CN108606774A - A kind of automatic safety protective system and method suitable for opticianry scanned imagery device - Google Patents
A kind of automatic safety protective system and method suitable for opticianry scanned imagery device Download PDFInfo
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Abstract
The invention discloses a kind of automatic safety protective systems and method suitable for opticianry scanned imagery device, the invention enables the luminous powers of optical scanner imaging device in safety range of human eye, if detect that light source power is less than preset safety standard more than preset safety standard or sweep speed, it turns off light source and moves to scanning element other than the visual field of optical scanner imaging device, pass through the safety that photoelectric cell, analog and digital circuit and logic circuit ensure ophthalmic medical.
Description
Technical field
It is especially a kind of suitable for the automatic of opticianry scanned imagery device the present invention relates to technical field of safety protection
Safety device and method.
Background technology
There are many optical scanner imaging devices for being used for ophthalmology diagnosis inspection at present, such as：Optical coherence tomography at
As (Optical Coherence Tomography, OCT), confocal scanning laser ophthalmoscope (Confocal Scanning
Laser Ophthalmoscope, cSLO), line scanning laser ophthalmoscope (Line Scan Ophthalmoscope, LSO).With
These upper optical scanner imaging devices are the fast imagings for implementing Noninvasive for biological tissue's such as human eye, have high score
Distinguish, be highly sensitive, high-precision, to organizing low damage the advantages that, be widely used in ophthalmology diagnosis field.
Eyes are the important information Perception organs of the mankind, form by light receiver external information and in the brain image,
And then command our action.Retina is component part important in opthalmic optics' system, and function is equivalent to opto-electronic conversion
Device, the bioelectrical signals that optical signal is converted into be identified by brain by retina.It is dispersed on the retina various types of
Cell, these cells play very important effect in the vision of the mankind.Simultaneously these cells also can by various lesions because
The invasion of element cause various serious such as diabetic retinopathy, glaucoma, macular degeneration and retinitis pigmentosa
Can blinding disease generation.
Nowadays in clinical ophthalmology diagnosis and treatment, the technical method of several optical scanner imaging devices mentioned hereinabove is wide
General application.These technologies use infrared or near infrared band light source and non-intruding detection method, compared to using visible light
Source and traditional invasive detection mode greatly reduce the risk of human eye damage.Internal and international laser safety standard (GB_
7247-1-2012, ANSI Z136.1 2007 and IEC 60825-1 2011) it is sharp to the safety of various light sources and radiation for a long time
There are strict requirements for luminous power.Although infrared or near infrared light wavelength is longer and to organizing unglazed chemical damage, once shine
The power for being mapped to human eye would be possible to cause permanent fuel factor to damage human eye more than firm power, this damage when power is excessively high
It is likely to become irreversible injury, therefore most important for the monitoring of optical power.
In addition, according to previous security standard, under same power, diffused light is less than point light source to the injury of human eye.OCT
It is all based on the technology of spot scan with cSLO, light-resource fousing is in target and quickly scanning movement.This lighting system
Secure threshold is less than diffusing reflection, but is above static point light source.For example, registering Shen according to the FDA of Zeiss Elite 9000
It please report, the secure threshold of 1050nm spot scan light sources is scheduled on 5.4mw, and in previous security standard, 1050nm point light sources
Secure threshold be 1.9mw.In systems in practice, the detection of optical power of OCT and cSLO can be set below through especially assessing
The secure threshold of linear light source or diffused light source afterwards, but it is likely to be greater than the secure threshold of static point light source.Since luminous point is quick
It is mobile, linear light source or diffused light are more closely similar to the fuel factor of retina, it is still complete for human eye.But if luminous point stops
Only, it is possible to which human eye is damaged.Therefore, in addition to light source power security protection, it is also necessary to the position of scanning means
With speed carry out monitor full time, if speed be less than a certain threshold value, and scan light be located on retina, light source will at once by
Cut-out.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of suitable for the automatic of opticianry scanned imagery device
Safety device and method can ensure the safety of ophthalmic medical by photoelectric cell, analog and digital circuit and logic circuit
Property.
In order to solve the above technical problems, the present invention provides a kind of automatic safe suitable for opticianry scanned imagery device
Protective device, including：Light source control module, light source, TAPD, power monitoring module, scanning galvanometer, scanning galvanometer driving, speed
Monitoring module, threshold setting module, threshold value read back module, threshold control block, monitoring position module and logic judgment module；Light
Source control module receives the signal of logic judgment module feedback, controls being switched on or off for light source, light source output light beam is to eye
Light source outgoing beam is divided into two-beam by section's medical consultations, TAPD by different proportion, and power monitoring module compares TAPD outputs
Result for logic judgment module use；Scanning galvanometer control light beam makes it be scanned in two-dimensional space, and scanning galvanometer driving is logical
The angle change of direct current signal control galvanometer is crossed, speed monitoring module receives the galvanometer position letter that scanning galvanometer drive feedback is returned
Number, the digital signal for exporting comparison result is used for logic judgment module, and monitoring position module receives scanning galvanometer drive feedback
Galvanometer position signal back, the digital signal for exporting comparison result are used for logic judgment module；Threshold control block is realized
The closed ring set of threshold voltage, threshold setting module are realized that the setting of threshold voltage, threshold value are read back by digital-to-analogue conversion chip
Module realizes reading back for threshold voltage by Analog-digital Converter chip.
Preferably, light source outgoing beam is divided into two-beam by TAPD integrated light detectors by different proportion, a branch of to be used for work(
Rate monitors, a branch of to be used for diagnosis and treatment light path.
Preferably, power monitoring module is specially：The power monitor signal of TAPD outputs monitors mould by P23 input powers
Block carries out low-pass filtering by U52A and U52B after trans-impedance amplifier U4, then carries out threshold value comparison by comparator U5.
Preferably, speed monitoring module is specially：The position signal of two galvanometers inputs what U28A and U28B was constituted respectively
Differential circuit is converted to speed signal；Using the absolute value circuit that U27 and U30 are constituted, after by U29A do addition using by
The low-pass filter circuit that U29B is constituted, then threshold value comparison is carried out by comparator U26.
Preferably, threshold value read back module is specially：Two-way threshold value is respectively by more than one after U3C and U3D buffering amplifiers
Channel modulus conversion chip U8 completes the function of reading back of threshold value.
Preferably, monitoring position module is specially：The position signal of two galvanometers inputs the exhausted of U46 and U48 compositions respectively
To being worth circuit, after digital signal is respectively converted by comparator U47 and U49, output to logic judgment module is used for judging to scan
Whether in visual field.
Preferably, galvanometer integrated motion rate v has to be larger than the minimum speed v of safety standard requirementM, i.e. v >=vM, whereinvxWith vyIt is the rate of x galvanometers and y galvanometers respectively；Ensure that vMAs long as prison
It is control circuit two scan axis component velocity absolute values of guarantee and more than safe minimum speedTimes, it is ensured that sweep speed
More than threshold value, meet the requirement to sweep speed security monitoring.
Correspondingly, a kind of automatic safeguarding method suitable for opticianry scanned imagery device, includes the following steps：
(1) threshold value of power monitoring and speed monitoring is respectively set in booting, if threshold value of reading back exists with the difference that threshold value is arranged
In permissible range, then opens scanning galvanometer and resetting speed monitoring module makes it start to monitor, it is on the contrary then close light source and provide
Security warning；
(2) it is peace if speed is more than setting threshold value or galvanometer position more than given threshold after speed monitoring starts
Total state, can open light source at this time, on the contrary then close light source and provide security warning；
(3) after light source is opened, resetting power monitoring module makes it start to monitor, and whether module meeting automatic decision light beam power
Less than firm power threshold value, then enter normal manipulation mode if it is less than firm power threshold value, it is on the contrary then close light source and provide
Security warning；
(4) after entering normal manipulation mode, speed monitoring module, power monitoring module and monitoring position module can simultaneously simultaneously
Row starts automatic monitoring, following two situation occurs, and logic judgment module can be automatically closed light source and provide security warning, scanning
Position is in scanning field of view and sweep speed is less than or equal to threshold speed or light beam power is more than or equal to firm power threshold value.
Beneficial effects of the present invention are：The present invention realizes triple monitoring of light source power, sweep speed and scan position, into
Row logic judgment is detected to fail safety standards to turn off light source output when presetting condition and scanning element is moved to scanning and be regarded
Other than, the automatic safeguarding of human eye in optical scanner imaging process is realized, opticianry scanning imagery is considerably increased
The guarantee of equipment safety ensures the safety of ophthalmic medical by photoelectric cell, analog and digital circuit and logic circuit.
Description of the drawings
Fig. 1 is the device of the invention structural schematic diagram.
Fig. 2 is the power monitoring modular structure schematic diagram of the present invention.
Fig. 3 is the speed monitoring modular structure schematic diagram of the present invention.
Fig. 4 is the monitoring position modular structure schematic diagram of the present invention.
Fig. 5 is the method flow schematic diagram of the present invention.
Fig. 6 is the power monitoring modular circuit structural schematic diagram of the present invention.
Fig. 7 is the speed monitoring modular circuit structural schematic diagram of the present invention.
Fig. 8 is the threshold setting module electrical block diagram of the present invention.
Fig. 9 is the threshold value read back module electrical block diagram of the present invention.
Figure 10 is the monitoring position modular circuit structural schematic diagram of the present invention.
Specific implementation mode
As shown in Figure 1, a kind of automatic safety protective system suitable for opticianry scanned imagery device, including：It controls in source
Mould is arranged in molding block, light source, TAPD, power monitoring module, scanning galvanometer, scanning galvanometer driving, speed monitoring module, threshold value
Block, threshold value read back module, threshold control block, monitoring position module and logic judgment module；Light source control module receives logic
The signal of judgment module feedback, controls being switched on or off for light source, and light source output light beam is to ophthalmology medical consultations, and TAPD is by light
Source outgoing beam is divided into two-beam by different proportion, and TAPD is exported result of the comparison for logic judgment module by power monitoring module
It uses；Scanning galvanometer control light beam makes it be scanned in two-dimensional space, and scanning galvanometer is driven through direct current signal control galvanometer
Angle change, speed monitoring module receive the galvanometer position signal that scanning galvanometer drive feedback is returned, export the number of comparison result
Word signal is used for logic judgment module, and monitoring position module receives the galvanometer position signal that scanning galvanometer drive feedback is returned,
The digital signal for exporting comparison result is used for logic judgment module；Threshold control block realizes the closed ring set of threshold voltage,
Threshold setting module is realized the setting of threshold voltage by digital-to-analogue conversion chip, and threshold value read back module is by Analog-digital Converter core
Piece realizes reading back for threshold voltage.
Light source control module：The signal for receiving logic judgment module electronic feedback, controls being switched on or off for light source.
Light source：Output beam is to ophthalmology medical consultations, and the power of diagnosis and treatment light beam must satisfy eye-safe level.
TAPD：TAPD (Integrated Tap Photodiode) is the fiber optic splitter for being integrated with optical detector.It can incite somebody to action
Light source outgoing beam is divided into two-beam by different proportion, a branch of for power monitoring, a branch of to be used for diagnosis and treatment light path.After its beam splitting
Two-beam property it is identical with light source.Optical detector of the response wave length within the scope of light source launch wavelength, for measuring
The power of power monitoring light beam feeds back result to derive the power of diagnosis and treatment light path light beam whether within the scope of firm power
Give logic judging circuit module.
Power monitoring module：As shown in Fig. 2, TAPD output with the relevant current signal of power monitoring light beam power, warp
Voltage signal is converted to by TIA (Transimpedance Amplifier, trans-impedance amplifier) and carries out low-pass filtering, passes through ratio
It is compared with the power threshold voltage that threshold setting module is arranged compared with device, exports the digital signal of comparison result for logic judgment
Module uses.
Scanning galvanometer：It it is one group usually using two galvanometers, control light beam makes it be scanned in two-dimensional space, is swept with reaching
Retouch the purpose of imaging.
Scanning galvanometer drives：The angle change of scanning galvanometer is controlled by direct current signal.Servo motor, position sensor
Using and the mentality of designing of negative feedback loop ensure that the sweep speed and repetitive positioning accuracy of scanning galvanometer system.
Speed monitoring module：In actual use, x galvanometers and the possible difference of rate of y galvanometers are larger, or even a certain shake occur
Another galvanometer high-velocity scanning simultaneously of mirror remains stationary.The purpose of speed monitoring is that galvanometer integrated motion rate v has to be larger than safety
The minimum speed v that standard requiresM, i.e. v >=vM, whereinvxWith vyIt is the rate of x galvanometers and y galvanometers respectively.It shakes
Mirror integrated motion rate v can use digitlization vxWith vyThen the method calculated on microprocessor or FPGA again.For safety electricity
Road, it is preferable that the method that we use pure analog circuit, it is most simple to ensure highest reliability to make every effort to circuit, to monitor galvanometer
Integrated motion rate.
In analog circuit, it is not easy to directly obtain signal square or opens radical sign.In this implementation column, we are using such as lower section
Method：As shown in figure 3, the galvanometer position signal that scanning galvanometer drive feedback is returned, speed signal is converted to by differential circuit, and
Realize that the superposition of two galvanometer speed, the input comparator after low-pass filtering are set by comparing device and threshold value by add circuit
The threshold speed voltage for setting module setting is compared, and the digital signal for exporting comparison result is used for logic judgment module.This
The logic that sample is done is as follows：
It is easy to prove, as long asEnsure that v >=vM.That is, as long as monitoring circuit ensures
It is two scan axis component velocity absolute values and more than safe minimum speedTimes, it is ensured that sweep speed is more than threshold value, i.e.,
The requirement to sweep speed security monitoring can be met.Proof procedure is as follows：
Assuming that safety circuit ensures
Inequality both sides are all positive real number, so
(|vx|+|vy|)2≥2vM 2 (2)
Because
(|vx|-|vy|)2≥0 (3)
2|vx|2+2|vy|2-(|vx|+|vy|)2≥0 (4)
So
(|vx|+|vy|)2≤2|vx|2+2|vy|2 (5)
Merge and consider inequality (2), can export
2|vx|2+2|vy|2≥2vM 2 (6)
So
v2=| vx|2+|vy|2≥vM 2
|v|≥vM (7)
It thus demonstrates, it is only necessary to meetNamely two scan axis component velocity absolute values
With more than threshold valueTimes, it is ensured that total sweep speed is more than threshold value, to meet the requirement of speed monitoring.
In the present embodiment, circuit real time monitoring | vx| with | vyThe sum of |, and threshold value is setWhen | vx|+|vy|
≥vT, it is ensured that | v | >=vM。
If but it may be noted thatAlthough | v | >=vM, it is possible to triggering safety protective circuit.In safety circuit
In, this part can be considered as system redundancy, be not a problem.IfThenSafety
Circuit will not be triggered.
In practice, due to the presence of noise and environmental perturbation, need more redundancies to avoid noise and environmental perturbation
It influences.For example, the speed secure threshold in circuit can be set as vT=2vM.When | vx|+|vy|≥vT, it is ensured thatIf | v | >=2vM, then | vx|+|vy|≥2vM, safety circuit will not be triggered.
When the control program of galvanometer needs to ensure that scanning light source is opened, the speed of galvanometer is consistently greater than 2vMIn order to avoid triggering peace
Whole circuit.Usually control program needs further to reserve redundancy, such as ensures that the speed of galvanometer is big always when scanning light source unlatching
In 3vM, to avoid triggering safety circuit.
Threshold setting module：The setting of threshold voltage is realized by digital-to-analogue conversion chip.Digital signal is controlled by threshold value
Module is sent out, and can be corrected according to different system.
Threshold value read back module：Reading back for threshold voltage is realized by Analog-digital Converter chip.Threshold voltage in monitoring system
Setting it is most important, read back by threshold value ensure threshold voltage setting effective and accuracy.The set-up mode of this closed loop
The trouble free service that can guarantee entire method, to improve the stabilization and safety of system.
Threshold control block：Threshold voltage and the threshold voltage that reads back are set, compared, whether judgment threshold voltage can hold
Perhaps within range, the closed ring set of threshold voltage is realized.
Monitoring position module：As shown in figure 4, the galvanometer position signal that scanning galvanometer drive feedback is returned is by absolute value electricity
Road is compared with the position threshold voltage of setting by comparing device, exports the digital signal of comparison result for logic judgment mould
Block uses.Show light source scanning point other than scanning field of view if galvanometer position is more than threshold value, it is on the contrary then show light source scanning
Point is within scanning field of view.Light source scanning point can just trigger speed monitoring module when within scanning field of view, on the contrary then do not trigger
Speed monitoring module.This design is also entirely analog circuit, makes every effort to most simple to ensure highest reliability.
Logic judgment module：Receive power monitoring module and speed monitoring module feedback signal, provide light source shutdown with
No signal, and feed back to the change that light source control module executes light source working state.
In the present embodiment, light source output light beam passes through TAPD beam splitting, and for most light as detection light path light beam, one is small
Partial light as power monitoring with light beam by TAPD integrate optical detector after export current signal of corresponding size, such as
Shown in Fig. 2, the details of power monitoring module is furthermore presented.The power of detection light path light beam must assure that in eye-safe model
In enclosing (for example the eye-safe performance number upper limit is set as Ps), if the ratio between monitoring light and detection light luminous power are γ, the present embodiment
Middle γ ＜ 1/10.The power P of power monitoring light beam in this way must satisfy 0 ＜ P ＜ γ Ps, the high electricity of power monitoring module output at this time
It puts down to logic judgment module.If power monitoring module detects power P >=γ PsOr P=0, then low level is exported to logic
Judgment module.
The galvanometer position signal that scanning galvanometer drive feedback is returned, is converted to and galvanometer after speed monitoring resume module
The voltage signal of velocity correlation.If this voltage signal is more than threshold speed voltage, speed monitoring module exports high level to patrolling
Volume judgment module, whereas if this voltage signal is less than or equal to threshold speed voltage, speed monitoring module exports low level to patrolling
Collect judgment module.
Logic judgment module receives the digital signal inputted from power monitoring, speed monitoring and monitoring position module,
Condition adjudgement is carried out according to flow chart shown in fig. 5 and corresponding operating executes.These judge and operate in programmable logic core
It is realized in piece, to realize automatic safeguarding.
As shown in figure 5, the threshold value of power monitoring and speed monitoring is respectively set in booting.If threshold value of reading back and setting threshold value
Difference in permissible range, then open scanning galvanometer and resetting speed monitoring module make it start to monitor, it is on the contrary then close light source
And provide security warning.If speed is more than setting threshold value after speed monitoring starts or galvanometer position is more than given threshold,
For safe condition, light source can be opened at this time, it is on the contrary then close light source and provide security warning.After light source is opened, power is reset
Monitoring module makes it start to monitor, and whether module meeting automatic decision light beam power is less than firm power threshold value, if it is less than safety
Power threshold then enters normal manipulation mode, on the contrary then close light source and provide security warning.Into after normal manipulation mode, speed
Spending monitoring module, power monitoring module and monitoring position module parallel simultaneously can start automatic monitoring, following two situation occur,
Logic judgment module can be automatically closed light source and provide security warning：A) scan position (monitoring position module in scanning field of view
Judge that position is less than position threshold), and sweep speed is less than or equal to threshold speed；B) light beam power is more than or equal to firm power
Threshold value.
As shown in fig. 6, power monitoring module is specially：The power monitor signal of TAPD outputs is monitored by P23 input powers
Module carries out low-pass filtering by U52A and U52B after trans-impedance amplifier U4, then carries out threshold value comparison by comparator U5.
As shown in fig. 7, speed monitoring module is specially：The position signal of two galvanometers inputs U28A and U28B and constitutes respectively
Differential circuit, be converted to speed signal；Using the absolute value circuit that U27 and U30 are constituted, after by U29A do addition using
The low-pass filter circuit being made of U29B, then threshold value comparison is carried out by comparator U26.
As shown in figure 8, threshold setting module completes threshold value setting function by a double-channel analog/digital conversion chip U50.
As shown in figure 9, threshold value read back module is specially：Two-way threshold value is respectively by one after U3C and U3D buffering amplifiers
Multichannel modulus conversion chip U8 completes the function of reading back of threshold value.
As shown in Figure 10, monitoring position module is specially：The position signal of two galvanometers inputs U46 and U48 and constitutes respectively
Absolute value circuit, after digital signal is respectively converted by comparator U47 and U49, output to logic judgment module is used for judging
Whether scanning is in visual field.
The invention enables the luminous powers of optical scanner imaging device in safety range of human eye, if detecting light source power
When being less than preset safety standard more than preset safety standard or sweep speed, turns off light source and will scan
Point moves to other than the visual field of optical scanner imaging device, ensures ophthalmology by photoelectric cell, analog and digital circuit and logic circuit
The safety of medical treatment.
Claims (8)
1. a kind of automatic safety protective system suitable for opticianry scanned imagery device, which is characterized in that including：Light source control
Mould is arranged in molding block, light source, TAPD, power monitoring module, scanning galvanometer, scanning galvanometer driving, speed monitoring module, threshold value
Block, threshold value read back module, threshold control block, monitoring position module and logic judgment module；Light source control module receives logic
The signal of judgment module feedback, controls being switched on or off for light source, and light source output light beam is to ophthalmology medical consultations, and TAPD is by light
Source outgoing beam is divided into two-beam by different proportion, and TAPD is exported result of the comparison for logic judgment module by power monitoring module
It uses；Scanning galvanometer control light beam makes it be scanned in two-dimensional space, and scanning galvanometer is driven through direct current signal control galvanometer
Angle change, speed monitoring module receive the galvanometer position signal that scanning galvanometer drive feedback is returned, export the number of comparison result
Word signal is used for logic judgment module, and monitoring position module receives the galvanometer position signal that scanning galvanometer drive feedback is returned,
The digital signal for exporting comparison result is used for logic judgment module；Threshold control block realizes the closed ring set of threshold voltage,
Threshold setting module is realized the setting of threshold voltage by digital-to-analogue conversion chip, and threshold value read back module is by Analog-digital Converter core
Piece realizes reading back for threshold voltage.
2. being suitable for the automatic safety protective system of opticianry scanned imagery device as described in claim 1, feature exists
In light source outgoing beam is divided into two-beam by TAPD integrated light detectors by different proportion, a branch of for power monitoring, a branch of
For diagnosis and treatment light path.
3. being suitable for the automatic safety protective system of opticianry scanned imagery device as described in claim 1, feature exists
In power monitoring module is specially：The power monitor signal of TAPD outputs is by P23 input power monitoring modules, by being put across resistance
Low-pass filtering is carried out by U52A and U52B after big device U4, then threshold value comparison is carried out by comparator U5.
4. being suitable for the automatic safety protective system of opticianry scanned imagery device as described in claim 1, feature exists
In speed monitoring module is specially：The position signal of two galvanometers inputs the differential circuit that U28A and U28B is constituted, conversion respectively
For speed signal；Using the absolute value circuit that U27 and U30 are constituted, after by U29A to do addition low using being made of U29B
Bandpass filter circuit, then threshold value comparison is carried out by comparator U26.
5. being suitable for the automatic safety protective system of opticianry scanned imagery device as described in claim 1, feature exists
In threshold value read back module is specially：Two-way threshold value is respectively by a multichannel analog-to-digital conversion after U3C and U3D buffering amplifiers
Chip U8 completes the function of reading back of threshold value.
6. being suitable for the automatic safety protective system of opticianry scanned imagery device as described in claim 1, feature exists
In monitoring position module is specially：The position signal of two galvanometers inputs the absolute value circuit that U46 and U48 are constituted respectively, after by
Comparator U47 and U49 are respectively converted into digital signal, and whether output to logic judgment module is used for judging scanning in visual field.
7. being suitable for the automatic safety protective system of opticianry scanned imagery device as described in claim 1, feature exists
In galvanometer integrated motion rate v has to be larger than the minimum speed v of safety standard requirementM, i.e. v >=vM, wherein
vxWith vyIt is the rate of x galvanometers and y galvanometers respectively；Ensure that v >=vMAs long as monitoring circuit to ensure
It is two scan axis component velocity absolute values and more than safe minimum speedTimes, it is ensured that sweep speed is more than threshold value, it is full
Requirement of the foot to sweep speed security monitoring.
8. a kind of automatic safeguarding method suitable for opticianry scanned imagery device, which is characterized in that including walking as follows
Suddenly：
(1) threshold value of power monitoring and speed monitoring is respectively set in booting, if threshold value of reading back is being allowed with the difference that threshold value is arranged
In range, then opens scanning galvanometer and resetting speed monitoring module makes it start to monitor, it is on the contrary then close light source and provide safety
Warning；
(2) it is safe shape if speed is more than setting threshold value or galvanometer position more than given threshold after speed monitoring starts
State, can open light source at this time, on the contrary then close light source and provide security warning；
(3) after light source is opened, resetting power monitoring module makes it start to monitor, and whether module meeting automatic decision light beam power is less than
Firm power threshold value then enters normal manipulation mode if it is less than firm power threshold value, on the contrary then close light source and provide safety
Warning；
(4) after entering normal manipulation mode, speed monitoring module, power monitoring module and monitoring position module can be held parallel simultaneously
Dynamic monitoring is started from, following two situation occurs, logic judgment module can be automatically closed light source and provide security warning, scan position
In scanning field of view and sweep speed is less than or equal to threshold speed or light beam power is more than or equal to firm power threshold value.
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