Method, controller and storage medium for controlling laser rust cleaning

Abstract

The application provides a rust laser cleaning control method, a controller and a storage medium. The method comprises the following steps: after initial laser cleaning is performed on a preset position of a region to be cleaned, spectral data at the preset position are acquired, the spectral data comprising the intensity of spectral characteristic lines of multiple elements; a first target element content is determined according to the spectral data, the first target element content being the ratio of the content of a first preset element to the total content, the first preset element being oxygen, and the total content being the sum of the contents of the elements; it is determined whether the first target element content is greater than a first preset value; and in the case where the first target element content is greater than the first preset value, at least the laser cleaning machine is controlled to perform laser cleaning on the preset position again. The method solves the problem that rust on each position of the surface of the object to be cleaned cannot be cleaned in the prior art.

Description

Technical Field

[0001] This application relates to the field of laser cleaning technology, and more specifically, to a control method, controller, computer-readable storage medium, processor, and rust laser cleaning system for rust laser cleaning. Background Technology

[0002] Currently, the most common method for cleaning rust is laser cleaning. However, during the laser cleaning process, it is impossible to guarantee that the rust on every part of the surface of the object being cleaned is completely removed. Summary of the Invention

[0003] The main objective of this application is to provide a control method, controller, computer-readable storage medium, processor, and rust laser cleaning system for rust laser cleaning, so as to at least solve the problem in the prior art that it is impossible to guarantee that rust is cleaned from every location on the surface of the object to be cleaned.

[0004] To achieve the above objectives, according to one aspect of this application, a control method for laser cleaning of rust is provided. The rust laser cleaning system includes at least a controller and a laser cleaning machine, the controller being communicatively connected to the laser cleaning machine. The control method for laser cleaning of rust is applied to the controller. The method includes: after performing initial laser cleaning on a preset location of the area to be cleaned, acquiring spectral data at the preset location, the spectral data including the intensity of spectral characteristic lines of multiple elements; determining the content of a first target element based on the spectral data, the first target element content being the ratio of the content of a first preset element to the total content, the first preset element being oxygen, and the total content being the sum of the contents of all the elements; determining whether the content of the first target element is greater than a first preset value; and if the content of the first target element is greater than the first preset value, controlling the laser cleaning machine to perform laser cleaning on the preset location again.

[0005] Optionally, determining the content of the first target element based on the spectral data includes: obtaining the total intensity, wherein the total intensity is the sum of the intensities of the spectral characteristic lines of each element; and obtaining the content of the first target element, wherein the content of the first target element is the ratio of the intensity of the spectral characteristic line of the first preset element to the total intensity.

[0006] Optionally, the rust laser cleaning system further includes a robot, with the laser cleaning machine mounted on the robot. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to one of the first target element contents. The method further includes: when multiple first target element contents are greater than a first preset value, acquiring multiple target three-dimensional coordinates, where the target three-dimensional coordinates are the three-dimensional coordinates corresponding to a second target element content, and the second target element content is the first target element content greater than the first preset value; determining a continuous region based on the target three-dimensional coordinates, where the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; and when the area of ​​the continuous region is greater than a preset area, determining a laser cleaning trajectory based on the continuous region and controlling the robot to move according to the laser cleaning trajectory to perform laser cleaning on the continuous region again.

[0007] Optionally, when the content of the first target element is greater than the first preset value, controlling the laser cleaning machine to perform laser cleaning on the preset position again includes: determining a target preset range when the content of the first target element is greater than the first preset value, wherein the target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges; determining laser cleaning parameters according to the target preset range and a first mapping relationship, wherein the laser cleaning parameters include at least laser power, the first mapping relationship is a mapping relationship between the preset range and the laser cleaning parameters, and the preset range and the laser cleaning parameters correspond one-to-one; controlling the laser cleaning machine to output laser according to the laser cleaning parameters, and performing laser cleaning on the preset position again.

[0008] Optionally, the rust laser cleaning system further includes a spectral acquisition unit, and the controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location, including: acquiring spectral data to be processed from the spectral acquisition unit, the spectral data to be processed including the spectral data and noise data, the noise data including at least the intensity of the spectral characteristic lines of dust; and filtering the spectral data to be processed using a fuzzy control intelligent algorithm to obtain the spectral data, the fuzzy control intelligent algorithm being used to remove the noise data from the spectral data to be processed.

[0009] Optionally, after determining whether the content of the first target element is greater than a first preset value, the method further includes: if the content of the first target element is less than or equal to the first preset value, obtaining the content of a third target element, wherein the content of the third target element is the ratio of the intensity of the spectral characteristic line of a second preset element to the total intensity, the second preset element being iron, and the total intensity being the sum of the intensities of the spectral characteristic lines of each element; determining whether the content of the third target element is greater than the second preset value; and if the content of the third target element is greater than the second preset value, determining that the preset position is clean.

[0010] According to another aspect of this application, a controller is provided. A rust laser cleaning system includes at least a controller and a laser cleaning machine. The controller is communicatively connected to the laser cleaning machine. The controller includes: a first acquisition unit, configured to acquire spectral data at a preset location after initial laser cleaning of a preset location in the area to be cleaned, the spectral data including the intensities of spectral characteristic lines of multiple elements; a first determination unit, configured to determine the content of a first target element based on the spectral data, the first target element content being the ratio of the content of a first preset element to the total content, the first preset element being oxygen, and the total content being the sum of the contents of all the elements; a second determination unit, configured to determine whether the content of the first target element is greater than a first preset value; and a second control unit, configured to, if the content of the first target element is greater than the first preset value, at least control the laser cleaning machine to perform laser cleaning again on the preset location.

[0011] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the control methods for laser cleaning of rust described above.

[0012] According to another aspect of this application, a processor is provided for running a program, wherein the program executes any of the described control methods for laser cleaning of rust.

[0013] According to one aspect of this application, a rust laser cleaning system is provided, comprising: a spectrum acquisition device; a laser cleaning machine; a robot, the laser cleaning machine being mounted on the robot; and a controller, the controller being communicatively connected to the spectrum acquisition device, the laser cleaning machine, and the robot, the controller being used to execute any of the control methods for rust laser cleaning described above.

[0014] Applying the technical solution of this application, the intensity of the spectral characteristic lines of an element is directly proportional to the content of the element. Therefore, the content of the first target element can be determined based on the intensity of the spectral characteristic lines of the element, that is, the proportion of the oxygen element content in the sum of the contents of all elements. The content of the first target element reflects the amount of rust residue at the preset position. The larger the content of the first target element, the larger the amount of rust residue at the preset position. If the content of the first target element is greater than the first preset value, it is determined that there is too much rust residue at the preset position and the preset position is not cleaned. At this time, the laser cleaning machine is controlled to perform laser cleaning on the preset position again. This method solves the problem in the prior art that it is impossible to guarantee that the rust at every position on the surface of the object to be cleaned is cleaned. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A schematic flowchart of a control method for laser cleaning of rust according to an embodiment of this application is shown.

[0017] Figure 2 A structural block diagram of a controller provided according to an embodiment of this application is shown. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] 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.

[0020] 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 for the embodiments of this application 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.

[0021] As described in the background section, the prior art cannot guarantee that rust at every location on the surface of the object to be cleaned is completely removed. To address this issue, embodiments of this application provide a control method, controller, computer-readable storage medium, processor, and rust laser cleaning system for rust laser cleaning.

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] This embodiment provides a control method for laser cleaning of rust.

[0024] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0025] The rust laser cleaning system includes at least a controller and a laser cleaning machine. The controller is communicatively connected to the laser cleaning machine, and the control method for rust laser cleaning is applied to the controller.

[0026] Figure 1 This is a flowchart of a control method for laser cleaning of rust according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0027] Step S201: After performing initial laser cleaning on a preset location in the area to be cleaned, acquire spectral data at the preset location. The spectral data includes the intensity of spectral characteristic lines of multiple elements.

[0028] Specifically, taking the cleaning of rust on the surface of a wheel rim as an example, a high-intensity pulsed laser beam is focused on a preset position in the area of ​​the wheel rim to be cleaned. The preset position in the area of ​​the wheel rim to be cleaned will be intensely heated, thereby generating transient plasma above the preset position in the area to be cleaned. The spectrum of the plasma plume emission depends on the elemental composition at the preset position of ablation. Since the chemical composition of the rust on the base of the wheel rim is different from that on the surface of the wheel rim, the laser acts on different materials, and the laser-induced breakdown spectrum is different. That is, the intensity of the spectral characteristic lines of different elements is different, and the content of the element is proportional to the intensity of the spectral characteristic lines of the element.

[0029] Specifically, in the spectrum at the preset position, the spectral characteristic line at 404.581 nm is the spectral characteristic line of iron, and the spectral characteristic line at 445.4 nm is the spectral characteristic line of oxygen.

[0030] The aforementioned rust laser cleaning system also includes a spectral acquisition unit. The controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location. Step S201 can be implemented as follows:

[0031] Step S2011: Obtain spectral data to be processed from the above-mentioned spectral acquisition device. The spectral data to be processed includes the above-mentioned spectral data and noise data. The noise data includes at least the intensity of the spectral characteristic lines of dust.

[0032] Step S2012: The fuzzy control intelligent algorithm is used to filter the above-mentioned spectral data to be processed to obtain the above-mentioned spectral data. The fuzzy control intelligent algorithm is used to remove the above-mentioned noise data in the above-mentioned spectral data to be processed.

[0033] In this embodiment, to improve the accuracy of the control method for rust laser cleaning, taking the cleaning of rust on the surface of a wheel rim as an example, a fuzzy control intelligent algorithm is used to filter the spectral data to be processed, removing the intensity of the spectral feature lines of dust and other impurities. This ensures that the obtained spectral data only includes the intensity of the spectral feature lines of elements at preset positions, avoiding interference from the intensity of the spectral feature lines of dust and other impurities on the determination of the content of the first target element (the proportion of oxygen content in the sum of the contents of all elements) in subsequent steps, thereby improving the accuracy of the control method for rust laser cleaning.

[0034] Step S202: Determine the content of the first target element based on the above spectral data. The content of the first target element is the ratio of the content of the first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the above elements.

[0035] Specifically, the intensity of the spectral characteristic lines of an element is directly proportional to the element's content. Therefore, the content of the first target element can be determined based on the intensity of its spectral characteristic lines, which is to determine the proportion of oxygen in the sum of the contents of all elements.

[0036] Step S202 can be implemented as follows:

[0037] Step S2021: Obtain the total intensity, which is the sum of the intensities of the spectral characteristic lines of each of the above elements;

[0038] Step S2022: Obtain the content of the first target element, which is the ratio of the intensity of the spectral characteristic line of the first preset element to the total intensity.

[0039] In this embodiment, since the intensity of the spectral characteristic line of an element is proportional to the content of the element, the ratio of the intensity of the spectral characteristic line of oxygen to the sum of the intensities of the spectral characteristic lines of all elements (including at least oxygen and iron) is the content of the first target element (the proportion of the content of oxygen in the sum of the contents of all elements).

[0040] Step S203: Determine whether the content of the first target element is greater than the first preset value;

[0041] Specifically, taking the cleaning of rust from the surface of a wheel rim as an example, the main component of a wheel rim is iron, and the main component of rust is ferric oxide. Both wheel rims and rust contain iron and oxygen elements. The oxygen content in wheel rims and rust is significantly different. The oxygen content in rust is about four times that in wheel rims. The content of the first target element (the proportion of oxygen content in the sum of all element contents) reflects the amount of rust residue at the preset location. The higher the content of the first target element, the greater the amount of rust residue at the preset location.

[0042] To ensure that the rust at the preset location is thoroughly cleaned, in one optional embodiment, after step S203, the method further includes:

[0043] When the content of the first target element is less than or equal to the first preset value, the content of the third target element is obtained. The content of the third target element is the ratio of the intensity of the spectral characteristic line of the second preset element to the total intensity. The second preset element is iron. The total intensity is the sum of the intensities of the spectral characteristic lines of each of the above elements.

[0044] Determine whether the content of the third target element is greater than the second preset value;

[0045] If the content of the third target element is greater than the second preset value, the preset position is determined to be clean.

[0046] In this embodiment, taking the cleaning of rust from the surface of a wheel rim as an example, the main component of the wheel rim is iron, and the main component of rust is ferric oxide. Both the wheel rim and the rust contain iron and oxygen elements. The oxygen content in the wheel rim and the rust is significantly different. The oxygen content in the rust is about four times that in the wheel rim, and the iron content in the rust is significantly lower than that in the wheel rim. Therefore, if the content of the first target element (the proportion of oxygen content in the sum of all element contents) is less than or equal to the first preset value, it is determined whether the content of the third target element (the proportion of iron content in the sum of all element contents) is greater than the second preset value. If the content of the third target element is greater than the second preset value, it is determined that the preset position is clean. The residual amount of rust on the surface of the wheel rim is determined by combining the content of the first target element and the content of the third target element, thereby ensuring that the rust at the preset position is clean.

[0047] Step S204: If the content of the first target element is greater than the first preset value, control the laser cleaning machine to perform laser cleaning on the preset position again.

[0048] Specifically, if the content of the first target element is greater than the first preset value, and it is determined that there is too much rust residue at the preset position and the preset position is not cleaned, then the laser cleaning machine is controlled to perform laser cleaning on the preset position again.

[0049] Step S204 can be implemented as follows:

[0050] Step S2041: When the content of the first target element is greater than the first preset value, a target preset range is determined. The target preset range is a preset range in which the content of the first target element is located. There are multiple preset ranges.

[0051] Step S2042: Determine laser cleaning parameters based on the above-mentioned target preset range and the first mapping relationship. The laser cleaning parameters include at least laser power. The first mapping relationship is the mapping relationship between the above-mentioned preset range and the above-mentioned laser cleaning parameters. The preset range and the above-mentioned laser cleaning parameters correspond one-to-one.

[0052] Specifically, the laser cleaning parameters mentioned above also include repetition frequency, pulse width, number of cleaning cycles, cleaning speed, and laser energy density.

[0053] Step S2043: Control the laser cleaning machine to output laser according to the laser cleaning parameters, and perform laser cleaning on the preset position again.

[0054] In this embodiment, to ensure that the rust at the preset location is cleaned, if the content of the first target element is greater than the first preset value, it is determined that there is too much rust residue at the preset location and the preset location is not cleaned. At this time, the degree of rust residue at the preset location is determined, that is, the target preset range is determined. Then, the laser cleaning parameters corresponding to the degree of rust residue at the preset location are determined, and the laser cleaning machine is controlled to output laser according to the laser cleaning parameters to perform laser cleaning on the preset location again. For example, if the content of the first target element is greater than 10%, the laser power is determined to be 250W; if the content of the first target element is between 10% and 6%, the laser power is determined to be 225W; if the content of the first target element is between 6% and 4%, the laser power is determined to be 200W. That is, the higher the degree of rust residue at the preset location, the greater the laser power output by the laser cleaning machine, thereby ensuring that the rust at the preset location is cleaned.

[0055] The aforementioned rust laser cleaning system also includes a robot, the aforementioned laser cleaning machine is installed on the aforementioned robot, the aforementioned three-dimensional model of the area to be cleaned includes the three-dimensional coordinates of multiple aforementioned preset positions, the aforementioned preset positions correspond one-to-one with the aforementioned three-dimensional coordinates, and the aforementioned preset positions correspond one-to-one with the aforementioned first target element content.

[0056] To improve the efficiency of laser cleaning of rust, the above method also includes:

[0057] When the content of multiple first target elements is greater than the first preset value, multiple target three-dimensional coordinates are obtained. The target three-dimensional coordinates are the three-dimensional coordinates corresponding to the content of second target elements. The content of second target elements is the content of first target elements that is greater than the first preset value.

[0058] A continuous region is determined based on the aforementioned three-dimensional coordinates of the target, and the distance between any two adjacent three-dimensional coordinates of the target in the continuous region is less than a preset distance.

[0059] If the area of ​​the continuous region is larger than the preset area, the laser cleaning trajectory is determined based on the continuous region, and the robot is controlled to move according to the laser cleaning trajectory to perform laser cleaning on the continuous region again.

[0060] In this embodiment, when the content of multiple first target elements is greater than the first preset value, it is determined that there is too much rust residue at multiple preset locations and multiple preset locations are not cleaned. The three-dimensional coordinates of the preset locations to be cleaned that are close to each other, i.e. the target three-dimensional coordinates, are divided into continuous areas. The laser cleaning trajectory of the robot is determined according to the continuous areas, and the robot is controlled to move according to the laser cleaning trajectory to perform laser cleaning on the continuous areas again, thereby improving the efficiency of rust laser cleaning.

[0061] Through the above embodiments, the intensity of the spectral characteristic lines of an element is directly proportional to the content of the element. Therefore, the content of the first target element can be determined based on the intensity of the spectral characteristic lines of the element, that is, the proportion of the oxygen element content in the sum of the contents of all elements. The content of the first target element reflects the amount of rust residue at the preset position. The larger the content of the first target element, the larger the amount of rust residue at the preset position. If the content of the first target element is greater than the first preset value, it is determined that there is too much rust residue at the preset position and the preset position is not cleaned. At this time, the laser cleaning machine is controlled to perform laser cleaning on the preset position again. This method solves the problem in the prior art that it is impossible to guarantee that the rust at every position on the surface of the object to be cleaned is cleaned.

[0062] This application also provides a controller. It should be noted that the controller in this application can be used to execute the control method for laser cleaning of rust provided in this application. This controller is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0063] The controller provided in the embodiments of this application will be described below.

[0064] Figure 2 This is a schematic diagram of a controller according to an embodiment of this application. Figure 2 As shown, the controller includes:

[0065] The first acquisition unit 10 is used to acquire spectral data at the preset location after performing initial laser cleaning on the preset location of the area to be cleaned. The spectral data includes the intensity of spectral feature lines of multiple elements.

[0066] Specifically, taking the cleaning of rust on the surface of a wheel rim as an example, a high-intensity pulsed laser beam is focused on a preset position in the area of ​​the wheel rim to be cleaned. The preset position in the area of ​​the wheel rim to be cleaned will be intensely heated, thereby generating transient plasma above the preset position in the area to be cleaned. The spectrum of the plasma plume emission depends on the elemental composition at the preset position of ablation. Since the chemical composition of the rust on the base of the wheel rim is different from that on the surface of the wheel rim, the laser acts on different materials, and the laser-induced breakdown spectrum is different. That is, the intensity of the spectral characteristic lines of different elements is different, and the content of the element is proportional to the intensity of the spectral characteristic lines of the element.

[0067] Specifically, in the spectrum at the preset position, the spectral characteristic line at 404.581 nm is the spectral characteristic line of iron, and the spectral characteristic line at 445.4 nm is the spectral characteristic line of oxygen.

[0068] The aforementioned rust laser cleaning system also includes a spectral acquisition unit. The controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location. The first acquisition unit includes a first acquisition module and a processing module.

[0069] The first acquisition module is used to acquire spectral data to be processed from the spectral acquisition device. The spectral data to be processed includes the spectral data and noise data. The noise data includes at least the intensity of the spectral characteristic lines of dust.

[0070] The aforementioned processing module is used to filter the aforementioned spectral data to be processed using a fuzzy control intelligent algorithm to obtain the aforementioned spectral data. The aforementioned fuzzy control intelligent algorithm is used to remove the aforementioned noise data from the aforementioned spectral data to be processed.

[0071] In this embodiment, to improve the accuracy of the control method for rust laser cleaning, taking the cleaning of rust on the surface of a wheel rim as an example, a fuzzy control intelligent algorithm is used to filter the spectral data to be processed, removing the intensity of the spectral feature lines of dust and other impurities. This ensures that the obtained spectral data only includes the intensity of the spectral feature lines of elements at preset positions, avoiding interference from the intensity of the spectral feature lines of dust and other impurities on the determination of the content of the first target element (the proportion of oxygen content in the sum of the contents of all elements) in subsequent steps, thereby improving the accuracy of the control method for rust laser cleaning.

[0072] The first determining unit 20 is used to determine the content of the first target element based on the above spectral data. The content of the first target element is the ratio of the content of the first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the above elements.

[0073] Specifically, the intensity of the spectral characteristic lines of an element is directly proportional to the element's content. Therefore, the content of the first target element can be determined based on the intensity of its spectral characteristic lines, which is to determine the proportion of oxygen in the sum of the contents of all elements.

[0074] The aforementioned first determining unit includes a second obtaining module and a third obtaining module.

[0075] The second acquisition module described above is used to acquire the total intensity, which is the sum of the intensities of the spectral characteristic lines of each of the aforementioned elements;

[0076] The third acquisition module is used to acquire the content of the first target element, which is the ratio of the intensity of the spectral feature line of the first preset element to the total intensity.

[0077] In this embodiment, since the intensity of the spectral characteristic line of an element is proportional to the content of the element, the ratio of the intensity of the spectral characteristic line of oxygen to the sum of the intensities of the spectral characteristic lines of all elements (including at least oxygen and iron) is the content of the first target element (the proportion of the content of oxygen in the sum of the contents of all elements).

[0078] The second determining unit 30 is used to determine whether the content of the first target element is greater than the first preset value;

[0079] Specifically, taking the cleaning of rust from the surface of a wheel rim as an example, the main component of a wheel rim is iron, and the main component of rust is ferric oxide. Both wheel rims and rust contain iron and oxygen elements. The oxygen content in wheel rims and rust is significantly different. The oxygen content in rust is about four times that in wheel rims. The content of the first target element (the proportion of oxygen content in the sum of all element contents) reflects the amount of rust residue at the preset location. The higher the content of the first target element, the greater the amount of rust residue at the preset location.

[0080] To ensure that the rust at the preset location is thoroughly cleaned, in one optional embodiment, the aforementioned device further includes a second acquisition unit, a third determination unit, and a fourth determination unit.

[0081] The second acquisition unit is used to acquire the content of a third target element when the content of the first target element is less than or equal to a first preset value. The content of the third target element is the ratio of the intensity of the spectral characteristic line of the second preset element to the total intensity. The second preset element is iron. The total intensity is the sum of the intensities of the spectral characteristic lines of each of the above elements.

[0082] The aforementioned third determining unit is used to determine whether the content of the aforementioned third target element is greater than the second preset value;

[0083] The fourth determining unit is used to determine that the preset position is clean when the content of the third target element is greater than the second preset value.

[0084] In this embodiment, taking the cleaning of rust from the surface of a wheel rim as an example, the main component of the wheel rim is iron, and the main component of rust is ferric oxide. Both the wheel rim and the rust contain iron and oxygen elements. The oxygen content in the wheel rim and the rust is significantly different. The oxygen content in the rust is about four times that in the wheel rim, and the iron content in the rust is significantly lower than that in the wheel rim. Therefore, if the content of the first target element (the proportion of oxygen content in the sum of all element contents) is less than or equal to the first preset value, it is determined whether the content of the third target element (the proportion of iron content in the sum of all element contents) is greater than the second preset value. If the content of the third target element is greater than the second preset value, it is determined that the preset position is clean. The residual amount of rust on the surface of the wheel rim is determined by combining the content of the first target element and the content of the third target element, thereby ensuring that the rust at the preset position is clean.

[0085] The first control unit 40 is used to control the laser cleaning machine to perform laser cleaning on the preset position again when the content of the first target element is greater than the first preset value.

[0086] Specifically, if the content of the first target element is greater than the first preset value, and it is determined that there is too much rust residue at the preset position and the preset position is not cleaned, then the laser cleaning machine is controlled to perform laser cleaning on the preset position again.

[0087] The aforementioned first control unit includes a first determining module, a second determining module, and a control module.

[0088] The first determining module is used to determine a target preset range when the content of the first target element is greater than the first preset value. The target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges.

[0089] The second determining module is used to determine laser cleaning parameters based on the target preset range and the first mapping relationship. The laser cleaning parameters include at least laser power. The first mapping relationship is the mapping relationship between the preset range and the laser cleaning parameters. The preset range and the laser cleaning parameters correspond one-to-one.

[0090] Specifically, the laser cleaning parameters mentioned above also include repetition frequency, pulse width, number of cleaning cycles, cleaning speed, and laser energy density.

[0091] The aforementioned control module is used to control the laser cleaning machine to output laser according to the aforementioned laser cleaning parameters, and to perform laser cleaning on the aforementioned preset position again.

[0092] In this embodiment, to ensure that the rust at the preset location is cleaned, if the content of the first target element is greater than the first preset value, it is determined that there is too much rust residue at the preset location and the preset location is not cleaned. At this time, the degree of rust residue at the preset location is determined, that is, the target preset range is determined. Then, the laser cleaning parameters corresponding to the degree of rust residue at the preset location are determined, and the laser cleaning machine is controlled to output laser according to the laser cleaning parameters to perform laser cleaning on the preset location again. For example, if the content of the first target element is greater than 10%, the laser power is determined to be 250W; if the content of the first target element is between 10% and 6%, the laser power is determined to be 225W; if the content of the first target element is between 6% and 4%, the laser power is determined to be 200W. That is, the higher the degree of rust residue at the preset location, the greater the laser power output by the laser cleaning machine, thereby ensuring that the rust at the preset location is cleaned.

[0093] The aforementioned rust laser cleaning system also includes a robot, the aforementioned laser cleaning machine is installed on the aforementioned robot, the aforementioned three-dimensional model of the area to be cleaned includes the three-dimensional coordinates of multiple aforementioned preset positions, the aforementioned preset positions correspond one-to-one with the aforementioned three-dimensional coordinates, and the aforementioned preset positions correspond one-to-one with the aforementioned first target element content.

[0094] To improve the efficiency of laser cleaning of rust, the aforementioned device also includes a third acquisition unit, a fifth determination unit, and a second control unit.

[0095] The third acquisition unit is used to acquire multiple target three-dimensional coordinates when the content of multiple first target elements is greater than the first preset value. The target three-dimensional coordinates are the three-dimensional coordinates corresponding to the content of second target elements, and the content of second target elements is the content of first target elements that is greater than the first preset value.

[0096] The fifth determining unit is used to determine a continuous region based on the three-dimensional coordinates of the target, wherein the distance between any two adjacent three-dimensional coordinates of the target in the continuous region is less than a preset distance;

[0097] The second control unit is used to determine the laser cleaning trajectory based on the continuous area when the area of ​​the continuous area is greater than the preset area, and to control the robot to move according to the laser cleaning trajectory so as to perform laser cleaning on the continuous area again.

[0098] In this embodiment, when the content of multiple first target elements is greater than the first preset value, it is determined that there is too much rust residue at multiple preset locations and multiple preset locations are not cleaned. The three-dimensional coordinates of the preset locations to be cleaned that are close to each other, i.e. the target three-dimensional coordinates, are divided into continuous areas. The laser cleaning trajectory of the robot is determined according to the continuous areas, and the robot is controlled to move according to the laser cleaning trajectory to perform laser cleaning on the continuous areas again, thereby improving the efficiency of rust laser cleaning.

[0099] Through the above embodiments, the intensity of the spectral characteristic lines of an element is directly proportional to the content of the element. Therefore, the content of the first target element can be determined based on the intensity of the spectral characteristic lines of the element, that is, the proportion of the oxygen element content in the sum of the contents of all elements. The content of the first target element reflects the amount of rust residue at the preset position. The larger the content of the first target element, the larger the amount of rust residue at the preset position. If the content of the first target element is greater than the first preset value, it is determined that there is too much rust residue at the preset position and the preset position is not cleaned. At this time, the laser cleaning machine is controlled to perform laser cleaning on the preset position again. This method solves the problem in the prior art that it is impossible to guarantee that the rust at every position on the surface of the object to be cleaned is cleaned.

[0100] The controller includes a processor and a memory. The first acquisition unit, the first determination unit, the second determination unit, and the first control unit are all stored as program units in the memory. The processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0101] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem in existing technologies where it is impossible to guarantee that rust is completely removed from every location on the surface of the object being cleaned.

[0102] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0103] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to perform the aforementioned control method for laser cleaning of rust.

[0104] Specifically, the control methods for laser cleaning of rust include:

[0105] Step S201: After performing initial laser cleaning on a preset location in the area to be cleaned, acquire spectral data at the preset location. The spectral data includes the intensity of spectral characteristic lines of multiple elements.

[0106] Specifically, taking the cleaning of rust on the surface of a wheel rim as an example, a high-intensity pulsed laser beam is focused on a preset position in the area of ​​the wheel rim to be cleaned. The preset position in the area of ​​the wheel rim to be cleaned will be intensely heated, thereby generating transient plasma above the preset position in the area to be cleaned. The spectrum of the plasma plume emission depends on the elemental composition at the preset position of ablation. Since the chemical composition of the rust on the base of the wheel rim is different from that on the surface of the wheel rim, the laser acts on different materials, and the laser-induced breakdown spectrum is different. That is, the intensity of the spectral characteristic lines of different elements is different, and the content of the element is proportional to the intensity of the spectral characteristic lines of the element.

[0107] Specifically, in the spectrum at the preset position, the spectral characteristic line at 404.581 nm is the spectral characteristic line of iron, and the spectral characteristic line at 445.4 nm is the spectral characteristic line of oxygen.

[0108] Step S202: Determine the content of the first target element based on the above spectral data. The content of the first target element is the ratio of the content of the first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the above elements.

[0109] Specifically, the intensity of the spectral characteristic lines of an element is directly proportional to the element's content. Therefore, the content of the first target element can be determined based on the intensity of its spectral characteristic lines, which is to determine the proportion of oxygen in the sum of the contents of all elements.

[0110] Step S203: Determine whether the content of the first target element is greater than the first preset value;

[0111] Specifically, taking the cleaning of rust from the surface of a wheel rim as an example, the main component of a wheel rim is iron, and the main component of rust is ferric oxide. Both wheel rims and rust contain iron and oxygen elements. The oxygen content in wheel rims and rust is significantly different. The oxygen content in rust is about four times that in wheel rims. The content of the first target element (the proportion of oxygen content in the sum of all element contents) reflects the amount of rust residue at the preset location. The higher the content of the first target element, the greater the amount of rust residue at the preset location.

[0112] Step S204: If the content of the first target element is greater than the first preset value, control the laser cleaning machine to perform laser cleaning on the preset position again.

[0113] Specifically, if the content of the first target element is greater than the first preset value, and it is determined that there is too much rust residue at the preset position and the preset position is not cleaned, then the laser cleaning machine is controlled to perform laser cleaning on the preset position again.

[0114] Optionally, determining the content of the first target element based on the above spectral data includes: obtaining the total intensity, wherein the total intensity is the sum of the intensities of the spectral characteristic lines of each of the above elements; and obtaining the content of the first target element, wherein the content of the first target element is the ratio of the intensity of the spectral characteristic line of the first preset element to the total intensity.

[0115] Optionally, the aforementioned rust laser cleaning system further includes a robot, with the laser cleaning machine mounted on the robot. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to one of the contents of the first target element. The method further includes: when the contents of multiple first target elements are greater than the first preset value, acquiring multiple target three-dimensional coordinates, where the target three-dimensional coordinates are the three-dimensional coordinates corresponding to the contents of a second target element, and the second target element content is the contents of the first target element greater than the first preset value; determining a continuous region based on the target three-dimensional coordinates, where the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; and when the area of ​​the continuous region is greater than a preset area, determining a laser cleaning trajectory based on the continuous region and controlling the robot to move along the laser cleaning trajectory to perform laser cleaning on the continuous region again.

[0116] Optionally, when the content of the first target element is greater than the first preset value, controlling the laser cleaning machine to perform laser cleaning on the preset position again includes: determining a target preset range when the content of the first target element is greater than the first preset value, wherein the target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges; determining laser cleaning parameters according to the target preset range and a first mapping relationship, wherein the laser cleaning parameters include at least laser power, and the first mapping relationship is a mapping relationship between the preset range and the laser cleaning parameters, wherein the preset range and the laser cleaning parameters correspond one-to-one; and controlling the laser cleaning machine to output laser according to the laser cleaning parameters to perform laser cleaning on the preset position again.

[0117] Optionally, the aforementioned rust laser cleaning system further includes a spectral acquisition unit. The controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location, including: acquiring spectral data to be processed from the spectral acquisition unit, wherein the spectral data to be processed includes the spectral data and noise data, and the noise data includes at least the intensity of the spectral characteristic lines of dust; and filtering the spectral data to be processed using a fuzzy control intelligent algorithm to obtain the spectral data, wherein the fuzzy control intelligent algorithm is used to remove the noise data from the spectral data to be processed.

[0118] Optionally, after determining whether the content of the first target element is greater than the first preset value, the method further includes: if the content of the first target element is less than or equal to the first preset value, obtaining the content of a third target element, wherein the content of the third target element is the ratio of the intensity of the spectral characteristic line of a second preset element to the total intensity, the second preset element is iron, and the total intensity is the sum of the intensities of the spectral characteristic lines of each of the elements; determining whether the content of the third target element is greater than the second preset value; and if the content of the third target element is greater than the second preset value, determining that the preset position is cleaned.

[0119] This invention provides a processor for running a program, wherein the program executes the control method for laser cleaning of rust.

[0120] Specifically, the control methods for laser cleaning of rust include:

[0121] Step S201: After performing initial laser cleaning on a preset location in the area to be cleaned, acquire spectral data at the preset location. The spectral data includes the intensity of spectral characteristic lines of multiple elements.

[0122] Specifically, taking the cleaning of rust on the surface of a wheel rim as an example, a high-intensity pulsed laser beam is focused on a preset position in the area of ​​the wheel rim to be cleaned. The preset position in the area of ​​the wheel rim to be cleaned will be intensely heated, thereby generating transient plasma above the preset position in the area to be cleaned. The spectrum of the plasma plume emission depends on the elemental composition at the preset position of ablation. Since the chemical composition of the rust on the base of the wheel rim is different from that on the surface of the wheel rim, the laser acts on different materials, and the laser-induced breakdown spectrum is different. That is, the intensity of the spectral characteristic lines of different elements is different, and the content of the element is proportional to the intensity of the spectral characteristic lines of the element.

[0123] Specifically, in the spectrum at the preset position, the spectral characteristic line at 404.581 nm is the spectral characteristic line of iron, and the spectral characteristic line at 445.4 nm is the spectral characteristic line of oxygen.

[0124] Step S202: Determine the content of the first target element based on the above spectral data. The content of the first target element is the ratio of the content of the first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the above elements.

[0125] Specifically, the intensity of the spectral characteristic lines of an element is directly proportional to the element's content. Therefore, the content of the first target element can be determined based on the intensity of its spectral characteristic lines, which is to determine the proportion of oxygen in the sum of the contents of all elements.

[0126] Step S203: Determine whether the content of the first target element is greater than the first preset value;

[0127] Specifically, taking the cleaning of rust from the surface of a wheel rim as an example, the main component of a wheel rim is iron, and the main component of rust is ferric oxide. Both wheel rims and rust contain iron and oxygen elements. The oxygen content in wheel rims and rust is significantly different. The oxygen content in rust is about four times that in wheel rims. The content of the first target element (the proportion of oxygen content in the sum of all element contents) reflects the amount of rust residue at the preset location. The higher the content of the first target element, the greater the amount of rust residue at the preset location.

[0128] Step S204: If the content of the first target element is greater than the first preset value, control the laser cleaning machine to perform laser cleaning on the preset position again.

[0129] Specifically, if the content of the first target element is greater than the first preset value, and it is determined that there is too much rust residue at the preset position and the preset position is not cleaned, then the laser cleaning machine is controlled to perform laser cleaning on the preset position again.

[0130] Optionally, determining the content of the first target element based on the above spectral data includes: obtaining the total intensity, wherein the total intensity is the sum of the intensities of the spectral characteristic lines of each of the above elements; and obtaining the content of the first target element, wherein the content of the first target element is the ratio of the intensity of the spectral characteristic line of the first preset element to the total intensity.

[0131] Optionally, the aforementioned rust laser cleaning system further includes a robot, with the laser cleaning machine mounted on the robot. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to one of the contents of the first target element. The method further includes: when the contents of multiple first target elements are greater than the first preset value, acquiring multiple target three-dimensional coordinates, where the target three-dimensional coordinates are the three-dimensional coordinates corresponding to the contents of a second target element, and the second target element content is the contents of the first target element greater than the first preset value; determining a continuous region based on the target three-dimensional coordinates, where the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; and when the area of ​​the continuous region is greater than a preset area, determining a laser cleaning trajectory based on the continuous region and controlling the robot to move along the laser cleaning trajectory to perform laser cleaning on the continuous region again.

[0132] Optionally, when the content of the first target element is greater than the first preset value, controlling the laser cleaning machine to perform laser cleaning on the preset position again includes: determining a target preset range when the content of the first target element is greater than the first preset value, wherein the target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges; determining laser cleaning parameters according to the target preset range and a first mapping relationship, wherein the laser cleaning parameters include at least laser power, and the first mapping relationship is a mapping relationship between the preset range and the laser cleaning parameters, wherein the preset range and the laser cleaning parameters correspond one-to-one; and controlling the laser cleaning machine to output laser according to the laser cleaning parameters to perform laser cleaning on the preset position again.

[0133] Optionally, the aforementioned rust laser cleaning system further includes a spectral acquisition unit. The controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location, including: acquiring spectral data to be processed from the spectral acquisition unit, wherein the spectral data to be processed includes the spectral data and noise data, and the noise data includes at least the intensity of the spectral characteristic lines of dust; and filtering the spectral data to be processed using a fuzzy control intelligent algorithm to obtain the spectral data, wherein the fuzzy control intelligent algorithm is used to remove the noise data from the spectral data to be processed.

[0134] Optionally, after determining whether the content of the first target element is greater than the first preset value, the method further includes: if the content of the first target element is less than or equal to the first preset value, obtaining the content of a third target element, wherein the content of the third target element is the ratio of the intensity of the spectral characteristic line of a second preset element to the total intensity, the second preset element is iron, and the total intensity is the sum of the intensities of the spectral characteristic lines of each of the elements; determining whether the content of the third target element is greater than the second preset value; and if the content of the third target element is greater than the second preset value, determining that the preset position is cleaned.

[0135] This invention provides a rust laser cleaning system, comprising: a spectral acquisition unit; a laser cleaning machine; a robot, wherein the laser cleaning machine is mounted on the robot; and a controller, which is communicatively connected to the spectral acquisition unit, the laser cleaning machine, and the robot, and is used to execute the control method for the rust laser cleaning.

[0136] Optionally, determining the content of the first target element based on the above spectral data includes: obtaining the total intensity, wherein the total intensity is the sum of the intensities of the spectral characteristic lines of each of the above elements; and obtaining the content of the first target element, wherein the content of the first target element is the ratio of the intensity of the spectral characteristic line of the first preset element to the total intensity.

[0137] Optionally, the aforementioned rust laser cleaning system further includes a robot, with the laser cleaning machine mounted on the robot. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to one of the contents of the first target element. The method further includes: when the contents of multiple first target elements are greater than the first preset value, acquiring multiple target three-dimensional coordinates, where the target three-dimensional coordinates are the three-dimensional coordinates corresponding to the contents of a second target element, and the second target element content is the contents of the first target element greater than the first preset value; determining a continuous region based on the target three-dimensional coordinates, where the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; and when the area of ​​the continuous region is greater than a preset area, determining a laser cleaning trajectory based on the continuous region and controlling the robot to move along the laser cleaning trajectory to perform laser cleaning on the continuous region again.

[0138] Optionally, when the content of the first target element is greater than the first preset value, controlling the laser cleaning machine to perform laser cleaning on the preset position again includes: determining a target preset range when the content of the first target element is greater than the first preset value, wherein the target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges; determining laser cleaning parameters according to the target preset range and a first mapping relationship, wherein the laser cleaning parameters include at least laser power, and the first mapping relationship is a mapping relationship between the preset range and the laser cleaning parameters, wherein the preset range and the laser cleaning parameters correspond one-to-one; and controlling the laser cleaning machine to output laser according to the laser cleaning parameters to perform laser cleaning on the preset position again.

[0139] Optionally, the aforementioned rust laser cleaning system further includes a spectral acquisition unit. The controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location, including: acquiring spectral data to be processed from the spectral acquisition unit, wherein the spectral data to be processed includes the spectral data and noise data, and the noise data includes at least the intensity of the spectral characteristic lines of dust; and filtering the spectral data to be processed using a fuzzy control intelligent algorithm to obtain the spectral data, wherein the fuzzy control intelligent algorithm is used to remove the noise data from the spectral data to be processed.

[0140] Optionally, after determining whether the content of the first target element is greater than the first preset value, the method further includes: if the content of the first target element is less than or equal to the first preset value, obtaining the content of a third target element, wherein the content of the third target element is the ratio of the intensity of the spectral characteristic line of a second preset element to the total intensity, the second preset element is iron, and the total intensity is the sum of the intensities of the spectral characteristic lines of each of the elements; determining whether the content of the third target element is greater than the second preset value; and if the content of the third target element is greater than the second preset value, determining that the preset position is cleaned.

[0141] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0142] Step S201: After performing initial laser cleaning on a preset location in the area to be cleaned, acquire spectral data at the preset location. The spectral data includes the intensity of spectral characteristic lines of multiple elements.

[0143] Step S202: Determine the content of the first target element based on the above spectral data. The content of the first target element is the ratio of the content of the first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the above elements.

[0144] Step S203: Determine whether the content of the first target element is greater than the first preset value;

[0145] Step S204: If the content of the first target element is greater than the first preset value, control the laser cleaning machine to perform laser cleaning on the preset position again.

[0146] Optionally, determining the content of the first target element based on the above spectral data includes: obtaining the total intensity, wherein the total intensity is the sum of the intensities of the spectral characteristic lines of each of the above elements; and obtaining the content of the first target element, wherein the content of the first target element is the ratio of the intensity of the spectral characteristic line of the first preset element to the total intensity.

[0147] Optionally, the aforementioned rust laser cleaning system further includes a robot, with the laser cleaning machine mounted on the robot. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to one of the contents of the first target element. The method further includes: when the contents of multiple first target elements are greater than the first preset value, acquiring multiple target three-dimensional coordinates, where the target three-dimensional coordinates are the three-dimensional coordinates corresponding to the contents of a second target element, and the second target element content is the contents of the first target element greater than the first preset value; determining a continuous region based on the target three-dimensional coordinates, where the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; and when the area of ​​the continuous region is greater than a preset area, determining a laser cleaning trajectory based on the continuous region and controlling the robot to move along the laser cleaning trajectory to perform laser cleaning on the continuous region again.

[0148] Optionally, when the content of the first target element is greater than the first preset value, controlling the laser cleaning machine to perform laser cleaning on the preset position again includes: determining a target preset range when the content of the first target element is greater than the first preset value, wherein the target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges; determining laser cleaning parameters according to the target preset range and a first mapping relationship, wherein the laser cleaning parameters include at least laser power, and the first mapping relationship is a mapping relationship between the preset range and the laser cleaning parameters, wherein the preset range and the laser cleaning parameters correspond one-to-one; and controlling the laser cleaning machine to output laser according to the laser cleaning parameters to perform laser cleaning on the preset position again.

[0149] Optionally, the aforementioned rust laser cleaning system further includes a spectral acquisition unit. The controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location, including: acquiring spectral data to be processed from the spectral acquisition unit, wherein the spectral data to be processed includes the spectral data and noise data, and the noise data includes at least the intensity of the spectral characteristic lines of dust; and filtering the spectral data to be processed using a fuzzy control intelligent algorithm to obtain the spectral data, wherein the fuzzy control intelligent algorithm is used to remove the noise data from the spectral data to be processed.

[0150] Optionally, after determining whether the content of the first target element is greater than the first preset value, the method further includes: if the content of the first target element is less than or equal to the first preset value, obtaining the content of a third target element, wherein the content of the third target element is the ratio of the intensity of the spectral characteristic line of a second preset element to the total intensity, the second preset element is iron, and the total intensity is the sum of the intensities of the spectral characteristic lines of each of the elements; determining whether the content of the third target element is greater than the second preset value; and if the content of the third target element is greater than the second preset value, determining that the preset position is cleaned.

[0151] It is obvious to those skilled in the art that the modules or steps of the present invention 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. They can be implemented using computer-executable program code, and thus can be stored 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 described herein, 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, the present invention is not limited to any particular combination of hardware and software.

[0152] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0153] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0154] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0155] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0156] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0157] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0158] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0159] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0160] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0161] 1) In the control method for laser cleaning of rust in this application, after the initial laser cleaning of a preset location in the area to be cleaned, spectral data at the preset location is acquired. The spectral data includes the intensity of spectral characteristic lines of multiple elements. The content of a first target element is determined based on the spectral data. The content of the first target element is the ratio of the content of a first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the above elements. It is determined whether the content of the first target element is greater than a first preset value. If the content of the first target element is greater than the first preset value, the laser cleaning machine is controlled to perform laser cleaning on the preset location again. In this method, the intensity of the spectral characteristic lines of an element is directly proportional to the element's content. Therefore, the content of the first target element can be determined based on the intensity of the element's spectral characteristic lines, which is the proportion of oxygen content in the sum of the contents of all elements. This first target element content reflects the amount of rust residue at a preset location. The higher the first target element content, the greater the amount of rust residue at the preset location. If the first target element content is greater than a first preset value, it is determined that there is too much rust residue at the preset location, and the preset location is not cleaned properly. In this case, the laser cleaning machine is controlled to perform laser cleaning on the preset location again. This method solves the problem in the prior art that it is impossible to guarantee that rust at every location on the surface of the object to be cleaned is completely removed.

[0162] 2) The controller of this application includes: a first acquisition unit, configured to acquire spectral data at the preset location after initial laser cleaning of the area to be cleaned, the spectral data including the intensity of spectral characteristic lines of multiple elements; a first determination unit, configured to determine the content of a first target element based on the spectral data, the content of the first target element being the ratio of the content of a first preset element to the total content, the first preset element being oxygen, and the total content being the sum of the contents of each of the aforementioned elements; a second determination unit, configured to determine whether the content of the first target element is greater than a first preset value; and a second control unit, configured to control the laser cleaning machine to perform laser cleaning on the preset location again if the content of the first target element is greater than the first preset value. In this device, the intensity of the spectral characteristic lines of an element is directly proportional to the element's content. Therefore, the content of the first target element can be determined based on the intensity of the element's spectral characteristic lines, which is the proportion of oxygen in the sum of the contents of all elements. This first target element content reflects the amount of rust residue at a preset location. The higher the first target element content, the greater the amount of rust residue at the preset location. If the first target element content is greater than a first preset value, it is determined that there is too much rust residue at the preset location and the preset location is not cleaned properly. In this case, the laser cleaning machine is controlled to perform laser cleaning on the preset location again. This device solves the problem in the prior art that it is impossible to guarantee that rust at every location on the surface of the object to be cleaned is completely removed.

[0163] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for laser cleaning of rust, characterized in that, The rust laser cleaning system includes at least a controller and a laser cleaning machine. The controller is communicatively connected to the laser cleaning machine. The control method for rust laser cleaning is applied to the controller, and the method includes: After performing initial laser cleaning on a preset location in the area to be cleaned, spectral data at the preset location is acquired, and the spectral data includes the intensity of spectral characteristic lines of multiple elements. The content of a first target element is determined based on the spectral data. The content of the first target element is the ratio of the content of a first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the elements. Determine whether the content of the first target element is greater than a first preset value; If the content of the first target element is greater than the first preset value, the laser cleaning machine shall at least be controlled to perform laser cleaning on the preset position again. The rust laser cleaning system further includes a robot, with the laser cleaning machine mounted on the robot. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to the content of the first target element. The method further includes: When the content of multiple first target elements is greater than the first preset value, multiple target three-dimensional coordinates are obtained. The target three-dimensional coordinates are the three-dimensional coordinates corresponding to the content of second target elements. The content of second target elements is the content of first target elements that is greater than the first preset value. A continuous region is determined based on the target's three-dimensional coordinates, wherein the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; If the area of ​​the continuous region is greater than a preset area, a laser cleaning trajectory is determined based on the continuous region, and the robot is controlled to move according to the laser cleaning trajectory to perform laser cleaning on the continuous region again.

2. The method according to claim 1, characterized in that, Determining the content of the first target element based on the spectral data includes: Obtain the total intensity, which is the sum of the intensities of the spectral characteristic lines of each element; The content of the first target element is obtained, wherein the content of the first target element is the ratio of the intensity of the spectral feature line of the first preset element to the total intensity.

3. The method according to claim 1, characterized in that, When the content of the first target element is greater than the first preset value, the laser cleaning machine is controlled to perform laser cleaning on the preset position again, including: When the content of the first target element is greater than the first preset value, a target preset range is determined. The target preset range is a preset range in which the content of the first target element is located, and there are multiple preset ranges. Laser cleaning parameters are determined based on the target preset range and the first mapping relationship. The laser cleaning parameters include at least laser power. The first mapping relationship is the mapping relationship between the preset range and the laser cleaning parameters. The preset range and the laser cleaning parameters correspond one-to-one. The laser cleaning machine is controlled to output laser according to the laser cleaning parameters, and the preset position is laser cleaned again.

4. The method according to claim 1, characterized in that, The rust laser cleaning system also includes a spectral acquisition unit, and the controller is communicatively connected to the spectral acquisition unit to acquire spectral data at the preset location, including: The spectral data to be processed is acquired from the spectral acquisition device. The spectral data to be processed includes the spectral data and noise data. The noise data includes at least the intensity of the spectral characteristic lines of the dust. The fuzzy control intelligent algorithm is used to filter the spectral data to be processed, and the fuzzy control intelligent algorithm is used to remove the noise data in the spectral data to be processed.

5. The method according to claim 1, characterized in that, After determining whether the content of the first target element is greater than a first preset value, the method further includes: When the content of the first target element is less than or equal to the first preset value, the content of the third target element is obtained. The content of the third target element is the ratio of the intensity of the spectral feature line of the second preset element to the total intensity. The second preset element is iron. The total intensity is the sum of the intensities of the spectral feature lines of each element. Determine whether the content of the third target element is greater than the second preset value; If the content of the third target element is greater than the second preset value, the preset position is determined to be cleaned.

6. A controller, characterized in that, A rust laser cleaning system includes at least a controller and a laser cleaning machine, wherein the controller is communicatively connected to the laser cleaning machine, and the controller includes: The first acquisition unit is used to acquire spectral data at a preset location after initial laser cleaning of a preset location in the area to be cleaned. The spectral data includes the intensity of spectral feature lines of multiple elements. The first determining unit is configured to determine the content of a first target element based on the spectral data. The content of the first target element is the ratio of the content of a first preset element to the total content. The first preset element is oxygen. The total content is the sum of the contents of each of the elements. The second determining unit is used to determine whether the content of the first target element is greater than a first preset value; The second control unit is used to control the laser cleaning machine to perform laser cleaning on the preset position again when the content of the first target element is greater than the first preset value. The rust laser cleaning system further includes a robot, on which the laser cleaning machine is mounted. The three-dimensional model of the area to be cleaned includes three-dimensional coordinates of multiple preset positions, each preset position corresponding to one of the three-dimensional coordinates and each preset position corresponding to the content of the first target element. The controller further includes a third acquisition unit, a fifth determination unit, and a second control unit. The third acquisition unit is used to acquire multiple target three-dimensional coordinates when the contents of multiple first target elements are greater than the first preset value. The target three-dimensional coordinates are the three-dimensional coordinates corresponding to the contents of the second target elements, and the contents of the second target elements are the contents of the first target elements that are greater than the first preset value. The fifth determining unit is used to determine a continuous region based on the target three-dimensional coordinates, wherein the distance between any two adjacent target three-dimensional coordinates in the continuous region is less than a preset distance; The second control unit is configured to determine a laser cleaning trajectory based on the continuous area when the area of ​​the continuous area is greater than a preset area, and control the robot to move according to the laser cleaning trajectory to perform laser cleaning on the continuous area again.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for laser cleaning of rust as described in any one of claims 1 to 5.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the control method for laser cleaning of rust as described in any one of claims 1 to 5.

9. A rust laser cleaning system, characterized in that, The rust laser cleaning system includes: Spectral acquisition device; Laser cleaning machine; The robot, on which the laser cleaning machine is mounted; A controller is communicatively connected to the spectral acquisition unit, the laser cleaning machine, and the robot, and is used to execute the control method for rust laser cleaning according to any one of claims 1 to 5.

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