CN109529202B - Laser speckle removing system and method - Google Patents

Laser speckle removing system and method Download PDF

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CN109529202B
CN109529202B CN201811630502.7A CN201811630502A CN109529202B CN 109529202 B CN109529202 B CN 109529202B CN 201811630502 A CN201811630502 A CN 201811630502A CN 109529202 B CN109529202 B CN 109529202B
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易俊
韩定安
曾亚光
郑伊玫
吴南寿
王茗祎
王雪花
熊红莲
陈韦兆
黄丽媛
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Foshan University
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Abstract

The invention discloses a system and a method for removing spots by laser, comprising the following steps: laser scanning device, computer processing terminal, CCD camera, drive module and wood's lamp, laser scanning device includes: the system comprises a laser light source, an optical fiber coupler, a first optical fiber connector, a first photoelectric detector, a collimating lens, a two-dimensional vibrating mirror, a second photoelectric detector, an anti-reflection mirror and a converging lens, wherein the optical fiber coupler is respectively connected with the laser light source, the first photoelectric detector and the first optical fiber connector through optical fibers, and a computer processing terminal is respectively and electrically connected with a driving module, a CCD (charge coupled device) camera, the first photoelectric detector and the second photoelectric detector; the invention finishes the scanning of the color spot area by collecting the image and detecting the color spot area and controlling the two-dimensional galvanometer of the laser scanning device, uses the wood lamp as the color developing device, improves the identification accuracy, detects the laser power in real time and ensures that the laser power is in a safe range.

Description

Laser speckle removing system and method
Technical Field
The invention relates to the technical field of laser speckle removal, in particular to a laser speckle removal control system and a laser speckle removal control method.
Background
With the development of science and technology, laser beauty has been rapidly developed in the medical beauty field with the advantages of painlessness, safety and reliability. Compared with the traditional freckle removing method, the laser freckle removing method can selectively act on different skin tissues, has smaller skin wound and can radically remove freckles. The principle is that by utilizing the characteristic that laser has high-intensity instantaneous energy, the laser with different wavelengths can be absorbed by specific colors or pigments in the skin without influencing normal skin tissues; the laser energy can be absorbed by pigment particles in pathological changes in a very short time to generate a very high temperature, so that the pigment particles are rapidly expanded to form micro blasting, generate vaporization and are crushed into very small particles, and the particles are phagocytized and removed by macrophages in tissues.
The laser irradiation mode of the existing laser freckle removing instrument is mainly a large-area irradiation mode, a freckle area cannot be accurately removed, a considerable part of non-freckle areas are irradiated by laser, meanwhile, the beautifying method needs manual operation, a beautifying person distinguishes the freckle position by human eyes, automation cannot be realized, and the accuracy of the beautifying effect cannot be ensured. Meanwhile, a part of laser speckle removing systems process the shot face video images in four directions, and complete logic positioning of the dark spots of the face by using algorithms such as RGB (red, green, blue) color cluster segmentation, color diffusion, morphological expansion and the like, so as to control the position and the laser intensity of a laser probe. The intelligent degree of laser speckle removal is improved to a certain extent. However, in practical applications, because of the uncertainty of the distribution of the color patch edge area and the limitations of the RGB color segmentation and morphology processing algorithms, the skin image captured under normal light conditions is used as the basis for positioning analysis, which is very likely to cause errors in the visual judgment of the apparatus.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a spot removing system which obtains a spot area through image processing and scans the spot area in a non-contact manner;
on the other hand, the speckle removing method is used for extracting the edges of the color spot regions based on the GVF Snake model and the RGB-HSV image space conversion processing.
The solution of the invention for solving the technical problem is as follows: a system for laser speckle removal, comprising: laser scanning device, computer processing terminal, CCD camera, drive module and wood's lamp, laser scanning device includes: the system comprises a laser light source, an optical fiber coupler, a first optical fiber connector, a first photoelectric detector, a collimating lens, a two-dimensional vibrating mirror, a second photoelectric detector, an anti-reflection mirror and a converging lens, wherein the optical fiber coupler is respectively connected with the laser light source, the first photoelectric detector and the first optical fiber connector through optical fibers, and a computer processing terminal is respectively and electrically connected with a driving module, a CCD (charge coupled device) camera, the first photoelectric detector and the second photoelectric detector;
laser beams emitted by the laser light source enter the optical fiber coupler, and the beams are divided into a first beam and a second beam according to the splitting ratio of 10: 90; the first light beam enters a first photoelectric detector, the second light beam passes through a first optical fiber connector and enters a collimating lens, transmitted light penetrating through the collimating lens is emitted to a two-dimensional vibrating mirror, the light beam is reflected by the two-dimensional vibrating mirror and then emitted to an antireflection mirror with an incidence angle of 45 degrees, 99% of reflected light in the reflected light of the two-dimensional vibrating mirror enters a converging lens through the antireflection mirror and is irradiated to a region to be measured after being converged by the converging lens, and 1% of the reflected light is reflected to the second photoelectric detector by the antireflection mirror;
the wood lamp emits a light beam to irradiate an area to be measured, the light beam is subjected to diffuse reflection on the area to be measured and then enters the CCD camera, the CCD camera collects images of the area to be measured, the CCD camera sends the collected images to the computer processing terminal, and the driving module is used for driving the two-dimensional galvanometer to deflect.
The optical circulator further comprises a second optical fiber connector and an optical circulator positioned between the laser light source and the optical fiber coupler, wherein a first port of the optical circulator is connected with the laser light source, a second port of the optical circulator is connected with the optical fiber coupler, and a third port of the optical circulator is connected with the second optical fiber connector.
Further, an image acquisition card is arranged between the computer processing terminal and the CCD camera.
Furthermore, a data acquisition card is arranged between the computer processing terminal and the driving module.
A method for removing speckle by laser, which comprises the following steps:
the wood lamp emits a light beam to irradiate the area to be detected, the light beam is subjected to diffuse reflection on the area to be detected and then enters the CCD camera, and the CCD camera acquires an image of the area to be detected and transmits the image to the computer processing terminal;
performing image processing on an image acquired by a CCD camera, and extracting the edge of an excellent spot area;
converting the image coordinate of the edge of the color spot area into a deflection voltage of the two-dimensional galvanometer, transmitting the deflection voltage to a driving module by a computer processing terminal, and driving the two-dimensional galvanometer to deflect after receiving the deflection voltage by the driving module;
the laser scanning device emits laser beams, and the driving module drives the two-dimensional galvanometer to deflect, so that the color spot area of the area to be detected is scanned.
Further, the image processing includes:
drawing an initial color spot profile curve for a color spot area in the image to obtain a color spot initial area, performing RGB-HSV space transformation processing on the image, replacing an original pixel value with an Euclidean distance between a color vector of each pixel point of the color spot initial area and an average color vector of the color spot initial area, and performing iterative computation on the edge of the color spot initial area through a GVF Snake model:
defining the gradient vector flow field as a vector field:
V(x，y)＝V[u(x，y)，v(x，y)] (1)
wherein u (x, y) and v (x, y) are two components of the pixel value of the image, and x, y are the pixel point positions of the image;
contour curves δ(s) = δ [ x(s), y(s) composed of points on initial stain contour curves]Represents the unit parameter domain s E [0,1]Mapping to an image, s representing the arc length describing the boundary normalization in the form of a Fourier transform, x(s) and y(s) representing the coordinate positions of points on the initial stain profile on the image, an energy function E constructing the profile snake ：
Figure BDA0001928888680000041
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0001928888680000042
is a gradient operator, f is a profile curve, and μ is a control parameter. When energy function E snake When the minimum value is reached, according to the variation principle, an Euler-Lagrange equation can be obtained:
Figure BDA0001928888680000043
wherein alpha is the elastic coefficient and p is the strength coefficient; e snake The expansion in the direction of the two components u (x, y) and v (x, y) of the image yields a minimalized general function:
Figure BDA0001928888680000051
Figure BDA0001928888680000052
for generating a smoothly slowly varying vector field V (x, y),
Figure BDA0001928888680000053
for the edge information ≥ of the profile curve>
Figure BDA0001928888680000054
Maximally close to the vector field V (x, y)
Figure BDA0001928888680000055
The time energy function obtains the minimum value; />
And (3) approximating the edge of the color spot area by carrying out iterative solution on the minimized general function, solving u and v, and inputting the u and v into a formula (3) to obtain a color spot area contour curve, so that the shape and the position of the color spot area in the image can be obtained.
Further, the laser scanning device emitting a laser beam includes:
the laser light beam emitted by the laser light source enters the optical fiber coupler, the light beam is divided into a first light beam and a second light beam according to the splitting ratio of 10:90, the first light beam enters the first photoelectric detector, the second light beam passes through the first optical fiber connector and enters the collimating lens, transmitted light penetrating through the collimating lens irradiates the two-dimensional vibrating mirror, the light beam is reflected by the two-dimensional vibrating mirror and irradiates the anti-reflection mirror with an incident angle of 45 degrees, 1% of reflected light in the reflected light of the two-dimensional vibrating mirror is reflected to the second photoelectric detector by the anti-reflection mirror, 99% of reflected light penetrates through the anti-reflection mirror and enters the converging lens, and the reflected light is converged by the converging lens and irradiates an area to be measured.
The invention has the beneficial effects that: on the one hand, a color spot area is obtained through image processing, a two-dimensional vibrating mirror of the laser scanning device is controlled to complete scanning of the color spot area, the wood lamp is used as a color developing device, pigments of the color spot are more obvious, the identification accuracy is improved, meanwhile, the laser power is detected in real time, double monitoring is carried out on the laser power of the light source and the laser power of scanning emergent light, and the laser power is guaranteed to be within a safety range.
On the other hand, the method extracts the edges of the color spot regions by adopting the GVF Snake model and RGB-HSV space transformation processing, realizes automatic identification of the color spot regions, completes laser scanning by controlling a two-dimensional galvanometer in a laser scanning device, is simple and convenient to operate, and improves the accuracy of extracting the edges of the color spot regions by using a wood lamp.
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In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic diagram of the overall structure of the system of the present invention;
fig. 2 is an overall flow chart of the present invention.
Detailed Description
The idea, specific structure and technical effects of the present invention will be described clearly and completely in the following description in conjunction with the embodiments and the accompanying drawings to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.
Embodiment 1, referring to fig. 1, a system for laser speckle removal includes: laser scanning device, computer processing terminal 150, CCD camera 110, drive module 160 and wood lamp 130, laser scanning device includes: the laser light source 100, the optical fiber coupler 300, the first optical fiber connector 500, the first photoelectric detector 400, the collimating lens 600, the two-dimensional galvanometer 700, the second photoelectric detector 800, the anti-reflection mirror 900 and the converging lens 120, wherein the optical fiber coupler 300 is respectively connected with the laser light source 100, the first photoelectric detector 400 and the first optical fiber connector 500 through optical fibers, and the computer processing terminal 150 is respectively electrically connected with the driving module 160, the CCD camera 110, the first photoelectric detector 400 and the second photoelectric detector 800;
the laser beam emitted by the laser source 100 enters the fiber coupler 300, and the beam is divided into a first beam and a second beam according to the splitting ratio of 10: 90; the first light beam enters the first photoelectric detector 400, the second light beam passes through the first optical fiber connector 500 and enters the collimating lens 600, the transmitted light passing through the collimating lens 600 is transmitted to the two-dimensional galvanometer 700, the light beam is reflected by the two-dimensional galvanometer 700 and then transmitted to the anti-reflection mirror 900 with the incident angle of 45 degrees, 99% of reflected light in the reflected light of the two-dimensional galvanometer 700 enters the converging lens 120 through the anti-reflection mirror 900 and is converged by the converging lens 120 to irradiate an area to be measured, and 1% of the reflected light is reflected to the second photoelectric detector 800 by the anti-reflection mirror 900;
the wood lamp 130 emits a light beam to irradiate the area to be measured, the light beam is diffused on the area to be measured and then is emitted into the CCD camera 110, the CCD camera 110 collects an image of the area to be measured, the CCD camera 110 sends the collected image to the computer processing terminal 150, and the driving module 160 is used for driving the two-dimensional galvanometer 700 to deflect.
As an optimization, an image acquisition card is disposed between the computer processing terminal 150 and the CCD camera 110.
For optimization, a data acquisition card is disposed between the computer processing terminal 150 and the driving module 160.
One end of the data acquisition card is connected to the computer processing terminal 150, and the other end of the data acquisition card is connected to the driving module 160, the first photodetector 400, and the second photodetector 800, respectively.
The working process of the invention is as follows:
initial correction: before scanning the color spot area 140 on the area to be detected, the laser scanning device is initially corrected by a target verification method. The method comprises the steps of setting a target point for target verification, collecting an image of the target point by the CCD camera 110, sending the collected image to the computer processing terminal 150, processing the image by the computer processing terminal 150 to obtain the position of the target point in the image, converting the image coordinate of the target point into deflection voltage of the two-dimensional galvanometer 700, transmitting the deflection voltage to the driving module 160 by the computer processing terminal 150, controlling the stepping motor to drive the two-dimensional galvanometer 700 to deflect after the deflection voltage is received by the driving module 160, sending a laser beam by the laser scanning device, and indicating that the deflection angle of the two-dimensional galvanometer 700 is correct if the light beam can reach the target point accurately, and adjusting the laser scanning device to carry out target verification repeatedly until the light beam can be hit the target point accurately.
The wood lamp 130 emits a light beam to irradiate the area to be detected for visualizing the skin color spot area 140 of the area to be detected, the light beam is emitted into the CCD camera 110 after being diffused and reflected on the area to be detected, the CCD camera 110 collects an image of the area to be detected, and the CCD camera 110 sends the collected image to the computer processing terminal 150 through an image collecting card.
The computer processing terminal 150 performs image processing on the acquired image, outlines an initial color spot profile curve for the color spot region 140 in the image acquired by the CCD camera 110 to obtain a color spot initial region, then performs RGB-HSV spatial transformation on the image, replaces an original pixel value with an euclidean distance between a color vector of each pixel point of the color spot initial region and an average color vector of the color spot initial region, performs iterative computation on the edge of the color spot initial region through a profile extraction algorithm of a GVF Snake model until an energy function of the profile curve converges, that is, when the energy function of the profile curve converges, the minimized generalized function stops iteration, and at this time, the position and the shape of the profile curve are the edge position and the shape of the color spot region 140.
The computer processing terminal 150 converts the image coordinate of the edge of the color spot area 140 into the deflection voltage of the two-dimensional galvanometer 700, the computer processing terminal 150 transmits the deflection voltage to the driving module 160 through the data acquisition card, the driving module 160 drives the two-dimensional galvanometer 700 to deflect after receiving the deflection voltage, and the laser scanning device scans the color spot area 140 in the area to be detected.
The driving module 160 includes a stepping motor.
The laser beam emitted by the laser source 100 enters the fiber coupler 300, and the beam is divided into a first beam and a second beam according to the splitting ratio of 10: 90; the first light beam enters the first photoelectric detector 400, the second light beam passes through the first optical fiber connector 500 and enters the collimating lens 600, transmitted light penetrating through the collimating lens 600 is emitted to the two-dimensional galvanometer 700, the light beam is reflected by the two-dimensional galvanometer 700 and then emitted to the anti-reflection mirror 900 with an incident angle of 45 degrees, 99% of reflected light penetrates through the anti-reflection mirror 900 and enters the converging lens 120 and is irradiated to a region to be measured after being converged by the converging lens 120, 1% of reflected light is reflected to the second photoelectric detector 800 by the anti-reflection mirror 900, the driving module 160 drives the two-dimensional galvanometer 700 to deflect, the two-dimensional galvanometer 700 comprises an x-axis lens and a y-axis lens, and the x-axis lens and the y-axis lens are controlled by the stepping motor to deflect quantitatively so that the color spot region 140 on the region to be measured can be scanned.
The first photodetector 400 converts the received optical signal into an electrical signal and transmits the electrical signal to the data acquisition card, and the data acquisition card converts the electrical signal output by the first photodetector 400 into a digital signal and transmits the digital signal to the computer processing terminal 150. The computer processing terminal 150 calculates the laser power of the light source after receiving the digital signal.
The second photodetector 800 converts the received optical signal into an electrical signal and transmits the electrical signal to the data acquisition card, and the data acquisition card converts the electrical signal output by the second photodetector 800 into a digital signal and transmits the digital signal to the computer processing terminal 150. The computer processing terminal 150 calculates the power of the scanning emergent laser after receiving the digital signal.
And judging whether the laser power of the light source and the laser power of the scanning emergent laser exceed the safe power value, and if the laser power and the laser power of the scanning emergent laser exceed the safe power value, adjusting the light intensity of the laser light source 100. The safe power value is set according to the actual spot-removing laser power requirement, for example, for treating chloasma, the laser is adopted as the wavelength 1064nm, the diameter of a light spot is 6-8 mm, the frequency is 10Hz, and the energy density is 1.5-3.0J/cm 2 The safety power value may be set to 1.4W.
The laser power of the light source and the laser power emitted by scanning are detected in real time through the first photoelectric detector 400 and the second photoelectric detector 800, and the laser energy is ensured to be in a safe range.
The invention collects and detects the color spot area 140 through image processing, controls the two-dimensional galvanometer 700 of the laser scanning device to complete the scanning of the color spot area 140, uses the wood lamp 130 as a color developing device, makes the pigment of the color spot more obvious, improves the identification accuracy, simultaneously detects the laser power in real time, carries out double monitoring on the laser power of the light source and the laser power of the scanning emission, and ensures that the laser energy is in a safe range.
Preferably, the optical circulator further comprises a second optical fiber connector 170 and an optical circulator 200 located between the laser light source 100 and the optical fiber coupler 300, wherein a first port of the optical circulator 200 is connected with the laser light source 100, a second port of the optical circulator 200 is connected with the optical fiber coupler 300, and a third port of the optical circulator 200 is connected with the second optical fiber connector 170.
The optical circulator 200 is used to release a small amount of laser light reflected back to the second port from the third port, thereby preventing the laser light reflected back from the fiber coupler 300 from hitting the laser light source 100 and causing damage to the device.
With reference to fig. 2, as an optimization, the system for laser speckle removal further includes a method for laser speckle removal, the method including:
the wood lamp 130 emits a light beam to irradiate the area to be measured, the light beam is diffused on the area to be measured and then enters the CCD camera 110, the CCD camera 110 collects the image of the area to be measured and transmits the image to the computer processing terminal 150;
performing image processing on an image acquired by the CCD camera 110 to extract the edge of the color spot region 140;
converting the image coordinates of the edge of the color spot region 140 into deflection voltages of the two-dimensional galvanometer 700, transmitting the deflection voltages to the driving module 160 by the computer processing terminal 150, and driving the two-dimensional galvanometer 700 to deflect after receiving the deflection voltages by the driving module 160;
the laser scanning device emits a laser beam, and the driving module 160 drives the two-dimensional galvanometer 700 to deflect, so as to scan the color spot area 140 of the area to be detected.
As an optimization, the image processing includes:
dividing a plurality of color spot blocks in a centralized distribution into the same color spot area 140 in an image acquired by the CCD camera 110, manually drawing an initial color spot profile curve at the edge of the color spot area 140 to obtain a color spot initial area, performing RGB-HSV (red, green and blue) -space transformation processing on the image, replacing an original pixel value with an Euclidean distance between a color vector of each pixel point of the color spot initial area and an average color vector of the color spot initial area, and performing iterative computation on the edge of the color spot initial area through a contour extraction algorithm of a GVF Snake model:
defining the gradient vector flow field as a vector field:
V(x，y)＝V[u(x，y)，v(x，y)] (1)
where u (x, y) and v (x, y) are two components of the pixel value of the image, and x, y are the pixel location of the image.
Profile δ(s) = δ [ x(s), y(s) composed of points on initial stain profile]Represents the unit parameter domain s E [0,1]Mapping to an image, s representing the arc length describing the boundary normalization in the form of a Fourier transform, x(s) and y(s) representing the coordinate positions of points on the initial stain profile on the image, an energy function E constructing the profile snake
Figure BDA0001928888680000121
Wherein the content of the first and second substances,
Figure BDA0001928888680000122
is the gradient operator, f is the profile curve, μ is the control parameter. When energy function E snake When the minimum value is reached, according to the variation principle, an Euler-Lagrange equation can be obtained:
Figure BDA0001928888680000128
wherein alpha is the elastic coefficient and beta is the strength coefficient; the larger alpha, the faster the profile shrinks and the larger beta, the smoother it is. E snake The expansion in the direction of the two components u (x, y) and v (x, y) of the image yields a minimalized general function:
Figure BDA0001928888680000123
Figure BDA0001928888680000124
for generating a smoothly slowly varying vector field V (x, y),
Figure BDA0001928888680000125
for the edge information ≥ of the profile curve>
Figure BDA0001928888680000126
To the maximum extent, when approaching the vector field V (x, y)
Figure BDA0001928888680000127
The time energy function takes a minimum value.
The edge of the color spot area 140 is approximated by performing iterative solution on the minimized generic function, u and v are solved and then are input into the formula (3), and a color spot area contour curve is obtained, so that the shape and the position of the color spot area 140 in the image can be obtained.
The GVF Snake model is called as a Gradient Vector Flow Snake model, has the advantages of practicality and order, can accurately find boundaries, and replaces image external force with a Gradient Vector field of an image aiming at the condition that a segmented target is concave-convex and complex, thereby enlarging the search range.
The traditional color image segmentation method is to extract edges after converting an image into a gray image, and because the shape features of objects in the image in different color channels are not necessarily the same, the conversion into gray can lose available information, so that the complete objects cannot be detected.
The invention uses Euclidean distance between color vectors to replace gray value, so that color edge is more accurate, and simultaneously considers the mutual connection between different color channels, thereby increasing the segmentation precision when calculating the Euclidean distance. Meanwhile, the wood lamp 130 is used for visualizing the skin color spot area 140, so that the color spot is more obvious under the irradiation of lamplight, and the accuracy of edge extraction is effectively improved.
Preferably, the laser scanning device emits a laser beam, and the laser beam comprises:
the laser light beam emitted by the laser light source 100 enters the optical fiber coupler 300, the light beam is divided into a first light beam and a second light beam according to a splitting ratio of 10:90, the first light beam enters the first photoelectric detector 400, the second light beam passes through the first optical fiber connector 500 and enters the collimating lens 600, the transmitted light passing through the collimating lens 600 is emitted to the two-dimensional galvanometer 700, the light beam is emitted to the increasing lens 900 at an incident angle of 45 degrees after being reflected by the two-dimensional galvanometer 700, wherein 1% of the reflected light in the reflected light of the two-dimensional galvanometer 700 is reflected to the second photoelectric detector 800 by the increasing lens 900, 99% of the reflected light enters the converging lens 120 through the increasing lens 900 and is emitted to the area to be measured after being converged by the converging lens 120.
According to the invention, the GVF Snake model and RGB-HSV space transformation processing are adopted to extract the edges of the color spot region 140, so that the automatic identification of the color spot region 140 is realized, the laser scanning is completed by controlling the two-dimensional galvanometer 700 in the laser scanning device, the operation is simple and convenient, and the wood lamp 130 is used for improving the extraction accuracy of the edges of the color spot region 140.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.

Claims (6)

1. A system for removing spots by laser is characterized in that: the method comprises the following steps: laser scanning device, computer processing terminal, CCD camera, drive module and wood's lamp, laser scanning device includes: the system comprises a laser light source, an optical fiber coupler, a first optical fiber connector, a first photoelectric detector, a collimating lens, a two-dimensional vibrating mirror, a second photoelectric detector, an anti-reflection mirror and a converging lens, wherein the optical fiber coupler is respectively connected with the laser light source, the first photoelectric detector and the first optical fiber connector through optical fibers, and a computer processing terminal is respectively and electrically connected with a driving module, a CCD (charge coupled device) camera, the first photoelectric detector and the second photoelectric detector;
a laser beam emitted by the laser light source enters the optical fiber coupler, and the beam is divided into a first beam and a second beam according to the splitting ratio of 10; the first light beam enters a first photoelectric detector, the second light beam passes through a first optical fiber connector and enters a collimating lens, transmitted light penetrating through the collimating lens is emitted to a two-dimensional vibrating mirror, the light beam is reflected by the two-dimensional vibrating mirror and then emitted to an antireflection mirror with an incident angle of 45 degrees, 99% of reflected light in the reflected light of the two-dimensional vibrating mirror enters a converging lens through the antireflection mirror, the reflected light is converged by the converging lens and then irradiates an area to be measured, and 1% of the reflected light is reflected to the second photoelectric detector by the antireflection mirror;
the wood lamp emits a light beam to irradiate the area to be measured, the light beam is subjected to diffuse reflection on the area to be measured and then is emitted into the CCD camera, the CCD camera collects an image of the area to be measured, the CCD camera sends the collected image to the computer processing terminal, and the driving module is used for driving the two-dimensional galvanometer to deflect;
the optical circulator further comprises a second optical fiber joint and an optical circulator positioned between the laser light source and the optical fiber coupler, wherein a first port of the optical circulator is connected with the laser light source, a second port of the optical circulator is connected with the optical fiber coupler, and a third port of the optical circulator is connected with the second optical fiber joint.
2. The system for removing speckle by laser according to claim 1, wherein: and an image acquisition card is arranged between the computer processing terminal and the CCD camera.
3. The system for removing speckle by laser according to claim 1, wherein: and a data acquisition card is arranged between the computer processing terminal and the driving module.
4. A method for removing spots by laser is characterized in that: a system for removing speckle using a laser according to claim 1, the method comprising:
the wood lamp emits a light beam to irradiate the area to be measured, the light beam is subjected to diffuse reflection on the area to be measured and then is emitted into the CCD camera, and the CCD camera acquires an image of the area to be measured and transmits the image to the computer processing terminal;
processing an image acquired by a CCD camera, and extracting the edge of a speckle area;
converting the image coordinate of the edge of the color spot area into a deflection voltage of the two-dimensional galvanometer, transmitting the deflection voltage to a driving module by the computer processing terminal, and driving the two-dimensional galvanometer to deflect after receiving the deflection voltage by the driving module;
the laser scanning device emits laser beams, and the driving module drives the two-dimensional galvanometer to deflect, so that the color spot area of the area to be detected is scanned.
5. The method of claim 4, comprising: the image processing includes:
drawing an initial color spot profile curve for a color spot area in the image to obtain a color spot initial area, performing RGB-HSV space transformation processing on the image, replacing an original pixel value with an Euclidean distance between a color vector of each pixel point of the color spot initial area and an average color vector of the color spot initial area, and performing iterative computation on the edge of the color spot initial area through a GVF Snake model:
defining the gradient vector flow field as a vector field:
V(x,y)＝V[u(x,y),v(x,y)] (1)
wherein u (x, y) and v (x, y) are two components of the pixel value of the image, and x, y are the pixel point positions of the image;
profile δ(s) = δ [ x(s), y(s) composed of points on initial stain profile]Represents the unit parameter domain s E [0,l]Mapping to image, s represents arc length describing boundary normalization in Fourier transform form, x(s) and y(s) represent coordinate positions of points on initial mottle profile curve on image, and energy function E for constructing profile curve snake ：
Figure QLYQS_1
Wherein the content of the first and second substances,
Figure QLYQS_2
is a gradient operator, f is a profile curve, mu is a control parameter; when energy function E snake When the minimum value is reached, according to the variation principle, an Euler-Lagrange equation can be obtained:
Figure QLYQS_3
wherein alpha is the elastic coefficient, beta is the intensity coefficient; e snake The expansion in the direction of the two components u (x, y) and v (x, y) of the image yields a minimalized general function:
Figure QLYQS_4
Figure QLYQS_5
for generating a smoothly slowly varying vector field V (x, y),
Figure QLYQS_6
for making the edge information ^ f of the profile curve maximum approximate to the vector field V (x, y) when
Figure QLYQS_7
When the energy function is in use, the energy function obtains the minimum value;
and (3) approximating the edge of the color spot area by carrying out iterative solution on the minimized general function, solving u and v, and inputting the u and v into a formula (3) to obtain a color spot area contour curve, so that the shape and the position of the color spot area in the image can be obtained.
6. The method of claim 4, comprising: the laser scanning device emits a laser beam including:
the laser light beam emitted by the laser light source enters the optical fiber coupler, the light beam is divided into a first light beam and a second light beam according to a splitting ratio of 10.
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