A method for realizing free control of laser by controlling key points of graphics in a laser output frame

Abstract

The present invention discloses a method for freely controlling a laser by controlling key points of a graphic in a laser output frame, belonging to the technical field of lasers. The method includes the following steps: S1. Key point extraction: First, detect the required graphic in the input laser output frame image; control the size of the graphic by dragging the handles at the inner four corners, and then control the movement of the graphic by dragging the small squares in the due east, due south, due west, and due north directions at the center of the inner side. When the graphic needs to be distorted, drag it at a certain angle to distort the graphic in that angle direction, and then rotate the graphic in the dragging direction by dragging the circular handle on the outer side. In this way, the change of the graphic can be controlled by controlling the handle control points, and the free control of the laser can be realized by controlling the key points of the graphic, which improves the flexibility of graphic control, thereby improving the dynamics of the graphic, and further improving the accuracy of the graphic.

Description

Technical Field

[0001] The present invention relates to the field of laser technology, and more particularly, to a method for freely controlling a laser by controlling key points of a pattern in a laser output frame. Background Art

[0002] Lasers are used in industrial manufacturing for cutting, welding, material processing, surface treatment, marking, etc. Due to their high precision and efficiency, lasers are widely used in industries such as automotive, aerospace, and electronics. Currently, the vast majority of them are regulated by controlling the entire pattern. However, this will reduce the flexibility of pattern control, thereby reducing the dynamics of the pattern, and then easily causing distortion of some positions of the pattern and reducing the accuracy of the pattern. Summary of the Invention

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

[0004] A method for freely controlling a laser by controlling key points of a pattern in a laser output frame, the method for freely controlling a laser by controlling key points of a pattern in a laser output frame includes the following steps:

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

[0006] S2. Vector conversion: Use a vector graphics optimization algorithm to optimize the above list of key points on the image edge to within an allowable error range, minimizing the key points while ensuring the appearance quality of the pattern;

[0007] S3. Occlusion detection: If there is occlusion and occlusion detection is required, introduce an occlusion detection mechanism in the pattern detection and key point extraction stages to identify and mark the occluded part. If not, this step is ignored;

[0008] S4. Obtain output key points: Identify the key points of the pattern in the laser output frame that need to be output-controlled;

[0009] S5. Selection of handle control points: When a pattern is recognized, several control points with handles will be marked in the recognized pattern. Then, according to user requirements, select the handle control points that need to be operated. If one or more pattern objects are selected, mark the control points with handles in several directions of the circumscribed rectangle of the selected pattern objects;

[0010] S6. Control Graphic Transformation and Deformation: After selecting the handle control points for operation, the user can control the graphic size, displacement, symmetry, rotation, distortion, irregular graphic deformation, irregular arbitrary polygon deformation, arbitrary circumscribed curve deformation, and graphic mapping deformation operations by operating the handle control points according to the user's needs.

[0011] S7. Real-time Feedback: When the user controls the graphic through the handle, the system provides real-time feedback and allows the user to confirm whether the selected handle is correct. If there is an error, the user is allowed to make adjustments until the required control points are selected, and then the graphic control operation is performed through real-time feedback.

[0012] S8. Output Optimization: Before laser output, perform overall optimization sorting on the finally generated vector graphic and re-optimize the output key points.

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

[0014] S1-1. Feature Extraction: First, perform image smoothing, grayscale conversion, and edge enhancement operations on the input laser output frame, and then extract the features of the graphic from the processed image.

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

[0016] S1-3. Determine the Key Point Positions: According to the position and pose information of the graphic in the image, determine the positions of the key points, describe the features of the key points, and then perform a screening operation to remove low-quality key points and duplicate key points.

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

[0018] S3-1. Detect Occlusion Positions: During 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 parts.

[0019] S3-2. Multi-feature Tracking: After identifying and marking the occluded parts, on the basis of tracking the key points according to a single feature, introduce multiple features such as corner points and edges to track different parts of the image.

[0020] S3-3. Occlusion Compensation: For the occluded key points, use the known key point trajectories and motion models to estimate the positions of the occluded parts and compensate for the effects caused by occlusion.

[0021] Preferably, step S4 further includes the following steps:

[0022] S4-1. Mark key points: After determining the positions of the key points, mark them, and then add the key points not included in the key point list to the key point list.

[0023] Preferably, step S5 further includes the following steps:

[0024] S5-1. Shape analysis and detection: The system determines the positions and shapes of the key point regions by identifying the key points, then performs shape analysis on each detected key point region, and determines whether the detected key point region conforms to the shape of the handle;

[0025] S5-2. Select the handle: When it is detected that the key point region conforms to the shape of the handle, the system will mark the key point region as a control point available for the user to select;

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

[0027] Preferably, step S6 further includes the following steps:

[0028] S6-1. Select the handle control points: After the system marks the key points as handle control points, select the handle control points according to the user's needs;

[0029] S6-2. Control the size: After selecting the handle control points, if an operation to control the size of the graph is required, then drag the handles at the inner four corners to control the size of the graph.

[0030] Preferably, step S6 further includes one or more of the following steps in combination:

[0031] S6-3. Control the graph distortion: If operations such as graph displacement and distortion are required, by dragging the handles in the due east, due south, due west, and due north directions in the middle, the graph will be controlled to move. When the graph needs to be distorted, drag it at an angle to make the graph distorted at that angle;

[0032] S6-4. Graph rotation: If a graph rotation operation is required, by dragging the outer circular handle, the graph will rotate in the dragged direction;

[0033] S6-5. Irregular graph deformation: When the irregular deformation button is selected, by dragging the handles at the inner four corners, the overall deformation of the selected graph object is controlled to be an arbitrary irregular quadrilateral;

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

[0035] S6-7. Arbitrary circumscribed curve deformation: When the circumscribed curve deformation button is selected, the overall deformation of the selected graphic object is controlled to an arbitrary circumscribed curve deformation graphic by adding multiple Bezier curve control point handles and dragging these handles.

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

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

[0038] S7-1. Real-time preview: When the user performs operations on the control graphic, the system captures the user's operations and updates the display of the graphic in real time, and the updated graphic is displayed to the user in real time.

[0039] S7-2. Adjustment operation: When the graphic is displayed to the user in real time, the system displays the size and rotation angle information of the current graphic on the interface, and then the user can adjust their operations according to the real-time feedback.

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

[0041] S8-1. Optimization sorting: Before laser output, the finally generated vector graphics are optimized and sorted as a whole to output the shortest path and minimize the wear of the laser galvanometer.

[0042] S8-2. Output key point re-optimization: Seven-segment S-shaped speed planning, through the sigmoid function, sine curve, and Bezier curve speed planning, the key points of the optimized and sorted graphics are output and re-optimized. By increasing or decreasing the output key points, the laser galvanometer runs efficiently with low loss to increase the galvanometer life.

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

[0044] # Determine whether the requirements of the seven-segment S-curve planning 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('There is no uniformly accelerated stage')

[0057] if T[3] < 0:

[0058] raise ValueError('There is no uniform velocity stage')

[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 as follows:

[0074] (1) In the present invention, by dragging the handles at the inner four corners to control the size of the graph, and then by dragging the small squares in the due north, south, east, and west directions in the middle of the inner part, the movement of the graph can be controlled. When the graph needs to be distorted, it is dragged in a certain angle to make the graph distorted in that angle, and then by dragging the circular handles on the outside, the graph can be rotated in the dragging direction. In this way, the change of the graph can be controlled by controlling the handle control points, and the free control of the laser can be achieved by controlling the key points of the graph, which improves the flexibility of graph control, thereby improving the dynamics of the graph, and further improving the accuracy of the graph.

[0075] (2) In the present invention, during the process of image detection and key point extraction, depth information and color information are used to assist data to detect occlusion, and the occluded parts are identified and marked. After the occluded parts are identified and marked, based on the key point tracking according to 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, improving the robustness of the system. For the 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 occlusion, thereby improving the accuracy of the laser output graph, and further improving the integrity of the laser output graph.

[0076] (3) In the present invention, when the user controls the graph operation, the system will capture the user operation and update the display of the graph in real time to reflect the user operation, and the updated graph will be displayed to the user in real time. This helps the user to observe the change of the graph in time during adjustment. At the same time, the system will display the size and rotation angle information of the current graph on the interface, and then the user can adjust their operation according to 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. In this way, the user can control the change of the laser graph by controlling the key points, thereby improving the accuracy of the graph. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 is the overall flow schematic diagram of the present invention;

[0078] Figure 2Schematic diagram of the seven-segment S-shaped acceleration curve, which is the key point of the present invention;

[0079] Figure 3 Schematic diagram of the operations of steps S6 and S7 of the present invention. Detailed implementation manners

[0080] Embodiment: Please refer to Figure 1 , a method for freely controlling a laser by controlling graphic key points in a laser output frame. A method for freely controlling a laser by controlling graphic key points in a laser output frame includes the following steps:

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

[0082] S2. Vector conversion: Use a vector graphic optimization algorithm to optimize the above list of image edge key points within an allowable error range, minimizing the key points while ensuring the graphic appearance quality;

[0083] S3. Occlusion detection: If there is occlusion and occlusion detection is required, introduce an occlusion detection mechanism in the graphic detection and key point extraction stages to identify and mark the occluded part. If not, this step is ignored;

[0084] S4. Obtain output key points: Identify the graphic key points in the laser output frame that need to be output-controlled;

[0085] S5. Selection of handle control points: When a graphic is recognized, several handle-equipped control points will be marked in the recognized graphic. Then, according to user requirements, select the handle control points that need to be operated. If one or more graphic objects are selected, mark the handle-equipped control points in several directions of the circumscribed rectangle of the selected graphic objects;

[0086] S6. Control graphic transformation and deformation: After selecting the handle control points for operation, the user operates the handle control points to perform operations such as controlling the graphic size, controlling the graphic displacement, symmetry, rotation, distortion, irregular graphic deformation, irregular arbitrary polygon deformation, arbitrary circumscribed curve deformation, and graphic mapping deformation according to user requirements;

[0087] S7. Real-time feedback: When the user controls the graphic through the handle, the system provides real-time feedback and allows the user to confirm whether the selected handle is correct. If there is an error, let the user make adjustments until the user selects the required control points, and then perform the graphic control operation through real-time feedback;

[0088] S8. Output optimization: Before laser output, perform overall optimization sorting and re-optimization of the output key points on the finally generated vector graphic.

[0089] Specifically, during the process of image detection and key point extraction, depth information and color information are used to assist data in detecting occlusion, identifying and marking the occluded parts. After identifying and marking the occluded parts, based on tracking key points according to a single feature, multiple features such as 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 positions of the occluded parts and compensate for the effects caused by occlusion, thereby improving the accuracy of the laser output pattern and further enhancing the integrity of the laser output pattern.

[0090] S1 also includes the following steps:

[0091] S1-1. Feature extraction: First, perform image smoothing, grayscale conversion, and edge enhancement operations on the input laser output frame to reduce noise and improve image quality. Then, extract the features of the pattern from the processed image, and the features include shape, texture, and edges.

[0092] S1-2. Image positioning: Match the extracted features with a pre-defined image template to detect the presence of the pattern, filter and screen the matched images, remove patterns that do not meet the conditions and duplicate detection results, and then position the detected image to determine the position and pose information of the pattern in the image. The position and pose information in the image can be the coordinates, angles, or other parameters representing the position of the pattern.

[0093] S1-3. Determine the positions of key points: According to the position and pose information of the pattern in the image, determine the positions of the key points, describe the features of the key points, and then perform a screening operation to remove low-quality key points and duplicate key points. Feature description usually uses local feature description.

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

[0095] S2 also includes the following steps:

[0096] S3-1. Detect the occlusion position: During the process of image detection and key point extraction, depth information and color information are used to assist data in detecting occlusion and identifying and marking the occluded parts.

[0097] S3-2. Multi-feature tracking: After identifying and marking the occluded parts, based on tracking key points according to 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, improving the robustness of the system.

[0098] S3-3, Occlusion Compensation: When dealing with occluded key points, use the known key point trajectories and motion models to estimate the positions of the occluded parts and compensate for the effects caused by occlusion;

[0099] Specific formula of the motion model:

[0100] The random walk model assumes that the motion of the target is random and has no clear pattern;

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

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

[0103] S3 also includes the following steps:

[0104] S3-1, Mark Key Points: After determining the positions of the key points, mark the key points, and then turn the key points into key points.

[0105] S4 also includes the following steps:

[0106] S4-1, Color Recognition: When the key points become key points, the system determines the positions and shapes of the key point regions by recognizing the key points, then conducts shape analysis on each detected key point region, and determines whether the detected key point regions conform to the shape of the handle;

[0107] S4-2, Select Handle: When it is detected that the key point region conforms to the shape of the handle, the system marks the key point region as a control point available for the user to select;

[0108] S4-3, Mark Control Points: After marking the handle control points, the system marks 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 the handle control points according to the user's needs;

[0111] S5-2, Control Size: After selecting the handle control points, if an operation to control the size of the graph is required, then drag the handles at the four inner corners to control the size of the graph.

[0112] S5 also includes the following steps:

[0113] S5-3. Controlling Graphic Distortion: When graphic displacement and distortion operations are required, dragging the small square in the due east, west, south, north, and center directions inside will control the graphic movement. When the graphic needs to be distorted, dragging it at a certain angle will distort the graphic in that angle.

[0114] S5-4. Graphic Rotation: When a graphic rotation operation is required, dragging the outer circular handle will rotate the graphic in the dragging direction.

[0115] Specifically, after the system marks the key points with handle control points, select the handle control points according to the user's needs to perform graphic control operations. When a graphic size control operation is required, drag the handles at the four inner corners to control the graphic size. At the same time, when graphic displacement and distortion operations are required, dragging the small square in the due east, west, south, north, and center directions inside will control the graphic movement. When the graphic needs to be distorted, dragging it at a certain angle will distort the graphic in that angle. When a graphic rotation operation is required, dragging the outer circular handle will rotate the graphic in the dragging direction. In this way, the change of the graphic can be controlled by controlling the handle control points, and the free control of the laser can be realized by controlling the key points of the graphic, improving the flexibility of graphic control.

[0116] Please refer to Figure 3 , S6 also includes the following steps:

[0117] The above-mentioned S6 also includes the following steps:

[0118] S6-1. Selecting Handle Control Points: After the system marks the key points with handle control points, select the handle control points according to the user's needs.

[0119] S6-2. Controlling Size: After selecting the handle control points, when a graphic size control operation is required, drag the handles at the four inner corners to control the graphic size.

[0120] Please refer to Figure 3 , S6 also includes one or more combinations of the following steps:

[0121] S6-3. Controlling Graphic Distortion: When graphic displacement and distortion operations are required, dragging the handle in the due east, west, south, north, and center directions inside will control the graphic movement. When the graphic needs to be distorted, dragging it at a certain angle will distort the graphic in that angle.

[0122] S6-4. Graphic Rotation: When a graphic rotation operation is required, dragging the outer circular handle will rotate the graphic in the dragging direction.

[0123] S6-5. Irregular deformation of the graph: When the irregular deformation button is selected, by dragging the handles at the four inner corners, the overall deformation of the selected graph object can be controlled to an arbitrary irregular quadrilateral.

[0124] S6-6. Deformation into an irregular arbitrary polygon: When the irregular deformation button is selected, by adding multiple point control handles and dragging these handles, the overall deformation of the selected graph object can be controlled to an irregular arbitrary polygon.

[0125] S6-7. Deformation into an arbitrary circumscribed curve: When the circumscribed curve deformation button is selected, by adding multiple Bezier curve control points handles and dragging these handles, the overall deformation of the selected graph object can be controlled to an arbitrary circumscribed curve deformation graph.

[0126] S6-8. Graph mapping deformation: According to the mapping graph appearance style set by the user, the selected graph is subjected to mapping deformation.

[0127] Specifically, when the user controls the graph operation, the system will capture the user's operation and update the display of the graph in real time to reflect the user's operation, and the updated graph will be displayed to the user in real time. This helps the user to observe the changes in the graph in a timely manner during adjustment. At the same time, the system will display the size and rotation angle information of the current graph on the interface. Then the user can adjust their operation according to 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. In this way, the user can control the change of the laser graph by controlling the key points, thereby improving the accuracy of the graph.

[0128] S8-1. Optimization of sorting: Before laser output, the finally generated vector graph is overall optimized and sorted to output the shortest path and minimize the wear of the laser galvanometer.

[0129] S8-2. Re-optimization of output key points: Seven-segment S-shaped speed planning, through the sigmoid function, sine curve, and Bezier curve speed planning, the output key points of the graph after optimization and sorting are re-optimized. By increasing or decreasing the output key points, the laser galvanometer can operate efficiently with low loss to increase the service life of the galvanometer.

[0130] Please refer to Figure 2 , Figure 2 For a typical S-shaped speed planning curve, the seven-segment S-shaped speed planning consists of 7 processes, namely: T1 - Jerk motion, T2 - Uniform acceleration motion, T3 - Deceleration motion, T4 - Constant speed motion, T5 - T7 are symmetric to T1 - T3 and in the opposite direction.

[0131] Define the 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 variable acceleration process J is a constant

[0135] 4) The initial velocity is 0, the final velocity is 0, the starting acceleration is 0, and the ending acceleration is 0

[0136] Therefore, it can be known that the expression of the 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 in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for realizing free control of laser by controlling key points of graphics in a laser output frame, characterized in that: 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, 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. The method for realizing free control of laser by controlling key points of graphics in laser output frame according to claim 2, 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. The method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, 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. The method for realizing free control of laser by controlling key points of graphics in laser output frame according to claim 1, 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. The method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, 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. The method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, 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 for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, 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. The method for realizing free control of laser by controlling key points of graphics in a laser output frame according to claim 1, characterized in that: The S8 further comprises the following steps: S8-1, Optimization and sorting: Before laser output, the final generated vector graphics are optimized and sorted as a whole to minimize the output path and the wear of 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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