Laser scanning method and device, electronic equipment and storage medium

Abstract

The invention provides a laser scanning method and device, electronic equipment and a storage medium, the laser scanning method and device are applied to 3D printing equipment, the 3D printing equipment comprises a first laser and a second laser, and the method comprises the steps that the first laser is controlled to scan a to-be-printed object; wherein first laser emitted by the first laser has a first speed; after a preset duration, the second laser is controlled to scan the to-be-printed object; wherein the second laser emitted by the second laser has a second speed, and the second speed is smaller than or equal to the first speed. The printing effect of the 3D printing equipment can be improved.

Description

Technical Field

[0001] The present application relates to the field of metal additive manufacturing, and in particular to a laser scanning method, device, electronic equipment and storage medium. Background Art

[0002] Selective Laser Melting (SLM) is one of the most widely used additive manufacturing technologies in the industrial sector. It is widely used in industries such as automobile manufacturing, aerospace, and mold processing. Selective laser melting technology can use a wide variety of metal powders, such as titanium alloys, stainless steel, and aluminum alloys, to construct various metal parts with complex shapes and a density close to 100%.

[0003] In the related art, in the process of constructing parts with selective laser melting additive equipment, the laser scanning strategy is often a linear equidistant or strip-shaped laser scanning strategy. When the linear equidistant laser scanning strategy is adopted, the internal entities between layers are not divided, and the laser is scanned as a single line from the starting point to the end point; when the strip-shaped laser scanning strategy is adopted, the internal entities between layers are divided into several strips, and the laser scans the track perpendicular to the strip in the strip. Regardless of the scanning strategy, the length of the laser scanning single vector changes with the change of the shape and size of the internal entity, and is also affected by the fluctuation of the energy supply during the start, output and stop of the laser, resulting in inconsistent laser melting energy between layers of metal parts, causing adverse phenomena such as warping of parts; in addition, when the laser acts on the metal powder, the metal powder is rapidly melted and solidified, and a metallurgical bond is formed on the surface of the previously formed entity. In this extremely short process of rapid heating and cooling, a large temperature gradient will be formed inside the metal parts, and the grains will be coarse, resulting in the accumulation of transient thermal stress during the construction process, which will eventually evolve into residual stress after the construction is completed, and cause the metal parts to warp and other undesirable phenomena, which will lead to poor printing effects of 3D printing equipment. Summary of the invention

[0004] In view of this, the present application provides a laser scanning method, device, electronic device and storage medium, which can improve the printing effect of 3D printing equipment.

[0005] A first aspect of the present application provides a laser scanning method, which is applied to a 3D printing device, wherein the 3D printing device includes a first laser and a second laser, and the method includes: controlling the first laser to scan an object to be printed; wherein the first laser emitted by the first laser has a first speed; after a preset time period, controlling the second laser to scan the object to be printed; wherein the second laser emitted by the second laser has a second speed, and the second speed is less than or equal to the first speed.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages:

[0007] By setting a first laser and a second laser, and controlling the first laser to emit light first and the second laser to emit light later, since the speed of the second laser is less than or equal to the speed of the first laser, the second laser follows the scanning of the first laser during the scanning of the object to be printed. The second laser can avoid rapid solidification of metal powder, adjust the temperature field of the object to be printed and the metal parts in the process, reduce or eliminate the temperature gradient in the metal parts, refine the grains, thereby reducing or eliminating the internal stress of the metal parts, and improving the printing effect of the 3D printing device.

[0008] In some possible implementations, the object to be printed includes N slice layers, and before controlling the first laser to scan the object to be printed, it also includes: reading a slice file of the object to be printed to obtain a target scanning path corresponding to the target slice layer to be printed; wherein the slice file includes a scanning path corresponding to each slice layer; controlling the first laser to scan the object to be printed includes: controlling the first laser to emit the first laser, and controlling the first laser to move along the target scanning path; controlling the second laser to scan the object to be printed includes: controlling the second laser to emit the second laser, and controlling the second laser to move along the target scanning path.

[0009] In some possible implementations, controlling the first laser to emit the first laser and controlling the first laser to move along the target scanning path includes: controlling the first laser to emit the first laser and controlling the first laser to move along the target scanning path until the first laser moves to an end point of the target scanning path, and controlling the first laser to stop emitting the first laser.

[0010] In some possible implementations, controlling the first laser to emit the first laser and controlling the first laser to move along the target scanning path includes: controlling the first laser to emit the first laser and controlling the first laser to move along the target scanning path until the first laser moves to an end point of the target scanning path; controlling the first laser to return along the target scanning path until the second laser moves to an end point of the target scanning path, and controlling the first laser to stop emitting the first laser.

[0011] In some possible implementations, controlling the second laser to emit the second laser and controlling the second laser to move along the target scanning path includes: controlling the second laser to emit the second laser and controlling the second laser to move along the target scanning path until the second laser moves to an end point of the target scanning path, and controlling the second laser to stop emitting the second laser.

[0012] In some possible implementations, the speed of the first laser is greater than or equal to 400 mm per second and less than or equal to 1500 mm per second.

[0013] In some possible implementations, the preset duration is greater than or equal to 0.01 milliseconds and less than or equal to 0.2 milliseconds.

[0014] The second aspect of the present application discloses a laser scanning device, comprising: a control module, a first laser and a second laser; the first laser is used to emit a first laser; the second laser is used to emit a second laser; the control module is used to control the first laser to scan the object to be printed at a first speed; after a preset time period, the control module is also used to control the second laser to scan the object to be printed at a second speed; wherein the second speed is less than or equal to the first speed.

[0015] The third aspect of the present application discloses an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the above-mentioned laser scanning method.

[0016] The fourth aspect of the present application discloses a storage medium, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned laser scanning method.

[0017] It can be understood that the laser scanning device of the second aspect, the electronic device of the third aspect, and the storage medium of the fourth aspect provided above all correspond to the method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1A flowchart of a laser scanning method provided in one embodiment of the present application.

[0020] Figure 2 A schematic diagram of the laser movement direction provided in one embodiment of the present application.

[0021] Figure 3 A flowchart of a laser scanning method provided in one embodiment of the present application.

[0022] Figure 4 A flowchart of a laser scanning method provided in one embodiment of the present application.

[0023] Figure 5 A schematic diagram of a first laser and a second laser moving along a single path provided by an embodiment of the present application.

[0024] Figure 6 A comparison chart of the printing effects of a single laser and a dual laser provided in an embodiment of the present application.

[0025] Figure 7 A schematic diagram of the functional modules of a laser scanning device provided in one embodiment of the present application.

[0026] Figure 8 A schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0030] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0031] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0032] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0033] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given by way of example for reference.

[0034] 3D printing equipment, also known as three-dimensional printers, is a rapid prototyping process equipment, usually using digital technology to print materials. 3D printing equipment is often used to manufacture models or parts in the fields of mold manufacturing, industrial design, etc.

[0035] Please refer to Figure 1 , is a flow chart of the laser scanning method provided in an embodiment of the present application, such as Figure 1 As shown, the method is applied to a 3D printing device, the 3D printing device includes a first laser and a second laser, and the method includes the following steps:

[0036] Step 101: controlling a first laser to scan an object to be printed; wherein a first laser emitted by the first laser has a first speed.

[0037] In some embodiments, the object to be printed is a metal part.

[0038] In some embodiments, the speed of the first laser is greater than or equal to 400 mm / s and less than or equal to 1500 mm / s. By setting such a speed, it is possible to ensure that the 3D printing device has a better printing effect.

[0039] In some embodiments, the object to be printed includes N slice layers, where N is an integer greater than 1; before controlling the first laser to scan the object to be printed, it also includes: reading the slice file of the object to be printed to obtain the target scanning path corresponding to the target slice layer to be printed; wherein the slice file includes the scanning path corresponding to each slice layer; controlling the first laser to scan the object to be printed includes: controlling the first laser to emit the first laser, and controlling the first laser to move along the target scanning path.

[0040] like Figure 2 As shown in FIG. 1 , it is a schematic diagram of the laser movement direction. Assume that the object to be printed is a metal component, and the metal component includes n+1 layers, where n is an integer greater than 1. Figure 2 What is shown is the movement direction diagram of the first laser and the second laser.

[0041] How to control the first laser to move along the target scanning path is described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

[0042] Step 102: After a preset time, control the second laser to scan the object to be printed; wherein the second laser emitted by the second laser has a second speed, which is less than or equal to the first speed.

[0043] In some embodiments, controlling the second laser to scan the object to be printed includes: controlling the second laser to emit the second laser, and controlling the second laser to move along the target scanning path.

[0044] It is worth noting that since the object to be printed includes N slice layers, by adopting the dual laser tracking scanning method of this embodiment, the previous layer is thermally affected by the current layer with a higher temperature, which is similar to the tempering effect in heat treatment, and can eliminate the internal stress between layers, thereby further improving the printing effect of the 3D printing device.

[0045] In some embodiments, the preset time length is greater than or equal to 0.01 milliseconds and less than or equal to 0.2 milliseconds. In this way, on the one hand, it can ensure that the first laser is emitted before the second laser, and on the other hand, it can avoid the second laser being emitted late, which causes the metal powder melted by the first laser to solidify, thereby causing undesirable phenomena such as warping of metal parts, thereby improving the reliability of the laser scanning method.

[0046] In some embodiments, the speed of the second laser is greater than or equal to 400 mm / s and less than or equal to 1500 mm / s, and the speed of the second laser must be less than or equal to the speed of the first laser.

[0047] How to control the second laser to move along the target scanning path is described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

[0048] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting a first laser and a second laser, and controlling the first laser to emit light first and the second laser to emit light later, since the speed of the second laser is less than or equal to the speed of the first laser, during the scanning process of the object to be printed, the second laser follows the scanning of the first laser, and the second laser can prevent the metal powder from solidifying rapidly, adjust the temperature field of the object to be printed and even the metal parts in the process, reduce or eliminate the temperature gradient in the metal parts, refine the grains, thereby reducing or eliminating the internal stress of the metal parts, and improving the printing effect of the 3D printing device.

[0049] Please refer to Figure 3 , which is a flow chart of the laser scanning method provided in an embodiment of the present application. This embodiment is a specific description of the aforementioned embodiment, and mainly describes: a method of controlling a first laser to move forward along a target scanning path.

[0050] The specific process of this embodiment is as follows Figure 3 As shown, the following steps are included:

[0051] Step 201: Read the slice file of the object to be printed, and obtain the target scanning path corresponding to the target slice layer to be printed.

[0052] Step 202: Control the first laser to emit the first laser, and control the first laser to move along the target scanning path until the first laser moves to the end point of the target scanning path, and control the first laser to stop emitting the first laser.

[0053] Step 203: After a preset time, control the second laser to emit the second laser, and control the second laser to move along the target scanning path until the second laser moves to the end of the target scanning path, and control the second laser to stop emitting the second laser.

[0054] Compared with the related art, by setting the first laser and the second laser, and controlling the first laser to emit light first and the second laser to emit light later, since the speed of the second laser is less than or equal to the speed of the first laser, during the scanning process of the object to be printed, the second laser follows the scanning of the first laser, and the second laser can avoid the rapid solidification of metal powder, adjust the temperature field of the object to be printed and even the metal parts in the process, reduce or eliminate the temperature gradient in the metal parts, refine the grains, thereby reducing or eliminating the internal stress of the metal parts, and improving the printing effect of the 3D printing equipment.

[0055] Please refer to Figure 4, which is a flow chart of the laser scanning method provided in an embodiment of the present application. This embodiment is a specific description of the aforementioned embodiment, and mainly describes: another method of controlling the first laser to move along the target scanning path.

[0056] The specific process of this embodiment is as follows Figure 4 As shown, the following steps are included:

[0057] Step 301: Read the slice file of the object to be printed, and obtain the target scanning path corresponding to the target slice layer to be printed.

[0058] Step 302: Control the first laser to emit the first laser, and control the first laser to move forward along the target scanning path until the first laser moves to the end point of the target scanning path; control the first laser to return along the target scanning path until the second laser moves to the end point of the target scanning path, and control the first laser to stop emitting the first laser.

[0059] Step 303: After a preset time, control the second laser to emit the second laser, and control the second laser to move along the target scanning path until the second laser moves to the end of the target scanning path, and control the second laser to stop emitting the second laser.

[0060] Please refer to Figure 5 , is the first laser provided in this embodiment ( Figure 5 The laser 1 shown) and the second laser ( Figure 5 Schematic diagram of laser 2) moving in a single path.

[0061] Specifically, at time t, the first laser has not yet moved to the end point of the target scanning path; at time t+1, the first laser moves to the end point of the target scanning path and turns back, and the second laser has not yet moved to the end point of the target scanning path; at time t+1n, the second laser moves to the end point of the target scanning path, and both the first laser and the second laser stop moving.

[0062] Please refer to Figure 6 , is a comparison chart of the printing effects of single laser and dual laser provided in this embodiment. Figure 6 It can be seen that the dual laser scanning method can refine the grains, thereby reducing or eliminating the internal stress of metal parts.

[0063] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting a first laser and a second laser, and controlling the first laser to emit light first and the second laser to emit light later, since the speed of the second laser is less than or equal to the speed of the first laser, during the scanning process of the object to be printed, the second laser follows the scanning of the first laser, and the second laser can prevent the metal powder from solidifying rapidly, adjust the temperature field of the object to be printed and even the metal parts in the process, reduce or eliminate the temperature gradient in the metal parts, refine the grains, thereby reducing or eliminating the internal stress of the metal parts, and improving the printing effect of the 3D printing device.

[0064] Please refer to Figure 7 , is a schematic diagram of the functional modules of the laser scanning device 400 provided in an embodiment of the present application.

[0065] like Figure 7 As shown, the laser scanning device 400 includes: a control module 401, a first laser 402 and a second laser 403; the first laser 402 is used to emit a first laser; the second laser 403 is used to emit a second laser; the control module 401 is used to control the first laser to scan the object to be printed at a first speed; after a preset time, the control module 401 is also used to control the second laser to scan the object to be printed at a second speed; wherein the second speed is less than or equal to the first speed.

[0066] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting a first laser and a second laser, and controlling the first laser to emit light first and the second laser to emit light later, since the speed of the second laser is less than or equal to the speed of the first laser, during the scanning process of the object to be printed, the second laser follows the scanning of the first laser, and the second laser can prevent the metal powder from solidifying rapidly, adjust the temperature field of the object to be printed and even the metal parts in the process, reduce or eliminate the temperature gradient in the metal parts, refine the grains, thereby reducing or eliminating the internal stress of the metal parts, and improving the printing effect of the 3D printing device.

[0067] Please refer to Figure 8 , is a schematic diagram of the hardware structure of the electronic device 1000 provided in the embodiment of the present application. Figure 8 As shown, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above method in the electronic device 1000.

[0068] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than shown, or combine or separate some components, or arrange the components differently.

[0069] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0070] The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or circulated. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0071] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0072] In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0073] This embodiment further provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the method in the above-mentioned embodiment.

[0074] Among them, the electronic device and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0075] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0076] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0077] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0078] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0080] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A laser scanning method, characterized in that: Applied to a 3D printing device, the 3D printing device includes a first laser and a second laser, and the method includes: Controlling the first laser to scan the object to be printed; wherein the first laser emitted by the first laser has a first speed; After a preset time period, the second laser is controlled to scan the object to be printed; wherein the second laser emitted by the second laser has a second speed, and the second speed is less than or equal to the first speed.

2. The laser scanning method according to claim 1, characterized in that: The object to be printed includes N slice layers, where N is an integer greater than 1; Before controlling the first laser to scan the object to be printed, the method further includes: Reading the slice file of the object to be printed, and obtaining the target scanning path corresponding to the target slice layer to be printed currently; wherein the slice file includes the scanning path corresponding to each slice layer; The controlling the first laser to scan the object to be printed comprises: Controlling the first laser to emit the first laser, and controlling the first laser to move along the target scanning path; The controlling the second laser to scan the object to be printed comprises: The second laser is controlled to emit the second laser, and the second laser is controlled to move along the target scanning path.

3. The laser scanning method according to claim 2, characterized in that: The controlling the first laser to emit the first laser and controlling the first laser to move along the target scanning path includes: The first laser is controlled to emit the first laser, and the first laser is controlled to move along the target scanning path until the first laser moves to an end point of the target scanning path, and the first laser is controlled to stop emitting the first laser.

4. The laser scanning method according to claim 2, characterized in that: The controlling the first laser to emit the first laser and controlling the first laser to move along the target scanning path includes: Controlling the first laser to emit the first laser, and controlling the first laser to move along the target scanning path until the first laser moves to an end point of the target scanning path; The first laser is controlled to return along the target scanning path until the second laser moves to an end point of the target scanning path, and the first laser is controlled to stop emitting the first laser.

5. The laser scanning method according to claim 2, characterized in that: The controlling the second laser to emit the second laser and controlling the second laser to move along the target scanning path includes: The second laser is controlled to emit the second laser, and the second laser is controlled to move along the target scanning path until the second laser moves to an end point of the target scanning path, and the second laser is controlled to stop emitting the second laser.

6. The laser scanning method according to any one of claims 1 to 5, characterized in that: The speed of the first laser is greater than or equal to 400 mm per second and less than or equal to 1500 mm per second.

7. The laser scanning method according to any one of claims 1 to 5, characterized in that: The preset duration is greater than or equal to 0.01 milliseconds and less than or equal to 0.2 milliseconds.

8. A laser scanning device, characterized in that: include: A control module, a first laser and a second laser; The first laser is used to emit a first laser; The second laser is used to emit a second laser; The control module is used to control the first laser to scan the object to be printed at a first speed; After a preset time period, the control module is further used to control the second laser to scan the object to be printed at a second speed; wherein the second speed is less than or equal to the first speed.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the laser scanning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: It comprises computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the laser scanning method according to any one of claims 1 to 7.

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