A robot-based intelligent laser cleaning system and method

Abstract

This invention provides a robot-based intelligent laser cleaning system and method, including a robot module and a laser cleaning head. The robot module is connected to the laser cleaning head, which includes component structures, including a line laser scanner. The laser cleaning head module of this invention serves as the end effector of a robot or other mobile device, replacing human hands or machine tools for manipulating and moving the laser cleaning head. This effectively addresses the shortcomings of existing cabinet-type and tabletop laser cleaning solutions, such as low efficiency and intelligence, and difficulty in applying them to large surface cleaning. The air curtain structure of this invention provides high-pressure air curtain protection for the lenses within the system during the cleaning process and improves the recovery rate of cleaning waste. The method proposed in this invention helps to achieve intelligent adaptive and tracking cleaning of the surface shape of the workpiece to be cleaned during the cleaning process, significantly improving the intelligence level of the laser cleaning process.

Description

Technical Field

[0001] This invention belongs to the field of laser cleaning technology, and specifically relates to a robot-based intelligent laser cleaning system and method. Background Technology

[0002] Laser cleaning technology has gradually become a widely used surface treatment technology due to its outstanding advantages such as good cleaning effect, low technical cost, wide applicability to materials, high control precision, and non-contact green cleaning. For example, laser cleaning technology is currently used in extremely important industrial scenarios such as surface rust removal, surface decontamination, and pretreatment of welded and painted surfaces.

[0003] Existing laser cleaning equipment is mostly cabinet-type or tabletop-type, meaning that in addition to the laser cleaning head that actually performs the cleaning, there are corresponding cabinets and workbenches serving as platforms for the electrical supply system and the parts to be cleaned. These methods typically have the following inherent drawbacks:

[0004] Firstly, existing cabinet-type laser cleaning solutions, such as those with application publication numbers CN210230868U and CN210754166U, typically combine a handheld cleaning head with a cleaning cabinet via a connecting mechanism and electrical connection system to achieve the cleaning function. Operators hold the cleaning head to perform the cleaning operation, and after cleaning the current work area, the entire cabinet system needs to be moved to the next area for cleaning. This makes existing cabinet-type laser cleaning solutions quite bulky, requiring significant manpower for cleaning operations, resulting in low work efficiency and a lack of automation and intelligence.

[0005] Secondly, benchtop laser cleaning solutions, such as those in patent application CN111420938A, typically employ a CNC machine tool-like operation method. The workpiece to be cleaned is fixed on the table, and a CNC-controlled moving cleaning head performs the cleaning operation. Compared to traditional cabinet-style solutions, this significantly improves the automation and intelligence of laser cleaning. However, the reliance on the worktable limits the applicability of this solution, and it requires task division for the entire workpiece. Benchtop solutions are generally only suitable for cleaning small parts and small surfaces, making them difficult to apply to cleaning large parts and large surfaces, which in reality are often more aligned with industrial needs.

[0006] Third, existing laser cleaning solutions typically do not consider the active recycling of waste generated during the cleaning process or the recycling is inefficient, resulting in a poor working environment and posing significant safety or health hazards to the laser cleaning system and equipment, as well as related personnel.

[0007] In addition, existing robot-operated laser cleaning systems and solutions, such as application publication number CN105127150A, disclose a method for achieving automatic cleaning by adjusting the distance between the laser cleaning device held by the robot and the workpiece surface through a computer. However, in actual engineering, large surfaces are usually accompanied by unavoidable curvature changes. In this case, adjusting the distance alone is not enough to meet the cleaning requirements, and the adjustment of the posture of the cleaning device needs to be considered. Summary of the Invention

[0008] To address the above problems, this invention provides a robot-based intelligent laser cleaning system and method.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A robot-based intelligent laser cleaning system includes a robot module and a laser cleaning head.

[0011] The robot module is connected to the laser cleaning head;

[0012] The laser cleaning head includes component structures;

[0013] The component structure includes a line laser scanner.

[0014] Preferably, the robot module includes a robot, a cable tray, and a guide rail slider. The robot is fixedly connected to the guide rail slider, and the cable tray is mounted on the robot's robotic arm.

[0015] Preferably, the laser cleaning head further includes a housing structure; the housing structure includes a cover plate, a bottom plate, a front side plate, a rear side plate, a left side plate, a right side plate, a rear anti-collision strip fixing component, a left anti-collision strip fixing component, a right anti-collision strip fixing component, and a plate fixing frame; the cover plate, bottom plate, front side plate, rear side plate, left side plate, and right side plate are fixedly connected to the plate fixing frame, the rear anti-collision strip fixing component is fixedly connected to the rear side plate, the left anti-collision strip fixing component is fixedly connected to the left side plate, and the right anti-collision strip fixing component is fixedly connected to the right side plate; a flange connects the laser cleaning head and the robot, and the two are connected by the flange.

[0016] Preferably, the component structure further includes a laser generating unit, a fiber optic channel submodule, a moving galvanometer module, a field mirror module, and a solenoid valve; the laser generating unit is located inside the housing structure and is fixedly connected to the fiber optic channel submodule, and the fiber optic channel submodule is fixedly connected to the moving galvanometer module; the laser generating unit is fixedly connected to the base plate via a limiting member.

[0017] The line laser scanner is fixedly connected to the front side plate, and the solenoid valve is fixedly connected to the base plate.

[0018] Preferably, the fiber channel submodule includes several light guide arms, a front reflector, a rear reflector, and a red light unit; the front reflector is used to connect light guide arms with different axes and reflect laser light; the rear reflector is used to connect light guide arms with different axes and reflect laser light; the two ends of the red light unit are connected to the light guide arms; the light guide arms are fixedly connected to each other by locking rings; the fiber channel submodule is fixedly connected to the laser generating unit and the moving galvanometer module respectively through the light guide arms.

[0019] Preferably, the motion galvanometer module includes a galvanometer housing, a plurality of in-housing motion galvanometers, a galvanometer motor, a motor drive card, and a galvanometer connecting ring; the galvanometer motor is connected to the in-housing motion galvanometers; the motor drive card is electrically connected to the galvanometer motor and fixedly connected to the base plate; the in-housing motion galvanometers are arranged in a spatially non-coplanar manner.

[0020] Preferably, the field mirror module includes a field mirror lens structure, a first vent valve, a field mirror mounting base, and a first air curtain structure; the field mirror module is fixedly connected to the front side plate via the field mirror mounting base; the field mirror lens structure and the galvanometer connecting ring are coaxially fixedly connected; the first air curtain structure includes a first air curtain cover plate and a first air curtain base plate; the first air curtain base plate is coaxially fixedly connected to the field mirror lens structure, and the first air curtain cover plate and the first air curtain base plate are coaxially fixedly connected; the two sides of the air curtain base plate are fixedly connected to the first vent valve, and the vent valve is connected to the solenoid valve.

[0021] Preferably, the system further includes a dust collection hood module fixedly connected to the laser cleaning head. The dust collection hood module includes a housing, a pipe, a second air curtain structure, a second ventilation valve, and an active dust collection device. The housing includes a front opening, a rear opening, and a pipe interface. The pipe interface is fixedly connected to the pipe, and the pipe is connected to the interface of the active dust collection device. The second air curtain structure includes a second air curtain base plate and a second air curtain cover plate. The second air curtain base plate is fixedly connected to the second air curtain cover plate, the second ventilation valve is fixedly connected to the second air curtain cover plate, and the second ventilation valve is fixedly connected to the solenoid valve.

[0022] Preferably, it also includes a host computer and a slave computer;

[0023] The host computer is used to establish communication with the laser cleaning head and the slave computer;

[0024] The lower-level machine is used to receive control commands from the upper-level machine and actually control the robot's movement, as well as to transmit the angle information of each joint of the robot to the upper-level machine.

[0025] A cleaning method using a robot-based intelligent laser cleaning system includes the following steps:

[0026] 1. The robot in the robot module, the laser cleaning head fixedly connected to the robot, and the line laser scanner in the component structure of the laser cleaning head are calibrated to obtain several coordinate systems and the homogeneous transformation relationship between the coordinate systems.

[0027] 2. The robot controls the laser cleaning head to move at a fixed speed along the travel direction, while a line laser scanner scans the surface of the workpiece to be cleaned to obtain point cloud information of the workpiece surface in the travel direction. The obtained topographic information is then transmitted to the host computer in a timely manner.

[0028] 3. The host computer processes the information based on the obtained shape information.

[0029] Preferably, before the host computer processes the information based on the obtained topographic information, the following steps are further included:

[0030] The effective focal length of the laser cleaning head is obtained as [d-∆d, d+∆d], where d is the optimal focal length and ∆d is the critical condition for defocusing.

[0031] Preferably, the host computer processes the obtained topographic information, including the following steps:

[0032] The host computer performs surface fitting on the point cloud information of the workpiece surface to be cleaned, and further calculates the distribution of the surface normal vector along the travel direction of the laser cleaning head.

[0033] The host computer calculates and stores the laser cleaning head pose in real time based on the dynamic changes of the surface shape and normal vector during the stroke, according to the effective focal length of the laser cleaning, so that the laser cleaning head will not lose focus when it reaches the location to perform the operation and can dynamically adjust to follow the changes of the curved surface.

[0034] The host computer sends real-time control commands to the slave computer based on the pre-stored laser cleaning head pose information, enabling the robot to adjust the pose of the end laser cleaning head in real time during the cleaning process to adapt to changes in the workpiece surface.

[0035] Preferably, obtaining the plurality of coordinate systems and the homogeneous transformation relationships between the coordinate systems includes the following steps:

[0036] The line laser scanner is moved to the starting position of the cleaning stroke. The robot, laser cleaning head, and line laser scanner are calibrated at this time to determine the world coordinate system, the coordinate systems of each joint of the robot, the coordinate system of the laser cleaning head, and the coordinate system of the line laser scanner. The homogeneous transformation relationship between the world coordinate system and the laser cleaning head coordinate system, the homogeneous transformation relationship between the laser cleaning head coordinate system and the line laser scanner coordinate system, and the homogeneous transformation relationship between the world coordinate system and the laser scanner coordinate system are obtained. All homogeneous transformation relationships are updated in real time.

[0037] The beneficial effects of this invention are:

[0038] 1. The laser cleaning head module of the present invention serves as the end effector of mobile devices such as robots, replacing human hands or machine tools for operating and moving the laser cleaning head. It can effectively solve the shortcomings of existing cabinet and tabletop laser cleaning solutions, such as low work efficiency and intelligence, and difficulty in applying them to large surface cleaning.

[0039] 2. This invention forms a more advanced technical solution compared with existing laser cleaning technology. Structurally, air curtain structures are designed in the laser cleaning head module and the dust collection hood module respectively. During the cleaning process, a high-pressure air curtain is formed to protect the lenses in the system and improves the recycling rate of cleaning waste.

[0040] 3. In the robot module of the present invention, the robot and the guide rail slider are fixedly connected. The guide rail can be flexibly set as a straight line, a curved line or a hybrid type according to the specific task requirements. At the same time, combined with the industrial robot and the laser cleaning head module, it can perform high-precision cleaning operations, which improves the adaptability to various large surface laser cleaning needs.

[0041] 4. The method proposed in this invention helps to achieve intelligent adaptive and tracking cleaning of the surface shape of the workpiece to be cleaned during the cleaning process, which significantly improves the intelligence level of the laser cleaning process.

[0042] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is an exploded view of the overall structure of the laser cleaning head module described in this invention;

[0045] Figure 2 This is a top view of the internal components of the laser cleaning head module described in this invention;

[0046] Figure 3 This is a cross-sectional schematic diagram of the motion oscillating mirror module and the field mirror module described in this invention;

[0047] Figure 4This is a cross-sectional schematic diagram of the structure of the motion oscillating mirror module and the field mirror module described in this invention;

[0048] Figure 5 This is a cross-sectional schematic diagram of the dust collection hood module structure described in this invention;

[0049] Figure 6 This is a flowchart of a method for laser cleaning using a robot-based intelligent laser cleaning system according to an embodiment of the present invention.

[0050] Figure 7 This is a system structure and information flow diagram of a method for laser cleaning using a robot-based intelligent laser cleaning system according to an embodiment of the present invention;

[0051] Figure 8 This is a simplified illustration of a scenario where laser cleaning is performed using a robot-based intelligent laser cleaning system according to an embodiment of the present invention.

[0052] Numbering in the diagram: 11. Robot; 12. Cable tray; 13. Guide rail slider; 211. Base plate; 212. Cover plate; 213. Front side plate; 214. Rear side plate; 215. Left side plate; 216. Right side plate; 221. Rear anti-collision strip fixing component; 222. Left anti-collision strip fixing component; 223. Right anti-collision strip fixing component; 23. Fixing frame; 24. Line laser scanner; 25. Solenoid valve; 311. Laser generating unit; 312. Limiting component; 321. Light guide arm; 3221. Front reflector; 3222. Rear reflector; 323. Red light unit; 324. Locking ring; 331. Galvanometer housing 332. Internal moving galvanometer; 333. Galvanometer motor; 334. Motor drive card; 335. Galvanometer connecting ring; 341. Field lens structure; 342. First air curtain cover plate; 343. First air curtain base plate; 344. First ventilation valve; 345. Field lens mounting base; 35. First air curtain structure; 41. Housing; 411. Front opening; 412. Rear opening; 413. Pipe interface; 42. Pipe; 43. Second air curtain base plate; 44. Second air curtain cover plate; 45. Second ventilation valve; 46. Active vacuuming device; 461. Active vacuuming device interface; 47. Second air curtain structure; 5. Flange. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] A robot-based intelligent laser cleaning system includes a robot module and a laser cleaning head, wherein the robot module is connected to the laser cleaning head;

[0055] The laser cleaning head includes component structures;

[0056] The component structure includes a line laser scanner 24.

[0057] Furthermore, the robot module includes a robot 11, a wiring bracket 12, and a guide rail slider 13. The robot 11 is fixedly connected to the guide rail slider 13, and the wiring bracket 12 is mounted on the robotic arm of the robot 11.

[0058] Furthermore, the laser cleaning head also includes a housing structure;

[0059] The shell structure includes a base plate 211, a cover plate 212, a front side plate 213, a rear side plate 214, a left side plate 215, a right side plate 216, a rear anti-collision strip fixing member 221, a left anti-collision strip fixing member 222, a right anti-collision strip fixing member 223, and a plate fixing frame 23;

[0060] The base plate 211, cover plate 212, front side plate 213, rear side plate 214, left side plate 215, and right side plate 216 are fixedly connected to the plate fixing frame 23. The rear anti-collision strip fixing component 221 is fixedly connected to the rear side plate 214, the left anti-collision strip fixing component 222 is fixedly connected to the left side plate 215, and the right anti-collision strip fixing component 223 is fixedly connected to the right side plate 216.

[0061] A flange 5 connects the laser cleaning head and the robot 11.

[0062] It should be noted that, as Figure 1 As shown, the base plate 211, cover plate 212, front side plate 213, rear side plate 214, left side plate 215, right side plate 216, rear anti-collision strip fixing member 221, left anti-collision strip fixing member 222, right anti-collision strip fixing member 223, and plate fixing frame 23 are connected according to... Figure 1 The relative positions shown in the exploded view are fixedly connected. Furthermore, each anti-collision strip fastener should be connected to a pressure-sensitive anti-collision strip of the corresponding geometric dimensions. Each anti-collision strip establishes a signal channel with the system, and the system will initiate an emergency stop when the anti-collision strip detects a collision.

[0063] Furthermore, the component structure also includes a laser generating unit 311, a fiber optic channel submodule, a motion galvanometer module, a field mirror module, and a solenoid valve 25;

[0064] The laser generating unit 311 is located inside the housing structure and is fixedly connected to the fiber optic channel submodule. The fiber optic channel submodule is fixedly connected to the moving galvanometer module.

[0065] The laser generating unit 311 is fixedly connected to the base plate 211 via the limiting member 312;

[0066] The line laser scanner 24 is fixedly connected to the front side plate 213, and the solenoid valve 25 is fixedly connected to the base plate 211.

[0067] Furthermore, such as Figure 2 As shown, the fiber channel submodule includes several light guide arms 321, a front reflector 3221, a rear reflector 3222, and a red light unit 323;

[0068] The front reflector 3221 is used to connect the optical guide arms 321 with different axes to reflect the laser.

[0069] The rear reflector 3222 is used to connect the optical guide arms 321 with different axes to reflect the laser.

[0070] The two ends of the red light unit 323 are connected to the light guide arm 321;

[0071] The light guide arms 321 are fixedly connected by locking rings 324;

[0072] The fiber channel submodule is fixedly connected to the laser generating unit 311 and the moving galvanometer module via the light guide arm 321.

[0073] It should be noted that the laser generating unit 311 is fixedly connected to the base plate 211 via several limiting members 312, and is also fixedly connected to one end of a light guide arm 321. The other end of this light guide arm is connected to the front reflector 3221. The front reflector 3221 and the rear reflector 3222 are fixedly connected via a light guide arm 321. The rear reflector 3222 is also connected to the red light unit 323 via a light guide arm 321. The red light unit 323 is connected to the galvanometer housing 331 via two light guide arms 321, with the two light guide arms 321 fixedly connected by a locking ring 324. This forms a fiber optic channel submodule. The purpose of adding the red light module here is to visualize the laser dynamics. In addition, the galvanometer housing 331 and the field lens structure 341 are coaxially fixedly connected via a galvanometer connecting ring 335.

[0074] Furthermore, such as Figure 3 As shown, the motion galvanometer module includes a galvanometer housing 331, several in-housing motion galvanometers 332, a galvanometer motor 333, a motor drive card 334, and a galvanometer connecting ring 335.

[0075] The galvanometer motor 333 is connected to the galvanometer 332 inside the housing;

[0076] The motor drive card 334 is electrically connected to the galvanometer motor 333 and is fixedly connected to the base plate 211;

[0077] The moving galvanometers 332 inside the shell are arranged in a spatially non-coplanar manner.

[0078] It should be noted that the expression "spatial non-coplanar" refers to non-parallel relative positions, meaning there should be an angle between the two moving galvanometers 332 inside the shell (between the planes where the two galvanometers are located). In practice, the angle between the moving galvanometers 332 inside the shell is changed by controlling the movement of the galvanometer motor 333, thereby further changing the scanning area of ​​the laser output from the laser cleaning head to achieve cleaning. When the two moving galvanometers 332 inside the shell are parallel, they cannot emit laser light outwards.

[0079] Furthermore, the field mirror module includes a field mirror lens structure 341, a first vent valve 344, a field mirror mounting base 345, and a first air curtain structure 35;

[0080] The field mirror module is fixedly connected to the front side plate 213 via the field mirror mounting bracket 345;

[0081] The field lens structure 341 and the galvanometer connecting ring 335 are coaxially fixedly connected;

[0082] The first air curtain structure 35 includes a first air curtain cover plate 342 and a first air curtain bottom plate 343;

[0083] The first air curtain base plate 343 is coaxially and fixedly connected to the field lens structure 341, and the first air curtain cover plate 342 is coaxially and fixedly connected to the first air curtain base plate 343.

[0084] The first air curtain base plate 343 is fixedly connected to the first ventilation valve 344 on both sides, and the first ventilation valve 344 is connected to the solenoid valve 25.

[0085] It should be noted that the first vent valve 344 is connected to the solenoid valve 25, and positive pressure air can be supplied to the first air curtain structure 35 through the first vent valve 344. After the positive pressure air supply is implemented, the first air curtain structure 35 will generate an air curtain barrier. In particular, the first air curtain structure 35 is distributed in a ring shape, thus generating a conical air curtain barrier at the front end of the field lens structure 341, forming dust protection for the laser cleaning head.

[0086] Furthermore, such as Figure 4 and 5 As shown, it also includes a dust collection hood module fixedly connected to the laser cleaning head. The dust collection hood module includes a housing 41, a pipe 42, a second air curtain structure 47, a second ventilation valve 45, and an active dust collection device 46.

[0087] The housing 41 includes a front opening 411, a rear opening 412, and a pipe interface 413. The pipe interface 413 is fixedly connected to the pipe 42, and the pipe 42 is connected to the active vacuuming device interface 461.

[0088] The second air curtain structure 47 includes a second air curtain base plate 43 and a second air curtain cover plate 44.

[0089] The second air curtain base plate 43 is fixedly connected to the second air curtain cover plate 44, the second vent valve 45 is fixedly connected to the air curtain cover plate 44, and the second vent valve 45 is fixedly connected to the solenoid valve 25.

[0090] It should be noted that positive pressure air can be supplied to the second air curtain structure 47 through the second vent valve 45. After implementing positive pressure air supply, the second air curtain structure 47 will generate an air curtain barrier. In particular, unlike the first air curtain structure 35 in the field mirror module, the second air curtain structure 47 here has a linear opening, which will generate a blade-shaped air curtain. In addition, the extension line of the tip of the second air curtain structure 47 intersects the plane where the rear opening 412 is located at an acute angle and intersects in the area to the left of the rear opening. Therefore, the air curtain generated by the second air curtain structure 47 will be distributed along this extension line, forming a barrier in front of the rear opening 412 and preventing waste from passing through. Thus, under the action of negative pressure from the pipe 42 and positive pressure of the air curtain, the waste sucked in by the dust collection hood module is prevented from passing through the rear opening 412, and the waste recycling efficiency is improved.

[0091] It should be noted that, as Figure 5 As shown, the active vacuuming device 46 of the vacuum hood module and the robot 11 are mounted on the same guide rail slider 13, and the robot 11 is connected to the laser cleaning head through the flange 5.

[0092] Furthermore, it also includes host computer and slave computer;

[0093] The host computer is used to establish communication with the laser cleaning head and the slave computer;

[0094] The lower-level computer is used to receive control commands from the upper-level computer and actually control the movement of the robot 11, as well as to transmit the angle information of each joint of the robot 11 to the upper-level computer.

[0095] It should be noted that the robot can receive and process the initial data obtained by the line laser scanner 24, complete the real-time transformation of the point cloud from the camera coordinate system to the world coordinate system, calculate the normal vector distribution of the workpiece surface in the stroke direction, and then generate the end-effector trajectory planning result of the robot 11. Finally, it outputs control commands to the lower-level machine through inverse kinematics calculation.

[0096] A cleaning method using a robot-based intelligent laser cleaning system includes the following steps:

[0097] The robot 11 in the robot module, the laser cleaning head fixedly connected to the robot 11, and the line laser scanner 24 in the component structure of the laser cleaning head are calibrated to obtain several coordinate systems and homogeneous transformation relationships between the coordinate systems.

[0098] The robot 11 controls the laser cleaning head to move along the travel direction at a certain speed, while the line laser scanner 24 scans the surface of the workpiece to be cleaned, thereby obtaining the point cloud information of the surface of the workpiece to be cleaned in the travel direction, and the obtained topographic information is transmitted to the host computer in a timely manner.

[0099] The host computer processes the information based on the obtained topographical information.

[0100] Furthermore, before the host computer processes the information based on the obtained morphological information, the effective focal length of the laser cleaning head is obtained as [d-∆d, d+∆d], where d is the optimal focal length and ∆d is the critical condition for defocusing.

[0101] Furthermore, the host computer processes the obtained topographic information, including the following steps:

[0102] The host computer performs surface fitting on the point cloud information of the workpiece surface to be cleaned, and further calculates the distribution of the surface normal vector along the travel direction of the laser cleaning head.

[0103] The host computer calculates and stores the laser cleaning head pose in real time based on the dynamic changes of the surface shape and normal vector during the stroke, according to the effective focal length of laser cleaning, so that the laser cleaning head will not lose focus when it moves to the corresponding position to perform the operation, and can dynamically adjust to follow the changes of the curved surface.

[0104] The host computer sends real-time control commands to the slave computer based on the pre-stored laser cleaning head pose information, enabling the robot 11 to adjust the pose of the end laser cleaning head in real time during the cleaning process to adapt to changes in the workpiece surface.

[0105] Furthermore, several coordinate systems and the homogeneous transformation relationships between them are obtained, including the following steps:

[0106] The line laser scanner 24 is moved to the starting position of the cleaning stroke. The robot 11, the laser cleaning head, and the line laser scanner 24 are calibrated at this time to determine the world coordinate system, the coordinate systems of each joint of the robot 11, the coordinate system of the laser cleaning head, and the coordinate system of the line laser scanner 24. The homogeneous transformation relationship between the world coordinate system and the laser cleaning head coordinate system, the homogeneous transformation relationship between the laser cleaning head coordinate system and the line laser scanner 24 coordinate system, and the homogeneous transformation relationship between the world coordinate system and the line laser scanner 24 coordinate system are obtained. The homogeneous transformation relationships are updated in real time.

[0107] like Figure 7 The diagram illustrates a method for constructing a robot-based intelligent laser cleaning system according to an embodiment of the present invention. The system includes: a line laser scanner 24, a host computer, a slave computer, a robot 11, and a laser cleaning head. The line laser scanner 24 and the laser cleaning head are included in... Figure 1 and Figure 2 Within the laser cleaning head shown, robot 11 is incorporated into the robot module shown in Figure 5. Line laser scanner 24 transmits initial point cloud information of the workpiece surface to the host computer via a data connection; the host computer processes the initial point cloud information, including point cloud filtering, smoothing, and transformation to the world coordinate system, and calculates the following based on the processed point cloud information: Figure 8 The normal vector distribution shown is used to plan the robot's end-effector trajectory based on the normal vector distribution. The host computer and the slave computer establish a data connection, and the slave computer and the robot 11 establish a data connection. After the host computer transmits the robot 11's end-effector trajectory planning result to the slave computer, the slave computer generates a control signal to control the robot 11 to move and change the pose of the laser cleaning head, so that it can adaptively track the changes in the surface shape of the workpiece. The laser cleaning head and the line laser scanner 24 will produce the same pose (position and attitude) changes due to the movement of the robot 11. Therefore, the host computer needs to receive the joint angle information of the robot 11 from the slave computer in real time, so as to update the coordinate transformation relationship in real time.

[0108] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for cleaning using a robot-based intelligent laser cleaning system, characterized in that... The robot-based intelligent laser cleaning system includes a robot module and a laser cleaning head, wherein the robot module is connected to the laser cleaning head. The laser cleaning head includes a component structure comprising a line laser scanner, a laser generating unit, a fiber optic channel submodule, a moving galvanometer module, a field mirror module, and a solenoid valve. The laser generating unit is located within the housing structure and fixedly connected to the fiber optic channel submodule, which is in turn fixedly connected to the moving galvanometer module. The laser generating unit is fixedly connected to the base plate via a limiting component. The line laser scanner is fixedly connected to the front side plate, and the solenoid valve is fixedly connected to the base plate. The fiber channel submodule includes several light guide arms, a front reflector, a rear reflector, and a red light unit. The front reflector connects light guide arms with different axes and reflects the laser beam. The rear reflector also connects light guide arms with different axes and reflects the laser beam. The red light unit is connected to the light guide arms at both ends. The light guide arms are fixedly connected to each other by locking rings. The fiber channel submodule is fixedly connected to the laser generating unit and the moving galvanometer module via the light guide arms. The motion galvanometer module includes a galvanometer housing, several in-housing motion galvanometers, a galvanometer motor, a motor drive card, and a galvanometer connecting ring; the galvanometer motor is connected to the in-housing motion galvanometers; the motor drive card is electrically connected to the galvanometer motor and fixedly connected to the base plate; The moving galvanometers inside the shell are arranged in a spatially non-coplanar manner. The field mirror module includes a field mirror lens structure, a first vent valve, a field mirror mounting base, and a first air curtain structure. The field mirror module is fixedly connected to the front side plate via the field mirror mounting base. The field mirror lens structure and the galvanometer connecting ring are coaxially fixedly connected. The first air curtain structure includes a first air curtain cover plate and a first air curtain base plate. The first air curtain base plate is coaxially fixedly connected to the field mirror lens structure, and the first air curtain cover plate is coaxially fixedly connected to the first air curtain base plate. The first vent valve is fixedly connected to both sides of the air curtain base plate, and the vent valve is connected to the solenoid valve. The robot module includes a robot, a wiring bracket, and a guide rail slider. The robot is fixedly connected to the guide rail slider, and the wiring bracket is mounted on the robot's robotic arm. The robot-based intelligent laser cleaning system also includes a dust collection hood module fixedly connected to the laser cleaning head. The dust collection hood module includes a housing, pipes, a second air curtain structure, a second ventilation valve, and an active vacuuming device. The housing includes a front opening, a rear opening, and a pipe interface. The pipe interface is fixedly connected to the pipes, and the pipes are connected to the active vacuuming device interface. The second air curtain structure includes a second air curtain base plate and a second air curtain cover plate. The second air curtain base plate is fixedly connected to the second air curtain cover plate, the second ventilation valve is fixedly connected to the second air curtain cover plate, and the second ventilation valve is fixedly connected to the solenoid valve. The robot-based intelligent laser cleaning system also includes a host computer and a slave computer. The host computer is used to establish communication with the laser cleaning head and the slave computer. The lower-level machine is used to receive control commands from the upper-level machine and actually control the robot's movement, as well as to transmit the angle information of each joint of the robot to the upper-level machine. The cleaning method includes the following steps: The robot in the robot module, the laser cleaning head fixedly connected to the robot, and the line laser scanner in the component structure of the laser cleaning head are calibrated to obtain several coordinate systems and homogeneous transformation relationships between the coordinate systems. A robot manipulates a laser cleaning head to move at a fixed speed along its travel direction. Simultaneously, a line laser scanner scans the surface of the workpiece to be cleaned, acquiring point cloud information of the surface along the travel direction. This topographic information is then transmitted to a host computer in real time. The host computer processes this information. The host computer processes the obtained topographic information, including the following steps: The host computer performs surface fitting on the point cloud information of the workpiece surface to be cleaned, and further calculates the distribution of the surface normal vector along the travel direction of the laser cleaning head. The host computer calculates and stores the laser cleaning head pose in real time based on the dynamic changes of the surface shape and normal vector during the stroke, according to the effective focal length of laser cleaning, so that the laser cleaning head will not lose focus when it moves to the corresponding position to perform the operation, and can dynamically adjust to follow the changes of the curved surface. The host computer sends real-time control commands to the lower computer based on the pre-stored laser cleaning head pose information, so that the host computer dynamically adjusts the laser cleaning head pose according to the distribution change of the normal vector along the stroke to adapt to the changes in the workpiece surface. The process of obtaining several coordinate systems and the homogeneous transformation relationships between them includes the following steps: The line laser scanner is moved to the starting position of the cleaning stroke. The robot, laser cleaning head, and line laser scanner are calibrated at this time to determine the world coordinate system, the coordinate systems of each joint of the robot, the coordinate system of the laser cleaning head, and the coordinate system of the line laser scanner. The homogeneous transformation relationship between the world coordinate system and the coordinate system of the laser cleaning head, the coordinate system of the laser cleaning head, and the coordinate system of the line laser scanner, as well as the homogeneous transformation relationship between the world coordinate system and the coordinate system of the line laser scanner, are obtained. All homogeneous transformation relationships are updated in real time.

2. The cleaning method of the robot-based intelligent laser cleaning system according to claim 1, characterized in that... Before the host computer processes the information based on the obtained morphological information, the following steps are also included: obtaining the effective focal length of the laser cleaning head as [d-∆d,d+∆d], where d is the optimal focal length and ∆d is the critical condition for defocusing.

3. The cleaning method of the robot-based intelligent laser cleaning system according to claim 1, characterized in that... The laser cleaning head also includes a housing structure. The shell structure includes a base plate, a cover plate, a front side plate, a rear side plate, a left side plate, a right side plate, a rear anti-collision strip fixing component, a left anti-collision strip fixing component, a right anti-collision strip fixing component, and a plate fixing frame. The cover plate, base plate, front side plate, rear side plate, left side plate, and right side plate are fixedly connected to the plate fixing frame. The rear anti-collision strip fixing component is fixedly connected to the rear side plate. The left anti-collision strip fixing component is fixedly connected to the left side plate. The right anti-collision strip fixing component is fixedly connected to the right side plate. A flange connects the laser cleaning head and the robot.

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