CN216317960U

CN216317960U - Skin irradiation equipment with movable light source

Info

Publication number: CN216317960U
Application number: CN202120925233.8U
Authority: CN
Inventors: 杨斐; 熊大曦
Original assignee: SUZHOU KEYI-SKY SEMICONDUCTOR TECHNOLOGIES Inc
Current assignee: SUZHOU KEYI-SKY SEMICONDUCTOR TECHNOLOGIES Inc
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-04-19
Anticipated expiration: 2031-04-30

Abstract

The present disclosure provides a light source movable skin irradiation apparatus, the apparatus comprising a camera device, a control system, a guide rail driving device, a guide rail mechanism and at least one light source arranged on the guide rail mechanism; the guide rail driving device is in driving connection with the guide rail mechanism and is used for providing driving force for the guide rail mechanism so that the guide rail mechanism drives at least one light source to move and further changes the relative position of the light source and the area to be irradiated; the guide rail mechanism comprises a fixed guide rail and a movable guide rail which are movably connected, the fixed guide rail and the movable guide rail are arranged in an intersecting manner in the length direction, and at least one light source is arranged on the movable guide rail; the camera device, the at least one light source and the guide rail driving device are respectively in communication connection with the control system; when the guide rail driving device operates based on the first target driving parameter corresponding to the first irradiation path, the light source moves along the first irradiation path under the driving of the guide rail mechanism. The present disclosure can effectively reduce equipment cost and improve irradiation energy density.

Description

Skin irradiation equipment with movable light source

Technical Field

The present disclosure relates to the technical field of medical science and beauty, and in particular, to a skin irradiation device with a movable light source.

Background

With the rapid development of the optoelectronic technology, more and more light treatment devices are applied to the beauty and treatment of skin tissues, such as skin ablation, skin rejuvenation, acne removal, spot removal, hair removal, and the like. In performing the related medical and aesthetic procedures, it is necessary to apply high-energy light to a target tissue region using a light irradiation apparatus. The existing light treatment equipment is generally provided with a large-area light source or a precise light path structure to realize large-area irradiation, but the large-area light source is not beneficial to improving the irradiation energy density of target tissues and the equipment heat dissipation, and the light path structure is complex in installation and adjustment process and higher in cost. Therefore, there is a need to provide an improved skin light treatment device to solve the above mentioned problems of the prior art and to improve the user experience.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a light source movable skin irradiation apparatus, the apparatus comprising a camera device, a control system, a rail driving device, a rail mechanism and at least one light source arranged on the rail mechanism;

the guide rail driving device is in driving connection with the guide rail mechanism and is used for providing driving force for the guide rail mechanism so that the guide rail mechanism drives the at least one light source to move and further changes the relative position of the light source and the area to be irradiated;

the guide rail mechanism comprises a fixed guide rail and a movable guide rail which are movably connected, the fixed guide rail and the movable guide rail are arranged in a crossed manner in the length direction, and the at least one light source is arranged on the movable guide rail (320);

the camera device, the at least one light source and the guide rail driving device are respectively in communication connection with the control system; when the guide rail driving device runs based on a first target driving parameter corresponding to a first irradiation path, the light source is driven by the guide rail mechanism to move along the first irradiation path; the first irradiation path is generated by the control system according to the target image acquired by the camera device and traverses the target tissue to be irradiated in the region to be irradiated corresponding to the target image.

The light source movable skin irradiation equipment provided by the disclosure has the following technical effects:

the skin irradiation equipment is provided with the camera device, the control system, the guide rail driving device, the light source and the guide rail mechanism, the camera device can acquire a target image of a region to be irradiated, the control system can generate an irradiation path and corresponding driving parameters based on the target image, and the control system controls the driving parameters of the guide rail driving device to enable the guide rail mechanism to drive the light source to move so that the light source can move along the irradiation path relative to the region to be irradiated, and further fixed-point irradiation processing of target tissues in the region to be irradiated by the light source is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a schematic structural diagram of a skin irradiation device with a movable light source according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of the track mechanism of FIG. 1;

fig. 3 is a schematic structural diagram of another skin illumination apparatus with a movable light source according to an embodiment of the disclosure;

FIG. 4 is a schematic structural view of the track mechanism of FIG. 3;

fig. 5 is a schematic structural diagram of another skin illumination apparatus with a movable light source provided in an embodiment of the disclosure;

FIG. 6 is a schematic structural view of the track mechanism of FIG. 5;

fig. 7 is a schematic structural diagram of a moving guide rail provided in the embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a first illumination path provided by embodiments of the present disclosure;

FIG. 9 is a schematic view of another first illumination path provided by embodiments of the present disclosure;

FIG. 10 is a schematic view of another first illumination path provided by embodiments of the present disclosure;

fig. 11 is a schematic view of another first illumination path provided by embodiments of the present disclosure.

In the figure: 100-camera device, 200-light source, 310-fixed guide rail, 320-movable guide rail, 321-transverse movable guide rail, 322-longitudinal movable guide rail, 330-light source connector, 340-guide rail connector, 341-first guide rail connector, 342-second guide rail connector, 323-movable guide rail body, 324-first screw rod, 410-guide rail driving motor, 411-first guide rail driving motor, 412-second guide rail driving motor, 420-light source driving motor, 500-shell and 600-area to be irradiated.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1-11, the disclosed embodiment provides a light source movable skin irradiation apparatus, which includes an image pickup device 100, a control system, a guide rail driving device, a guide rail mechanism, and at least one light source 200 disposed on the guide rail mechanism; the guide rail driving device is in driving connection with the guide rail mechanism and is used for providing driving force for the guide rail mechanism so that the guide rail mechanism drives the at least one light source 200 to move and further changes the relative position of the light source and the area 600 to be irradiated; the guide rail mechanism comprises a fixed guide rail 310 and a movable guide rail 320 which are movably connected, the fixed guide rail 310 and the movable guide rail 320 are arranged in a crossed manner in the length direction, and at least one light source 200 is arranged on the movable guide rail 320; the camera device 100, the at least one light source 200 and the guide rail driving device are respectively in communication connection with the control system; when the guide rail driving device operates based on the first target driving parameter corresponding to the first irradiation path, the light source 200 is driven by the guide rail mechanism to move along the first irradiation path; the first irradiation path is a path which is generated by the control system according to the target image acquired by the camera device 100 and traverses the target tissue to be irradiated in the region 600 to be irradiated corresponding to the target image.

In the embodiment of the present disclosure, the image capturing apparatus 100 is configured to obtain a target image of skin tissue, where a region to be irradiated 600 corresponding to the target image includes the target tissue to be irradiated; the control system is used for generating a first irradiation path traversing the target tissue in the region 600 to be irradiated and a first target driving parameter corresponding to the first irradiation path according to the target image; controlling the guide rail driving device to drive the guide rail mechanism based on the first target driving parameter, so that the guide rail mechanism drives the at least one light source 200 to move along the first irradiation path; and controlling the at least one light source 200 to perform irradiation treatment on the target tissue in the region 600 to be irradiated while moving along the first irradiation path.

In the embodiment of the present disclosure, the light irradiation apparatus has a cavity in which the light source 200 can move. The Light source 200 may be one or more of a Laser Light source 200, a Light Emitting Diode (LED) Light source 200, an Intense pulse Light source 200 (IPL), and a Vertical-Cavity Surface-Emitting Laser (VCSEL) Light source 200 (VCSEL). Further, the device may further include an optical mechanism for adjusting the light emitted from the light source 200, including but not limited to receiving light, collimating light, adjusting the emitting direction and intensity, so that the light beam emitted from the light source 200 to the target skin tissue is a parallel light beam or a focused light beam.

In the embodiment of the present disclosure, the light source 200 is disposed on the guide rail mechanism, and can move on the guide rail mechanism and move in the apparatus along with the movement of the guide rail mechanism, so as to change the relative position with respect to the region to be irradiated 600, and it should be noted that, in one irradiation task, the position of the region to be irradiated 600 with respect to the entire apparatus is not substantially changed. The guide rail driving device is connected with the guide rail mechanism and can provide driving force for the movement of the guide rail mechanism.

In the embodiment of the present disclosure, the control system is used to control the operation of the whole apparatus, including but not limited to receiving the target image acquired by the image capturing device 100 and processing the target image, controlling the irradiation intensity and the light emitting area of the light source 200, opening and closing the irradiation unit, and adjusting the parameters of the optical mechanism, generating the driving parameters for controlling the rail driving device, and controlling the driving of the rail driving device to the rail mechanism.

In the disclosed embodiment, the target tissue to be irradiated may include, but is not limited to, hair follicles, skin spots, acne, scars, and the like. Specifically, the target image may be a planar image including two-dimensional information, or may be a depth image including three-dimensional information. When the area of the region 600 to be irradiated is smaller than or equal to the field range of the primary imaging of the imaging apparatus 100, the target image can be obtained by the primary imaging of the imaging apparatus 100. In some cases, the image capturing apparatus 100 may perform divisional multi-imaging on the region 600 to be irradiated larger than the field of view thereof, and perform image stitching processing on each image obtained by divisional multi-imaging to obtain a target image. In the process of partitioned multiple imaging, the preset coincident displacement amount is set, images obtained by two adjacent times of shooting have a coincident region in a preset range, when image splicing processing is carried out, similarity calculation is carried out on the images obtained by two adjacent times of shooting based on pose and position information when the images are shot by a camera, an overlapping region between the two images is determined, then the two images are spliced according to the overlapping region, and then the splicing processing of the whole image is completed based on a similar mode, so that a target image is obtained.

In the embodiment of the present disclosure, the first irradiation path may be a traveling path established based on a camera coordinate system, or may be a traveling path established based on a preset world coordinate system of the light irradiation device, and in the latter case, coordinate conversion needs to be performed according to a preset mapping relationship between the camera coordinate system and the world coordinate system to generate the first irradiation path based on the world coordinate system. Further, the control system generates a first target driving parameter corresponding to the first irradiation path, and further causes the guide rail driving device to drive the guide rail mechanism and the guide rail transmission mechanism to move, so as to move the light source 200 arranged on the guide rail mechanism along the first irradiation path and perform irradiation treatment on the target tissue, in the process, the light source 200 may be in a normally-on state, or may be turned on and off based on a preset irradiation manner, so as to implement traversal irradiation of the target tissue in the first irradiation path. It should be noted that the movement of the light source 200 may refer to the movement of the light source 200 as a whole, or the movement of a central component of the light source 200, such as the movement of the irradiation unit.

In summary, the skin tissue light irradiation apparatus of the present disclosure is provided with the image capturing device 100, the control system, the guide rail driving device, the light source 200, and the guide rail mechanism, wherein the image capturing device 100 can obtain a target image of the region 600 to be irradiated, the control system can generate an irradiation path and corresponding driving parameters based on the target image, and the control system controls the driving parameters of the guide rail driving device to enable the guide rail mechanism to drive the light source 200 to move, so that the light source 200 moves along the irradiation path relative to the region 600 to be irradiated, thereby achieving fixed-point irradiation processing of the target tissue in the region 600 to be irradiated by the light source 200.

Based on some or all of the above embodiments, in some cases, referring to fig. 1-2, under the driving action of the rail driving device, the movable rail 320 can reciprocate along the length direction of the fixed rail 310, so as to drive the at least one light source 200 to move relative to the fixed rail 310.

In practical applications, the fixed rail 310 is fixedly disposed in the apparatus, and in some cases, the apparatus further includes a housing 500, the fixed rail 310 is fixedly disposed on an inner wall of the housing 500, and the light source 200 is disposed on the moving rail 320. The guide rail driving means is drivingly connected to the fixed guide rail 310 and the moving guide rail 320, respectively, to provide a driving force for the reciprocating motion of the moving guide rail 320 on the fixed guide rail 310 and the reciprocating motion of the light source connector 330 on the moving guide rail 320.

Further, the rail driving apparatus includes a rail driving motor 410 and a light source driving motor 420; the guide rail driving motor 410 is in driving connection with the fixed guide rail 310 and is used for providing driving force for the movement of the movable guide rail 320 in the length direction of the fixed guide rail 310; the light source driving motor 420 is drivingly connected to the moving rail 320 for providing a driving force for the movement of the light source connecting member 330 in the length direction of the moving rail 320.

Further, the guide rail mechanism further comprises a light source connector 330, the light source connector 330 is fixedly connected with the light source 200, and the light source connector 330 is movably connected with the movable guide rail 320; under the driving action of the rail driving device, the light source connector 330 can drive the corresponding light source 200 to reciprocate along the length direction of the moving rail 320.

In some embodiments, referring to fig. 7, the moving rail 320 and the light source connector 330 are threaded. Specifically, a screw is disposed in the length direction of the movable guide rail 320, the light source connecting part 330 is sleeved on the screw and provided with an internal thread, and the screw can be rotated by the driving force provided by the light source driving motor 420, so that the light source connecting part 330 drives the light source 200 structure to reciprocate on the screw along the length direction. In other embodiments, the moving rail 320 is provided with a sliding rail, the light source connecting member 330 is slidably connected in the sliding rail, and the light source driving motor 420 is connected to the light source connecting member 330 and can directly drive the light source connecting member 330 to reciprocate in the sliding rail.

Further, the guide rail mechanism further comprises a guide rail connector 340, the movable guide rail 320 and the fixed guide rail 310 are arranged in an intersecting manner through the guide rail connector 340, and the guide rail connector 340 is fixedly connected with the movable guide rail 320 and movably connected to the fixed guide rail 310. Under the driving action of the rail driving motor 410, the rail connector 340 can reciprocate along the length direction of the fixed rail 310, thereby driving the moving rail 320 to move relative to the fixed rail 310.

In some embodiments, the fixed rail 310 and the rail coupler 340 are threaded similar to the coupling of the light source coupler 330 and the moving rail 320. Specifically, a screw is disposed in the length direction of the fixed guide rail 310, the guide rail connector 340 is sleeved on the screw and has an internal thread, and the screw can be rotated by the driving force provided by the guide rail driving motor 410, so that the guide rail connector 340 drives the movable guide rail 320 to reciprocate on the screw along the length direction. In other embodiments, the fixed rail 310 is provided with a slide rail, the fixed connector is slidably connected in the slide rail, and the rail driving motor 410 is connected to the rail connector 340 and can directly drive the rail connector 340 to reciprocate in the slide rail.

It should be noted that the connection mode of the moving rail 320 and the light source connector 330, and the connection mode of the fixed rail 310 and the rail connector 340 are not limited to the above description, and other connection modes that can achieve the light source connector 330 reciprocating along the length direction of the moving rail 320 or the rail connector 340 reciprocating along the length direction of the fixed rail 310 may be used, and the disclosure is not limited herein.

In some embodiments, referring to fig. 1-2, the guide rail mechanism includes a fixed guide rail 310 and a movable guide rail 320, the length direction of the fixed guide rail 310 is set along the x direction, the length direction of the movable guide rail 320 is set along the y direction, the movable guide rail 320 is fixedly connected to a guide rail connector 340, the guide rail connector 340 is slidably connected to the fixed guide rail 310, the movable guide rail 320 and the guide rail connector 340 can move back and forth on the fixed guide rail 310 along the x direction in fig. 1 in the inner cavity of the apparatus, the movable guide rail 320 is provided with a fixedly connected light source connector 330, and the light source 200 can move back and forth along the y direction under the driving of the light source connector 330. In some cases, the moving rail 320 may also include a plurality of light source connectors 330, so as to provide a plurality of light sources 200, and the plurality of light sources 200 can move back and forth on the same moving rail 320 to improve the illumination efficiency.

In other embodiments, a plurality of movement rails 320 may be included in the rail mechanism. In some cases, multiple moving rails 320 may be movably coupled to one stationary rail 310 by rail connectors 340. In other cases, the moving rails 320 are provided in one-to-one correspondence with the fixed rails 310. The range of motion of the plurality of moving rails 320 may cover different areas in the interior cavity of the device, i.e. can cover different areas of the xy-plane, so that the light source 200 connected to the moving rails 320 can illuminate different sub-areas in the area 600 to be illuminated.

Based on some or all of the above embodiments, in some cases, please refer to fig. 3-6, the moving rail 320 includes a lateral moving rail 321 and a longitudinal moving rail 322; the fixed guide rail 310 and the transverse moving guide rail 321 are arranged in a crossed manner in the length direction, the fixed guide rail 310 is connected with the transverse moving guide rail 321 in a sliding manner, one end of the longitudinal moving guide rail 322 in the length direction is movably connected with the transverse moving guide rail 321, and the other end of the longitudinal moving guide rail 322 in the length direction faces the area to be irradiated 600; at least one light source 200 is disposed on the longitudinal moving rail 322; under the driving action of the rail driving device, the transverse moving rail 321 can reciprocate along the length direction of the fixed rail 310, so as to drive the longitudinal moving rail 322 and the at least one light source 200 to move relative to the fixed rail 310.

In practical applications, the connection manner and the structural arrangement of the laterally moving rail 321 and the fixed rail 310 are similar to the connection manner of the moving rail 320 and the fixed rail 310 in fig. 1-2, and are not described again here. The lateral direction here refers to a direction in an xy plane, which is a plane parallel to the plane of the light exit of the apparatus, i.e., the lateral moving guide 321 can move back and forth in the xy plane along the length direction of the fixed guide 310. The longitudinal moving guide 322 has a length direction intersecting the xy plane and in some cases perpendicular to each other, as shown in fig. 3, and the longitudinal moving guide 322 has a length direction arranged in the z direction perpendicular to the xy plane. The transverse moving guide rail 321 is provided with a movably connected guide rail connecting piece 340, one end of the longitudinal moving guide rail 322 is fixedly connected with the guide rail connecting piece 340, and the longitudinal moving guide rail can be driven by the guide rail connecting piece 340 to move back and forth along the length direction of the transverse moving guide rail 321. The longitudinal moving guide rail 322 is further provided with a light source connecting piece 330 fixedly connected with the light source 200, the light source 200 can move back and forth along the longitudinal moving guide rail 322 along the length direction of the transverse moving guide rail 321, and can also move back and forth along the length direction of the longitudinal moving guide rail 322 under the driving of the light source connecting piece 330, for example, move along the z direction, so as to change the longitudinal distance between the light source 200 and the region 600 to be irradiated. It should be noted that the connection manner between the light source connector 330 and the longitudinal moving guide rail 322 and the connection manner between the guide rail connector 340 for fixedly connecting the longitudinal moving guide rail 322 and the transverse moving guide rail 321 are similar to the aforementioned screw connection or sliding connection manner, and are not described herein again.

In practical application, the longitudinal moving guide rail 322 is movably connected with the light source connecting piece 330; under the driving action of the guide rail driving device, the light source connecting member 330 can drive the corresponding light source 200 to reciprocate along the length direction of the longitudinal moving guide rail 322, thereby increasing or shortening the longitudinal distance between the corresponding light source 200 and the region 600 to be irradiated.

In some embodiments, referring to fig. 3-4, the guiding mechanism includes a fixed guiding rail 310, a lateral moving guiding rail 321 and a longitudinal moving guiding rail 322, the length direction of the fixed guiding rail 310 is set along the x direction, the length direction of the lateral moving guiding rail 321 is set along the y direction, and the length direction of the longitudinal moving guiding rail 322 is set along the z direction. The transverse moving guide rail 321 can drive the longitudinal moving guide rail 322 and the light source 200 to move back and forth along the x direction, the longitudinal moving guide rail 322 can drive the light source 200 to move back and forth along the y direction, and the light source 200 can move on the longitudinal moving guide rail 322 along the z direction, so that the three-dimensional motion of the light source 200 is realized. In some cases, a plurality of rail connectors 340 may be disposed on the traverse rail 321 to connect a plurality of traverse rails 322 and the corresponding light sources 200, so as to improve the illumination efficiency.

In other embodiments, the rail mechanism may include a plurality of lateral moving rails 321, each lateral moving rail 321 is provided with one or more longitudinal moving rails 322, and the longitudinal moving rails 322 are disposed in one-to-one correspondence with the light sources 200. In some cases, a plurality of laterally moving rails 321 may be movably coupled to one fixed rail 310 by rail connectors 340. In other cases, the laterally moving rails 321 are provided in one-to-one correspondence with the fixed rails 310. The moving range of the plurality of lateral moving guide rails 321 can cover different areas in the inner cavity of the device, that is, different areas of the xy plane, so that the longitudinal moving guide rails 322 connected to the lateral moving guide rails 321 cover different areas of the xy plane, and further, each light source 200 can irradiate different sub-areas in the region 600 to be irradiated. In one embodiment, one side of the apparatus may be divided into a plurality of sub-areas, in each of which a set of the lateral moving rails 321 and the corresponding longitudinal moving rail 322 are arranged to pass through the moving range of the lateral moving rail 321 on the fixed rail 310, and the length of the lateral moving rail 321 limits the movement of the corresponding longitudinal moving rail 322 in its sub-area. In another embodiment, referring to fig. 5 to 6, the plurality of lateral moving rails 321 are disposed adjacently, and the length of the lateral moving rails 321 is greater than or equal to the length of the light outlet of the apparatus in the corresponding direction, and the length of the fixed rail 310 is greater than or equal to the length of the light outlet of the apparatus in the corresponding direction, through the movement of the lateral moving rails 321 on the fixed rail 310 and the movement of the longitudinal moving rails 322 correspondingly connected on the lateral moving rails 321, the movable range of the longitudinal moving rails 322 can cover the light outlet of the apparatus, that is, can cover the region 600 to be irradiated.

Based on some or all of the above embodiments, in the embodiments of the present disclosure, the control system includes an image recognition device, a path planning device, and a control device; the image recognition device and the path planning device are respectively in communication connection with the control device.

In the embodiment of the present disclosure, the image recognition apparatus is configured to perform target tissue feature recognition on a target image based on prior features of a target tissue, so as to obtain a first set of points to be irradiated and feature information of the first set of points to be irradiated, which correspond to the target tissue in the region 600 to be irradiated; the characteristic information of the first point set to be irradiated comprises position information of the first point to be irradiated; the path planning device is used for performing traversal path planning according to the position information of the first point to be irradiated to obtain a first irradiation path traversing each first point to be irradiated in the first point to be irradiated set; the control device is used for generating a first target driving parameter based on the first irradiation path, the position information of the first point to be irradiated, the guide rail mechanism operating parameter and the guide rail driving device operating parameter; the guide rail driving device is controlled to drive the guide rail mechanism based on the first target driving parameter, and the opening and closing of the at least one light source 200 are controlled based on the position information of the first point to be irradiated, so that the at least one light source 200 moves at least one along the first irradiation path under the driving of the guide rail mechanism and performs traversing irradiation processing on each first point to be irradiated.

In the embodiments of the present disclosure, the prior characteristics of the target tissue may be determined based on the category of the target tissue, and the prior characteristics may be tissue characteristics conventionally used in the prior art for a specific target tissue. For example, when the target tissue is a hair follicle, the above-mentioned a priori characteristics may include a hair follicle edge characteristic, a center point characteristic, and the like, such as but not limited to whether the hair follicle contains hairs, a hair follicle region pigment distribution, a hair follicle shape, and the like.

In practical applications, the set of points to be irradiated is a set of points to be irradiated, which need to be irradiated, where the points to be irradiated may correspond to target tissues one by one, and one target tissue may also correspond to a plurality of points to be irradiated or one point to be irradiated corresponds to a plurality of target tissues, for example, when the target tissue is a hair follicle, one point to be irradiated may correspond to one hair follicle, or one point to be irradiated corresponds to a plurality of hair follicles. It should be noted that the corresponding relationship between the target tissue and the points to be irradiated may be determined according to the features and attributes of the target tissue, and the area of the points to be irradiated, the distance between the points to be irradiated, and the like may be determined based on parameters such as the spot size and the scanning step length of the apparatus.

In practical applications, the position information of the first point to be irradiated includes respective coordinate information of each first point to be irradiated in the first point to be irradiated set, when the target image is a two-dimensional image, the coordinate information is a two-dimensional coordinate, the first irradiation path generated based on the two-dimensional coordinate includes two-dimensional information, and correspondingly, the moving rail 320 may only include the aforementioned transverse moving rail 321, that is, the light source 200 can realize two-dimensional movement relative to the area to be irradiated 600 under the driving of the moving rail 320 and the light source connector 330. The control system can control the guide rail driving device to drive the guide rail mechanism based on the first target driving parameter, so that the light source 200 is driven by the moving guide rail 320 and the light source connecting piece 330 to perform two-dimensional movement along the first irradiation path based on a preset sequence, and further the emergent light traverses and irradiates a first point to be irradiated in the first irradiation path. When the target image is a three-dimensional image, the coordinate information is a three-dimensional coordinate, the first illumination path may include three-dimensional position information, and in some cases, the control device may adjust the light intensity of the light source 200 according to the first illumination path and the position information of the first point to be illuminated, so as to compensate and adapt to the longitudinal position change with the light intensity change, for example, when the longitudinal distance between a certain first point to be illuminated and the area to be illuminated 600 is greater than the longitudinal distance between the previous first point to be illuminated and the area to be illuminated 600, the light intensity of the light source 200 may be increased, so as to compensate for the increase of the longitudinal distance, and accordingly, the moving rail 320 may only include the aforementioned transverse moving rail 321; in other cases, as mentioned above, the moving rail 320 includes the transverse moving rail 321 and the longitudinal moving rail 322, the light source 200 can move back and forth in the length direction of the longitudinal moving rail 322 under the driving action of the rail driving device, so as to increase and shorten the longitudinal distance from the region 600 to be irradiated, where the longitudinal direction refers to the z direction in the drawing, the three-dimensional motion of the light source 200 is realized through the longitudinal movement of the light source 200, the movement of the longitudinal moving rail 322 on the transverse moving rail 321, and the movement of the transverse moving rail 321 on the fixed rail 310, and the light source 200 can move along the first irradiation path based on the three-dimensional coordinates of the point to be irradiated, so as to realize the precise irradiation of the target tissue on the skin.

In practical application, the scanning step point position of the light source 200 and the driving parameter of the control system for controlling the guide rail driving device may be calibrated in advance to generate a corresponding relationship between the scanning step point position and the driving parameter, and further, the motion of the guide rail mechanism may be controlled according to the corresponding relationship.

In some embodiments, performing target tissue feature identification on the target image based on the prior feature of the target tissue to obtain the first to-be-irradiated point set and the feature information of the first to-be-irradiated point set corresponding to the target tissue in the to-be-irradiated region 600 may specifically include: and calling an image segmentation algorithm to perform target tissue image segmentation on the target image to obtain each target tissue area in the target image and the characteristic information of each target tissue area. And checking whether each target tissue region is effective according to the prior characteristics of the target tissue, and determining the target tissue region with the detection result of yes as an effective target tissue region. In practical application, the prior characteristic network can be adopted to carry out validity check on each target tissue region. Then, according to the corresponding relationship between the target tissue and the point to be irradiated and the feature information corresponding to the target tissue area with the detection result being yes, the feature information of the first point set to be irradiated and the feature information of the first point set to be irradiated are generated.

In one embodiment, the target tissue is a hair follicle, and accordingly, the correspondence between the hair follicle and the points to be irradiated is one-to-one correspondence or one point to be irradiated corresponds to a plurality of hair follicles, then the number of first points to be irradiated in the first set of points to be irradiated depends on the number of areas to hair follicles and the distribution of hair follicles identified in the target image.

The image segmentation of the target tissue may be performed by using a trained image segmentation model, and different target tissues may correspond to different machine learning models. Alternatively, the target tissue feature recognition may be performed on the target image based on a corner detection algorithm or the like, so as to obtain each target tissue region in the target image and feature information of each target tissue region. In some cases, when the target tissue is a hair follicle, the corresponding hair follicle segmentation model may be a segmentation model constructed based on an edge detection operator (e.g., a first-order gradient operator, a second-order gradient operator), or may be a segmentation model constructed based on a deep CNN network (including but not limited to U-Net, Mask-RCNN, etc.), and accordingly, the prior feature network may be fused with the hair follicle segmentation model, and the generation of a hair follicle set is constrained through prior knowledge, that is, the generation of a first set of points to be irradiated is constrained.

In some embodiments, when the target tissue corresponds to the point to be irradiated, the first point to be irradiated position information is center point position information calculated based on the center point of the target tissue, such as hair follicle center point position information.

In some embodiments, the image recognition device is further configured to perform preprocessing on the target image before performing target tissue feature recognition on the target image based on the prior feature of the target tissue, where the preprocessing may specifically include image enhancement, for example, image enhancement such as frequency domain enhancement or geometric scale enhancement may be performed by using gray-scale histogram equalization or the like. It should be noted that the image enhancement method is not limited to the above description, and may be other image enhancement methods capable of implementing the target tissue feature recognition of the present disclosure, and the present disclosure is not limited herein. Further, the pre-processing of the target image may also include, but is not limited to, image noise reduction, image rotation, resizing, image non-uniformity correction, or gray-scale normalization, etc.

In practical applications, the method for the path planning apparatus to perform traversal path planning according to the position information of the first point to be irradiated may specifically include: and determining a starting point to be irradiated in the first point set to be irradiated according to the position information of the first point to be irradiated. Based on the scanning parameter information of the light source 200 and the position information of the first point to be irradiated, a travel route starting from the starting point to be irradiated and traversing and scanning the first point to be irradiated in a circuitous manner is generated. Then, a travel route for circuitously traversing and scanning the first point to be irradiated is used as a first irradiation path. In some cases, the position of the first point to be irradiated on a certain corner (e.g. the upper left corner) of the target image may be defaulted as the starting point of the band irradiation. In another case, the to-be-irradiated starting point may be determined based on a default starting position set in advance and the first to-be-irradiated point position information; specifically, the first point to be irradiated, at which the distance from the default start position is smallest, may be used as the start point to be irradiated.

In some embodiments, the scanning parameter information may include a preset initial scanning direction of the light source 200, and the first irradiation path is a traveling route starting from a start point to be irradiated and scanned by one row or by one column in a zigzag manner along the preset initial scanning direction. Referring to fig. 8, fig. 8 shows a first illumination path in an embodiment, a frame area in fig. 8 is an image area of a target image, each point in the image area is a first point to be illuminated, a direction of an arrow in the image area represents a preset scanning direction, and accordingly, the first illumination path is shown as a connecting line connecting the points in the image area.

Further, in other embodiments, the first irradiation path is a travel route that starts from the start point to be irradiated and performs zigzag interlaced scanning along the preset initial scanning direction, for example, one line or more than one line of the first point to be irradiated may be included between adjacent scanning lines. Therefore, the distance between adjacent scanning lines is increased while the traversing irradiation of the first point to be irradiated is realized, so that the pain of a user is reduced.

In some embodiments, the scan parameter information may include scan step information of the light source 200, the scan step information of the light source 200 being defined by rail mechanism operating parameters, for example, the rail mechanism operating parameters include a minimum step of the moving rail 320 moving on the fixed rail 310, a minimum step of the light source connector 330 moving on the moving rail 320, and the like. Correspondingly, based on the traversal path planning method, the generating a first target driving parameter based on the first irradiation path, the first to-be-irradiated point position information, the guide rail mechanism operating parameter, and the guide rail driving device operating parameter may specifically include: 1) and determining each scanning step point of the light source 200 on the first irradiation path according to the start point to be irradiated and the scanning step information. 2) And detecting the number of the first points to be irradiated in the respective preset range of each scanning step point according to the position information of the first points to be irradiated. 3) And if the number of the first points to be irradiated in the preset range is larger than the preset number, marking the corresponding scanning step length point as a target scanning point on the first irradiation path. 4) And generating a first target driving parameter according to the position information of each target scanning point and the corresponding relation between the scanning step length obtained by calibration and the driving parameter.

Further, the movement of the guiding mechanism is controlled according to the first target driving parameter, so that the emergent ray traverses each point to be irradiated in the first irradiation path, and the light source 200 may be in a normally-on state or a high-frequency flashing state. Or the light source 200 may be controlled to be in an off state at a position where there is no first point to be irradiated, and when the light source 200 moves to the position of the point to be irradiated, the light source 200 is turned on and irradiated for a preset time period. In practical application, the on-off mark of the light source 200 at each scanning step point on the first illumination path may be generated in advance according to the retrieved target scanning point, so as to control the on-off of the light source 200. Specifically, the target scanning point is marked as a power-on flag of the light source 200. In some embodiments, the preset number may be 1. By controlling the movement of the light source 200, the emergent light of the light source 200 can move along the first irradiation path in units of scanning step length, and in the moving process, the on-off of the light source 200 in the light source 200 is controlled by a pre-generated on-off mark of the light source 200, so that the fixed-point irradiation of the first point to be irradiated is realized.

In practical applications, the method for performing traversal path planning by the path planning apparatus according to the position information of the first point to be irradiated may have another mode, and specifically may include: and determining a starting point to be irradiated in the first point set to be irradiated according to the position information of the first point to be irradiated. Marking a non-irradiation region in the region to be irradiated 600 based on the first point position information to be irradiated; the non-irradiation area is an area which does not have the first point to be irradiated and corresponds to the skin area larger than the preset area, or the length/width of the non-irradiation area is larger than the preset length. Based on the scanning parameter information of the light source 200 and the position information of the first point to be irradiated, a travel route starting from the starting point to be irradiated, traversing and scanning the first point to be irradiated in a circuitous manner, and bypassing along the boundary of the non-irradiation region is generated. Then, a travel route which is traversed to scan the first point to be irradiated and detours along the boundary of the non-irradiation area is used as a first irradiation path.

In some embodiments, the non-irradiation region and the irradiation region may be encoded, such as the encoding of the non-irradiation region is 0 and the encoding of the irradiation region is 1. Referring to fig. 9, fig. 9 shows a first illumination path in an embodiment, in which a frame region is an image region of a target image, a gray rectangular region represents a non-illumination region, the target tissue to be illuminated is not included in the region, each point in the figure is a first point to be illuminated, the first illumination path is shown as a connecting line connecting the points in the figure, and an arrow in fig. 9 represents a scanning traveling direction of the light source 200.

In some embodiments, the scanning parameter information may include a preset initial scanning direction of the light source 200, and the first irradiation path is a traveling route which starts from a starting point to be irradiated, scans in a zigzag manner in the preset initial scanning direction, or scans in a zigzag manner in a row by row manner, and bypasses along a boundary of the non-irradiation region. Specifically, the distance between adjacent scanning lines or adjacent scanning columns may be a scanning step length, or may be a distance determined according to the distance between the first to-be-irradiated spots in two adjacent lines or two adjacent columns, for example, equal to the distance between the first to-be-irradiated spots in two adjacent lines or two adjacent columns.

In practical applications, the method for performing traversal path planning by the path planning apparatus according to the position information of the first point to be irradiated may have another mode, and specifically may include: and determining each first to-be-irradiated starting point in the first to-be-irradiated point set according to the position information of the first to-be-irradiated point. And calling a traversal search algorithm, calculating the shortest distance of each first point to be irradiated in the first point set to be irradiated according to the position information of the first point to be irradiated, and marking the irradiation sequence of each first point to be irradiated based on the shortest distance calculation result. Then, a first irradiation path is generated according to the irradiation sequence of each first point to be irradiated.

In some embodiments, the traversal search algorithm may include, but is not limited to, Dijkstra algorithm, SPFA algorithm, Floyd algorithm, Johnson algorithm, and the like.

In some embodiments, the shortest distance calculation is performed on each first point to be irradiated by a traversal search algorithm, and each generated first point to be irradiated is encoded based on the shortest distance calculation result, so as to generate an irradiation sequence according to the encoding.

In one embodiment, according to the position information of the first point to be irradiated, the default starting point to be irradiated is the position of the first point to be irradiated on the upper left of the target image. The expression for the traversal search algorithm used to compute the shortest distance may be:

lm as gm + hm + fm (one)

Wherein, Lm is a path estimation function, and gm is the distance from a first point m (node m) to be irradiated to a starting point to be irradiated; hm is the minimum distance estimation from the node m to the terminal point to be irradiated, wherein fm represents a constraint function, and if no constraint condition exists, fm is 0; by default, the first irradiation path is defined as a line-by-line scanning mode (or line-by-line), fm is strongly correlated with the longitudinal axis position corresponding to the first point to be irradiated m (x, y) (e.g., equivalent to the longitudinal axis position in the hair follicle position coordinates), and the light emitted from the light source 200 is defined to be approximately scanned line-by-line by calculating the longitudinal axis distance between the current node and the next node.

Specifically, the distance information from the starting point to be irradiated to other first points to be irradiated is established, the distance between the nodes during one pass is recorded through a distance parameter (such as distance [ n-1]), the shortest distance is calculated, and the effective passing position is marked through a code (such as scan _ node [ n-1 ]). Calculating a distance estimation function Lm from the starting point to be irradiated to the current node m based on the formula (I), calculating the L value of each node from the starting point to be irradiated, selecting the optimal L value, storing the L value (such as storing into scan _ node), and searching for the next node. And repeating the iteration of the calculation process, removing the finished nodes in the iteration process, searching the residual nodes until the distance is the minimum, finally completing the traversal search process until the next node becomes a new target point, and generating the irradiation sequence based on the codes. Referring to fig. 10, fig. 10 shows a first illumination path in an embodiment, a dashed square area in the figure is an image area of a target image, each point in the figure is a first point to be illuminated, the first illumination path is shown as a connecting line connecting the points in the figure, and an arrow indicates a scanning direction or a traveling direction, in this embodiment, each first feature point is coded and marked based on numbers 1-9, the number 1 indicates a starting point to be illuminated, and the number 9 indicates an ending point to be illuminated. When only one light source 200 is included, the light emitted from the light source 200 is controlled to sequentially perform the irradiation task from the start point to be irradiated based on the irradiation sequence to the end point to be irradiated.

Further, in another embodiment, in the irradiation sequence of each first point to be irradiated, the distance between adjacent first points to be irradiated is greater than or equal to a preset distance. In an actual use process, when adjacent points to be irradiated are continuously irradiated, and when two points to be irradiated which are continuously irradiated are too close, the same skin area risks being excessively irradiated, so that the distance between two continuous points to be irradiated needs to be limited, that is, the distance from one node to the next adjacent node cannot be smaller than the preset distance Th.

In one case, the starting point to be irradiated may be defined as the first position to be irradiated on the upper left of the target image, and the expression of the traversal search algorithm for calculating the shortest distance is the same as the above formula (one). Different from the foregoing, fm in the constraint function is am + bm, where am is a constraint function of a scanning manner (e.g., row-by-row or column-by-column), bm is a minimum distance cost function, and the simplest expression of bm is:

the constraint function has the minimum calculated amount, can better meet the real-time requirement in the irradiation processing process, and can determine the constraint coefficient a based on the anti-sigmoid function in order to meet the more accurate boundary constraint condition.

Specifically, based on a similar calculation manner as in the foregoing embodiment of generating the irradiation sequence, the traversal search calculation is performed on the distance estimation function Lm added with the constraint condition fm, so as to obtain a first irradiation path in which the distance between the first to-be-irradiated points adjacent in the scanning order is greater than or equal to the preset distance Th. Also taking each first point to be irradiated in fig. 10 as an example, the first irradiation path (as shown in fig. 11) is obtained based on the calculation method of the present embodiment.

Based on some or all of the above embodiments, in practical applications, when the light processing apparatus includes one light source 200, the control system controls each driving motor in the rail driving device to drive the respective rail or the connecting member based on the first target driving parameter, so as to make the light source 200 travel along the first irradiation path.

In some cases, when the optical processing apparatus includes two or more light sources 200, the control system is further configured to divide the region 600 to be irradiated into a plurality of sub-regions to be irradiated, the dividing manner of the region 600 to be irradiated may be set based on the structure of the guiding rail mechanism, accordingly, the first irradiation path includes a first irradiation sub-path corresponding to each sub-region to be irradiated, the first target driving parameter includes a first sub-target driving parameter corresponding to each first irradiation sub-path, and the first irradiation sub-paths correspond to the sub-regions to be irradiated and the first sub-target driving parameters one-to-one respectively; the control system is further configured to control the guide rail driving device to drive the guide rail mechanism according to the first sub-target driving parameters, so that each light source 200 travels along the corresponding first irradiation sub-path, thereby implementing the irradiation processing of each first point to be irradiated.

In other cases, when the light processing apparatus comprises two or more light sources 200, the control system is further configured to control each light source 200, and its respective corresponding rail (including the fixed rail 310 and the moving rail 320), the rail connector 340 and the light source connector 330 to cooperatively complete the traversal of the first illumination path based on the first target drive parameter.

For example, referring to fig. 8 and fig. 9, in the scenario of the detour traversal path, the control system may control the rail driving device to drive the rail mechanism respectively based on the first target driving parameter, so that the light sources 200 cooperatively traverse the first points to be irradiated in the first irradiation path with different positions in the first irradiation path as starting points to be irradiated; for example, in the scene of two light sources 200 as shown in fig. 5 to 6, a first point to be irradiated at the upper left corner in fig. 8 may be used as a starting point to be irradiated, and one light source 200 is controlled to start scanning from the point along the direction of the arrow in the figure, and a first point to be irradiated at the lower right corner in fig. 8 may be used as another starting point to be irradiated, and another light source 200 is controlled to start scanning from the point along the opposite direction of the arrow in the figure until two outgoing light rays cooperate to complete the irradiation processing of each first point to be irradiated in the figure, or, similarly, in the scene provided with three light sources 200, three starting points to be irradiated may also be selected in the area, and three light sources 200 may be scheduled to cooperate to complete the traversal irradiation processing of the first irradiation path.

Based on some or all of the above embodiments, in the embodiment of the present disclosure, the image capturing apparatus 100 is further configured to acquire an image to be evaluated of an irradiated area; the region to be irradiated 600 includes an irradiated region; the image recognition device is further configured to: performing target tissue feature identification and skin health evaluation on the image to be evaluated based on the prior features of the target tissue and the prior features of the skin health state to obtain a second point set to be irradiated and feature information of the second point set to be irradiated, which correspond to the residual target tissue in the irradiated region; the characteristic information of the second point set to be irradiated comprises position information of the second point set to be irradiated and a health evaluation result of the residual target tissue; the path planning means is further adapted to: performing traversal path planning according to the position information of the second point to be irradiated and the health evaluation result to obtain a second irradiation path traversing a second point to be irradiated in the second point set to be irradiated repeatedly; the control device is further configured to: generating a second target driving parameter based on the second irradiation path, the position information of the second to-be-irradiated point, the running parameter of the guide rail mechanism and the running parameter of the guide rail driving device; controlling the rail driving device to drive the rail mechanism based on the second target driving parameter so as to move the at least one light source 200 along the second irradiation path; and controlling the on-off of the at least one light source 200 based on the position information of the second point to be irradiated, so that the at least one light source 200 performs traversing irradiation processing on the second point to be irradiated, which needs to be irradiated repeatedly.

In practical applications, the irradiated region may completely overlap with the region 600 to be irradiated, or may be a certain region within the region 600 to be irradiated; the image to be evaluated may be acquired during the irradiation process corresponding to the region 600 to be irradiated, or may be acquired after the first irradiation process corresponding to the region 600 to be irradiated is completed. It should be noted that the acquisition mode of the image to be evaluated is similar to that of the target image.

In practical applications, the feature information of the second point set to be irradiated and the feature information of the second point set to be irradiated are obtained in a similar manner as the feature information of the first point set to be irradiated and the feature information of the first point set to be irradiated, except that the feature information of the second point set to be irradiated further includes a health assessment result of the residual target tissue. The prior characteristics of the skin health state can comprise redness characteristics or wound characteristics and the like, and health assessment results of the irradiated area can be determined based on the prior characteristics of the skin health state, such as determining whether redness and locations of redness exist.

In practical applications, whether each second point to be irradiated satisfies the irradiation condition is determined according to the health assessment condition and the position information of the second point to be irradiated, if yes, the second point to be irradiated satisfying the irradiation condition is used as a second target irradiation point for generating a second irradiation path, and the second irradiation path is generated according to the generation mode of the second irradiation path based on the position information of each second target irradiation point. Specifically, the irradiated condition includes whether a wound area, such as a red swelling area or a wound area, exists in a preset range around the second point to be irradiated, and if so, it is determined that the second point to be irradiated does not satisfy the irradiated condition.

In practical applications, the generation manner of the second target driving parameter is similar to that of the first target driving parameter, and is not described herein again.

In some cases, the skin tissue needs to be evaluated for state after a certain period of time to determine whether the target tissue has achieved a predetermined irradiation treatment effect, for example, in a hair removal scenario, whether the irradiated hair follicle is inactivated. However, after a period of time, the skin state and the features of the same skin area may change greatly, and images before and after irradiation cannot be well matched by using the image feature matching method alone, so that accurate irradiation effect evaluation cannot be performed. In order to complete the positioning of the processed area, the image recognition device is further configured to: and carrying out image matching on the image to be evaluated and the target image to obtain an image area matched with the image to be evaluated in the target image. And determining a first target irradiation point corresponding to the matched image area in the first point set to be irradiated and the characteristic information of the first target irradiation point based on the characteristic information of the first point set to be irradiated. Then, difference information between the feature information of the first target irradiation point and the feature information of the second set of points to be irradiated is extracted, and an irradiation evaluation result of the irradiated area is generated according to the difference information.

In practical applications, the difference information may include the position and number of irradiation points to achieve a predetermined irradiation effect, such as the position and number of irradiation points to be irradiated corresponding to the inactivated hair follicle, and the area, position and number of the wound area in the skin after the irradiation treatment, for example, the area, area and number of red swelling caused by the irradiation treatment. From the above information, an irradiation evaluation result including information such as the completion degree of irradiation processing and health status evaluation can be generated. In some embodiments, the illumination assessment results may be displayed, improving the user experience.

In some cases, the initial evaluation of the state of the skin region may be performed before the first irradiation treatment, and the irradiation effect evaluation result may be obtained by comparing the initial evaluation result with the evaluation result after the irradiation treatment. Accordingly, the imaging apparatus 100 may be further configured to, before acquiring the target image of the region to be irradiated 600: a first evaluation image comprising the area to be irradiated 600 and a characteristic area of the limb around the area to be irradiated 600 is acquired.

In practical application, the area of the skin region corresponding to the first evaluation image is larger than the area of the skin region corresponding to the target image. The limb characteristic region can be, for example, a limb region with obvious and easily-recognized characteristics such as a limb joint, such as an elbow, a wrist joint, an ankle joint, and the like, and can also be a specific characteristic such as melanin nevus. The first evaluation image can be formed by shooting and splicing a plurality of times, and can also be obtained by imaging once.

Accordingly, the camera 100, before acquiring the image to be evaluated of the irradiated region, may further be configured to: a second evaluation image is acquired that includes the illuminated area and the limb feature area. In practical applications, the second evaluation image corresponds to substantially the same skin area as the first evaluation image, and includes at least two or more limb feature areas that are the same as the first evaluation image.

Further, the image matching between the image to be evaluated and the target image to obtain an image area in the target image, which is matched with the image to be evaluated, includes: and acquiring the position information of the limb characteristic region in the first evaluation image, the position information of the limb characteristic region in the second evaluation image, the position information of the target image in the first evaluation image and the position information of the image to be evaluated in the second evaluation image. And constructing an image corresponding relation between the first evaluation image and the second evaluation image based on the position information of the limb characteristic region in the first evaluation image and the position information of the limb characteristic region in the second evaluation image. And then, according to the position information of the target image in the first evaluation image, the position information of the image to be evaluated in the second evaluation image and the image corresponding relation, carrying out image matching on the image to be evaluated and the target image to obtain an image area matched with the image to be evaluated in the target image.

In practical application, the image registration is carried out on the first evaluation image and the second evaluation image, so that the position corresponding relation between the image to be evaluated and the target image can be determined, and the image area matched with the image to be evaluated in the target image is further determined. Further, in order to more accurately position the matched image area, image registration may be further performed on the matched image area in the target image and the image to be evaluated, so as to correct the determined matched image area, and further more accurately position the first target irradiation point and determine the corresponding feature information.

Based on some or all of the above embodiments, in some cases, the range of the surface tissue region covered by the apparatus is large, and exceeds the imaging range of the image capturing device 100, the image acquisition of the surface tissue region and the irradiation processing of the target tissue may be completed in several times, and correspondingly, if the apparatus includes two or more light sources 200, the image capturing device 100 is further configured to acquire an adjacent target image corresponding to the to-be-irradiated region 600 adjacent to the current to-be-irradiated region 600; the control system is further configured to generate a third illumination path corresponding to the adjacent to-be-illuminated region 600 according to the adjacent target image; detecting whether there is an idle light source 200 in two or more light sources 200; if the detection result is yes, generating a third target driving parameter according to the guide rail mechanism operating parameter and the guide rail driving device operating parameter corresponding to the idle light source 200 and a third irradiation path; and controlling a guide rail driving device corresponding to the idle light source 200 to drive the guide rail mechanism based on the third target driving parameter, so that the guide rail mechanism drives the idle light source 200 to move along the third irradiation path.

In some cases, adjacent target images may be continuously acquired by the image capturing device 100 to generate the respective third illumination paths and illumination tasks of the adjacent regions to be illuminated 600, a light source 200 queue may be generated based on a plurality of light source 200 assemblies on a first-in first-out basis, and illumination task allocation and light source 200 scheduling may be performed based on the light source 200 ordering in the light source 200 queue. For example, the area to be irradiated 600 corresponding to the current target image may be cooperatively processed by the first light source 200, the second light source 200 and the third light source 200, where the first light source 200 completes the corresponding irradiation operation in the current target image first, then the light sources 200 are firstly in the light source 200 queue, the light sources 200 are sorted to 1, the second light source 200 is secondly in the light source 200 queue, the light sources 200 are sorted to 2, and the light sources 200 of the third light source 200 are sorted to 3. Correspondingly, after the irradiation path and the deflection parameter of the adjacent area to be irradiated 600 are generated, that is, after the corresponding irradiation task is generated, the first light source 200, the second light source 200 and the third light source 200 are sequentially scheduled to perform irradiation processing on the adjacent area to be irradiated 600 based on the sequence of 1-3. It should be noted that the manner of generating the queue of light sources 200 and the scheduling of light sources 200 is not limited to the above description, and the disclosure is not limited thereto.

In practical application, the image recognition device is also used for carrying out similarity calculation on the target image and the adjacent target image to obtain a similarity calculation result; determining an overlapping area between the target image and the adjacent target image according to the similarity calculation result; and generating a third illumination path based on non-overlapping regions outside the overlapping regions in adjacent target images.

It should be noted that the adjacent target image is obtained in a manner similar to that of the target image, the third illumination path is determined in a manner similar to that of the first illumination path, and the traversing illumination manner of the idle light source 200 assembly on the third point to be illuminated is also similar to that of the first point to be illuminated, and is not repeated herein.

In some embodiments, in order to avoid missing illumination, the adjacent target image and the target image can have an overlapping region through setting of the camera parameters; correspondingly, the image recognition device is also used for carrying out similarity calculation on the target image and the adjacent target image to obtain a similarity calculation result. And determining an overlapping area between the target image and the adjacent target image according to the similarity calculation result. The path planner is further configured to determine a third illumination path based on non-overlapping regions outside the overlapping regions in the adjacent target images. Specifically, the degree of coincidence between the two target images and the adjacent target image can be determined through the similarity calculation, and then the overlapping region is determined, so that the splicing of the two adjacent regions to be irradiated 600 is completed. In this way, repeated irradiation within the repeat region is avoided. Specifically, by setting the image pickup parameters, the distance between the two images shot by the image pickup device 100 is limited by the mechanical position of the limited image pickup device 100 in the two adjacent shooting processes, so that the photos shot by two times have a certain displacement dx and y overlapping, and missing due to overlarge shooting distance between two times is avoided.

Example 1

Referring to fig. 1, 2 and 7, the present embodiment provides a light source movable skin irradiation apparatus, which includes an image capturing device 100, a control system, a rail driving device, a rail mechanism and a light source 200 disposed on the rail mechanism; the guide rail driving device is in driving connection with the guide rail mechanism and is used for providing driving force for the guide rail mechanism so as to enable the guide rail mechanism to drive the light source 200 to move; the image capturing device 100 is configured to obtain a target image of skin tissue, where a region to be irradiated 600 corresponding to the target image includes the target tissue to be irradiated; the control system is used for generating a first irradiation path traversing the target tissue in the region 600 to be irradiated and a first target driving parameter corresponding to the first irradiation path according to the target image; controlling the guide rail driving device to drive the guide rail mechanism based on the first target driving parameter, so that the guide rail mechanism drives the at least one light source 200 to move along the first irradiation path; and controlling the at least one light source 200 to perform irradiation treatment on the target tissue in the region to be irradiated while moving along the first irradiation path.

Referring to fig. 1-2, the image capturing device 100 is disposed on the guiding mechanism and opposite to the region 600 to be irradiated. The guide rail mechanism comprises a fixed guide rail 310, a movable guide rail 320, a guide rail connector 340, a light source connector 330 and a light source 200 fixedly connected with the light source connector 330, wherein the guide rail connector 340 is movably connected on the fixed guide rail 310, the movable guide rail 320 is fixedly arranged on the guide rail connector 340, the light source connector 330 is movably connected on the movable guide rail 320, the light source 200 is fixedly arranged on the light source connector 330, the length direction of the fixed guide rail 310 is arranged along the x direction, and the length direction of the movable guide rail 320 is arranged along the y direction. The guide driving apparatus includes a guide driving motor 410 and a light source driving motor 420, the guide driving motor 410 is disposed at one end of the fixed guide 310, and is used to provide a driving force for the guide connector 340 to move back and forth in the x-direction, so that the moving guide 320 can reciprocate in the x-direction. The light source driving motor 420 is disposed at one end of the moving rail 320, and is used for providing a driving force for the light source connector 330 to move back and forth in the y direction, so that the light source 200 can reciprocate in the y direction. Note that the position of the image pickup apparatus 100 is not limited to the above description, and may be set at a position such as an inner wall of the device case 500.

Referring to fig. 7, the movable rail 320 includes a movable rail body 323 and a first screw 324 disposed along a length direction thereof, the first screw 324 is in driving connection with the rail driving device, and the light source connector 330 is in threaded connection with the first screw 324; under the driving action of the guide rail driving device, the first screw 324 rotates, so that the light source connecting member 330 drives the corresponding light source 200 to reciprocate along the length direction of the first screw 324. Specifically, the light source connector 330 is sleeved on the first screw 324 and provided with an internal thread, the light source driving motor 420 is connected with the first screw 324, and the driving force provided by the light source driving motor 420 can rotate the first screw 324, so that the light source connector 330 reciprocates on the first screw 324 along the length direction thereof to drive the light source 200 to move back and forth along the length direction of the moving guide 320.

Similarly, the fixed guide rail 310 includes a fixed guide rail 310 body and a second screw rod arranged along the length direction thereof, the guide rail connector 340 is sleeved on the second screw rod and is provided with an internal thread, the guide rail driving motor 410 is connected with the second screw rod, the driving force provided by the guide rail driving motor 410 can enable the second screw rod to rotate, and further the guide rail connector 340 can reciprocate along the length direction thereof on the second screw rod, so as to drive the movable guide rail 320 to move back and forth along the length direction of the fixed guide rail 310.

In some cases, two or more light sources 200 and corresponding light source connectors 330 (not shown) may also be disposed on the moving rail 320, the two or more light sources 200 can respectively move back and forth along the y direction, a plurality of light sources 200 may be disposed in one moving track, or the moving rail 320 may be disposed with a plurality of parallel moving tracks, one light source connector 330 and one light source 200 being disposed in each moving track.

In this embodiment, the control system controls the guide rail driving motor 410 and the light source driving motor 420 to drive the respective connected guide rails based on the target driving parameter, so as to move the moving guide rail 320 in the x direction and move the light source 200 in the y direction, thereby implementing two-dimensional movement of the light source 200 in the equipment cavity relative to the area to be irradiated 600 along the irradiation path, and performing traversal irradiation on each point to be irradiated in the area to be irradiated 600.

In addition, the control system structure, the irradiation processing mode, and the like in the device of this embodiment are set based on the content of the related parts, and are not described herein again.

Example 2

Referring to fig. 3, 4 and 7, the present embodiment provides a light source movable skin irradiation apparatus, which includes an image capturing device 100, a control system, a rail driving device, a rail mechanism and a light source 200 disposed on the rail mechanism; the guide rail driving device is in driving connection with the guide rail mechanism and is used for providing driving force for the guide rail mechanism so as to enable the guide rail mechanism to drive the light source 200 to move; the image capturing device 100 is configured to obtain a target image of skin tissue, where a region to be irradiated 600 corresponding to the target image includes the target tissue to be irradiated; the control system is used for generating a first irradiation path traversing the target tissue in the region 600 to be irradiated and a first target driving parameter corresponding to the first irradiation path according to the target image; controlling the guide rail driving device to drive the guide rail mechanism based on the first target driving parameter, so that the guide rail mechanism drives the at least one light source 200 to move along the first irradiation path; and controlling the at least one light source 200 to perform irradiation treatment on the target tissue in the region to be irradiated while moving along the first irradiation path.

It should be noted that this embodiment is based on the above embodiment 1, and similar parts to those of embodiment 1 are not described herein again, and the difference between the scheme of this embodiment and embodiment 1 is as follows:

referring to fig. 3-4, the guide rail mechanism includes a fixed guide rail 310, a transverse moving guide rail 321, a longitudinal moving guide rail 322, a first guide rail connector 341, a second guide rail connector 342, a light source connector 330, and a light source 200 fixedly connected to the light source connector 330, and the guide rail driving apparatus includes a first guide rail driving motor 411, a second guide rail driving motor 412, and a light source driving motor 420.

The fixed rail 310 is provided in the x-direction in the longitudinal direction, and the lateral movement rail 321 is provided in the y-direction in the longitudinal direction. The first guide rail connector 341 is movably connected to the fixed guide rail 310, the lateral moving guide rail 321 is fixedly connected to the first guide rail connector 341, and the first guide rail driving motor 411 is disposed at one end of the fixed guide rail 310 and is configured to provide a driving force for the first guide rail connector 341 to move back and forth in the x direction, so that the lateral moving guide rail 321 can reciprocate in the x direction.

The longitudinal moving rail 322 is disposed along the z direction in a length direction, one end of which is directed toward the lateral moving rail 321 and the other end is directed toward the region to be irradiated 600. The second guide rail connector 342 is movably connected to the transverse moving guide rail 321, the longitudinal moving guide rail 322 is fixedly connected to the first guide rail connector 341, and the second guide rail driving motor 412 is disposed at one end of the transverse moving guide rail 321 and is used for providing driving force for the reciprocating movement of the second guide rail connector 342 in the y direction, so that the longitudinal moving guide rail 322 can reciprocate in the y direction.

The light source connecting member 330 is movably connected to the longitudinal moving guide rail 322, the light source 200 is fixedly connected to the light source connecting member 330, and the light source driving motor 420 is disposed at one end of the longitudinal moving guide rail 322 and is used for providing a driving force for the light source connecting member 330 to move along the z direction on the longitudinal moving guide rail 322, so that the light source 200 can reciprocate along the z direction.

It is understood that, in this embodiment, the connection manner or the relative movement manner between the first rail connector 341 and the fixed rail 310, the connection manner or the relative movement manner between the second rail connector 342 and the laterally moving rail 321, and the connection manner or the relative movement manner between the light source connector 330 and the longitudinally moving rail 322 are similar to those in embodiment 1, and are not repeated herein.

In this embodiment, the control system controls the first rail driving motor 411, the second rail driving motor 412 and the light source driving motor 420 to drive the respective connected rails based on the target driving parameters, so as to move the transverse moving rail 321 in the x direction, move the longitudinal moving rail 322 in the y direction, and move the light source 200 in the z direction, thereby achieving three-dimensional movement of the light source 200 in the cavity of the apparatus and along the irradiation path relative to the area 600 to be irradiated, and performing traversal irradiation on each point to be irradiated in the area 600 to be irradiated.

Example 3

It should be noted that, in this embodiment, based on the

above embodiment

1 or 2, the structure and the connection manner of the light irradiation device are similar to those of the

embodiment

1 or 2, and are not described again here, and the scheme of this embodiment is different from that of the

embodiment

1 or 2 as follows:

referring to fig. 3-4, the guide rail mechanism includes two sets of guide rail assemblies, each of the two sets of guide rail assemblies includes a fixed guide rail 310, a transverse moving guide rail 321, a longitudinal moving guide rail 322, a first guide rail connector 341, a second guide rail connector 342, a light source connector 330, and a light source 200 fixedly connected to the light source connector 330, and the guide rail driving apparatus includes two sets of driving motor sets, each of the driving motor sets includes a first guide rail driving motor 411, a second guide rail driving motor 412, and a light source driving motor 420.

The two fixed guide rails 310 are adjacently and parallelly arranged on the top of the housing 500, the length of the two fixed guide rails 310 is greater than or equal to the length of the device light outlet x in the upward direction, and the length of the transverse moving guide rail 321 is greater than or equal to the length of the device light outlet y in the direction, so that the movable range of the longitudinal moving guide rail 322 can cover the device light outlet, namely, the region 600 to be irradiated. It should be noted that the structural arrangement of each group of guide rail assemblies and the connection manner between the guide rails are similar to those in embodiment 2, and are not described herein again.

In this embodiment, the control system controls two sets of the first rail driving motor 411, the second rail driving motor 412, and the light source driving motor 420 to drive the respective connected rails based on the target driving parameters, so that the two sets of the transverse moving rails 321 move in the x direction, the two sets of the longitudinal moving rails 322 move in the y direction, and the two light sources 200 move in the z direction, thereby realizing that the two light sources 200 move three-dimensionally in the cavity of the apparatus and along the irradiation path relative to the area 600 to be irradiated, and cooperatively completing the traversal irradiation of each point to be irradiated in the area 600 to be irradiated.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, device, server and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and in relation to the description, reference may be made to some of the description of the method embodiments.

The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, which is to be construed in any way as imposing limitations thereon, such as the appended claims, and all changes and equivalents that fall within the true spirit and scope of the present disclosure.

Claims

1. A light source movable skin irradiation apparatus, characterized in that the apparatus comprises a camera device (100), a control system, a rail driving device, a rail mechanism and at least one light source (200) arranged on the rail mechanism;

the guide rail driving device is in driving connection with the guide rail mechanism and is used for providing driving force for the guide rail mechanism so that the guide rail mechanism drives the at least one light source (200) to move and further changes the relative position of the light source and the area (600) to be irradiated;

the guide rail mechanism comprises a fixed guide rail (310) and a movable guide rail (320) which are movably connected, the fixed guide rail (310) and the movable guide rail (320) are arranged in a crossed mode in the length direction, and the at least one light source (200) is arranged on the movable guide rail (320); the camera device (100), the at least one light source (200) and the guide rail driving device are respectively in communication connection with the control system; when the guide rail driving device runs based on a first target driving parameter corresponding to a first irradiation path, the light source (200) is driven by the guide rail mechanism to move along the first irradiation path; the first irradiation path is generated by the control system according to a target image acquired by the camera device (100) and traverses a target tissue to be irradiated in a region (600) to be irradiated corresponding to the target image.

2. The apparatus according to claim 1, wherein the moving rail (320) is capable of reciprocating along the length direction of the fixed rail (310) under the driving action of the rail driving device, so as to drive the at least one light source (200) to move relative to the fixed rail (310).

3. The apparatus of claim 2, wherein the rail mechanism further comprises a light source (200) light source connector (330), the light source connector (330) being fixedly connected to the light source (200), the light source connector (330) being movably connected to the moving rail (320);

under the driving action of the guide rail driving device, the light source connecting piece (330) can drive the corresponding light source (200) to reciprocate along the length direction of the movable guide rail (320).

4. The apparatus of claim 3, wherein the moving guide (320) comprises a moving guide body (323) and a first screw (324) disposed along a length direction thereof, the first screw (324) is in driving connection with the guide driving device, and the light source connector (330) is in threaded connection with the first screw (324);

under the driving action of the guide rail driving device, the first screw rod (324) rotates, so that the light source connecting piece (330) drives the corresponding light source (200) to reciprocate along the length direction of the first screw rod (324).

5. The apparatus according to claim 2, wherein the moving guide (320) comprises a transverse moving guide (321) and a longitudinal moving guide (322);

the fixed guide rail (310) and the transverse moving guide rail (321) are arranged in a crossed mode in the length direction, the fixed guide rail (310) is connected with the transverse moving guide rail (321) in a sliding mode, one end of the longitudinal moving guide rail (322) in the length direction is movably connected with the transverse moving guide rail (321) through the transverse moving guide rail (321), and the other end of the longitudinal moving guide rail (322) in the length direction faces the area (600) to be irradiated; the at least one light source (200) is arranged on the longitudinal movement rail (322).

6. The apparatus according to claim 5, wherein the transverse moving rail (321) can reciprocate along the length direction of the fixed rail (310) under the driving action of the rail driving device, so as to drive the longitudinal moving rail (322) and the at least one light source (200) to move relative to the fixed rail (310).

7. The apparatus of claim 5, wherein the longitudinal movement rail (322) is movably connected to a light source connector (330);

under the driving action of the guide rail driving device, the light source connecting piece (330) can drive the corresponding light source (200) to do reciprocating motion along the length direction of the longitudinal moving guide rail (322), so that the longitudinal distance between the corresponding light source (200) and the area (600) to be irradiated is increased or shortened.

8. The apparatus of claim 3, 4 or 7, wherein the rail driving means comprises a rail driving motor (410) and a light source driving motor (420); the guide rail driving motor (410) is in driving connection with the fixed guide rail (310) and is used for providing driving force for the movement of the moving guide rail (320) in the length direction of the fixed guide rail (310); the light source driving motor (420) is in driving connection with the moving guide rail (320) and is used for providing driving force for the movement of the light source connecting piece (330) in the length direction of the moving guide rail (320).

9. The apparatus according to any of claims 2-7, further comprising a housing (500), wherein the stationary guide (310) is fixedly arranged on an inner wall of the housing (500).

10. The apparatus according to claim 1, characterized in that the control system comprises image recognition means, path planning means and control means; the image recognition device and the path planning device are respectively in communication connection with the control device.