A method and system for laser cleaning the inner wall of a cylinder

By receiving and processing the status information of the laser cleaning robot, adjusting the robot's pose, and using machine vision technology for image processing, the problem of adaptive cleaning of launch tubes and cannons with different diameters has been solved, realizing autonomous laser cleaning and accurate quality assessment, and improving cleaning efficiency and effectiveness.

CN116408788BActive Publication Date: 2026-07-17HIWING TECH ACAD OF CASIC
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HIWING TECH ACAD OF CASIC
Filing Date
2021-12-30
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing technologies cannot achieve adaptive attitude control and cleaning of launch tubes and gun barrels with different diameter parameters, and visual judgment of cleaning effect is prone to misjudgment, resulting in low cleaning efficiency and inaccurate quality assessment.

Method used

By receiving the status information of the laser cleaning robot, its safety status is determined, and the motion and cleaning parameters are adjusted to make the robot parallel to the inner wall of the cylinder. The inner wall image is processed by machine vision to perform grayscale conversion and histogram equalization. A binary image is generated by threshold segmentation to quantify the cleaning effect, thereby realizing autonomous cleaning and real-time quality assessment.

Benefits of technology

This technology enables laser cleaning robots to autonomously walk and clean the inner wall of the tube, improving cleaning efficiency and the accuracy of quality assessment. It is applicable to different lighting environments and types of laser tubes, reducing human intervention and misjudgment.

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Abstract

This invention provides a method and system for laser cleaning the inner wall of a cylinder, comprising: receiving robot status information; determining the safety status of the laser cleaning robot; confirming the motion and cleaning parameters of the laser cleaning robot; determining the rationality of the motion and cleaning parameters of the laser cleaning robot; adjusting the robot's posture to keep the robot's body parallel to the inner wall of the cylinder and aligning the axis of the laser rotating arm with the axis of the inner wall of the cylinder; completing the cleaning of the inner wall of the cylinder based on the determined motion and cleaning parameters; evaluating the cleaning effect of the laser cleaning robot based on the proportion of uncleaned areas to the total uncleaned area of ​​multiple binary images; and driving the robot to move and repeating the above steps to complete the cleaning. This invention addresses the technical problems of existing technologies, such as the inability to achieve adaptive posture control and cleaning of equipment with varying cylinder diameters (e.g., launch tubes, cannon barrels), and the high error rate of visual judgment.
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