CN107706706B - Laser control method and device, laser and equipment with laser - Google Patents
Laser control method and device, laser and equipment with laser Download PDFInfo
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- CN107706706B CN107706706B CN201711188374.0A CN201711188374A CN107706706B CN 107706706 B CN107706706 B CN 107706706B CN 201711188374 A CN201711188374 A CN 201711188374A CN 107706706 B CN107706706 B CN 107706706B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000005070 sampling Methods 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims description 32
- 238000005086 pumping Methods 0.000 claims description 21
- 238000002955 isolation Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 16
- 239000000835 fiber Substances 0.000 description 8
- 238000003860 storage Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 238000010330 laser marking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
- H01S3/09—Processes or apparatus for excitation, e.g. pumping
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/04—Processes or apparatus for excitation, e.g. pumping, e.g. by electron beams
- H01S5/042—Electrical excitation ; Circuits therefor
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Abstract
The embodiment of the invention relates to the technical field of lasers, and discloses a control method and device of a laser, the laser and equipment with the laser. The control method of the laser comprises the following steps: isolating and matching the received power control signal, and dividing the power control signal into a first path of signal and a second path of signal; sampling the first path of signal and then monitoring the working state of the laser; and outputting the second path of signal to control the power of the pump source so as to quickly respond to the power control signal. The technical scheme disclosed by the embodiment of the invention enables the laser to quickly respond to the power control signal provided by the equipment with the laser, and is beneficial to improving the production efficiency. In addition, the technical scheme disclosed by the embodiment of the invention is also beneficial to expanding the application field and applicable scenes of the laser.
Description
Technical Field
The technical scheme disclosed by the embodiment of the invention relates to the technical field of lasers, in particular to a control method and device of a laser, the laser and equipment with the laser.
Background
At present, more and more processing equipment using lasers is used. The processing equipment forms a power control signal of a task to be processed, and the power control signal is used for controlling the power of the laser.
The inventor finds that the response speed of the laser to the power control signal is too slow in the prior art in the process of researching the invention.
Disclosure of Invention
The technical scheme disclosed by the invention can at least solve the following technical problems: the response speed of the prior art laser to the power control signal is too slow.
One or more embodiments of the present invention disclose a method of controlling a laser, including: isolating and matching the received power control signal, and dividing the power control signal into a first path of signal and a second path of signal; sampling the first path of signal and then monitoring the working state of the laser; and outputting the second path of signal to control the power of the pump source so as to quickly respond to the power control signal.
In one or more embodiments of the invention, further comprising: and generating and outputting a third signal to control the power of the pump source when needed.
In one or more embodiments of the present invention, the second signal and the third signal are outputted in an alternative manner to control the power of the pump source.
One or more embodiments of the present invention also disclose a control apparatus of a laser, including: the machine tool control interface is used for accessing a power control signal; the signal isolation and matching unit is used for isolating and matching the received power control signal and dividing the power control signal into a first path of signal and a second path of signal, wherein the first path of signal is transmitted to the A/D conversion unit, and the second path of signal is transmitted to the channel selection unit; the A/D conversion unit is used for converting the first path of signal into a digital signal; the control unit is used for sampling the received digital signal converted from the first path of signal and outputting the digital signal to the PC end so as to monitor the working state of the laser; the channel selection unit is used for selecting the received second path of signal to output to the pumping source driving unit; and the pumping source driving unit is used for driving the pumping source to work according to the second path of signal so as to quickly respond to the power control signal.
In one or more embodiments of the present invention, the control device of the laser further includes a D/a conversion unit; when needed, the PC terminal generates a third signal and sends the third signal to the control unit, the control unit sends the third signal to the D/A conversion unit, the D/A conversion unit converts the third signal into an analog signal and then inputs the analog signal to the channel selection unit, the channel selection unit selects the received third signal and outputs the third signal to the pumping source driving unit, and the pumping source driving unit drives the pumping source to work according to the third signal so as to respond to the third signal.
In one or more embodiments of the present invention, the channel selection unit outputs the second path signal and the third path signal to the pump source driving unit in an alternative manner.
In one or more embodiments of the present invention, the signal isolating and matching unit includes two output terminals, one of the output terminals outputs the first path of signal to the a/D converting unit, and the other output terminal outputs the second path of signal to the channel selecting unit.
In one or more embodiments of the present invention, the channel selection unit includes: a first analog input circuit connected to the D/A conversion unit in a circuit form; the second analog input circuit is connected with the output end of the signal isolation and matching unit for outputting the second path of signals in a circuit form; the channel selection switch is connected with the first analog input circuit, the second analog input circuit and a channel selection pin of the control unit in a circuit mode; and the analog output circuit is connected with the first analog input circuit, the second analog input circuit, the channel selection switch and the pumping source driving unit in a circuit form and is used for outputting the second path of signals or the third path of signals to the pumping source driving unit.
One or more embodiments of the invention also disclose a laser, which comprises any one of the above control devices of the laser. Or, the laser controls the power of the pumping source by adopting any one of the above control methods.
One or more embodiments of the invention also disclose a device with a laser, which comprises a control device of any one of the lasers. Or, the device with the laser controls the power of the pumping source by adopting any one of the control methods of the laser.
Compared with the prior art, the technical scheme disclosed by the invention mainly has the following beneficial effects:
in an embodiment of the present invention, the method for controlling the laser includes: isolating and matching the received power control signal, and dividing the power control signal into a first path of signal and a second path of signal; sampling the first path of signal and then monitoring the working state of the laser; and outputting the second path of signal to control the power of the pump source so as to quickly respond to the power control signal. The received power control signal is divided into a first signal and a second signal, wherein the first signal is used for monitoring the working state of the laser, so that the working state of the laser can be analyzed and judged so as to adjust the laser power output by the laser when needed. The second signal is directly output to control the power of the pump source, so that the power control signal can be responded quickly. The technical scheme disclosed by the invention enables the laser to quickly respond to the power control signal provided by the equipment with the laser, and is beneficial to improving the production efficiency.
Drawings
FIG. 1 is a schematic diagram of a control apparatus for a laser according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a signal isolation and matching unit according to an embodiment of the present invention;
FIG. 3 is a circuit diagram of an A/D conversion unit according to an embodiment of the present invention;
FIG. 4 is a circuit diagram of a control unit according to an embodiment of the present invention;
FIG. 5 is a circuit diagram of a channel selection unit according to an embodiment of the present invention;
fig. 6 is a circuit diagram of a D/a conversion unit according to an embodiment of the invention.
Description of reference numerals: 10-machine tool control interface, 20-signal isolation and matching unit, 30-A/D conversion unit, 40-control unit, 50-channel selection unit, 60-pump source driving unit and 70-D/A conversion unit.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein and electrical symbols used in the circuit diagrams in the drawings of the specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The processing equipment using the laser forms a power control signal of a task to be processed, and the power control signal is used for controlling the power of the laser. Taking a marking machine applying the fiber laser as an example, the marking machine forms a power control signal of a task to be marked so as to control the power of the fiber laser, so that the laser power output by the fiber laser is matched with the current marking task. The more convenient and fast the process of converting the power control signal into the analog signal capable of controlling the fiber laser is, the more favorable the fiber laser can quickly respond to the power control signal.
The technical solution of the present invention is described below with reference to specific embodiments, and the control method of the laser device related to the specific embodiments is only a preferred embodiment, and is not all possible embodiments of the present invention.
A method of controlling a laser, comprising: the received power control signals are isolated and matched, and divided into a first path of signals and a second path of signals. And sampling the first path of signal and then monitoring the working state of the laser. And outputting the second path of signal to control the power of the pump source so as to quickly respond to the power control signal.
The received power control signal is divided into a first signal and a second signal, wherein the first signal is used for monitoring the working state of the laser, so that the working state of the laser can be analyzed and judged so as to adjust the laser power output by the laser when needed. The second signal is directly output to control the power of the pump source, so that the power control signal can be responded quickly.
In one possible embodiment of the present invention, the method further includes: and generating and outputting a third signal to control the power of the pump source when needed. The third signal is not affected by feedback of processing equipment applying the laser, so that the third signal can be used for testing instruments, scientific experiments, laser teaching and the like. The third path of signal and the second path of signal can be applied to control of the same laser, and the application field and applicable scenes of the laser can be expanded.
In a possible embodiment of the present invention, the second signal and the third signal are outputted in an alternative manner to control the power of the pump source. The second path of signal and the third path of signal are output in an alternative mode to control the power of a pumping source, so that the mutual interference between the second path of signal and the third path of signal can be effectively avoided.
It should be understood by those skilled in the art that the control method of any of the above-mentioned lasers can be applied not only to fiber lasers but also to other kinds of lasers, and therefore, it should still fall within the scope of the present application to apply the control method of any of the above-mentioned lasers to other kinds of lasers.
Based on the control method of the laser disclosed in the above embodiment, another embodiment of the present invention discloses a control device of the laser. Fig. 1 is a schematic diagram of a control device of a laser according to an embodiment of the present invention.
As illustrated in fig. 1, the control device of the laser includes:
a machine tool control interface 10 for accessing a power control signal;
a signal isolating and matching unit 20, configured to isolate and match the received power control signal, and divide the received power control signal into a first signal and a second signal, where the first signal is transmitted to an Analog-to-Digital (a/D) conversion unit 30, and the second signal is transmitted to a channel selection unit 50;
an a/D conversion unit 30, configured to convert the first path of signal into a digital signal;
the control unit 40 is configured to sample the received digital signal converted from the first path of signal, and then output the sampled digital signal to the PC terminal so as to monitor a working state of the laser; the PC end is an upper computer, the sampled digital signals are processed through the upper computer, and then the working state of the laser is judged through the upper computer.
The channel selection unit 50 is used for selecting the received second path of signal to output to the pump source driving unit 60;
and the pump source driving unit 60 is used for driving the pump source to work according to the second path of signal so as to quickly respond to the power control signal.
In a possible embodiment of the present invention, the control device of the laser further includes a D/a conversion (Digital to Analog ) unit 70. When necessary, the PC generates a third signal and sends the third signal to the control unit 40, the control unit 40 sends the third signal to the D/a conversion unit 70, the D/a conversion unit 70 converts the third signal into an analog signal and inputs the analog signal to the channel selection unit 50, the channel selection unit 50 selects the received third signal and outputs the third signal to the pump source driving unit 60, and the pump source driving unit 60 drives the pump source to operate according to the third signal to respond to the third signal.
In one possible embodiment of the present invention, the channel selection unit 50 outputs the second path signal and the third path signal to the pump source driving unit 60 in an alternative manner.
In a possible embodiment of the present invention, the control unit 40 is connected to the PC terminal through a UART serial port.
In a possible embodiment of the present invention, the signal isolating and matching unit 20 includes two output terminals, one of the output terminals outputs the first signal to the a/D converting unit 30, and the other output terminal outputs the second signal to the channel selecting unit 50.
In a possible embodiment of the invention, the channel selection unit 50 comprises:
a first analog input circuit connected to the D/a conversion unit 70 in a circuit form;
the second analog input circuit is connected with the output end of the signal isolation and matching unit 20, which outputs the second path of signals, in a circuit form;
a channel selection switch connected to the first analog input circuit, the second analog input circuit, and a channel selection pin of the control unit 40 in a circuit form;
and an analog output circuit, connected to the first analog input circuit, the second analog input circuit, the channel selection switch, and the pump source driving unit 60 in a circuit form, for outputting the second path of signal or the third path of signal to the pump source driving unit 60.
Based on the control device of the laser disclosed in the above embodiment, a specific circuit diagram of the control device of the laser is further disclosed. Referring to fig. 1 to 6, fig. 2 is a circuit configuration diagram of a signal isolation and matching unit 20 according to an embodiment of the present invention, fig. 3 is a circuit configuration diagram of an a/D conversion unit 30 according to an embodiment of the present invention, fig. 4 is a circuit configuration diagram of a control unit 40 according to an embodiment of the present invention, fig. 5 is a circuit configuration diagram of a channel selection unit 50 according to an embodiment of the present invention, and fig. 6 is a circuit configuration diagram of a D/a conversion unit 70 according to an embodiment of the present invention.
The line POWER2ADC shown in fig. 2 is connected to the line POWER2ADC shown in fig. 3, that is, an output terminal of the signal isolation and matching unit 20 inputs the first signal to the a/D conversion unit 30, so as to convert the first signal into a digital signal. The line POWER2DRV illustrated in fig. 2 is connected to the line POWER2DRV illustrated in fig. 5, that is, the other output terminal of the signal isolation and matching unit 20 inputs the second signal to the channel selection unit 50. The second path of signal is an analog signal, and can be directly used for controlling the pump source driving unit 60 to drive the pump source to work without analog-to-digital conversion, so that the time for processing the power control signal can be shortened, the pump source driving unit 60 can respond to the power control signal quickly, and the laser can output laser power meeting the requirement quickly.
The line SDATA ADC shown in fig. 3 is connected to the line SDATA ADC shown in fig. 4, that is, the serial data SDATA of the a/D conversion unit 30 is connected to the control unit 40. The line CS ADC shown in fig. 3 is connected to the line CS ADC shown in fig. 4, that is, the CS pin of the a/D conversion unit 30 is connected to the control unit 40. The line SCLK ADC shown in fig. 3 and the line SCLK ADC shown in fig. 4 are connected, that is, the SCLK pin of the a/D conversion unit 30 is connected to the control unit 40.
The line DATA DAC illustrated in FIG. 4 is connected to the line DATA DAC illustrated in FIG. 6, i.e., the DATA pin of the control unit 40 is electrically connected to the DATA pin of the D/A conversion unit 70. The line CLK DAC illustrated in fig. 4 is connected to the line CLK DAC illustrated in fig. 6, that is, the CLK pin of the control unit 40 is electrically connected to the CLK pin of the D/a conversion unit 70. The line LOAD DAC illustrated in fig. 4 is connected to the line LOAD DAC illustrated in fig. 6, that is, the LOAD pin of the control unit 40 is electrically connected to the LOAD pin of the D/a conversion unit 70.
The line SELECT EXT ON connected to the input terminal 9 of the inverter illustrated in fig. 5 is connected to the line SELECT EXT ON illustrated in fig. 4 and another line SELECT EXT ON illustrated in fig. 5, respectively. The line SELECT INTERAL ON to which the output terminal 8 of the inverter illustrated in fig. 5 is connected to another line SELECT INTERAL ON illustrated in fig. 5. The line interval POWER shown in fig. 5 is connected to the line interval POWER shown in fig. 6.
The specific construction and operation of each circuit is understood with reference to fig. 2 to 6. It should be understood by those skilled in the art that the circuit diagrams illustrated in fig. 2 to 6 are only one embodiment of the control device of the laser illustrated in fig. 1, and it is within the scope of the present invention if only a simple modification is made to any one of the circuit diagrams of fig. 2 to 6 in combination with the common general knowledge in the art and/or the prior art.
An embodiment of the invention discloses a laser, which comprises any one of the above control devices.
An embodiment of the invention discloses equipment with a laser, which comprises a control device of any one of the lasers. The equipment with the laser can be a laser marking machine, a laser cutting machine, a laser inner carving machine or a laser welding machine.
When the techniques in the various embodiments described above are implemented using software, the computer instructions and/or data to implement the various embodiments described above may be stored on a computer-readable medium or transmitted as one or more instructions or code on a readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that a computer can store. Taking this as an example but not limiting: computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Further, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (7)
1. A method of controlling a laser, comprising: the received power control signal is isolated and matched through a signal isolation and matching unit and is divided into a first path of signal and a second path of signal; the first path of signal is output through one output end of the signal isolation and matching unit, and a digital signal converted from the first path of signal is sampled and then output to a PC (personal computer) end for monitoring the working state of the laser; the second path of signals are directly output to a channel selection unit through one output end of the signal isolation and matching unit, and the channel selection unit outputs the second path of signals which are selectively received, so that the second path of signals control the power of a pumping source, and the pumping source can rapidly respond to the power control signals; the power control signal is a signal which is used for forming a task to be processed and is used for controlling the power of the laser by using processing equipment of the laser;
the control method of the laser further comprises the step of generating and outputting a third signal to control the power of the pump source when needed, wherein the third signal is generated by the PC terminal when needed and is not influenced by feedback of processing equipment applying the laser.
2. The method of claim 1, wherein outputting the second signal and the third signal alternatively controls the power of the pump source.
3. A control apparatus for a laser, comprising:
the machine tool control interface is used for accessing a power control signal, wherein the power control signal is a signal which is used for forming a task to be processed and is used for controlling the power of the laser by using the processing equipment of the laser;
the signal isolation and matching unit is used for isolating and matching the received power control signal and dividing the power control signal into a first path of signal and a second path of signal, the signal isolation and matching unit comprises two output ends, the first path of signal is transmitted to the A/D conversion unit through one output end of the signal isolation and matching unit, and the second path of signal is transmitted to the channel selection unit through the other output end of the signal isolation and matching unit;
the A/D conversion unit is used for converting the first path of signal into a digital signal;
the control unit is used for sampling the received digital signal converted from the first path of signal and outputting the digital signal to the PC end so as to monitor the working state of the laser;
the channel selection unit is used for directly outputting the second path of signals which are selectively received to the pumping source driving unit;
the pumping source driving unit is used for driving the pumping source to work according to the second path of signal so as to quickly respond to the power control signal;
also includes a D/A conversion unit; when needed, the PC terminal generates a third signal and sends the third signal to the control unit, the control unit sends the third signal to the D/A conversion unit, the D/A conversion unit converts the third signal into an analog signal and then inputs the analog signal to the channel selection unit, the channel selection unit selects the received third signal and outputs the third signal to the pumping source driving unit, and the pumping source driving unit drives the pumping source to work according to the third signal so as to respond to the third signal.
4. The apparatus of claim 3, wherein the channel selection unit outputs the second signal and the third signal to the pump source driving unit alternatively.
5. The control device of the laser according to claim 3, wherein the channel selection unit includes:
a first analog input circuit connected to the D/A conversion unit in a circuit form;
the second analog input circuit is connected with the output end of the signal isolation and matching unit for outputting the second path of signals in a circuit form;
the channel selection switch is connected with the first analog input circuit, the second analog input circuit and a channel selection pin of the control unit in a circuit mode;
and the analog output circuit is connected with the first analog input circuit, the second analog input circuit, the channel selection switch and the pumping source driving unit in a circuit form and is used for outputting the second path of signals or the third path of signals to the pumping source driving unit.
6. A laser comprising the control device of the laser according to any one of claims 3 to 5.
7. An apparatus with a laser, characterized in that it comprises a control device for the laser according to any one of claims 3 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711188374.0A CN107706706B (en) | 2017-11-23 | 2017-11-23 | Laser control method and device, laser and equipment with laser |
| PCT/CN2018/117097 WO2019101154A1 (en) | 2017-11-23 | 2018-11-23 | Laser controlling method and apparatus, laser, and device having laser |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711188374.0A CN107706706B (en) | 2017-11-23 | 2017-11-23 | Laser control method and device, laser and equipment with laser |
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| CN107706706B true CN107706706B (en) | 2020-09-15 |
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| CN107706706B (en) * | 2017-11-23 | 2020-09-15 | 深圳市创鑫激光股份有限公司 | Laser control method and device, laser and equipment with laser |
| CN113189903B (en) * | 2021-04-12 | 2023-11-10 | 无锡锐科光纤激光技术有限责任公司 | Laser control device and method |
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| JP3810393B2 (en) * | 2003-07-24 | 2006-08-16 | 日本航空電子工業株式会社 | Laser diode driving apparatus and laser diode driving method |
| CN102629731B (en) * | 2012-02-14 | 2015-04-29 | 浙江嘉莱光子技术有限公司 | Control method for simultaneously stabilizing laser wavelength and power and control device thereof |
| US9478931B2 (en) * | 2013-02-04 | 2016-10-25 | Nlight Photonics Corporation | Method for actively controlling the optical output of a seed laser |
| CN103219647B (en) * | 2013-03-26 | 2016-01-06 | 武汉锐泽科技发展有限公司 | A kind of semiconductor laser power supply |
| CN103606811B (en) * | 2013-12-11 | 2016-04-27 | 北京信息科技大学 | Based on the pulse optical fiber driving power control system of CPLD |
| CN205790923U (en) * | 2016-03-23 | 2016-12-07 | 武汉锐科光纤激光技术股份有限公司 | A kind of high power nanosecond, Picopulse optical fiber laser system |
| CN106129790B (en) * | 2016-09-05 | 2019-06-07 | 吉林大学 | A kind of digital laser pumping source |
| CN106774583B (en) * | 2017-02-14 | 2018-10-19 | 苏州迅镭激光科技有限公司 | A kind of voltage output control system that there is high-precision and efficiently respond |
| CN107706706B (en) * | 2017-11-23 | 2020-09-15 | 深圳市创鑫激光股份有限公司 | Laser control method and device, laser and equipment with laser |
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| CN107706706A (en) | 2018-02-16 |
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