Automatic on-line laser cleaning device and method for dirt on large cavity inner wall

Abstract

The invention relates to a laser cleaning device and method for a large cavity inner wall. The device comprises a main control computer, a laser, a robot and an on-line monitoring device, wherein thelaser, the robot and the on-line monitoring device are connected with the main control computer; and the tail end of the robot is fixedly connected with a laser head of the laser, and the laser head of the laser is provided with the on-line monitoring device. The method comprises the steps that the three-dimensional reconstruction is carried out on a scanned image to obtain three-dimensional coordinates of the cavity inner wall in a robot coordinate system; process parameters of the laser are selected; a motion track of the robot is obtained according to the three-dimensional coordinates; therobot moves along the motion track, and the laser head at the tail end of the robot emits laser light to achieve laser cleaning; after cleaning is completed, the cavity inner wall is detected and positioned by utilizing an image processing algorithm to obtain a residual dirt area; and a secondary cleaning motion track is regenerated, and secondary cleaning is carried out on the interior of the cavity. According to the device and the method, through the three-dimensional surface point cloud data of a high-definition camera, cyclic cleaning is achieved until cleaning is successfully completed, the cleaning efficiency is improved, and the cleaning cost and time are saved.

Description

technical field [0001] The invention proposes an online laser cleaning device and method for dirt, and the method can realize laser cleaning of scale stains in pipelines with sizes above the micron level and arbitrary shapes. Background technique [0002] The traditional method of cleaning the dirt on the inner wall of a large cavity is often contact cleaning, which has mechanical force on the surface of the cleaned object, damages the surface of the object or the cleaning medium adheres to the surface of the cleaned object, which cannot be removed, resulting in secondary pollution . [0003] Laser cleaning is a "green" cleaning method, which has high cleaning efficiency, saves time, does not need to use any chemicals and cleaning fluids, and the cleaned waste is basically solid powder, small in size, easy to store, recyclable, and Easily solve the environmental pollution problems caused by chemical cleaning. [0004] However, there is currently no automatic and effective ...

AI Technical Summary

Problems solved by technology

[0004] However, there is no automatic and effective cleaning method for the dirt on the inner wall of a large cavity.

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