Monitoring system for a laser cleaning head

Abstract

The application discloses a kind of monitoring systems of laser cleaning head, comprising: operating condition monitoring module and control module, wherein, operating condition monitoring module is arranged in laser cleaning head, operating condition monitoring module is connected with control module;Operating condition monitoring module is used to detect the running information of laser cleaning head, and sends running information to control module;Control module is used to determine the working state of laser cleaning head according to running information;In the working state of laser cleaning head is used to indicate the case where target fault occurs in laser cleaning head, control laser cleaning head executes the protection operation matched with target fault, using the above technical scheme, the problems, such as lower operating monitoring efficiency of laser cleaning head in the related art, are solved.

Description

Technical Field

[0001] This application relates to the field of lasers, and more specifically, to a monitoring system for a laser cleaning head. Background Technology

[0002] Currently, the integration of fiber lasers in laser cleaning applications primarily involves downstream integrators purchasing fiber lasers and laser cleaning heads separately and then integrating them. The cleaning head mainly includes optical components such as lenses, collimating lenses, focusing lenses, and reflecting mirrors, as well as a galvanometer motor. To adapt to the trend of lightweighting and miniaturization, the galvanometer motor drive is typically placed inside a remote housing. For high-power cleaning equipment, a gantry structure is usually used to hold the cleaning head, in which case the distance between the cleaning head and the laser cleaning head controller is generally around 15 meters. Due to the high power, deviations in laser control and galvanometer control can lead to problems such as galvanometer overheating or partial ablation. Simultaneously, scattered laser light can cause the motor components to overheat, potentially leading to structural damage over time. Furthermore, galvanometer motor failure can cause the laser beam to output a single spot, damaging the parts being cleaned. These are all issues that urgently need to be addressed in high-power cleaning.

[0003] There is still no effective solution to the problem of low operational monitoring efficiency of laser cleaning heads in related technologies. Summary of the Invention

[0004] This application provides a monitoring system for a laser cleaning head, which at least solves the problem of low operational monitoring efficiency of laser cleaning heads in related technologies.

[0005] According to one embodiment of this application, a monitoring system for a laser cleaning head is provided, comprising: an operation status monitoring module and a control module, wherein the operation status monitoring module is deployed inside the laser cleaning head and is connected to the control module; the operation status monitoring module is used to detect the operation information of the laser cleaning head and send the operation information to the control module; the control module is used to determine the working state of the laser cleaning head based on the operation information; and when the working state of the laser cleaning head indicates that a target fault has occurred, the control module controls the laser cleaning head to perform a protection operation matching the target fault.

[0006] Optionally, the operation status monitoring module includes: a lens position monitoring unit, wherein the lens position monitoring unit is deployed inside the laser cleaning head; the lens position monitoring unit is used to detect the position information of a reference lens inside the laser cleaning head during the process of the laser cleaning head outputting a beam with target beam parameters, wherein the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head, and the operation information includes the position information; the control module is used to determine the working status of the laser cleaning head based on the position information.

[0007] Optionally, the lens position monitoring unit includes: multiple photoelectric sensors, wherein the multiple photoelectric sensors are respectively deployed at multiple locations inside the laser cleaning head; the photoelectric sensors are used to detect abnormal beams transmitted inside the laser cleaning head and output a first signal indicating whether the abnormal beam is detected, wherein the abnormal beam is generated when the position information of the reference lens does not match the target beam parameters; the control module is used to determine whether there is a target lens in the reference lens whose position information does not match the target beam parameters based on the first signal output by the photoelectric sensors; if the target lens exists, it is determined that the laser cleaning head has experienced the target fault.

[0008] Optionally, the operation status monitoring module includes: a galvanometer motor monitoring unit, wherein the galvanometer motor monitoring unit is used to detect the operating parameters of the galvanometer motor inside the laser cleaning head during the output of the target beam parameters, wherein the galvanometer motor is used to adjust the position of the reference lens deployed inside the laser cleaning head, the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head, and the operation information includes the operating parameters; the control module is used to determine the operating status of the laser cleaning head based on the operating parameters.

[0009] Optionally, the galvanometer motor monitoring unit includes: a Hall element, wherein the Hall element is deployed inside the laser cleaning head; the Hall element is used to detect the operating parameters of the galvanometer motor and generate a second signal corresponding to the operating parameters; the control module is used to determine whether the operating parameters match the target beam parameters based on the second signal output by the Hall element; and if the operating parameters do not match the target beam parameters, determine that the laser cleaning head has experienced the target fault.

[0010] Optionally, the operation status monitoring module includes: a lens cleanliness monitoring unit, wherein the lens cleanliness monitoring unit is used to detect the cleanliness of a reference lens deployed inside the laser cleaning head, wherein the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head, and the operation information includes the cleanliness; the control module is used to determine the working status of the laser cleaning head based on the cleanliness.

[0011] Optionally, the lens cleanliness monitoring unit includes: a temperature sensor, wherein the temperature sensor is used to detect the surface temperature of the reference lens and generate a third signal corresponding to the surface temperature, wherein the surface temperature is used to indicate the cleanliness of the reference lens, and the surface temperature and the cleanliness have an inverse proportional relationship; the control module is used to determine the surface temperature based on the third signal output by the temperature sensor; and if the surface temperature is greater than or equal to the target temperature, determine that the laser cleaning head has experienced the target fault.

[0012] Optionally, the monitoring system for the laser cleaning head further includes: a lens cleaning module, wherein the lens cleaning module is used to clean the deposits on the surface of the reference lens; and a control module is used to control the lens cleaning module to clean the surface of the reference lens where the cleanliness is less than or equal to a target threshold, wherein the surface temperature is greater than or equal to the target temperature to indicate that the cleanliness is less than or equal to the target threshold.

[0013] Optionally, the monitoring system for the laser cleaning head further includes: a cooling module, wherein the cooling module is connected to the control module, the cooling module is in contact with a galvanometer motor deployed inside the laser cleaning head, the galvanometer motor is used to adjust the position of a reference lens deployed inside the laser cleaning head, and the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head; the cooling module is used to adjust the operating temperature of the galvanometer motor; the control module is used to control the cooling module to adjust the operating temperature of the galvanometer motor to a target temperature, wherein the operating efficiency of the galvanometer motor at the target temperature is greater than the target efficiency.

[0014] Optionally, the cooling module includes: a coolant flow pipe, wherein the coolant flow pipe is in contact with the galvanometer motor; the control module is used to determine a target flow rate matching the operating temperature of the galvanometer motor; and to control the coolant in the coolant flow pipe to flow at the target flow rate, wherein the target flow rate is used to adjust the operating temperature of the galvanometer motor to the target temperature.

[0015] In this embodiment, the monitoring system for the laser cleaning head includes an operation status monitoring module and a control module. The operation status monitoring module is deployed inside the laser cleaning head and connected to the control module. The operation status monitoring module is used to detect the operation information of the laser cleaning head and send the operation information to the control module. The control module is used to determine the working status of the laser cleaning head based on the operation information. When the working status of the laser cleaning head indicates that a target fault has occurred, the control module controls the laser cleaning head to perform a protection operation matching the target fault. That is, the operation monitoring module is deployed inside the laser cleaning head and connected to the control module. The operation monitoring module detects the operation information of the laser cleaning head and sends the operation information to the control module. The control module determines the working status of the laser cleaning head based on the operation information, thereby enabling the control module to perform a protection operation matching the target fault when a target fault occurs, thus achieving monitoring and protection of the laser cleaning head and preventing damage to the laser cleaning head hardware due to a fault. By adopting the above technical solution, the problem of low operation monitoring efficiency of laser cleaning heads in related technologies has been solved, and the technical effect of improving the operation monitoring efficiency of laser cleaning heads has been achieved. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an optional monitoring system for a laser cleaning head according to an embodiment of this application;

[0019] Figure 2 This is a structural diagram of an optional laser cleaning head monitoring system according to an embodiment of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] This embodiment provides a monitoring system for a laser cleaning head. Figure 1 This is a schematic diagram of an optional laser cleaning head monitoring system according to an embodiment of this application, including: an operation status monitoring module 102 and a control module 104, wherein,

[0023] The operation status monitoring module 102 is deployed inside the laser cleaning head, and the operation status monitoring module 102 is connected to the control module 104;

[0024] The operation status monitoring module 102 is used to detect the operation information of the laser cleaning head and send the operation information to the control module 104;

[0025] The control module 104 is used to determine the working state of the laser cleaning head based on the operating information; and when the working state of the laser cleaning head indicates that a target fault has occurred, it controls the laser cleaning head to perform a protection operation that matches the target fault.

[0026] Through the above steps, a monitoring module is deployed inside the laser cleaning head. This monitoring module is connected to the control module, which detects the operating information of the laser cleaning head and sends this information to the control module. The control module determines the working status of the laser cleaning head based on the operating information, and then controls the laser cleaning head to execute protective operations matching the target fault in the event of a fault. This achieves monitoring and protection of the laser cleaning head, preventing hardware damage caused by laser cleaning head failures. This technical solution solves the problem of low operating monitoring efficiency of laser cleaning heads in related technologies, achieving a significant improvement in the efficiency of laser cleaning head operating monitoring.

[0027] Optionally, in this embodiment, the operation monitoring module further includes a first signal transceiver unit, and the control module further includes a second signal transceiver unit. The first signal transceiver unit and the second signal transceiver unit are connected, and the first signal transceiver unit and the second signal transceiver unit communicate with each other by transmitting a query signal. Since the query signal has strong anti-interference capability, it is suitable for long-distance transmission, thereby realizing remote and efficient control of the laser cleaning head. The first signal transceiver unit and the second signal transceiver unit may be, but are not limited to, a CAN bus.

[0028] Optionally, in this embodiment, the operation monitoring module may be deployed inside the laser cleaning head, or it may be deployed outside the laser cleaning head, for example, the control module may be deployed on a controller used to control the operation of the laser cleaning head.

[0029] Optionally, in this embodiment, the operating information of the laser cleaning head may include, but is not limited to, the parameters of the laser beam to be output by the laser cleaning head, the operating parameters of the internal components of the laser cleaning head (such as the operating power of the component motor, the positional relationship between the lenses, etc.), and the quality parameters of the internal components of the laser cleaning head (such as the degree of wear, the cleanliness of the lenses, etc.).

[0030] Optionally, in this embodiment, the control module may detect the operating information of the laser cleaning head through sensors, or it may detect the operating information of the laser cleaning head through image recognition. For example, sensors may be deployed on the internal components of the laser cleaning head to detect the operating status of the internal components, or the internal images of the laser cleaning head may be acquired and the status of the internal components of the laser cleaning head, such as positional relationships, operating status, wear degree, etc., may be identified by recognizing the images.

[0031] Optionally, in this embodiment, the protection operation is used to eliminate the target fault or to prevent damage to the components inside the laser cleaning head due to the target fault. The protection operation is different depending on the type of the target fault. For example, when the lens inside the laser cleaning head is mispositioned, in order to avoid damage to the laser cleaning head caused by the output laser, the protection operation may be to reduce the laser power or control the laser cleaning head to shut down. When the galvanometer motor is damaged, the protection operation may be to control the laser cleaning head to count. At the same time, the protection operation may also be a fault maintenance operation to eliminate the target fault. For example, when the target fault is that the galvanometer motor speed is incorrect, the protection operation may be to correct the speed of the galvanometer motor. This solution does not limit this.

[0032] As an optional embodiment, the operation status monitoring module includes: a lens position monitoring unit, wherein the lens position monitoring unit is deployed inside the laser cleaning head;

[0033] The lens position monitoring unit is used to detect the position information of the reference lens inside the laser cleaning head during the process of the laser cleaning head outputting the target beam parameters. The reference lens is used to adjust the beam parameters of the laser cleaning head output beam. The operation information includes the position information.

[0034] The control module is used to determine the working status of the laser cleaning head based on the position information.

[0035] Optionally, in this embodiment, the position information of the reference lens may include, but is not limited to, the angle of the reference lens, the relative positional relationship between the reference lenses, etc.

[0036] Optionally, in this embodiment, the position information of the reference lens can be obtained by deploying sensors inside the sensor, that is, deploying sensors at different positions of the laser cleaning head, and determining the position information corresponding to the position based on the position of the sensor that collects the light beam. Alternatively, the position information of the reference lens can be obtained by recognizing the image inside the laser cleaning head using an image recognition device, that is, by acquiring the image inside the laser cleaning head using an image recognition device, and obtaining the position information of the reference lens inside the laser cleaning head by recognizing the image.

[0037] Optionally, in this embodiment, the working state of the laser cleaning head can be determined by comparing whether the position information of the reference lens matches the reference position information of the reference lens corresponding to the target beam parameters that the laser cleaning head needs to output. If the position information of the reference lens matches the reference position information, the laser cleaning head is determined to be in normal working state. If the position information of the reference lens does not match the reference position information, the laser cleaning head is determined to be in fault state.

[0038] As an optional embodiment, the lens position monitoring unit includes: a plurality of photoelectric sensors, wherein the plurality of photoelectric sensors are respectively deployed at a plurality of locations inside the laser cleaning head;

[0039] The photoelectric sensor is used to detect abnormal beams transmitted inside the laser cleaning head and output a first signal indicating whether the abnormal beams are detected, wherein the abnormal beams are generated when the position information of the reference lens does not match the target beam parameters;

[0040] The control module is used to determine whether there is a target lens in the reference lens whose position information does not match the target beam parameters based on the first signal output by the photoelectric sensor; if the target lens exists, it is determined that the laser cleaning head has experienced the target fault.

[0041] Optionally, in this embodiment, the spot sensor is deployed at the target position inside the laser cleaning head (a position where no beam will appear under normal working conditions). Then, when the spot sensor collects the beam at the target position and triggers the output signal, it can be determined that there is an abnormal beam inside the laser cleaning head.

[0042] Optionally, in this embodiment, after receiving the first signal output by the photoelectric sensor, if the first signal is used to indicate that the corresponding photoelectric sensor has collected an abnormal beam, then the target lens corresponding to the current photoelectric sensor position is determined from the photoelectric sensor position and the abnormal position lens with corresponding relationship.

[0043] As an optional embodiment, the operating status monitoring module includes: a galvanometer motor monitoring unit, wherein,

[0044] The galvanometer motor monitoring unit is used to detect the operating parameters of the galvanometer motor in the laser cleaning head during the output of the target beam parameters. The galvanometer motor is used to adjust the position of the reference lens deployed in the laser cleaning head. The reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head. The operating information includes the operating parameters.

[0045] The control module is used to determine the working state of the laser cleaning head based on the working parameters.

[0046] Optionally, in this embodiment, the operating parameters include the rotational speed and frequency of the galvanometer motor, etc., and this solution does not limit these parameters.

[0047] Optionally, in this embodiment, if the operating parameters of the galvanometer motor do not match the beam parameters that the laser cleaning head needs to output, which are the target operating parameters of the galvanometer motor, then the laser cleaning head can be determined to be in an abnormal operating state.

[0048] As an optional embodiment, the galvanometer motor monitoring unit includes a Hall sensor, wherein the Hall sensor is deployed inside the laser cleaning head;

[0049] The Hall sensor is used to detect the operating parameters of the galvanometer motor and generate a second signal corresponding to the operating parameters;

[0050] The control module is used to determine whether the operating parameters match the target beam parameters based on the second signal output by the Hall sensor; and to determine that the laser cleaning head has experienced the target fault if the operating parameters do not match the target beam parameters.

[0051] Optionally, in this embodiment, the Hall sensor is deployed at the end point inside the laser cleaning head, and the magnet is placed at the motor swing arm. When the motor swings and drives the reflector to move, the Hall sensor at the end point of the area will generate a change in magnetic flux, thereby outputting a high level. By collecting the level, it can be determined whether the motor is swinging, thereby ensuring the stable and reliable operation of the motor and achieving a more stable and safe cleaning effect.

[0052] Optionally, in this embodiment, the operating parameters of the galvanometer motor corresponding to the second signal can be determined based on the signal value of the second signal, and then it can be determined whether the operating parameters match the target operating parameters of the galvanometer motor when outputting the target beam parameters.

[0053] As an optional embodiment, the operation status monitoring module includes: a lens cleanliness monitoring unit, wherein,

[0054] The lens cleanliness monitoring unit is used to detect the cleanliness of the reference lens deployed inside the laser cleaning head, wherein the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head, and the operating information includes the cleanliness.

[0055] The control module is used to determine the working state of the laser cleaning head based on the cleanliness level.

[0056] Optionally, in this embodiment, the cleanliness of the lens can be determined by recognizing the image of the lens using an image recognition device, or by collecting the temperature of the lens surface and determining the cleanliness of the lens based on the lens surface temperature. That is, when there are contaminants on the lens surface, the light beam shines on these contaminants, thereby generating heat, and thus the cleanliness that matches the collected temperature can be determined.

[0057] Optionally, in this embodiment, if the cleanliness of the lens surface is less than the target cleanliness, the laser cleaning head is determined to be in an abnormal state; if the cleanliness of the lens surface is greater than the target cleanliness, the laser cleaning head is determined to be in a normal state.

[0058] As an optional embodiment, the lens cleanliness monitoring unit includes: a temperature sensor, wherein,

[0059] The temperature sensor is used to detect the surface temperature of the reference lens and generate a third signal corresponding to the surface temperature, wherein the surface temperature is used to indicate the cleanliness of the reference lens, and there is an inverse proportional relationship between the surface temperature and the cleanliness.

[0060] The control module is used to determine the surface temperature based on the third signal output by the temperature sensor; and to determine that the laser cleaning head has experienced the target fault if the surface temperature is greater than or equal to the target temperature.

[0061] Optionally, in this embodiment, the temperature sensor is a non-contact temperature sensor that calculates the temperature of the lens surface by analyzing the infrared light reflected back after the emitted infrared light acts on the object's surface. The reflection intensity is affected by factors such as the object's surface absorptivity, distance, and the material properties of the object. Therefore, we adopted an IIC digital temperature sensor, which has advantages such as simple calibration and reliable data transmission, and is unaffected by interference that may occur during the cleaning process.

[0062] As an optional embodiment, the monitoring system for the laser cleaning head further includes: a lens cleaning module, wherein,

[0063] The lens cleaning module is used to clean the deposits on the surface of the reference lens;

[0064] The control module is used to control the lens cleaning module to clean the surface of the reference lens where the cleanliness is less than or equal to the target threshold, wherein the surface temperature is greater than or equal to the target temperature to indicate that the cleanliness is less than or equal to the target threshold.

[0065] Optionally, in this embodiment, the lens cleaning module can clean the deposits on the lens surface by blowing air, or it can clean the deposits on the lens surface by releasing static electricity.

[0066] Optionally, in this embodiment, the control module can also control the lens cleaning module to operate in a working mode that matches the cleanliness of the lens surface. For example, the control module can blow air onto the lens surface at a wind speed that matches the cleanliness of the lens surface, or the control module can release static electricity onto the lens surface at a level that matches the cleanliness of the lens surface.

[0067] As an optional embodiment, the monitoring system of the laser cleaning head further includes: a cooling module, wherein the cooling module is connected to the control module, the cooling module is in contact with a galvanometer motor deployed inside the laser cleaning head, the galvanometer motor is used to adjust the position of a reference lens deployed inside the laser cleaning head, and the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head;

[0068] The cooling module is used to regulate the operating temperature of the galvanometer motor;

[0069] The control module is used to control the cooling module to adjust the operating temperature of the galvanometer motor to a target temperature, wherein the operating efficiency of the galvanometer motor at the target temperature is greater than the target efficiency.

[0070] Optionally, in this embodiment, the cooling module can be air-cooled, that is, supplying cold air to the galvanometer motor, or it can be liquid-cooled; this solution does not limit this.

[0071] As an optional embodiment, the cooling module includes: a coolant flow pipe, wherein the coolant flow pipe is in contact with the galvanometer motor;

[0072] The control module is used to determine a target flow rate that matches the operating temperature of the galvanometer motor; and to control the coolant in the coolant flow pipe to flow at the target flow rate, wherein the target flow rate is used to adjust the operating temperature of the galvanometer motor to the target temperature.

[0073] Optionally, in this embodiment, the coolant flowing in the coolant channel may be, but is not limited to, cooling water, cold air, etc., and this solution does not limit it.

[0074] Figure 2 This is a structural diagram of an optional laser cleaning head monitoring system according to an embodiment of this application, such as... Figure 2As shown, a monitoring board (operational status monitoring module) is added inside the laser cleaning head. The operational status monitoring module is connected to the laser cleaning control board (control module) via a CAN bus. Matching resistors of 60-120 ohms are added to both the monitoring board and the control board depending on the length of the cleaning head. The monitoring board transmits and receives CAN bus data via a CAN transceiver module through an MCU. After receiving the data, the laser control board analyzes and judges the system status and takes protective actions. The operational status monitoring module includes a lens position monitoring unit, a galvanometer motor monitoring unit, a lens cleanliness monitoring unit, and a cooling module.

[0075] The lens position cleanliness monitoring unit includes a temperature sensor used to collect the surface temperature of the lens. Since the laser beam needs to pass through lenses, collimating lenses, and focusing lenses, it's impossible to directly measure the temperature using conventional NTC thermistors. Therefore, a non-contact temperature sensor is required. Non-contact temperature measurement relies on analyzing the infrared light emitted by the device and reflected back from the object's surface to calculate the surface temperature. The reflection intensity is affected by factors such as the object's surface absorptivity, distance, and material properties. Therefore, we used the IIC digital temperature sensor MLX90614, which offers advantages such as simple calibration, reliable data transmission, and immunity to interference during the cleaning process.

[0076] The lens position monitoring module includes a light spot sensor and a photoelectric sensor, which is placed in a position where laser light would hardly appear under normal circumstances. After the photoelectric sensor is added, once there is an abnormality in the beam transmission, the photosensitive device will receive the abnormal light signal, thereby generating an alarm signal.

[0077] The cooling module includes coolant flow pipes and a coolant flow sensor configured within these pipes. The galvanometer motor and drive board inside the cleaning head generate significant heat during operation. Relying solely on the internal machined parts attached to the surface is insufficient for natural heat dissipation, leading to heat buildup in the galvanometer motor over time, causing it to squeal and potentially damage the motor. Therefore, the cleaning head generally requires proper cooling. However, given the cleaning head's length (potentially up to 15m), insufficient water flow over long pipes is a concern. Increasing the flow rate could raise pipe costs. Therefore, a coolant flow sensor is added. By collecting the analog output from the sensor, the current system flow rate is calculated, ensuring the coolant flow remains within a reasonable range.

[0078] The galvanometer motor monitoring unit includes Hall sensors. The key to laser cleaning lies in the simultaneous output of the laser beam and the oscillation of the galvanometer, forming an adjustable-length laser beam to achieve the cleaning purpose. If the laser output is not synchronized to a certain degree, it can cause ablation of the reflector area or damage to the workpiece. Therefore, monitoring the motor's status is essential. By simply placing an appropriate number of Hall sensors at the endpoints, with magnets positioned at the motor's swing arm, when the motor oscillates and drives the reflector, the Hall sensors at the endpoints will generate a change in magnetic flux, thus outputting a high-level signal. The system can determine whether the motor is oscillating by collecting this signal level, ensuring stable and reliable motor operation and achieving a more stable and safer cleaning effect.

[0079] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0080] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0081] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A monitoring system for a laser cleaning head, characterized in that, include: The operation status monitoring module and the control module, among which, The operation status monitoring module is deployed inside the laser cleaning head, and the operation status monitoring module is connected to the control module; The operation status monitoring module is used to detect the operation information of the laser cleaning head and send the operation information to the control module; The control module is used to determine the working state of the laser cleaning head based on the operating information; and when the working state of the laser cleaning head indicates that a target fault has occurred, it controls the laser cleaning head to perform a protection operation matching the target fault. The operation status monitoring module includes: a galvanometer motor monitoring unit, wherein the galvanometer motor monitoring unit is used to detect the operating parameters of the galvanometer motor inside the laser cleaning head during the output of the target beam parameters, wherein the galvanometer motor is used to adjust the position of the reference lens deployed inside the laser cleaning head, and the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head, and the operation information includes the operating parameters; the control module is used to determine the operating status of the laser cleaning head based on the operating parameters; The galvanometer motor monitoring unit includes: a Hall element, wherein the Hall element is deployed inside the laser cleaning head; the Hall element is used to detect the operating parameters of the galvanometer motor and generate a second signal corresponding to the operating parameters; the control module is used to determine whether the operating parameters match the target beam parameters based on the second signal output by the Hall element; and if the operating parameters do not match the target beam parameters, determine that the laser cleaning head has experienced the target fault.

2. The monitoring system according to claim 1, characterized in that, The operation status monitoring module includes: a lens position monitoring unit, wherein the lens position monitoring unit is deployed inside the laser cleaning head; The lens position monitoring unit is used to detect the position information of the reference lens inside the laser cleaning head during the process of the laser cleaning head outputting the target beam parameters. The reference lens is used to adjust the beam parameters of the laser cleaning head output beam. The operation information includes the position information. The control module is used to determine the working status of the laser cleaning head based on the position information.

3. The monitoring system according to claim 2, characterized in that, The lens position monitoring unit includes: multiple photoelectric sensors, wherein the multiple photoelectric sensors are respectively deployed at multiple locations inside the laser cleaning head; The photoelectric sensor is used to detect abnormal beams transmitted inside the laser cleaning head and output a first signal indicating whether the abnormal beams are detected, wherein the abnormal beams are generated when the position information of the reference lens does not match the target beam parameters; The control module is used to determine whether there is a target lens in the reference lens whose position information does not match the target beam parameters based on the first signal output by the photoelectric sensor; if the target lens exists, it is determined that the laser cleaning head has experienced the target fault.

4. The monitoring system according to claim 1, characterized in that, The operational status monitoring module includes: a lens cleanliness monitoring unit, wherein, The lens cleanliness monitoring unit is used to detect the cleanliness of the reference lens deployed inside the laser cleaning head, wherein the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head, and the operating information includes the cleanliness. The control module is used to determine the working state of the laser cleaning head based on the cleanliness level.

5. The monitoring system according to claim 4, characterized in that, The lens cleanliness monitoring unit includes: a temperature sensor, wherein, The temperature sensor is used to detect the surface temperature of the reference lens and generate a third signal corresponding to the surface temperature, wherein the surface temperature is used to indicate the cleanliness of the reference lens, and there is an inverse proportional relationship between the surface temperature and the cleanliness. The control module is used to determine the surface temperature based on the third signal output by the temperature sensor; and to determine that the laser cleaning head has experienced the target fault if the surface temperature is greater than or equal to the target temperature.

6. The monitoring system according to claim 5, characterized in that, The monitoring system for the laser cleaning head also includes: a lens cleaning module, wherein, The lens cleaning module is used to clean the deposits on the surface of the reference lens; The control module is used to control the lens cleaning module to clean the surface of the reference lens where the cleanliness is less than or equal to the target threshold, wherein the surface temperature is greater than or equal to the target temperature to indicate that the cleanliness is less than or equal to the target threshold.

7. The monitoring system according to claim 1, characterized in that, The monitoring system of the laser cleaning head further includes a cooling module, wherein the cooling module is connected to the control module, the cooling module is in contact with a galvanometer motor deployed inside the laser cleaning head, the galvanometer motor is used to adjust the position of a reference lens deployed inside the laser cleaning head, and the reference lens is used to adjust the beam parameters of the output beam of the laser cleaning head. The cooling module is used to regulate the operating temperature of the galvanometer motor; The control module is used to control the cooling module to adjust the operating temperature of the galvanometer motor to a target temperature, wherein the operating efficiency of the galvanometer motor at the target temperature is greater than the target efficiency.

8. The monitoring system according to claim 7, characterized in that, The cooling module includes: a coolant flow pipe, wherein the coolant flow pipe is in contact with the galvanometer motor; The control module is used to determine a target flow rate that matches the operating temperature of the galvanometer motor; and to control the coolant in the coolant flow pipe to flow at the target flow rate, wherein the target flow rate is used to adjust the operating temperature of the galvanometer motor to the target temperature.

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