A method, device, equipment and medium for cleaning paint on aircraft surface

Abstract

The present invention discloses a method, device, equipment and medium for cleaning paint on the surface of an aircraft, the method comprising: obtaining a preset trajectory planning path according to an established aircraft model; controlling the posture of a robot according to its path to control a laser head to scan and clean the paint on the surface of the aircraft; during cleaning, controlling an element spectrometer to synchronously and synchronously collect the element spectrum of the current scanning position, and fitting with the surface data of the current scanning position collected by the control robot to form three-dimensional surface point cloud data; calibrating the aircraft surface according to the peak value of element calibration and the three-dimensional surface point cloud data; replanning the scanning path of the laser head according to the calibrated divided area, scanning and cleaning the aircraft surface; until the paint removal rate of the aircraft surface is greater than 95%. The entire cleaning process is made intelligent and automated, without the need for manual visual inspection, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of laser cleaning, and in particular to a method, device, equipment and medium for cleaning paint on the surface of an aircraft. Background Art

[0002] The paint on the surface of the aircraft can protect the skin from corrosion and aging, maintain the aerodynamic shape of the aircraft, and enhance the aircraft's appearance and recognition. However, as the aircraft's service time increases, the paint on the surface of the aircraft will age and peel, which will require partial or complete cleaning of the paint on the surface of the aircraft and repainting.

[0003] In the related art, during the process of cleaning the aircraft, manual cleaning and manual inspection are generally adopted, which is time-consuming, labor-intensive and inefficient. Summary of the invention

[0004] The invention provides a method, device, equipment and medium for cleaning paint on the surface of an aircraft, so as to solve the problem of low efficiency of manual cleaning and manual inspection in the related art.

[0005] To solve the above problems, a first embodiment of the present invention provides a method for cleaning paint on the surface of an aircraft, comprising the following steps:

[0006] Step 1: Obtain the preset trajectory planning path based on the established aircraft model;

[0007] Step 2: Control the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters;

[0008] Step 3: During cleaning, controlling the element spectrometer disposed on the robot to collect the element spectrum of the current scanning position, and controlling the robot to collect the surface data of the current scanning position for fitting;

[0009] Step 4: forming three-dimensional surface point cloud data according to the surface data of the current scanning position;

[0010] Step 5: performing regional division and calibration on the aircraft surface according to the element spectrum of the current scanning position and the three-dimensional surface point cloud data;

[0011] Step 6: After the laser head scans the surface of the aircraft according to the preset trajectory planning path, the scanning path of the laser head is re-planned according to the calibrated divided areas, and the posture of the robot is controlled according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path;

[0012] Repeat step 3 to step 6 until the paint removal rate of the aircraft surface is greater than a preset value.

[0013] According to one embodiment of the present invention, step five includes:

[0014] When the peak value of the element spectrum at the current scanning position is the first peak value and the second peak value does not appear, calibrating the current scanning position as the first area according to the three-dimensional surface point cloud data;

[0015] When a second peak appears in the peak value of the element spectrum at the current scanning position, calibrating the current scanning position as a second area according to the three-dimensional surface point cloud data;

[0016] When the first peak in the element spectrum of the current scanning position disappears and the second peak disappears, the current scanning position is calibrated as a third area according to the three-dimensional surface point cloud data, wherein the first peak is a characteristic peak of the characteristic element of the topcoat, and the second peak is a characteristic peak of the characteristic element of the primer.

[0017] According to one embodiment of the present invention, step six includes:

[0018] Connecting each of the first areas and each of the second areas in sequence to form a re-planned scanning path of the laser head, which is recorded as a first scanning path;

[0019] Wherein, controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path includes:

[0020] When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning;

[0021] When the laser head is located in the second area, calling the cleaning parameters corresponding to the second area for cleaning;

[0022] When the first peak value disappears and the second peak value disappears at the current position scanned by the laser head, the cleaning is finished.

[0023] According to one embodiment of the present invention, step six includes:

[0024] Connecting the first regions in sequence to form a re-planned scanning path of the laser head, which is recorded as a second scanning path;

[0025] Wherein, controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path includes:

[0026] Calling the cleaning parameters corresponding to the first area to perform cleaning, and when a second peak appears in the peaks of the element spectrum of the current scanning position, stopping the cleaning of the current scanning position and starting the cleaning of the next position;

[0027] Connecting the first areas and the second areas in sequence to form a re-planned scanning path of the laser head, which is recorded as a third scanning path;

[0028] The cleaning parameters corresponding to the second area are called to perform cleaning, and the cleaning is completed when the second peak at the current position scanned by the laser head disappears.

[0029] According to one embodiment of the present invention, the first peak is a spectrum peak of the titanium element, and the second peak is a spectrum peak of the chromium element.

[0030] In order to solve the above problems, a second embodiment of the present invention provides a device for cleaning paint on the surface of an aircraft, which is used to perform the method for cleaning paint on the surface of an aircraft described in any embodiment of the present invention, and the device comprises:

[0031] A preset trajectory planning path acquisition module is used to obtain a preset trajectory planning path according to the established aircraft model;

[0032] A control module, used to control the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters;

[0033] During cleaning, the control module is also used to control the element spectrometer disposed on the robot to collect the element spectrum of the current scanning position, and to control the robot to collect the surface data of the current scanning position for fitting;

[0034] A point cloud data acquisition module, used for forming three-dimensional surface point cloud data according to the surface data of the current scanning position;

[0035] A region division module, used for performing region division and calibration on the aircraft surface according to the element spectrum of the current scanning position and the three-dimensional surface point cloud data;

[0036] The path replanning module is used to replan the scanning path of the laser head according to the calibrated divided areas after the laser head scans the aircraft surface according to the preset trajectory planning path, and control the posture of the robot according to the replanned scanning path to control the laser head to scan and clean the aircraft surface along the replanned scanning path; until the paint removal rate of cleaning the aircraft surface is greater than a preset value.

[0037] According to one embodiment of the present invention, the region division module includes:

[0038] A first area division unit, configured to calibrate the current scanning position as a first area according to the three-dimensional surface point cloud data when the peak of the element spectrum at the current scanning position is the first peak and the second peak does not appear;

[0039] A second area division unit is used for calibrating the current scanning position as a second area according to the three-dimensional surface point cloud data when a second peak appears in the peak of the element spectrum of the current scanning position;

[0040] The third area division unit is used to calibrate the current scanning position as a third area according to the three-dimensional surface point cloud data when the first peak in the element spectrum of the current scanning position disappears and the second peak disappears, wherein the first peak is a characteristic peak of a characteristic element of topcoat and the second peak is a characteristic peak of a characteristic element of primer.

[0041] According to one embodiment of the present invention, the path replanning module includes:

[0042] A first scanning path forming unit, used for sequentially connecting each of the first areas and each of the second areas to form a re-planned scanning path of the laser head, which is recorded as a first scanning path;

[0043] The path re-planning module is also used to:

[0044] When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning;

[0045] When the laser head is located in the second area, calling the cleaning parameters corresponding to the second area for cleaning;

[0046] When the first peak value disappears and the second peak value disappears at the current position scanned by the laser head, the cleaning is finished.

[0047] According to one embodiment of the present invention, the path replanning module includes:

[0048] A second scanning path forming unit, used for sequentially connecting the first areas to form a re-planned scanning path of the laser head, which is recorded as a second scanning path;

[0049] The path re-planning module is also used to:

[0050] Calling the cleaning parameters corresponding to the first area to perform cleaning, and when a second peak appears in the peaks of the element spectrum of the current scanning position, stopping the cleaning of the current scanning position and starting the cleaning of the next position;

[0051] A third scanning path forming unit, used for sequentially connecting the first areas and the second areas to form a re-planned scanning path of the laser head, which is recorded as a third scanning path;

[0052] The path re-planning module is also used to:

[0053] The cleaning parameters corresponding to the second area are called to perform cleaning, and the cleaning is completed when the second peak at the current position scanned by the laser head disappears.

[0054] To solve the above problem, a third aspect of the present invention provides an electronic device, comprising:

[0055] at least one processor; and

[0056] a memory communicatively connected to the at least one processor; wherein,

[0057] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for cleaning aircraft surface paint according to any embodiment of the present invention.

[0058] To solve the above problems, a fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for cleaning aircraft surface paint as described in any embodiment of the present invention when executed.

[0059] According to the method, device, equipment and medium for cleaning paint on the surface of an aircraft proposed in an embodiment of the present invention, the method includes the following steps: step 1: obtaining a preset trajectory planning path according to an established aircraft model; step 2: controlling the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters; step 3: during cleaning, controlling the element spectrometer arranged on the robot to collect the element spectrum of the current scanning position, and controlling the robot to collect the surface data of the current scanning position for fitting; step 4: forming three-dimensional surface point cloud data according to the surface data of the current scanning position; step 5: calibrating the area division of the aircraft surface according to the element spectrum and the three-dimensional surface point cloud data of the current scanning position; step 6: after the laser head scans the aircraft surface according to the preset trajectory planning path, re-planning the scanning path of the laser head according to the calibrated divided area, controlling the posture of the robot according to the re-planned scanning path, so as to control the laser head to scan and clean the aircraft surface along the re-planned scanning path; repeating steps 3 to 6 until the paint removal rate of cleaning the aircraft surface is greater than the preset value. Therefore, this method can automatically plan the scanning path of the laser head and automatically call the cleaning parameters, which not only makes the entire cleaning process intelligent and automated, but also enables machine inspection of the results after cleaning without the need for manual visual inspection, thereby improving the cleaning efficiency.

[0060] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 is a flow chart of a method for cleaning paint on the surface of an aircraft according to an embodiment of the present invention;

[0063] Figure 2 is a spectrum of paint components on the surface of an aircraft in a method for cleaning paint on the surface of an aircraft according to an embodiment of the present invention;

[0064] Figure 3 is a spectrum of paint components on the surface of an aircraft in a method for cleaning paint on the surface of an aircraft according to an embodiment of the present invention;

[0065] Figure 4is a spectrum of components on the surface of an aircraft after cleaning in a method for cleaning paint on the surface of an aircraft according to an embodiment of the present invention;

[0066] Figure 5 It is a block diagram of a device for cleaning paint on the surface of an aircraft according to an embodiment of the present invention;

[0067] Figure 6 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0068] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0069] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0070] Figure 1 FIG. 1 is a flow chart of a method for cleaning paint on an aircraft surface according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0071] Step 1: Obtain the preset trajectory planning path based on the established aircraft model;

[0072] Among them, the aircraft model can be simulated by software such as CatiaV5, CatiaV4, ProE, UG, SolidWorks, etc., and a preset trajectory planning path can be formed according to the aircraft model through path trajectory planning software.

[0073] Step 2: Control the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters;

[0074] That is, after forming a preset trajectory planning path, it can be input into the robot controller, and the robot's posture can be controlled according to the preset trajectory planning path, wherein the laser head can be installed on the robot's mechanical arm, and can follow the change of the robot's posture to adjust the scanning path of the laser head. Thus, when the robot's posture changes, the position of the laser head changes accordingly, so as to scan the aircraft surface and clean the aircraft surface.

[0075] Step 3: During cleaning, the element spectrometer provided on the robot is controlled to collect the element spectrum of the current scanning position, and the robot is controlled to collect the surface data of the current scanning position for fitting;

[0076] Among them, the elemental spectrometer can be a Libs (Laser-Induced Breakdown Spectroscopy) spectrometer. The Libs spectrometer can also be installed on the robot's mechanical arm. When the robot adjusts its posture to control the laser head to scan and clean, it can simultaneously control the Libs spectrometer to collect the elemental spectrum of the current scanning position. When the high-intensity pulsed laser beam is focused on the sample, the surface layer of the material will be strongly heated, thereby generating a transient plasma above the irradiation area. The spectrum emitted by the plasma plume depends on the elemental composition of the ablated material. Due to the different compositions of the topcoat, primer and matrix carbon fiber on the surface of the material, the laser acts on different material layers, and the laser-induced breakdown spectra have detailed differences. This prepares for the later regional division.

[0077] Step 4: Form three-dimensional surface point cloud data based on the surface data of the current scanning position;

[0078] In addition, a camera can be installed on the robot to collect surface data of the current scanning position through the camera, and the surface data of the current scanning position is converted into three-dimensional surface point cloud data through computer calculation. Alternatively, the two-dimensional data of the robot's posture can be directly transformed into a unified coordinate system, and three-dimensional surface point cloud data can be quickly formed in the computer. It can also be a method of acquiring point cloud data in other image processing fields, and the present invention does not impose specific restrictions on this.

[0079] Step 5: calibrate the aircraft surface according to the element spectrum and three-dimensional surface point cloud data at the current scanning position;

[0080] Optionally, according to an embodiment of the present invention, step five includes:

[0081] When the peak value of the element spectrum at the current scanning position is the first peak value and the second peak value does not appear, calibrating the current scanning position as the first area according to the three-dimensional surface point cloud data;

[0082] When a second peak appears in the peak value of the element spectrum at the current scanning position, the current scanning position is calibrated as a second area according to the three-dimensional surface point cloud data;

[0083] When the first peak and the second peak in the element spectrum of the current scanning position disappear, the current scanning position is calibrated as the third area according to the three-dimensional surface point cloud data, wherein the first peak is the characteristic peak of the characteristic element of the topcoat, and the second peak is the characteristic peak of the characteristic element of the primer.

[0084] It is understandable that after the laser head is cleaned with preset cleaning parameters and preset trajectory planning path, some places may be covered with dust or other pollutants, or some places have thick paint layers and are difficult to clean, so that the cleaning cannot be in place at one time and there will be omissions. Therefore, it is necessary to calibrate these places that cannot be cleaned during the first cleaning process in order to proceed with the next cleaning. The specific calibration method is as follows:

[0085] When the laser head cleans the aircraft surface with preset cleaning parameters, the spectrometer keeps collecting elemental spectra. When the cleaning of the current scanning position is about to end, and the peak of the elemental spectrum last collected by the spectrometer is the first peak and the second peak does not appear, the current scanning position is calibrated as the first area according to the three-dimensional surface point cloud data, indicating that the topcoat has not been cleaned and the primer is not exposed; when the peak of the elemental spectrum at the current scanning position has a second peak, the current scanning position is calibrated as the second area according to the three-dimensional surface point cloud data, indicating that the topcoat has been cleaned and the primer is exposed; when the first peak in the elemental spectrum at the current scanning position disappears and the second peak disappears, the current scanning position is calibrated as the third area according to the three-dimensional surface point cloud data, indicating that both the topcoat and the primer have been cleaned.

[0086] Among them, the first peak is the spectrum peak of the titanium element (preferably 364nm), and the second peak is the spectrum peak of the chromium element (preferably 357.869nm).

[0087] Step 6: After the laser head scans the surface of the aircraft according to the preset trajectory planning path, the scanning path of the laser head is re-planned according to the calibrated divided area, and the posture of the robot is controlled according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path;

[0088] Repeat steps 3 to 6 until the paint removal rate of the aircraft surface is greater than a preset value (wherein the preset value is 95%).

[0089] According to one embodiment of the present invention, step six includes:

[0090] Connecting each first area and each second area in sequence to form a re-planned scanning path of the laser head, which is recorded as a first scanning path;

[0091] Among them, controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path includes:

[0092] When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning;

[0093] When the laser head is located in the second area, the cleaning parameters corresponding to the second area are called to perform cleaning;

[0094] When the first peak value and the second peak value of the current position scanned by the laser head disappear, the cleaning is completed.

[0095] That is to say, all the paint positions that have not been cleaned are connected at one time and cleaned uniformly, and the element spectrum of the current scanning position is collected by the spectrometer during the cleaning process. When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when the second peak appears in the peak of the element spectrum of the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning; until the first peak of the current position scanned by the laser head disappears, and the second peak disappears, the cleaning is completed. Similarly, when the laser head is located in the second area, the cleaning parameters corresponding to the second area are called for cleaning, and the element spectrum of the current scanning position is collected by the spectrometer during the cleaning process, until the first peak of the current position scanned by the laser head disappears, and the second peak disappears, the cleaning is completed.

[0096] With this cleaning method, preliminary cleaning is first performed with preset cleaning parameters, and then precise cleaning is performed according to the divided areas. Currently, the commonly used aircraft skin paint layers are mainly epoxy polyamide primers and various aliphatic polyurethane enamels. In the cleaning process of carbon fiber composite materials, the removal of different types of coatings such as topcoat and primer has different requirements for laser energy. In order to achieve precise control of the cleaning process and control the laser energy, appropriate laser process parameters should be selected according to the coating type. Among them, the cleaning parameters corresponding to the first area and the cleaning parameters corresponding to the second area can be obtained through a large number of experimental verifications, and the paint can be quickly cleaned, which is conducive to improving the cleaning efficiency. After the cleaning is completed, the spectrometer detection is also completed. The whole process is short in time and low in cost.

[0097] In this embodiment, the laser cleaning parameters of the topcoat are: laser power 22W / defocus 0mm / scanning frequency 50KHz / scanning speed 2000m / s, working parameters: scanning number 1 time / track running speed 3.3mm / s, according to which the topcoat can be completely removed. The laser cleaning parameters of the primer are: laser power 15W / defocus 0mm / scanning frequency 100KHz / scanning speed 2000m / s, working parameters: scanning number 1 time / track running speed 3.3mm / s, according to which the primer can be completely removed.

[0098] Among them, after the topcoat is removed, the spectrometer is used to detect the spectral characteristic peaks greater than 100 points to determine that the Ti element content is significantly reduced (about half of the Ti element content of the topcoat), and the characteristic peak of the Cr element appears at the same time, proving that the topcoat has been cleaned. At this time, the laser cleaning parameters of the primer are automatically called for cleaning. After the primer is removed, the spectrometer is used to detect the spectral characteristic peaks greater than 100 points to determine whether there are residual characteristic peaks of Ti and Cr. After the spectrometer data is collected, there are no characteristic peaks of the above two elements, indicating that the cleaning task is completed, and the controller will automatically give instructions to the robot, and the robot will stop working.

[0099] In this embodiment, the main control computer determines the laser cleaning process parameters based on the component information screened by the spectrometer and establishes a laser cleaning process parameter database system. The laser cleaning collaborative control system can realize control logic such as processing triggering, processing parameter retrieval, and implementation of the processing process. The main control computer realizes the collaborative control of the trajectory laser, laser head and robot during the processing process through communication with the robot controller and the laser. The main control computer can collaboratively control the processing trajectory robot and the laser trigger action. The communication cycle between the main control computer and the robot controller is 12ms, which can fully meet the control requirements of the laser cleaning process.

[0100] According to one embodiment of the present invention, step six includes:

[0101] Connecting the first areas in sequence to form a re-planned scanning path of the laser head, which is recorded as a second scanning path;

[0102] Among them, controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path includes:

[0103] Calling the cleaning parameters corresponding to the first area to perform cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, stopping the cleaning of the current scanning position and starting the cleaning of the next position;

[0104] Connecting the first areas and the second areas in sequence to form a re-planned scanning path of the laser head, which is recorded as a third scanning path;

[0105] The cleaning parameters corresponding to the second area are called for cleaning, and the cleaning is completed when the second peak at the current position scanned by the laser head disappears.

[0106] That is to say, all first areas are cleaned uniformly first, and then all second areas are cleaned uniformly. In this way, there is no need to repeatedly call the cleaning parameters, and it is easy to maintain the cleaning stability of the equipment itself.

[0107] Specifically, in this embodiment, the laser cleaning parameters of the topcoat are: laser power 22W / defocus 0mm / scanning frequency 50KHz / scanning speed 2000m / s, working parameters: scanning number 1 time / track running speed 3.3mm / s, according to which the topcoat can be completely removed. The laser cleaning parameters of the primer are: laser power 15W / defocus 0mm / scanning frequency 100KHz / scanning speed 2000m / s, working parameters: scanning number 1 time / track running speed 3.3mm / s, according to which the primer can be completely removed.

[0108] Among them, after the topcoat is removed, the spectrometer is used to detect the spectral characteristic peaks greater than 100 points to determine that the Ti element content is significantly reduced (about half of the Ti element content of the topcoat), and the characteristic peak of the Cr element appears at the same time, proving that the topcoat has been cleaned. At this time, the cleaning of the next first area begins until all the first areas are cleaned, and then all the first areas and second areas are cleaned. At this time, the laser cleaning parameters of the primer are automatically called for cleaning. After the primer is removed, the spectrometer is used to detect the spectral characteristic peaks greater than 100 points to determine whether there are residual characteristic peaks of Ti and Cr. After the spectrometer data is collected, there are no characteristic peaks of the above two elements, indicating that the cleaning task is completed, and the controller will automatically give instructions to the robot, and the robot stops working.

[0109] In the above embodiment, the detection accuracy of titanium is about 0.05%, the detection accuracy of chromium is about 0.075% (mass fraction is less than 10%), and the acquisition frequency is between 10Hz and 50Hz. The LIBS method can greatly improve the acquisition accuracy and detection efficiency of carbon fiber composite materials.

[0110] It should be noted that in the above embodiment, the characteristic peak values ​​are selected for titanium and chromium elements. The collection principle is as follows: the characteristic peak signal corresponding to the Ti element in the paint layer lasts for 2 μs. The relevant data extracted during the implementation process are as follows: the characteristic peaks of Ti in the topcoat are 363.5nm, 364.2nm, and 365.4nm (the theoretical standard is 364.268nm, 319.99, 363.564, 365.350, and 399.864), and the characteristic peaks of Cr are 357.9nm and 359.3nm (the theoretical standard is 357.869, 359.349, 360.533, 425.437, and 427.480nm) as follows Figure 2 As shown in the figure, Ti element exists in both topcoat and primer, but the content of Ti element is obviously different. The content of Ti element in topcoat is about twice that in primer, which is close to the conclusion of energy spectrum test. In addition, Cr element exists in primer, but there is no obvious Ti peak spectrum information in topcoat. After zooming in on this area (as shown in Figure 3 ), it can be clearly seen that there is no Cr element in the topcoat. Therefore, in this embodiment, 364nm is selected as the criterion for determining the presence of Ti element, and the 357.869nm characteristic peak is used as the criterion for determining the presence of Cr.

[0111] Among them, in the aforementioned embodiment, when analyzing the spectral information, the following analysis method can be used: first, the spectral background is removed by the mean filtering method, so the density clustering method is used to appropriately and reasonably screen out the noise information, retain the effective spectral lines that can represent the sample information, and more effectively analyze the changing trend of the spectrum in the later stage to achieve the parameter threshold setting of the cleaning quality. After the background is removed and the effective spectral information data is effectively separated, the Pearson correlation coefficient is used to perform data correlation analysis on the separated spectrum. The cleaning state is determined by the rate of change of the Pearson correlation coefficient, thereby achieving guidance on the cleaning process. Finally, the computer receives the fixed value quantitative signal collected by the spectrometer sensor to determine whether the topcoat and primer are cleaned.

[0112] Before collecting the spectrum and analyzing the spectrum information, the main control computer may pre-store a corresponding table for measuring and calibrating the components of primer and topcoat using EDS technology. After collecting the spectrum peak, it can be determined which element the spectrum belongs to.

[0113] Therefore, by realizing the linkage between LIBs test feedback and three-dimensional coordinates, the calibration of LIBs under three-dimensional coordinates is realized (and the topcoat and primer are distinguished), the paint layer residue (cleaning unqualified area, including topcoat and primer) and the exposed composite material substrate (cleaning qualified area) area are segmented and located, and the three-dimensional position coordinate code is automatically formed and fed back to the end actuator. The cleaning process of the topcoat or primer is automatically selected according to the LIBs component monitoring, and the secondary cleaning of the selected area is completed, which effectively prevents residues in the cleaning process. Among them, the spectrum diagram of qualified cleaning is as follows Figure 4 As shown. Thus, the online detection of laser cleaning plasma spectrum of carbon fiber composite material paint layer is realized.

[0114] Figure 5 is a block diagram of a device for cleaning paint on the surface of an aircraft according to an embodiment of the present invention. The device is used to perform a method for cleaning paint on the surface of an aircraft according to any embodiment of the present invention, such as Figure 5 As shown, the device comprises:

[0115] The preset trajectory planning path acquisition module 101 is used to acquire the preset trajectory planning path according to the established aircraft model;

[0116] The control module 102 is used to control the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters;

[0117] During cleaning, the control module 102 is also used to control the element spectrometer disposed on the robot to collect the element spectrum of the current scanning position, and to control the robot to collect the surface data of the current scanning position for fitting;

[0118] The point cloud data acquisition module 103 is used to form three-dimensional surface point cloud data according to the surface data of the current scanning position;

[0119] A region division module 104 is used to perform region division and calibration on the aircraft surface according to the element spectrum and three-dimensional surface point cloud data at the current scanning position;

[0120] The path replanning module 105 is used to replan the scanning path of the laser head according to the calibrated divided areas after the laser head scans the aircraft surface according to the preset trajectory planning path, and control the posture of the robot according to the replanned scanning path to control the laser head to scan and clean the aircraft surface along the replanned scanning path; until the paint removal rate of cleaning the aircraft surface is greater than a preset value.

[0121] According to one embodiment of the present invention, the region division module 104 includes:

[0122] A first area division unit, used for calibrating the current scanning position as a first area according to the three-dimensional surface point cloud data when the peak value of the element spectrum at the current scanning position is the first peak value and the second peak value does not appear;

[0123] A second area division unit is used to calibrate the current scanning position as a second area according to the three-dimensional surface point cloud data when a second peak appears in the peak of the element spectrum at the current scanning position;

[0124] The third area division unit is used to calibrate the current scanning position as the third area according to the three-dimensional surface point cloud data when the first peak and the second peak in the element spectrum of the current scanning position disappear, wherein the first peak is the characteristic peak of the characteristic element of the topcoat, and the second peak is the characteristic peak of the characteristic element of the primer.

[0125] According to one embodiment of the present invention, the path replanning module 105 includes:

[0126] A first scanning path forming unit, used for sequentially connecting each first area and each second area to form a re-planned scanning path of the laser head, which is recorded as a first scanning path;

[0127] The path re-planning module is also used to,

[0128] When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning;

[0129] When the laser head is located in the second area, the cleaning parameters corresponding to the second area are called to perform cleaning;

[0130] When the first peak value and the second peak value of the current position scanned by the laser head disappear, the cleaning is completed.

[0131] According to one embodiment of the present invention, the path replanning module 105 includes:

[0132] A second scanning path forming unit, used for sequentially connecting the first areas to form a re-planned scanning path of the laser head, which is recorded as a second scanning path;

[0133] The path re-planning module is also used to,

[0134] Calling the cleaning parameters corresponding to the first area to perform cleaning, and stopping the cleaning when a second peak appears in the peak of the element spectrum at the current scanning position;

[0135] A third scanning path forming unit, used for sequentially connecting the first areas and the second areas to form a re-planned scanning path of the laser head, which is recorded as a third scanning path;

[0136] The path re-planning module is also used to,

[0137] The cleaning parameters corresponding to the second area are called for cleaning, and the cleaning is completed when the second peak at the current position scanned by the laser head disappears.

[0138] The aircraft surface paint cleaning device provided in the embodiment of the present invention can execute the aircraft surface paint cleaning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method, which will not be described in detail here.

[0139] Figure 6 A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown.

[0140] The electronic device 10 includes:

[0141] at least one processor; and

[0142] a memory communicatively connected to at least one processor; wherein,

[0143] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the method for cleaning paint on the surface of an aircraft according to any embodiment of the present invention.

[0144] The electronic device may also include a fiber laser, a dichroic mirror, a scanning galvanometer, a quartz lens, a 340nm-390nm spectrum collector, a track robot, and the like.

[0145] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions. The computer instructions are used to enable a processor to implement the method for cleaning aircraft surface paint according to any embodiment of the present invention when executed.

[0146] Wherein, electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the inventions described and / or claimed herein.

[0147] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0148] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0149] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for cleaning paint on the surface of an aircraft.

[0150] In some embodiments, the method for cleaning the paint on the surface of an aircraft may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for cleaning the paint on the surface of an aircraft described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the method for cleaning the paint on the surface of an aircraft in any other appropriate manner (e.g., by means of firmware).

[0151] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0152] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0153] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0154] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0155] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0156] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0157] In summary, according to the method, device, equipment and medium for cleaning paint on the surface of an aircraft proposed in an embodiment of the present invention, the method includes the following steps: Step 1: obtaining a preset trajectory planning path according to an established aircraft model; Step 2: controlling the posture of the robot according to the preset trajectory planning path to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters; Step 3: during cleaning, controlling the element spectrometer set on the robot to collect the element spectrum of the current scanning position, and controlling the robot to collect the surface data of the current scanning position for fitting; Step 4: forming three-dimensional surface point cloud data according to the surface data of the current scanning position; Step 5: calibrating the area division of the aircraft surface according to the element spectrum and the three-dimensional surface point cloud data of the current scanning position; Step 6: after the laser head scans the aircraft surface according to the preset trajectory planning path, re-planning the scanning path of the laser head according to the calibrated divided area, and controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the aircraft surface along the re-planned scanning path; repeating steps 3 to 6 until the paint removal rate of cleaning the aircraft surface is greater than the preset value. Therefore, this method can automatically plan the scanning path of the laser head and automatically call the cleaning parameters, which not only makes the entire cleaning process intelligent and automated, but also enables machine inspection of the results after cleaning without the need for manual visual inspection, thereby improving the cleaning efficiency.

[0158] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0159] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for cleaning paint on the surface of an aircraft, characterized in that: The following steps are involved: Step 1: Obtain the preset trajectory planning path based on the established aircraft model; Step 2: Control the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters; Step 3: During cleaning, controlling the element spectrometer disposed on the robot to collect the element spectrum of the current scanning position, and controlling the robot to collect the surface data of the current scanning position for fitting; Step 4: forming three-dimensional surface point cloud data according to the surface data of the current scanning position; Step 5: performing regional division and calibration on the aircraft surface according to the element spectrum of the current scanning position and the three-dimensional surface point cloud data; Step 6: After the laser head scans the surface of the aircraft according to the preset trajectory planning path, the scanning path of the laser head is re-planned according to the calibrated divided areas, and the posture of the robot is controlled according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path; Repeating step 3 to step 6 until the paint removal rate of the aircraft surface is greater than a preset value; The step five comprises: When the peak value of the element spectrum at the current scanning position is the first peak value and the second peak value does not appear, calibrating the current scanning position as the first area according to the three-dimensional surface point cloud data; When a second peak appears in the peak value of the element spectrum at the current scanning position, calibrating the current scanning position as a second area according to the three-dimensional surface point cloud data; When the first peak in the element spectrum of the current scanning position disappears and the second peak disappears, the current scanning position is calibrated as a third area according to the three-dimensional surface point cloud data, wherein the first peak is a characteristic peak of the characteristic element of the topcoat, and the second peak is a characteristic peak of the characteristic element of the primer.

2. The method for cleaning paint on the aircraft surface according to claim 1, characterized in that: The step six comprises: Connecting each of the first areas and each of the second areas in sequence to form a re-planned scanning path of the laser head, which is recorded as a first scanning path; Wherein, controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path includes: When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning; When the laser head is located in the second area, calling the cleaning parameters corresponding to the second area for cleaning; When the first peak value disappears and the second peak value disappears at the current position scanned by the laser head, the cleaning is finished.

3. The method for cleaning paint on the aircraft surface according to claim 1, characterized in that: The step six comprises: Connecting the first regions in sequence to form a re-planned scanning path of the laser head, which is recorded as a second scanning path; Wherein, controlling the posture of the robot according to the re-planned scanning path to control the laser head to scan and clean the surface of the aircraft along the re-planned scanning path includes: Calling the cleaning parameters corresponding to the first area to perform cleaning, and when a second peak appears in the peaks of the element spectrum of the current scanning position, stopping the cleaning of the current scanning position and starting the cleaning of the next position; Connecting the first areas and the second areas in sequence to form a re-planned scanning path of the laser head, which is recorded as a third scanning path; The cleaning parameters corresponding to the second area are called to perform cleaning, and the cleaning is completed when the second peak at the current position scanned by the laser head disappears.

4. The method for cleaning paint on the surface of an aircraft according to any one of claims 1 to 3, characterized in that: The first peak is a spectrum peak of the titanium element, and the second peak is a spectrum peak of the chromium element.

5. A device for cleaning paint on the surface of an aircraft, characterized in that: The device is used to perform the method for cleaning paint on the surface of an aircraft as described in any one of claims 1 to 4, the device comprising: A preset trajectory planning path acquisition module is used to obtain a preset trajectory planning path according to the established aircraft model; A control module, used to control the posture of the robot according to the preset trajectory planning path, so as to control the laser head to scan and clean the paint on the surface of the aircraft along the preset trajectory planning path with preset cleaning parameters; During cleaning, the control module is also used to control the element spectrometer disposed on the robot to collect the element spectrum of the current scanning position, and to control the robot to collect the surface data of the current scanning position for fitting; A point cloud data acquisition module, used for forming three-dimensional surface point cloud data according to the surface data of the current scanning position; A region division module, used for performing region division and calibration on the aircraft surface according to the element spectrum of the current scanning position and the three-dimensional surface point cloud data; The path replanning module is used to replan the scanning path of the laser head according to the calibrated divided areas after the laser head scans the aircraft surface according to the preset trajectory planning path, and control the posture of the robot according to the replanned scanning path to control the laser head to scan and clean the aircraft surface along the replanned scanning path; until the paint removal rate of cleaning the aircraft surface is greater than a preset value.

6. The aircraft surface paint cleaning device according to claim 5, characterized in that: The area division module comprises: A first area division unit, configured to calibrate the current scanning position as a first area according to the three-dimensional surface point cloud data when the peak of the element spectrum at the current scanning position is the first peak and the second peak does not appear; A second area division unit is used for calibrating the current scanning position as a second area according to the three-dimensional surface point cloud data when a second peak appears in the peak of the element spectrum of the current scanning position; The third area division unit is used to calibrate the current scanning position as a third area according to the three-dimensional surface point cloud data when the first peak in the element spectrum of the current scanning position disappears and the second peak disappears, wherein the first peak is a characteristic peak of a characteristic element of topcoat and the second peak is a characteristic peak of a characteristic element of primer.

7. The aircraft surface paint cleaning device according to claim 6, characterized in that: The path re-planning module comprises: A first scanning path forming unit, used for sequentially connecting each of the first areas and each of the second areas to form a re-planned scanning path of the laser head, which is recorded as a first scanning path; The path re-planning module is also used to: When the laser head is located in the first area, the cleaning parameters corresponding to the first area are called for cleaning, and when a second peak appears in the peak of the element spectrum at the current scanning position, the cleaning parameters corresponding to the second area are called for cleaning; When the laser head is located in the second area, calling the cleaning parameters corresponding to the second area for cleaning; When the first peak value disappears and the second peak value disappears at the current position scanned by the laser head, the cleaning is finished.

8. The aircraft surface paint cleaning device according to claim 6, characterized in that: The path re-planning module comprises: A second scanning path forming unit, used for sequentially connecting the first areas to form a re-planned scanning path of the laser head, which is recorded as a second scanning path; The path re-planning module is also used to: Calling the cleaning parameters corresponding to the first area to perform cleaning, and when a second peak appears in the peaks of the element spectrum of the current scanning position, stopping the cleaning of the current scanning position and starting the cleaning of the next position; A third scanning path forming unit, used for sequentially connecting the first areas and the second areas to form a re-planned scanning path of the laser head, which is recorded as a third scanning path; The path re-planning module is also used to: The cleaning parameters corresponding to the second area are called to perform cleaning, and the cleaning is completed when the second peak at the current position scanned by the laser head disappears.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method for cleaning paint on the surface of an aircraft according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for cleaning aircraft surface paint according to any one of claims 1 to 4 when executed.

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