Bezier curve speed planning, the output of the optimized and sorted graphic key points is re-optimized, and by increasing or decreasing the output key points, the laser galvanometer can operate with high efficiency and low loss to increase the life of the galvanometer.

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