A galvanometer laser control method and control device based on multi-core processor integration

Abstract

The application discloses a galvanometer laser control method and device based on multi-core processor integration, which comprises the following steps: step one: the first core CPU0 initiates the second core CPU1, and opens up a dual-core shared memory area for both; step two: the CPU1 establishes a communication connection with the upper computer, and writes preset default running parameters into the board card; step three: the CPU1 receives and analyzes a graphic file sent by the upper computer, and stores the graphic file into the shared memory; after the CPU0 reads the data, the data is sent to a galvanometer driving module after interpolation preprocessing; and step four: the CPU0 controls a laser switch and a galvanometer deflection in real time, so that a laser beam scans and projects according to a graphic track. The method adopts a division structure of'main core focusing on real-time control and slave core bearing communication interaction', effectively solves the multi-task parallel bottleneck of the single-core scheme, significantly improves the control precision and response speed, and realizes high-precision and high-real-time laser projection control.

Description

Technical Field

[0001] This application relates to the field of galvanometer laser control, and in particular to a galvanometer laser control method and control device based on multi-core processor integration. Background Technology

[0002] Galvanometer control technology, as a core supporting technology in laser projection, precision machining, and optical scanning, essentially achieves dynamic deflection and stable projection of a laser beam in two-dimensional space through high-speed servo drive and precise trajectory planning. Its core relies on the end-to-end collaborative efficiency of "control command parsing - trajectory data processing - actuator linkage." As the requirements for projection accuracy, response speed, and multi-task parallel processing capabilities continue to upgrade in fields such as intelligent manufacturing and high-end equipment, traditional galvanometer control solutions based on single-core processors are gradually revealing insurmountable technical bottlenecks. Compared to dual-core processors, single-core processors have significant shortcomings in four key areas: collaborative scheduling, laser-galvanometer linkage control, high-speed data processing, and multi-module communication adaptation.

[0003] In traditional single-core architectures, tasks such as receiving control commands, parsing and processing data, driving laser-galvanometer linkage, and multi-module communication interaction must be executed serially. The limited computing power of a single core leads to frequent task blocking: On the one hand, when faced with a large set of point data for complex graphics, a single core struggles to quickly complete preprocessing operations such as calculating the distance between adjacent points, generating interpolation points, and adapting to delays at special points. This not only results in insufficient trajectory smoothness but also causes timing conflicts with the laser-galvanometer linkage control, directly affecting projection accuracy. On the other hand, a single core must simultaneously handle auxiliary tasks such as TCP communication protocol parsing, temperature and humidity sensor data acquisition, and EEPROM storage interaction, as well as the core control tasks of laser switching and galvanometer deflection. This leads to delayed linkage response, insufficient synchronization accuracy between the laser and the galvanometer, and problems such as spot shift and trajectory distortion. Furthermore, traditional solutions lack standardized inter-core collaboration mechanisms and shared resource allocation strategies, resulting in high data transmission latency and poor compatibility between multiple modules. This makes them unable to meet the demands for efficient communication and adaptation among multiple devices such as the host computer, laser module, galvanometer driver, and feedback device. Moreover, they struggle to achieve parallel execution of core control and auxiliary interaction through task decomposition, further limiting the overall real-time performance and stability of the system. These technical deficiencies make traditional galvanometer control systems ill-suited for the comprehensive demands of high-end applications for multi-task parallelism, high-speed data processing, and high-precision linkage control. Therefore, a new control technology based on a multi-core processor architecture is urgently needed to overcome existing technical bottlenecks by optimizing collaborative scheduling mechanisms, enhancing data processing capabilities, and improving multi-module communication adaptation. Summary of the Invention

[0004] This application proposes a galvanometer laser control method and control device based on multi-core processor integration. Its core focuses on four key technical directions: dual-core processor collaborative scheduling, laser-galvanometer linkage control, high-speed data processing, and multi-module communication adaptation. Through architectural innovation and algorithm optimization, it completely breaks through the performance bottleneck of traditional single-core solutions and achieves high-precision and high-real-time laser projection control.

[0005] In terms of dual-core collaborative scheduling, this application adopts a division of labor architecture of "master core focusing on core control and slave core undertaking auxiliary interaction": CPU0, as the master core, focuses on core tasks such as laser-galvanometer linkage control, trajectory planning, and real-time driving, ensuring the synchronization accuracy between laser switch status and galvanometer deflection angle; CPU1, as the slave core, is responsible for multi-module communication interaction, data parsing, storage management, and environmental status monitoring. Low-latency data synchronization and task collaboration between the two cores are achieved through HSEM hardware semaphores and shared memory, avoiding task blocking caused by insufficient single-core computing power and greatly improving the overall processing efficiency of the system.

[0006] At the high-speed data processing level, this application relies on the dual-core parallel processing capability to construct a "receive-parse-calculate" pipeline mechanism: CPU1 quickly completes the reception, verification and parsing of the upper computer's graphic point set data, and transfers it to shared memory; CPU0 synchronously reads the data and performs high-speed preprocessing. Through a kinematically optimized intelligent interpolation algorithm, it automatically calculates the distance between adjacent points and inserts an appropriate number of interpolation points. At the same time, combined with a corner delay adaptive adjustment mechanism, it dynamically adjusts the dwell delay for special points such as the starting point, ending point, and curvature change point, which not only ensures the smoothness of the trajectory, but also avoids vibration and distortion during high-speed turning, achieving micron-level trajectory control accuracy.

[0007] In terms of multi-module adaptation and storage management, this application integrates multiple industrial standard communication protocols such as TCP and USART. CPU1 is dedicated to protocol parsing and link maintenance, supporting efficient linkage of multiple devices including the host computer, laser module, photoelectric feedback device, and temperature and humidity sensor, ensuring communication compatibility and stability. Simultaneously, the device integrates multi-level hybrid storage media including FLASH, SRAM, and EEPROM. Through a dual-core collaborative hierarchical management strategy, it achieves efficient adaptation of program storage, real-time data caching, and persistent storage of key parameters (such as focal length and calibration data), meeting the needs of control strategy switching and data interaction in different scenarios. This application, through the deep integration of dual-core architecture and key technologies, effectively solves the core pain points of traditional systems in multi-task parallelism, high-speed data processing, and high-precision linkage control, significantly improving the device's control accuracy, response speed, and environmental adaptability.

[0008] The galvanometer laser control method and control device based on multi-core processor integration provided in this application adopts the following technical solution: A method for controlling a galvanometer laser based on a multi-core processor integration includes the following steps: Step 1: The first core CPU0 takes the lead in starting the second core CPU1 and creates a dual-core shared memory area for both. Step 2: CPU1 establishes a communication connection with the host computer and writes the preset default operating parameters to the board; Step 3: CPU1 receives and parses the graphics file sent by the host computer and stores it in shared memory; CPU0 reads the data, performs interpolation preprocessing, and then sends it to the galvanometer driver module. Step 4: CPU0 controls the laser switch and galvanometer deflection in real time, so that the laser beam scans the projection along the graphic trajectory.

[0009] Preferably, step one specifically includes the following steps: Step 1.1: After the board is powered on, CPU0 initiates the startup of CPU1 and completes the dual-core startup synchronization confirmation; Step 1.2: CPU0 and CPU1 agree on a fixed address segment in the on-chip RAM as shared memory for both cores, and clarify the data exchange format and status identification rules; Step 1.3: CPU1 completes the initialization of the TCP communication protocol stack, EEPROM storage module and temperature and humidity environment monitoring and control system; CPU0 synchronously executes SRAM partition configuration and drives the galvanometer to perform origin regression calibration.

[0010] Preferably, step two specifically includes: CPU1 receiving and parsing the operating parameters sent by the host computer, and writing them into EEPROM for non-volatile storage.

[0011] Preferably, a focusing step is included before step three: Step A1: After the host computer sends the focusing command, CPU1 parses the command and simultaneously notifies CPU0. CPU0 controls the laser module to turn on and controls the galvanometer to move to the vicinity of the target point. Step A2: CPU1 independently enables the stepper motor, and drives the lens platform to perform linear displacement through pulse control, thereby achieving dynamic adjustment of the focal length; Step A3: When the diameter of the laser spot formed near the target point reaches the preset range, the system locks the current focal length parameter, and the CPU1 writes the parameter into the EEPROM for persistent storage.

[0012] Preferably, the diameter of the laser spot formed near the target point is within the preset range of 0.1-10 mm.

[0013] Preferably, a target localization step is included before step three: Step B1: After the host computer sends the target positioning command, CPU1 parses the command and writes the relevant positioning parameters into the shared memory, and synchronously marks the parameter ready status. Step B2: After CPU0 detects that the parameters are ready, it starts from the initial coordinates and performs a target search scan according to the set rules. Step B3: CPU0 compares the feedback signal with the preset standard and continues to scan until the target coordinates are locked and coarse positioning is completed or positioning failure is determined. Step B4: CPU0 determines whether to start fine positioning based on the light intensity recognition result: If coarse positioning fails, CPU0 writes the error flag to the shared memory, and CPU1 synchronously returns the corresponding error code to the host computer; if coarse positioning is successful, CPU0 marks the coarse positioning coordinates as the initial reference point for fine positioning and triggers the fine positioning mode. Step B5: CPU0 uses the coarse positioning coordinates as a reference to perform a high-precision scan to lock the target center, and then feeds back the precise coordinates to the host computer through CPU1 to mark the positioning as complete.

[0014] Preferably, the "interpolation preprocessing" in step three specifically includes: Step C1: After receiving, verifying and parsing the graphic data sent by the host computer, CPU1 stores it in shared memory and marks the data as ready. Step C2: CPU0 extracts graphic data, calculates relevant parameters of adjacent points and inserts interpolation points to generate a continuous galvanometer movement trajectory; Step C3: CPU0 automatically configures the dwell time for specific points on the graphic.

[0015] Preferably, step three, "sending to the galvanometer driving module", specifically includes: after completing the interpolation point calculation and path planning, CPU0 converts the coordinate data into high-speed communication protocol data that conforms to the galvanometer industry standard, and sends the processed coordinate sequence to the galvanometer driving module.

[0016] Preferably, step four specifically includes: after the host computer issues the projection command, CPU1 is responsible for forwarding the command and monitoring the link status; after receiving the command, CPU0 coordinates the switching status of the laser module and the deflection angle of the galvanometer to complete the rapid scanning according to the smooth trajectory generated in step three, thereby achieving accurate projection of the target image.

[0017] A control device is provided, which is suitable for implementing the multi-core processor-integrated galvanometer laser control method described above. The control device includes a host computer, a dual-core board, a laser galvanometer scanning device, and a laser energy feedback device. The host computer is electrically connected to the dual-core board for issuing commands, configuring parameters, and interacting with data. The dual-core board establishes electrical connections with the laser galvanometer scanning device and the laser energy feedback device respectively to realize the control of the laser projection trajectory and real-time feedback of energy status. The dual-core board includes CPU0 and CPU1, which communicate with each other through shared memory.

[0018] In summary, this application includes at least one of the following beneficial technical effects: 1. Dual-core collaborative scheduling overcomes performance bottlenecks: CPU0, as the master core, focuses on core tasks such as laser-galvanometer linkage control, trajectory planning, and real-time driving, ensuring the synchronization accuracy between the laser switch status and the galvanometer deflection angle; CPU1, as the slave core, is responsible for multi-module communication, data parsing, storage management, and environmental status monitoring. Low-latency data synchronization and task collaboration between the two cores are achieved through HSEM hardware semaphores and shared memory, avoiding task blocking caused by insufficient single-core computing power and significantly improving the overall system processing efficiency. 2. Data pipeline processing improves response speed: Relying on the dual-core parallel processing capability, a "receive-parse-calculate" pipeline mechanism is constructed. CPU1 quickly completes the reception, verification and parsing of the upper computer's graphic point set data, and transfers it to shared memory; CPU0 synchronously reads data and performs high-speed preprocessing. Through a kinematically optimized intelligent interpolation algorithm, it automatically calculates the distance between adjacent points and inserts an appropriate number of interpolation points, significantly shortening data processing latency and improving system response speed. 3. Smooth trajectory control, achieving micron-level precision: This invention combines a corner delay adaptive adjustment mechanism to dynamically adjust the dwell delay for special points such as the starting point, ending point, and curvature change point, which not only ensures the smoothness of the trajectory but also avoids vibration and distortion during high-speed turns, achieving micron-level trajectory control precision. 4. Multi-protocol compatibility and adaptation, enhancing system stability: This invention integrates multiple industrial standard communication protocols such as TCP and USART. CPU1 is dedicated to protocol parsing and link maintenance, supporting efficient linkage of multiple devices such as host computer, laser module, photoelectric feedback device, and temperature and humidity sensor. At the same time, it integrates multi-level hybrid storage media such as FLASH, SRAM and EEPROM. Through a dual-core collaborative hierarchical management strategy, it realizes program storage, real-time data caching and persistent storage of key parameters, meeting the needs of control strategy switching and data interaction in different scenarios. Attached Figure Description

[0019] Figure 1This is a partial connection diagram of the control device in this embodiment; Figure 2 This is a diagram verifying the effectiveness of target point localization and galvanometer control in this embodiment; Figure 3 This is a verification image for partial projection of the graphic. Detailed Implementation

[0020] The following is in conjunction with the appendix Figures 1-3 This application will be described in further detail.

[0021] This application discloses a galvanometer laser control method and control device based on multi-core processor integration.

[0022] refer to Figure 1 The control device includes a host computer, a dual-core board, a laser galvanometer scanning device, a laser energy feedback device, and an environmental temperature and humidity control system. The host computer is electrically connected to the control card, and the control card, the laser galvanometer scanning device, and the laser energy feedback device are all electrically connected to each other.

[0023] The laser galvanometer scanning device includes a laser emitter, a laser dynamic focusing device, and a laser scanning galvanometer.

[0024] The laser energy feedback device includes a beam splitter and a photosensitive plate.

[0025] The dual-core board includes CPU1 and CPU0. CPU0, as the master core, focuses on core tasks such as laser-galvanometer linkage control, trajectory planning, and real-time driving, ensuring the synchronization accuracy between the laser switch status and the galvanometer deflection angle. CPU1, as the slave core, is responsible for multi-module communication, data parsing, storage management, and environmental status monitoring. It achieves low-latency data synchronization and task collaboration between the two cores through HSEM hardware semaphores and shared memory, avoiding task blocking caused by insufficient single-core computing power and significantly improving the overall system processing efficiency. Furthermore, the dual-core board circuit includes a baseboard and a core board, which can be further subdivided into Ethernet port circuits, serial port circuits, galvanometer differential circuits, photoelectric signal detection circuits, and a series of voltage conversion circuits.

[0026] Specific methods for controlling galvanometer lasers based on multi-core processor integration include: Step 1: The first core CPU0 takes the lead in starting the second core CPU1 and creates a dual-core shared memory area for both.

[0027] Step one specifically includes the following steps: Step 1.1: After the board is powered on, in order to ensure the stable collaboration between CPU0 and CPU1, CPU0 takes the lead in starting CPU1 and completes the dual-core startup synchronization confirmation.

[0028] Step 1.2: CPU0 and CPU1 agree on a fixed address segment in the on-chip RAM as shared memory for dual cores, and clarify the data interaction format and status identification rules to provide a stable inter-core communication channel for subsequent instruction transmission, parameter synchronization and result feedback.

[0029] Step 1.3: CPU1 focuses on initializing the TCP communication protocol stack, EEPROM storage module, and temperature and humidity environmental monitoring and control system, building the foundation for external communication and environmental perception; CPU0 simultaneously executes SRAM partition configuration and drives the galvanometer to perform origin return calibration to ensure accurate projection reference position.

[0030] Step two specifically includes: CPU1 receives and parses the operating parameters sent by the host computer, and writes them into the EEPROM storage medium for non-volatile storage.

[0031] Step 3: CPU1 receives and parses the graphics file sent by the host computer and stores it in shared memory; CPU0 reads the data, performs interpolation preprocessing, and then sends it to the galvanometer driver module.

[0032] Step three specifically includes the following steps: Step 3.1: The host computer sends the graphics data to the board. After CPU1 completes the data reception, verification and parsing, it stores the data in the shared memory and marks the data as ready.

[0033] Step 3.2: CPU0 extracts graphic data, calculates relevant parameters of adjacent points and inserts interpolation points to smooth the galvanometer movement trajectory and avoid jitter.

[0034] Step 3.3: CPU0 automatically configures the dwell time for special points in the graphic to ensure that the projected graphic is clear and the trajectory is continuous.

[0035] Step 3.4: After completing the interpolation point calculation and path planning, CPU0 converts the coordinate data into high-speed communication protocol data that conforms to the galvanometer industry standard, and sends the processed coordinate sequence to the galvanometer driver module.

[0036] Steps 3.1-3.3 are used for interpolation preprocessing; step 3.4 is used to send the data to the galvanometer driver module.

[0037] Step four specifically includes: after the host computer issues the projection command, CPU1 is responsible for forwarding the command and monitoring the link status; after receiving the command, CPU0 coordinates the switching status of the laser module and the deflection angle of the galvanometer, and completes the rapid scanning according to the smooth trajectory generated in step three, ultimately achieving accurate projection of the target image.

[0038] Furthermore, in this embodiment, a focusing step is included before step three: Focusing steps: After the host computer issues a focusing command, CPU0 turns on the laser module; CPU1 drives the motor to move the lens platform until the light spot is adjusted to the minimum state.

[0039] The focusing process specifically includes the following steps: Step A1: After the host computer sends the focusing command, CPU1 parses the command and simultaneously notifies CPU0. CPU0 turns on the laser module and controls the galvanometer to move to the vicinity of the target point to provide a reference for focusing.

[0040] Step A2: CPU1 independently enables the stepper motor, which drives the lens platform to make linear displacement through precise pulse control, thereby realizing dynamic adjustment of the focal length and ensuring the stability and controllability of the focusing process.

[0041] Step A3: When the laser forms the smallest spot near the target point (or the spot diameter reaches the preset range), the system locks the current focal length parameter in real time, and the CPU1 writes the parameter into the EEPROM for persistent storage, so that it can be quickly retrieved later.

[0042] Furthermore, in this embodiment, a target localization step is included before step three and after the focusing step: Target positioning steps: The host computer sends out the target positioning command, which is forwarded by CPU1. CPU0 then coordinates the control of the laser and galvanometer to complete the coarse positioning of the target center. Fine calibration is then performed based on the coarse positioning coordinates, and finally the accurate target coordinates are sent back to the host computer.

[0043] The target localization process specifically includes the following steps: Step B1: After the host computer issues the target positioning command, CPU1 parses the command and writes the relevant positioning parameters into the shared memory, and synchronously marks the parameter ready status.

[0044] Step B2: After CPU0 detects that the parameters are ready, it starts from the initial coordinates and performs a target search scan according to the set rules.

[0045] Step B3: CPU0 combines the feedback signal with the preset standard and continues to scan until the target coordinates are locked and coarse positioning is completed or positioning is determined to have failed.

[0046] Step B4: CPU0 determines whether to start fine positioning based on the light intensity recognition result: If coarse positioning fails, CPU0 writes the error flag to the shared memory, and CPU1 synchronously returns the corresponding error code to the host computer; if coarse positioning is successful, CPU0 marks the coarse positioning coordinates as the "initial reference point for fine positioning" and triggers the fine positioning mode.

[0047] Step B5: CPU0 uses the coarse positioning coordinates as a reference to perform a high-precision scan to lock the target center, and then feeds back the precise coordinates to the host computer through CPU1 to mark the positioning as complete.

[0048] Furthermore, in this embodiment, the diameter of the laser spot formed near the target point is preset to be 0.1-10 mm.

[0049] Furthermore, in this embodiment, a laser projection calibration board is prepared. The laser projection calibration board has reflective target points distributed on it, and a groove with a width of 1mm is machined on the surface of the board. The purpose of this calibration board is to verify the positioning accuracy of the calibrated laser positioning projection system.

[0050] Using the above steps one, two, focusing, target positioning, three, and four, the reflective target points on the calibration plate are spatially positioned, and finally laser projection is performed according to the grooves on the calibration plate.

[0051] like Figure 2 , Figure 3 The board, in conjunction with the laser and galvanometer, accurately projects the laser into the slot, thus verifying that the present invention has excellent effects on target point positioning and galvanometer control.

[0052] It should be noted that the various embodiments of this application can be arbitrarily combined into new embodiments, provided that the solutions do not conflict and the technical solutions can coexist.

[0053] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A galvanometer laser control method based on multi-core processor integration, characterized in that: Includes the following steps: Step 1: The first core CPU0 takes the lead in starting the second core CPU1 and creates a dual-core shared memory area for both. Step 2: CPU1 establishes a communication connection with the host computer and writes the preset default operating parameters to the board; Step 3: CPU1 receives and parses the graphics file sent by the host computer and stores it in shared memory; CPU0 reads the data, performs interpolation preprocessing, and then sends it to the galvanometer driver module. Step 4: CPU0 controls the laser switch and galvanometer deflection in real time, so that the laser beam scans the projection along the graphic trajectory.

2. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that: Step one specifically includes the following steps: Step 1.1: After the board is powered on, CPU0 initiates the startup of CPU1 and completes the dual-core startup synchronization confirmation; Step 1.2: CPU0 and CPU1 agree on a fixed address segment in the on-chip RAM as shared memory for both cores, and clarify the data exchange format and status identification rules; Step 1.3: CPU1 completes the initialization of the TCP communication protocol stack, EEPROM storage module and temperature and humidity environment monitoring and control system; CPU0 synchronously executes SRAM partition configuration and drives the galvanometer to perform origin regression calibration.

3. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that: Step two specifically includes: CPU1 receiving and parsing the operating parameters sent by the host computer, and writing them into EEPROM for non-volatile storage.

4. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that: The focusing step is included before step three: Step A1: After the host computer sends the focusing command, CPU1 parses the command and simultaneously notifies CPU0. CPU0 controls the laser module to turn on and controls the galvanometer to move to the vicinity of the target point. Step A2: CPU1 independently enables the stepper motor, and drives the lens platform to perform linear displacement through pulse control, thereby achieving dynamic adjustment of the focal length; Step A3: When the diameter of the laser spot formed near the target point reaches the preset range, the system locks the current focal length parameter, and the CPU1 writes the parameter into the EEPROM for persistent storage.

5. The galvanometer laser control method based on multi-core processor integration according to claim 4, characterized in that, The diameter of the laser spot formed near the target point is preset to be 0.1-10 mm.

6. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that, The target localization step is included before step three: Step B1: After the host computer sends the target positioning command, CPU1 parses the command and writes the relevant positioning parameters into the shared memory, and synchronously marks the parameter ready status. Step B2: After CPU0 detects that the parameters are ready, it starts from the initial coordinates and performs a target search scan according to the set rules. Step B3: CPU0 compares the feedback signal with the preset standard and continues to scan until the target coordinates are locked and coarse positioning is completed or positioning failure is determined. Step B4: CPU0 determines whether to start fine positioning based on the light intensity recognition result: If coarse positioning fails, CPU0 writes the error flag to the shared memory, and CPU1 synchronously returns the corresponding error code to the host computer; If coarse positioning is successful, CPU0 will mark the coarse positioning coordinates as the initial reference point for fine positioning and trigger the fine positioning mode. Step B5: CPU0 uses the coarse positioning coordinates as a reference to perform a high-precision scan to lock the target center, and then feeds back the precise coordinates to the host computer through CPU1 to mark the positioning as complete.

7. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that: The "interpolation preprocessing" in step three specifically includes: Step C1: After receiving, verifying and parsing the graphic data sent by the host computer, CPU1 stores it in shared memory and marks the data as ready. Step C2: CPU0 extracts graphic data, calculates relevant parameters of adjacent points and inserts interpolation points to generate a continuous galvanometer movement trajectory; Step C3: CPU0 automatically configures the dwell time for specific points on the graphic.

8. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that, Step three, "sending to the galvanometer driver module", specifically includes: after completing the interpolation point calculation and path planning, CPU0 converts the coordinate data into high-speed communication protocol data that conforms to the galvanometer industry standard, and sends the processed coordinate sequence to the galvanometer driver module.

9. The galvanometer laser control method based on multi-core processor integration according to claim 1, characterized in that: Step four specifically includes: after the host computer issues the projection command, CPU1 is responsible for forwarding the command and monitoring the link status; after receiving the command, CPU0 coordinates the switching status of the laser module and the deflection angle of the galvanometer to complete the rapid scanning according to the smooth trajectory generated in step three, so as to achieve accurate projection of the target image.

10. A control device, characterized in that: This invention is applicable to the galvanometer laser control method based on multi-core processor integration as described in any one of claims 1-9. The control device includes a host computer, a dual-core board, a laser galvanometer scanning device, and a laser energy feedback device. The host computer is electrically connected to the dual-core board for issuing commands, configuring parameters, and interacting with data. The dual-core board establishes electrical connections with the laser galvanometer scanning device and the laser energy feedback device respectively to realize the control of the laser projection trajectory and real-time feedback of energy status. The dual-core board includes CPU0 and CPU1, and CPU0 and CPU1 communicate with each other through shared memory.

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