Lattice laser output method, device and equipment and storage medium

Abstract

The invention discloses a dot matrix laser output method, device and equipment and a storage medium, and relates to the technical field of laser control, and the method comprises the steps: obtaining a movement track of a laser scanning device in a to-be-treated skin area in response to a signal for starting laser output; and according to the galvanometer angle array, outputting target dot matrix light spots in order to the to-be-treated skin area, wherein the galvanometer angle array is determined based on the movement track. Compared with existing stamping type dot matrix scanning, after the user inputs the laser output signal, the vibrating mirror angle array is generated by detecting the movement track of the laser scanning device operated by the user in the to-be-treated skin area, and then the target dot matrix light spots in the tidy array are automatically output to the to-be-treated skin area based on the vibrating mirror angle array. Therefore, comprehensive automatic dot matrix scanning of the to-be-treated skin area is achieved, dot matrix light spots in an array form are output, missing scanning and repeated scanning can be avoided, and dot matrix scanning efficiency and scanning precision are improved.

Description

Technical Field

[0001] This application relates to the field of laser control technology, and in particular to a method, apparatus, device and storage medium for dot matrix laser output. Background Technology

[0002] Fractional laser treatment is a skin laser scanning method. The user holds a treatment handpiece, aligns it with the skin, and controls the deflection of the laser mirror to direct the laser light to specific areas of the skin, thereby removing blemishes and scars. Due to its minimally invasive nature, it has attracted widespread attention.

[0003] Typically, the area of ​​the treatment handpiece is smaller than the area of ​​the skin to be treated. Therefore, the treatment handpiece needs to be moved across the skin to change treatment sites. However, current fractional laser scanning processes use a stamping method to perform fractional mosaic scanning of the skin area to be treated. That is, after scanning one area with the treatment handpiece, the handpiece is moved to an untreated area and then scanned again. This process is not only complex and inefficient, but also prone to missed or duplicate scans, resulting in low scanning accuracy.

[0004] Therefore, how to improve the efficiency and accuracy of dot matrix scanning has become an urgent problem to be solved. Summary of the Invention

[0005] The main objective of this application is to provide a dot matrix laser output method, apparatus, device, and storage medium, aiming to solve the technical problem of how to improve the efficiency and accuracy of dot matrix scanning.

[0006] To achieve the above objectives, this application proposes a dot matrix laser output method, which includes:

[0007] In response to the signal that initiates laser output, the movement trajectory of the laser scanning device in the area of ​​skin to be treated is acquired;

[0008] The galvanometer angle array outputs a neat array of target dot matrix light spots onto the skin area to be treated, and the galvanometer angle array is determined based on the movement trajectory.

[0009] In one embodiment, the step of outputting a neatly arranged array of target dot matrix light spots onto the skin area to be treated according to the galvanometer angle array includes:

[0010] Get the preset array parameters;

[0011] The position of the galvanometer angle array is corrected based on the preset array parameters to obtain the corrected angle array.

[0012] The target galvanometer is controlled to output a neatly arranged array of target dot matrix light spots onto the skin area to be treated, based on the correction angle array.

[0013] In one embodiment, the step of correcting the position of the galvanometer angle array based on the preset array parameters to obtain a corrected angle array includes:

[0014] The galvanometer angle array is sorted according to the preset array parameters to obtain several sorted angles;

[0015] The sorting offset compensation value corresponding to each sorting angle is determined based on the point number corresponding to the sorting angle.

[0016] The position of the galvanometer angle array is corrected by the sorting offset compensation value to obtain the corrected angle array.

[0017] In one embodiment, the step of determining the sorting offset compensation value corresponding to each sorting angle based on the point number corresponding to the sorting angle includes:

[0018] Obtain the current moving speed of the laser scanning device in the area of ​​skin to be treated;

[0019] The sorting offset compensation value corresponding to the sorting angle is determined based on the current moving speed and the point number corresponding to the sorting angle.

[0020] In one embodiment, the step of determining the sorting offset compensation value corresponding to the sorting angle based on the current moving speed and the point number corresponding to the sorting angle includes:

[0021] Obtain the preset scan interval;

[0022] The sorting offset compensation value corresponding to each sorting angle is determined based on the current moving speed, the preset scanning interval, and the point number corresponding to the sorting angle.

[0023] In one embodiment, before outputting the neatly arranged target dot matrix light spot according to the galvanometer angle array to the skin area to be treated, the method further includes:

[0024] Determine whether the movement trajectory matches the preset movement interval;

[0025] If so, the galvanometer angle array is determined based on the movement trajectory.

[0026] In one embodiment, the target galvanometer changes its orientation via a drive mechanism to guide laser irradiation to different positions; the type of galvanometer includes a one-dimensional galvanometer or a two-dimensional galvanometer, and the two-dimensional galvanometer includes two laser guiding directions.

[0027] Furthermore, to achieve the above objectives, this application also proposes a dot matrix laser output device, which includes:

[0028] The trajectory detection module is used to obtain the user's movement trajectory in the skin area to be treated in response to the laser output signal input by the user;

[0029] The dot matrix output module is used to output a neatly arranged array of target dot matrix light spots to the skin area to be treated according to the galvanometer angle array, wherein the galvanometer angle array is determined based on the movement trajectory.

[0030] In addition, to achieve the above objectives, this application also proposes a dot matrix laser output device, the device including: a memory, a processor, and a dot matrix laser output program stored in the memory and executable on the processor, the dot matrix laser output program being configured to implement the steps of the dot matrix laser output method as described above.

[0031] In addition, to achieve the above objectives, this application also proposes a storage medium that stores a dot matrix laser output program. When the dot matrix laser output program is executed by a processor, it implements the steps of the dot matrix laser output method described above.

[0032] This application provides a fractional laser output method, apparatus, device, and storage medium. The method includes: in response to a signal that initiates laser output, acquiring the movement trajectory of a laser scanning device in a skin region to be treated; and outputting a neatly arranged array of target fractional laser spots to the skin region to be treated according to a galvanometer angle array, wherein the galvanometer angle array is determined based on the movement trajectory.

[0033] This application achieves comprehensive automatic fractional scanning of the skin area by detecting the movement and displacement of the laser scanning device on the skin to be treated, determining the corresponding galvanometer angle array based on the movement trajectory, and automatically outputting target dot matrix spots to the skin area to be treated based on the galvanometer angle array. Compared with existing stamp-type fractional scanning, this application, after the user starts the laser output, generates a galvanometer angle array by detecting the movement trajectory of the laser scanning device on the skin area to be treated, and then automatically outputs neatly arranged target dot matrix spots to the skin area to be treated based on the galvanometer angle array, thereby achieving comprehensive automatic fractional scanning of the skin area to be treated, improving the efficiency and accuracy of fractional scanning. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic flowchart of the first embodiment of the dot matrix laser output method of this application;

[0037] Figure 2 This is a schematic diagram of the structure of the laser scanning device in the first embodiment of the dot matrix laser output method of this application;

[0038] Figure 3 This is a schematic diagram of the dot matrix scanning effect of the first embodiment of the dot matrix laser output method of this application;

[0039] Figure 4 This is a schematic diagram of the first process of the second embodiment of the dot matrix laser output method of this application;

[0040] Figure 5 This is a schematic diagram of the initial scanning result based on a galvanometer angle array, representing the second embodiment of the dot matrix laser output method of this application.

[0041] Figure 6 This is a schematic diagram of the second process of the second embodiment of the dot matrix laser output method of this application;

[0042] Figure 7 This is a schematic diagram showing the arrangement of angle coordinate points of the galvanometer angle array in the second embodiment of the dot matrix laser output method of this application;

[0043] Figure 8 This is a schematic diagram of the position correction process in the second embodiment of the dot matrix laser output method of this application;

[0044] Figure 9 This is a schematic diagram of the final scanning result based on a correction angle array, according to the second embodiment of the dot matrix laser output method of this application.

[0045] Figure 10 This is a simplified flowchart of the dot matrix laser output method of this application;

[0046] Figure 11 This is a schematic diagram of the module structure of the dot matrix laser output device according to an embodiment of this application;

[0047] Figure 12 This is a schematic diagram of the device structure of the hardware operating environment involved in the dot matrix laser output method in the embodiments of this application.

[0048] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0050] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of this application is: in response to the signal to start laser output, the movement trajectory of the laser scanning device in the skin area to be treated is obtained; the target dot array light spot is output to the skin area to be treated according to the galvanometer angle array, and the galvanometer angle array is determined based on the movement trajectory.

[0052] Currently, fractional laser scanning typically uses a galvanometer stamping method, where fractional laser light is output within a pre-defined contour during each scan. When performing large-area treatments, this stamping method of stitching together fractional laser light is not only inefficient and complex to operate, but also prone to missed or overlapping areas due to limitations in the shape and size of the contour.

[0053] Upon detecting the signal to activate laser output, this application uses a displacement monitoring device configured on the laser scanning device to detect the user's movement trajectory of the laser scanning device on the skin to be treated. Then, based on the movement trajectory, it determines the corresponding galvanometer angle array and automatically outputs a neatly arranged array of target dot matrix spots to the skin area to be treated, thereby achieving comprehensive automatic dot matrix scanning of the entire skin area. Compared to existing stamp-style dot matrix scanning, this application automatically performs dot matrix scanning based on the detected skin movement distance as the laser scanning device moves; moreover, this application outputs an array of neatly arranged dot matrix spots, resulting in high dot matrix scanning accuracy and avoiding missed scans and duplicate scans, thus effectively improving dot matrix scanning efficiency and accuracy.

[0054] It should be noted that the executing entity in this embodiment can be a service device equipped with a displacement monitoring device and having data processing, network communication, program execution, and laser scanning functions, such as a laser therapy device, a laser scanner, or other laser fractional scanning equipment (hereinafter referred to as a scanning device). This embodiment does not specifically limit this. The following uses a defense device as the executing entity as an example to describe this embodiment and the following embodiments.

[0055] Based on this, the embodiments of this application provide a dot matrix laser output method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the dot matrix laser output method of this application.

[0056] In this embodiment, the dot matrix laser output method includes steps S10 to S20:

[0057] Step S10: In response to the signal to start laser output, acquire the movement trajectory of the laser scanning device in the skin area to be treated;

[0058] It is understood that the aforementioned signal to activate the laser output can be the signal input corresponding to the user activating the laser scanning switch. Upon detecting the laser output signal, the scanning device can respond and prepare for dot matrix scanning. Typically, the scanning device has a foot switch; when the user presses the foot switch, the scanning device sends a signal to activate the laser output. Simultaneously, in this embodiment, a displacement monitoring device, such as a camera or optical flow sensor, can be added to the laser scanning unit (e.g., a laser scanning handle) to detect the user's movement trajectory or displacement of the laser scanning unit in the area of ​​skin to be treated. Therefore, in this embodiment, the laser scanning unit can include a laser generating device (referring to a device that receives laser input, or a device that generates laser light), a galvanometer that controls the optical path deviation of the laser (e.g., a galvanometer that reflects the laser light, and the orientation of this galvanometer can change, causing the reflected optical path to change accordingly), and a displacement monitoring device. The configuration of this displacement monitoring device can be as follows: Figure 2 As shown, Figure 2 This is a schematic diagram of the laser scanning device according to the first embodiment of the fractional laser output method of this application. During fractional scanning, the laser scanning device can scan a series of light spots on the skin; simultaneously, the laser scanning device can move on the skin, and thus output multiple series of light spots as it moves on the skin. At this time, in order to output multiple neatly arranged arrays of light spots on the skin, the angle of the galvanometer needs to be adjusted according to the movement trajectory of the laser scanning device on the skin.

[0059] It is important to understand that the skin area to be treated mentioned above can be the skin area to be scanned using fractional scanning, and the scanning device can... Figure 2 The scanning window in the image is used to output the dot matrix laser. In a specific implementation, such as... Figure 2 As shown, during fractional scanning, the galvanometer can change the output optical path of the laser generator, causing the laser to be reflected and pass through the scanning window to reach the skin, forming a light spot for fractional scanning. Therefore, in this embodiment, the scanning device can acquire the movement trajectory of the user-operated laser scanning device in the skin to be treated based on the displacement monitoring device. In specific implementation, this embodiment uses a displacement monitoring device installed on the laser scanning device to acquire skin images containing the area of ​​skin to be treated, and determines the aforementioned movement trajectory based on the acquired skin images.

[0060] Step S20: The target dot array light spot with a neat array is output to the skin area to be treated according to the galvanometer angle array, wherein the galvanometer angle array is determined based on the movement trajectory;

[0061] Understandably, existing fractional scanning methods are prone to overlapping scan areas. This is partly because existing fractional laser scanning uses a manual stamping method, and partly because existing fractional lasers are typically output as polygonal spots with a certain area and shape. Therefore, in order to improve the accuracy of fractional laser scanning and reduce or avoid overlapping scan areas, this embodiment can automatically generate an array of target fractional spots based on the movement trajectory and apply them to the skin area to be treated.

[0062] Preferably, the target dot matrix spot can be a single column of spots, but the number of columns of the target dot matrix spot can also be set to more than one according to the actual situation. This embodiment does not limit the actual number of columns of the galvanometer angle array. It should be noted that when the laser scanning device is stationary on the skin, it will project multiple spots with equal spacing in a single column; when the laser scanning device moves on the skin, it will project multiple columns of spots. However, due to limitations such as the speed and displacement of movement, the distance between the multiple columns of spots is easily uneven, resulting in an uneven array. Furthermore, even if the movement is not considered, the spacing of a single column of spots projected during the movement of the laser scanning device may vary, also causing an irregular array. In this application, an orderly array means that the projected spots are represented in an array on the skin, with equal spacing between rows and columns. This will be described in detail later.

[0063] In some embodiments, depending on the requirements of laser scanning, the aforementioned neatly arranged dot matrix spots can also be irregularly shaped with rows and columns that are not perpendicular, such as a honeycomb shape. Figure 3 As shown, Figure 3 This is a schematic diagram of the dot matrix scanning effect of the first embodiment of the dot matrix laser output method of this application.

[0064] In addition, combined Figure 2 As can be seen, this embodiment can change the output optical path of the laser generator by altering the deflection angle of the galvanometer, allowing the laser to pass through the scanning window and reach the skin after reflection, forming a spot for dot matrix scanning. Therefore, this embodiment first needs to generate a galvanometer angle array corresponding to the target dot matrix spot based on the movement trajectory, so that the galvanometer angle array can be used to control the deflection of the galvanometer to output the target dot matrix spot to the area of ​​the user's skin to be treated.

[0065] In one feasible implementation, in this embodiment, steps A1 to A2 may be included before step S20:

[0066] Step A1: Determine whether the movement trajectory matches the preset movement interval;

[0067] Step A2, if yes, then determine the galvanometer angle array based on the moving trajectory.

[0068] It is understood that the output of the galvanometer angle array in this embodiment is not continuous, but determined based on the moving trajectory and the moving displacement of the laser scanning device relative to a preset moving interval. It should be understood that the preset moving interval can be pre-set or determined based on the size of the skin area to be treated. The method for determining whether the moving trajectory matches the preset moving interval can be either directly detecting whether the total moving displacement corresponding to the moving trajectory is a multiple of the preset moving interval, or whether the output displacement interval corresponding to the moving trajectory reaches the preset moving interval. When the moving trajectory matches the preset moving interval, the galvanometer angle array corresponding to the target dot matrix spot can be determined based on the moving trajectory.

[0069] In simple terms, each time the scanning device determines the skin movement distance based on the acquired movement trajectory and matches it with the preset movement interval, it can generate a corresponding galvanometer angle array for the target dot matrix spot and trigger a laser scan. This controls the deflection angle of the galvanometer in the laser scanning device to output the target dot matrix spot to the scanning window according to the generated galvanometer angle array. This allows the user to move the laser scanning device in the area of ​​skin to be treated while outputting a neatly arranged array of target dot matrix spots, thus achieving automatic dot matrix scanning.

[0070] This embodiment proposes an automated laser dot matrix scanning method. During dot matrix scanning, displacement monitoring devices such as optical flow sensors detect the movement distance of the laser scanning device on the skin, automatically triggering laser array scanning. This method is more flexible and efficient than traditional stamping scanning. Furthermore, the scanning device uses an array of target dot matrix spots for laser scanning, avoiding overlapping scanning areas. This not only improves the accuracy of dot matrix laser scanning but also reduces the number of scans, further enhancing scanning efficiency.

[0071] This embodiment provides a fractional laser output method, which includes: in response to a signal to start laser output, acquiring the movement trajectory of a laser scanning device in the skin area to be treated; determining whether the movement trajectory matches a preset movement interval; if so, determining a galvanometer angle array based on the movement trajectory; and outputting a neatly arranged array of target fractional laser spots to the skin area to be treated according to the galvanometer angle array. In this embodiment, after the user inputs a laser output signal, the movement trajectory of the laser scanning device operated by the user in the skin area to be treated is detected, and the movement trajectory is matched with a preset movement interval to automatically generate a galvanometer angle array. Then, based on the galvanometer angle array, a neatly arranged array of target fractional laser spots is automatically output to the skin area to be treated, thereby achieving comprehensive automatic fractional scanning of the skin area to be treated. Furthermore, the output of the fractional laser spots in this application is in the form of an array, which can avoid missed scans and duplicate scans, improving fractional scanning efficiency and scanning accuracy.

[0072] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the first embodiment can be referred to the above description, and will not be repeated hereafter.

[0073] Based on the first embodiment, please refer to Figure 4 , Figure 4 This is a schematic diagram of the first process of the second embodiment of the dot matrix laser output method of this application. In this embodiment, step S20 includes steps B1 to B3:

[0074] Step B1: Obtain the preset array parameters;

[0075] Step B2: Correct the position of the galvanometer angle array based on the preset array parameters to obtain a corrected angle array;

[0076] Step B3: Control the target galvanometer to output a neatly arranged array of target dot matrix light spots onto the skin area to be treated, based on the correction angle array.

[0077] It is readily understood that in this embodiment, the aforementioned target galvanometer can be one two-dimensional galvanometer or two one-dimensional galvanometers assembled in the laser scanning device, combined with... Figure 2 It is understood that the scanning device can control the deflection angle of any mirror in the target galvanometer to adjust the output position of the laser or aiming beam in the laser scanning device, thereby outputting an array of target dot matrix spots within the scanning window. If a two-dimensional galvanometer is used, the laser scanning device can include an X-axis galvanometer and a Y-axis galvanometer. The preset array parameters can be user-inputted or set based on the treatment plan for the laser acting on the skin to be treated.

[0078] It is important to understand that because the laser scanning device moves simultaneously with the dot matrix scanning, if a galvanometer is used for scanning, the initial dot matrix scanning result is prone to becoming an array of tilted light spots. For specific effects, please refer to [reference needed]. Figure 5 , Figure 5 This is a schematic diagram of the initial scanning result based on a galvanometer angle array, representing the second embodiment of the dot matrix laser output method of this application. Figure 5 In this context, ΔS can be the preset moving interval, L can be the moving distance of the laser scanning device, and H can be the length of the laser scanning window. At this time, the area of ​​the skin region to be treated can be L*H. Within the skin region to be treated, the scanning device can detect the moving trajectory obtained by the displacement monitor at each interval of moving step ΔS. When only one galvanometer is controlled, the initial scanning result of the target dot matrix light spot output based on the galvanometer angle array triggers laser scanning. Figure 5 As shown. Meanwhile, Figure 5 One point in the galvanometer angle array shown can correspond to one spot in the target dot matrix light spot.

[0079] Therefore, if the galvanometer angle array is determined solely based on the movement trajectory, the corresponding output array spot is: Figure 5 The tilted array of light spots shown not only has low scanning accuracy but also poor aesthetics. Therefore, this embodiment can obtain a corrected angle array by performing motion compensation on the galvanometer angle array determined based on the movement trajectory, so as to improve the scanning accuracy and aesthetics of the target dot array light spots output by the corrected angle array, which is beneficial to the uniformity of treatment effect.

[0080] Understandably, the preset array parameters input by the user can be the number of angular coordinate points contained in a single column of the galvanometer angle array, as determined by the user. Since a single-column laser scan typically takes several milliseconds to tens of milliseconds to complete, and the more points in a single column, the longer it takes to complete a single column scan, therefore, as... Figure 5 The reason why the initial scan results presented are in the form of a tilted array is that the waiting time of different spots in a single column of light spots is different. The scanning device can obtain the corrected angle array by performing different motion compensations on different angular coordinate points in the galvanometer angle array based on preset array parameters.

[0081] Specifically, if the target galvanometer consists of two one-dimensional galvanometers, the scanning device can determine the galvanometer angle array by controlling the deflection angle of the first one-dimensional galvanometer, and then achieve motion compensation for the galvanometer angle array by controlling the deflection angle of the second one-dimensional galvanometer. If the target galvanometer is a two-dimensional galvanometer, the scanning device can determine the galvanometer angle array by controlling the deflection angle of the X-dimensional galvanometer, and then achieve motion compensation for the galvanometer angle array by controlling the deflection angle of the Y-dimensional galvanometer (or determine the galvanometer angle array by controlling the deflection angle of the Y-dimensional galvanometer, and then achieve motion compensation for the galvanometer angle array by controlling the deflection angle of the X-dimensional galvanometer), thereby obtaining a corrected angle array, and outputting a neatly arranged target dot matrix light spot based on the corrected angle array.

[0082] In one feasible implementation, refer to Figure 6 , Figure 6 This is a second flowchart illustrating a second embodiment of the dot matrix laser output method of this application. In this embodiment, step B2 may include steps C1 to C3:

[0083] Step C1: Sort the galvanometer angle array according to the preset array parameters to obtain several sorted angles;

[0084] Step C2: Determine the sorting offset compensation value corresponding to each sorting angle based on the point number corresponding to the sorting angle.

[0085] Understandably, as the above analysis shows, since a single column of the initial dot matrix light spot output from the galvanometer angle array contains several spots, and each spot has a different offset value due to differences in waiting time, this embodiment needs to perform different corrections on spots located at different positions within a single column. Therefore, this embodiment can first sort the angular coordinate points in the galvanometer angle array according to preset array parameters to obtain several sorted angles. Then, based on the order of the sorted angles, i.e., the point number mentioned above, the corresponding angle compensation value is determined, i.e., the sorting offset compensation value mentioned above, so that the position of each angular coordinate point in the galvanometer angle array can be sequentially corrected based on the sorting offset compensation value. The preset scanning interval is user input or can be set based on the treatment plan of the laser acting on the skin to be treated.

[0086] In the specific implementation, assuming the initial dot matrix spot is a single-column spot, that is, when the skin movement distance of the laser scanning device matches the preset movement interval based on the movement trajectory detection, a single-column dot matrix scan can be triggered based on the galvanometer angle array. Simultaneously, assuming the target galvanometer in this embodiment is a two-dimensional galvanometer, and the initial dot matrix spot is output by controlling the deflection angle of the Y-axis galvanometer, the laser scanning device can perform a moving scan in the X-axis direction, and the initial dot matrix spot may be tilted in the X-axis direction. Therefore, the scanning device needs to correct the X-axis coordinates of the initial dot matrix spot to obtain a neatly arranged target dot matrix spot; that is, this embodiment needs to correct the X-axis coordinates of each angle coordinate point in the galvanometer angle array to obtain a corrected angle array.

[0087] Accordingly, the scanning device can establish a two-dimensional coordinate axis to determine the sorting offset compensation value; the specific effect can be seen in [reference needed]. Figure 7 , Figure 7 This is a schematic diagram showing the arrangement of angular coordinate points of the galvanometer angle array in the second embodiment of the dot matrix laser output method of this application. Figure 7 As shown, assuming the number of angular coordinate points in a single column of a two-dimensional laser dot array, i.e., the preset array parameters mentioned above, is represented by CNT, and the angular coordinate points are sorted sequentially from top to bottom, the point number corresponding to each sorted angle is represented by i, i = 0, 1, ..., CNT, then the coordinates (X, Y, φ) of each sorted angle i can be determined according to the preset array parameters CNT. i Y i ), and expressed as follows:

[0088]

[0089] In one feasible implementation, step C2 may include steps C21 to C22:

[0090] Step C21: Obtain the current moving speed of the laser scanning device in the skin area to be treated;

[0091] Step C22: Determine the sorting offset compensation value corresponding to the sorting angle based on the current moving speed and the point number corresponding to the sorting angle.

[0092] Understandably, since the user is simultaneously moving the laser scanning device across the skin area to be treated during fractional scanning, the faster the laser scanning device moves, the greater the tilt of the initial fractional light spot output by the galvanometer angle array in the direction of movement. Therefore, this embodiment can also determine the current moving speed of the laser scanning device based on the displacement monitoring device, and then determine the sorting offset compensation value corresponding to the sorting angle based on the current moving speed and the point number corresponding to the sorting angle.

[0093] Furthermore, in a feasible implementation, step C22 may include steps C221 to C222:

[0094] Step C221: Obtain the preset scanning interval;

[0095] Step C222: Determine the sorting offset compensation value corresponding to the sorting angle based on the current moving speed, the preset scanning interval, and the point number corresponding to the sorting angle.

[0096] It is important to understand that, in addition to the moving speed of the laser scanning device, the longer the laser scanning time for a single column, the greater the tilt of the single column's dot matrix. Therefore, this embodiment can further obtain the time interval between adjacent points in the same column of laser scanning input by the user, i.e., the aforementioned preset scanning interval, and then combine the current moving speed and the preset scanning interval to sequentially correct the sorting angles corresponding to different point numbers in the single column's angular coordinate points.

[0097] In the specific implementation, it is still assumed that the scanning device outputs the initial dot matrix spot by controlling the Y-axis galvanometer and performs moving scanning on the X-axis. Then, the Y coordinate of each sorting angle can remain unchanged when performing position correction, and the sorting offset compensation value at this time can be the X-axis offset compensation value.

[0098] Specifically, the X-coordinate of each sorting angle can be compensated for offset based on the current moving speed, preset scanning interval, and point number, with the compensation direction opposite to the current moving scanning direction. Therefore, assuming the current moving speed is V and the time interval between adjacent points in the same column of laser scanning is ΔT, the corresponding X-axis offset compensation value for each sorting angle determined by the point number i can be expressed as:

[0099] X i = -V·ΔT·(i-1);

[0100] Step C3: The position of the galvanometer angle array is corrected by the sorting offset compensation value to obtain the corrected angle array.

[0101] It should be noted that the two-dimensional galvanometer used for fractional scanning in this embodiment may include two galvanometers. The other galvanometer, besides the first galvanometer controlling the initial fractional spot generation, can be the aforementioned second galvanometer. In this embodiment, the scanning device can control the deflection angle of the second galvanometer based on the sorting offset compensation value, so that the target fractional spot output based on the correction angle array can be distributed without tilting on the skin area to be treated. The specific correction effect can be as follows: Figure 8 As shown, Figure 8 This is a schematic diagram of the position correction process in the second embodiment of the dot matrix laser output method of this application.

[0102] It is easy to understand that, Figure 8 The correction process shown corresponds to the correction of the light spot during the moving scan of the scanning device along the X-axis. In this case, the scanning device can control the deflection angle of the X-axis galvanometer to perform X-axis displacement compensation on each sorted angle in the galvanometer angle array to obtain a correction angle array. The position of each light spot in this correction angle array... It can be represented as:

[0103]

[0104] Therefore, in this embodiment, the scanning device can perform fractional scanning to compensate for movement offset by simultaneously controlling the deflection angle of the biaxial galvanometer based on the corrected coordinates in the correction angle array. This allows the output of a single column of light spots to be distributed in a straight line in the skin area to be treated, resulting in a neat and uniformly spaced array of target fractional light spots. The fractional laser scanning effect at this time can be referenced... Figure 9 , Figure 9 This is a schematic diagram of the final scanning result based on a correction angle array, representing the second embodiment of the dot matrix laser output method of this application.

[0105] In this embodiment, based on the automatic generation of the galvanometer angle array and the automatic triggering of the dot matrix laser output according to the movement trajectory of the laser scanning device operated by the user in the skin area to be treated, the motor compensation position of the galvanometer angle array is calculated by combining the number of single-column angle coordinate points, the moving speed and the spot scanning interval. Thus, the laser dot matrix offset deformation caused by the movement of the laser scanning device is corrected by the determined sorting offset compensation value, so that the final output target dot matrix spot is an array spot with a neat array and consistent spacing, thereby improving the scanning accuracy and aesthetics of the dot matrix laser and further improving the user experience.

[0106] This embodiment discloses the following steps: acquiring preset array parameters; sorting the galvanometer angle array according to the preset array parameters to obtain several sorting angles; acquiring the current moving speed of the laser scanning device in the skin area to be treated; acquiring the preset scanning interval input by the user; determining the sorting offset compensation value corresponding to each sorting angle based on the current moving speed, preset scanning interval, and point number corresponding to the sorting angle; and correcting the position of the galvanometer angle array using the sorting offset compensation value to obtain a corrected angle array. The target galvanometer is controlled to output the target dot matrix spot based on the corrected angle array. Therefore, this embodiment calculates the motor compensation position of the galvanometer angle array by combining the number of angle coordinate points in a single column, the moving speed, and the spot scanning interval, thereby correcting the laser dot matrix offset deformation caused by the movement of the laser scanning device according to the determined sorting offset compensation value, so that the final output target dot matrix spot is a neat and uniformly spaced array spot, thereby improving the scanning accuracy and aesthetics of the dot matrix laser and further enhancing the user experience.

[0107] In one embodiment, the target galvanometer may be a one-dimensional or two-dimensional galvanometer. A one-dimensional galvanometer guides the laser to move along a single direction, such as the X-axis or Y-axis. A two-dimensional galvanometer guides the laser to move along multiple directions, such as the X-axis and Y-axis, allowing the laser to illuminate any position within the scanning area. In practical applications, a two-dimensional galvanometer may include one or more galvanometers. In the case of a single galvanometer, the first and second galvanometers in this application can be considered as fused into the same galvanometer, which can deflect at two different angles, such as by an electromagnetic drive mechanism. In the case of multiple galvanometers, different galvanometers can deflect at different angles, for example, by motors with different rotation directions.

[0108] For example, to help understand the technical concept or principle of the dot matrix laser output method after combining this embodiment with the above-described Embodiments 1 and 2, please refer to Figure 10 , Figure 10 A simplified flowchart of a dot matrix laser output method is provided, and the specific process is as follows:

[0109] like Figure 10 As shown, assuming the current laser scanning device is a laser handpiece, the scanning device can detect the movement trajectory of the user's operating handpiece in the skin area to be treated by displacement monitoring devices such as optical flow sensors during the process of the user pressing the laser start button to input the signal to start the laser output and operating the laser handpiece to move for fractional scanning. Based on the detected movement trajectory, the device can automatically trigger fractional scanning continuously.

[0110] Furthermore, assuming that the target dot matrix light spot in this embodiment has four light spots in a single column, correspondingly, the corrected angle array after position compensation contains four angular coordinate points in a single column. Therefore, combining Embodiment 1 and Embodiment 2, it can be seen that assuming Figure 10 At time t1, the dot matrix laser begins. At this time, the scanning device can activate the laser, generating four corrected and compensated angular coordinate points, such as... Figure 10 The coordinates (x11, y11), (x12, y12), (x13, y13), and (x14, y14) are used to control the deflection angle of the target galvanometer, changing the laser output path to achieve automatic output of the target dot matrix spot. Simultaneously, after outputting the last spot of the target dot matrix based on coordinate point (x14, y14), the scanning device can turn off the laser until the displacement monitoring device detects again that the movement trajectory of the handle in the skin area to be treated meets the preset movement interval, at which point the laser is turned back on. For example, when the preset displacement condition is met again, a corresponding correction angle array can be generated, such as... Figure 10 The coordinates (x21,y21), (x22,y22), (x23,y23), and (x24,y24) are used to output the target dot matrix light spot based on the new four coordinate points.

[0111] Therefore, by repeating the process of acquiring the detection displacement and automatically outputting the target dot matrix spot, it is possible to automatically output a neat and uniformly spaced dot matrix laser array based on the movement trajectory of the laser handle, thereby improving the scanning accuracy and aesthetics of the dot matrix laser and further enhancing the user experience.

[0112] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the dot matrix laser output method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0113] This application also provides a dot matrix laser output device, please refer to... Figure 11 , Figure 11 This is a schematic diagram of the module structure of the dot matrix laser output device according to an embodiment of this application. In this embodiment, the dot matrix laser output device includes:

[0114] The trajectory detection module P1 is used to acquire the movement trajectory of the laser scanning device in the skin area to be treated in response to the signal that the laser output is started.

[0115] The dot matrix output module P2 is used to output a neatly arranged array of target dot matrix light spots to the skin area to be treated according to the galvanometer angle array, wherein the galvanometer angle array is determined based on the movement trajectory.

[0116] As one possible implementation, in this embodiment, the dot matrix output module P2 is also used to acquire preset array parameters;

[0117] The dot matrix output module P2 is also used to perform position correction on the galvanometer angle array based on the preset array parameters to obtain a corrected angle array;

[0118] The dot matrix output module P2 is also used to control the target galvanometer to output a neatly arranged array of target dot matrix light spots to the skin area to be treated, based on the correction angle array.

[0119] As one possible implementation, in this embodiment, the dot matrix output module P2 is also used to sort the galvanometer angle array according to the preset array parameters to obtain several sorted angles.

[0120] The dot matrix output module P2 is also used to determine the sorting offset compensation value corresponding to the sorting angle based on the dot number corresponding to the sorting angle.

[0121] The dot matrix output module P2 is also used to perform position correction on the galvanometer angle array using the sorting offset compensation value to obtain the corrected angle array.

[0122] As one possible implementation, in this embodiment, the dot matrix output module P2 is also used to obtain the current moving speed of the laser scanning device in the skin area to be treated;

[0123] The dot matrix output module P2 is also used to determine the sorting offset compensation value corresponding to the sorting angle based on the current moving speed and the dot number corresponding to the sorting angle.

[0124] As one possible implementation, in this embodiment, the dot matrix output module P2 is also used to obtain a preset scanning interval;

[0125] The dot matrix output module P2 is also used to determine the sorting offset compensation value corresponding to the sorting angle based on the current moving speed, the preset scanning interval and the dot number corresponding to the sorting angle.

[0126] As one possible implementation, in this embodiment, the dot matrix output module P2 is also used to determine whether the movement trajectory matches a preset movement interval;

[0127] The dot matrix output module P2 is also used to determine the galvanometer angle array based on the moving trajectory if the condition is met.

[0128] As one possible implementation, in this embodiment, the target galvanometer changes its posture through a driving mechanism to guide the laser to different positions; the type of the galvanometer includes a one-dimensional galvanometer or a two-dimensional galvanometer, and the two-dimensional galvanometer includes two laser guiding directions.

[0129] The dot matrix laser output device provided in this application, employing the dot matrix laser output method in the above embodiments, can solve the technical problem of how to improve the efficiency and accuracy of dot matrix scanning. Compared with the prior art, the beneficial effects of the dot matrix laser output device provided in this application are the same as those of the dot matrix laser output method provided in the above embodiments, and other technical features in the dot matrix laser output device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0130] This application provides a dot matrix laser output device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the dot matrix laser output method in the first embodiment described above.

[0131] The following is for reference. Figure 12 The diagram illustrates a structural schematic suitable for implementing the dot matrix laser output device of the embodiments of this application. The dot matrix laser output device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 12 The dot matrix laser output device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0132] like Figure 12As shown, the dot matrix laser output device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the dot matrix laser output device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the dot matrix laser output device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show dot matrix laser output devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0133] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment disclosed in this application includes a dot matrix laser output program product, which includes a dot matrix laser output program carried on a computer-readable medium, the dot matrix laser output program containing program code for performing the methods shown in the flowcharts. In such an embodiment, the dot matrix laser output program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the dot matrix laser output program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0134] The dot matrix laser output device provided in this application, employing the dot matrix laser output method in the above embodiments, can solve the technical problem of how to improve the efficiency and accuracy of dot matrix scanning. Compared with the prior art, the beneficial effects of the dot matrix laser output device provided in this application are the same as those of the dot matrix laser output method provided in the above embodiments, and other technical features in this dot matrix laser output device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0135] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0136] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0137] This application provides a storage medium having computer-readable program instructions (i.e., a dot matrix laser output program) stored thereon, the computer-readable program instructions being used to execute the dot matrix laser output method in the above embodiments.

[0138] The storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0139] The aforementioned storage medium may be included in the dot matrix laser output device; or it may exist independently and not be assembled into the dot matrix laser output device.

[0140] The aforementioned storage medium carries one or more programs, which, when executed by the dot matrix laser output device, cause the dot matrix laser output device to output dot matrix lasers.

[0141] The dot matrix laser output program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0142] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and dot matrix laser output program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0143] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0144] The readable storage medium provided in this application is a storage medium that stores computer-readable program instructions (i.e., a dot-matrix laser output program) for executing the above-described dot-matrix laser output method. This solves the technical problem of poor scanning accuracy and low scanning efficiency in existing dot-matrix scanning methods, and addresses how to improve the efficiency and accuracy of dot-matrix scanning. Compared with the prior art, the beneficial effects of the storage medium provided in this application are the same as those of the dot-matrix laser output method provided in the above embodiments, and will not be repeated here.

[0145] This application provides a dot matrix laser output program product, including a dot matrix laser output program, which, when executed by a processor, implements the steps of the dot matrix laser output method described above.

[0146] The dot matrix laser output program product provided in this application can solve the technical problems of poor scanning accuracy and low scanning efficiency of existing dot matrix scanning, and how to improve the efficiency and accuracy of dot matrix scanning. Compared with the prior art, the beneficial effects of the dot matrix laser output program product provided in this application are the same as the beneficial effects of the dot matrix laser output method provided in the above embodiments, and will not be repeated here.

[0147] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method of dot laser output, characterized by, The method comprises: obtaining a moving track of a laser scanning device in a skin area to be treated in response to a signal for starting laser output; outputting an array-ordered target dot array spot to the skin area to be treated according to a mirror angle array, the mirror angle array being determined based on the moving track.

2. The dot laser output method of claim 1, wherein, The step of outputting an array-ordered target dot array spot to the skin area to be treated according to a mirror angle array comprises: obtaining a preset array parameter; positionally correcting the mirror angle array based on the preset array parameter to obtain a corrected angle array; controlling a target mirror to output an array-ordered target dot array spot to the skin area to be treated based on the corrected angle array.

3. The dot laser output method of claim 2, wherein, The step of positionally correcting the mirror angle array based on the preset array parameter to obtain a corrected angle array comprises: sorting the mirror angle array according to the preset array parameter to obtain a plurality of sorted angles; determining a sorted offset compensation value corresponding to each of the sorted angles based on a point sequence number corresponding to the sorted angle; positionally correcting the mirror angle array based on the sorted offset compensation value to obtain a corrected angle array.

4. The dot laser output method of claim 3, wherein, The step of determining a sorted offset compensation value corresponding to each of the sorted angles based on a point sequence number corresponding to the sorted angle comprises: obtaining a current moving speed of the laser scanning device in the skin area to be treated; determining a sorted offset compensation value corresponding to each of the sorted angles based on the current moving speed and the point sequence number corresponding to the sorted angle.

5. The dot laser output method of claim 4, wherein, The step of determining a sorted offset compensation value corresponding to each of the sorted angles based on the current moving speed and the point sequence number corresponding to the sorted angle comprises: obtaining a preset scanning interval; determining a sorted offset compensation value corresponding to each of the sorted angles based on the current moving speed, the preset scanning interval and the point sequence number corresponding to the sorted angle.

6. The dot laser output method of claim 1, wherein, Before the step of outputting an array-ordered target dot array spot to the skin area to be treated according to a mirror angle array, the method further comprises: determining whether the moving track matches a preset moving interval; if yes, determining a mirror angle array based on the moving track.

7. The dot laser output method of claim 2, wherein, The target mirror changes posture through a driving mechanism to guide laser irradiation to different positions; the type of the mirror includes a one-dimensional mirror or a two-dimensional mirror, and the two-dimensional mirror includes two laser guiding directions.

8. A dot laser output device, characterized by, The method comprises: a trajectory detection module configured to obtain a moving track of a laser scanning device in a skin area to be treated in response to a signal for starting laser output; a dot array output module configured to output an array-ordered target dot array spot to the skin area to be treated according to a mirror angle array, the mirror angle array being determined based on the moving track.

9. A dot laser output device, characterized by, The device comprises a memory, a processor and a dot array scanning program stored on the memory and executable on the processor, the dot array scanning program being configured to implement the steps of the dot array laser output method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium stores a dot array scanning program, and the dot array scanning program is executed by the processor to implement the steps of the dot array laser output method according to any one of claims 1 to 7.

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