A method, apparatus and device for determining a feature of a laser cleaned surface of an object

Abstract

The application provides a kind of method, device and equipment for determining the surface features of laser cleaning object, the method comprises: determining the surface rough features of target object by laser radar;According to the surface rough features, the accurate scanning position and path of 3D scanner are determined;According to the accurate scanning position and path, the target object is accurately scanned by 3D scanner, and the accurate features of target object are determined;According to the accurate features of target object, the target object is cleaned by laser irradiation device.The scheme of the application can automatically plan the scanning path of 3D scanner by laser radar, and realize the laser cleaning of target object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cleaning, in particular to a method and device for determining surface features of an object to be cleaned by laser, and a laser cleaning system. BACKGROUND

[0002] In laser cleaning of an object, a 3D scanner and a robot are usually combined to extract surface features of the object to be cleaned by laser, so as to guide a laser cleaning irradiation device to clean the surface of the object by laser. However, when the 3D scanner is used to extract surface features of the object, the depth of field of the 3D scanner is small, only tens of centimeters, so the scanning path and angle of the 3D scanner must be manually planned by a person, and automation cannot be achieved. SUMMARY

[0003] The present application aims to provide a method and device for determining surface features of an object to be cleaned by laser, which can automatically plan a scanning path of a 3D scanner by a laser radar, and clean the object by laser after determining the surface features of the object by a laser irradiation device.

[0004] To solve the above technical problems, the technical solutions of the present application are as follows:

[0005] A method for determining surface features of an object to be cleaned by laser, comprising:

[0006] determining rough surface features of the object by a laser radar;

[0007] determining an accurate scanning position and path of a 3D scanner according to the rough surface features;

[0008] accurately scanning the object by the 3D scanner according to the accurate scanning position and path, and determining accurate features of the object;

[0009] cleaning the object by laser according to the accurate features of the object by a laser irradiation device.

[0010] Optionally, the laser radar, the 3D scanner and the laser irradiation device are all arranged at the end of a mechanical arm of a mobile robot through an adapter plate.

[0011] Optionally, the rough surface features of the object are determined by the laser radar, comprising:

[0012] determining at least one preset point for scanning the object by the laser radar according to the shape features of the object and the arm span features of the mobile robot;

[0013] scanning the object by the laser radar at the at least one preset point to obtain at least one rough point cloud.

[0014] Optionally, the at least one preset point is uniformly arranged around the target object, and a straight-line distance between the preset point and the center of the target object is equal to one-third of the arm span of the mobile robot equipped with the laser radar.

[0015] Optionally, the accurate scanning position and path of the 3D scanner are determined according to the surface rough features, including:

[0016] The at least one rough point cloud map is spliced to obtain an overall rough point cloud map reflecting the surface rough features of the target object.

[0017] The accurate scanning position and path of the 3D scanner are determined by identifying the overall rough point cloud map through a preset algorithm.

[0018] Optionally, the accurate features of the target object are determined by accurately scanning the target object through the 3D scanner according to the accurate scanning position and path, including:

[0019] The target object is accurately scanned by the 3D scanner at the at least one accurate scanning position according to the preset path to obtain at least one accurate point cloud map.

[0020] The at least one accurate point cloud map is spliced to obtain an overall accurate point cloud map reflecting the surface accurate features of the target object.

[0021] Optionally, the target object is laser cleaned through a laser irradiation device according to the accurate features of the target object, including:

[0022] The laser cleaning position of the target object is determined according to the overall accurate point cloud map, the laser cleaning path of the minimum repeated walking area is determined, and the target object is laser cleaned through the laser irradiation device.

[0023] The application further provides a determination device for laser cleaning surface features of an object, including:

[0024] An acquisition module determines surface rough features of a target object through a laser radar.

[0025] A processing module determines an accurate scanning position and path of a 3D scanner according to the surface rough features, accurately scans the target object through the 3D scanner according to the accurate scanning position and path to determine accurate features of the target object, and laser cleans the target object through a laser irradiation device according to the accurate features of the target object.

[0026] The application further provides a computing device including a processor and a memory storing a computer program, wherein the computer program is run by the processor to execute the method as described above.

[0027] The application further provides a computer readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the method described above.

[0028] The above scheme of the application has at least the following beneficial effects:

[0029] The above scheme of the application determines the rough features of the target object by the laser radar, determines the accurate scanning position and path of the 3D scanner according to the rough features of the surface, determines the accurate features of the target object by the 3D scanner according to the accurate scanning position and path, and performs laser cleaning on the target object by the laser irradiation device according to the accurate features of the target object. The scanning path of the 3D scanner can be automatically planned by the laser radar, and laser cleaning on the target object can be realized by the laser irradiation device after the surface features of the target object are determined. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a flowchart of a method for determining the surface features of a laser cleaned object according to an embodiment of the application;

[0031] Figure 2 is a schematic diagram of a mobile robot according to an embodiment of the application for determining the surface features of a laser cleaned object;

[0032] Figure 3 is a top view schematic diagram of a preset point of a mobile robot according to an embodiment of the application for determining the surface features of a laser cleaned object;

[0033] Figure 4 is a structural schematic diagram of a device for determining the surface features of a laser cleaned object according to an embodiment of the application. DETAILED DESCRIPTION

[0034] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application can be more thoroughly understood, and the scope of the present application can be accurately conveyed to those skilled in the art.

[0035] As shown in Figure 1 , an embodiment of the present application proposes a method for determining the surface features of a laser cleaned object, comprising:

[0036] Step 11, determining the rough features of the surface of the target object by the laser radar;

[0037] Step 12, determining the accurate scanning position and path of the 3D scanner according to the rough features of the surface;

[0038] Step 13, according to the accurate scanning position and path, the target object is accurately scanned by the 3D scanner to determine the accurate characteristics of the target object;

[0039] Step 14, according to the accurate characteristics of the target object, the target object is laser cleaned by the laser irradiation device.

[0040] The laser radar, 3D scanner and laser irradiation device are all arranged at the end of the mobile robot arm through the adapter plate.

[0041] In this embodiment, as shown in the figure, Figure 2 The laser radar, 3D scanner and laser irradiation device are installed at the end of the 6-axis mobile robot arm. Since the scanning angle of the laser radar can reach 68° (horizontal) x 55° (vertical) in a single scan, while the scanning angle of the 3D scanner is only 24° (horizontal) x 18° (vertical), the range angle of a single scan of the laser radar is about 8 times that of the 3D scanner. Therefore, the large well depth and large angle characteristics of the laser radar are used to first obtain the rough characteristics of the target object surface. According to the rough characteristics, the 3D scanner is guided to accurately scan the target object by a preset algorithm to obtain the accurate characteristics of the target object surface, and a millimeter-level accurate point cloud map meeting the requirements of laser cleaning is obtained. Finally, the laser cleaning of the target object surface is completed by the laser irradiation device.

[0042] In an optional embodiment of the present application, step 11 can include:

[0043] Step 111, according to the shape characteristics of the target object and the arm spread characteristics of the mobile robot, at least one preset point position for the laser radar to scan the target object is determined;

[0044] Step 112, the laser radar scans the target object at the at least one preset point position to obtain at least one rough point cloud map.

[0045] The at least one preset point position is evenly around the target object, and the straight line distance between the preset point position and the center of the target object is equal to one third of the arm spread of the mobile robot equipped with the laser radar.

[0046] In this embodiment, as shown in the figure, Figure 3 The preset point position is preferably 8, of course, the preset point position can be less or more according to the surface characteristics of the target object. The preset point positions are evenly distributed around the target object, and the laser radar scans the target object at the preset point positions to obtain a rough point cloud map reflecting the local rough characteristics of the target object. According to the depth of field characteristics and angle characteristics of the laser radar, preferably, the straight line distance between the preset point position and the center of the target object is equal to one third of the arm spread of the robot equipped with the laser radar.

[0047] When the position and angle of the robot end are determined, the laser radar quickly measures the distance from the points in a scanning range to the center of the laser radar, and the characteristics of the entire object surface can be obtained through matrix transformation after the measured distance is obtained. When the target points overlap, the average distance of the points is obtained by taking a weighted average.

[0048] In an optional embodiment of the present application, step 12 can include:

[0049] Step 121, splicing the at least one rough point cloud map to obtain an overall rough point cloud map reflecting the rough characteristics of the surface of the target object.

[0050] Step 122, identifying the overall rough point cloud map through a preset algorithm to determine the accurate scanning position and path of the 3D scanner.

[0051] In the embodiment, since only the cloud maps reflecting the local characteristics of the target object are scanned at different preset points, the control system is required to splice the at least one rough point cloud map to obtain an overall rough point cloud map reflecting the overall characteristics of the target object. The surface characteristics of the target object are identified through a preset algorithm to identify the overall rough point cloud map, the accurate scanning position and path of the 3D scanner are determined, and the 3D scanner is guided to accurately scan the target object.

[0052] In an optional embodiment of the present application, step 13 can include:

[0053] Step 131, the 3D scanner accurately scans the target object according to the preset path at the at least one accurate scanning position to obtain at least one accurate point cloud map.

[0054] Step 132, splicing the at least one accurate point cloud map to obtain an overall accurate point cloud map reflecting the accurate characteristics of the surface of the target object.

[0055] In the embodiment, the working distance of the 3D scanner is only a few tens of centimeters, the scanning accuracy is less than 0.1 millimeter, the accuracy of the overall accurate point cloud map obtained by splicing is less than 1 millimeter, and the depth of the laser cleaning by the laser irradiation device is about ±5 mm. The accurate point cloud map of the target object obtained by the 3D scanner can guide the laser irradiation device to perform laser cleaning on the target object.

[0056] In an optional embodiment of the present application, step 14 can include:

[0057] Step 141, determining the laser cleaning position of the target object according to the overall accurate point cloud map, determining the laser cleaning path with the minimum repeated walking area, and performing laser cleaning on the target object by the laser irradiation device.

[0058] The above embodiment of the present application performs rough scanning on the target object by the laser radar, obtains a rough point cloud map reflecting the overall rough features of the target object, identifies the rough point cloud map by a preset algorithm, and determines the accurate scanning path of the 3D scanner. The laser radar is used to guide the 3D scanner to complete the automatic scanning and cleaning of the target object, which replaces the method of manually planning the scanning position and path of the 3D scanner in the prior art, and more accurately and conveniently completes the automatic scanning and laser cleaning of the target object.

[0059] As shown in Figure 4 The embodiment of the present application also provides a determination device 40 for laser cleaning of object surface features, which comprises:

[0060] An acquisition module 41 is configured to determine the surface rough features of the target object by the laser radar;

[0061] A processing module 42 is configured to determine the accurate scanning position and path of the 3D scanner according to the surface rough features, perform accurate scanning on the target object by the 3D scanner according to the accurate scanning position and path, determine the accurate features of the target object, and perform laser cleaning of the target object by the laser irradiation device according to the accurate features of the target object.

[0062] Optionally, the laser radar, the 3D scanner and the laser irradiation device are all arranged at the end of the mobile robot mechanical arm through an adapter plate.

[0063] Optionally, the determination of the surface rough features of the target object by the laser radar comprises:

[0064] determining at least one preset point position at which the laser radar performs scanning on the target object according to the shape features of the target object and the arm span features of the mobile robot;

[0065] the laser radar performs scanning on the target object at the at least one preset point position to obtain at least one rough point cloud map.

[0066] Optionally, the at least one preset point position uniformly surrounds the target object, and the straight-line distance between the preset point position and the center of the target object is equal to one-third of the arm span of the mobile robot on which the laser radar is arranged.

[0067] Optionally, the determination of the accurate scanning position and path of the 3D scanner according to the surface rough features comprises:

[0068] splicing the at least one rough point cloud map to obtain an overall rough point cloud map reflecting the surface rough features of the target object;

[0069] identifying the overall rough point cloud map by a preset algorithm to determine the accurate scanning position and path of the 3D scanner.

[0070] Optionally, according to the accurate scanning position and path, the target object is accurately scanned by a 3D scanner to determine the accurate characteristics of the target object, including:

[0071] The 3D scanner accurately scans the target object at the at least one accurate scanning position according to the preset path to obtain at least one accurate point cloud image;

[0072] The at least one accurate point cloud image is spliced to obtain an overall accurate point cloud image reflecting the accurate characteristics of the surface of the target object.

[0073] Optionally, according to the accurate characteristics of the target object, the target object is laser cleaned by a laser irradiation device, including:

[0074] According to the overall accurate point cloud image, the laser cleaning position of the target object is determined, the laser cleaning path of the minimum repeated walking area is determined, and the target object is laser cleaned by the laser irradiation device.

[0075] It should be noted that the device corresponds to the above method, and all implementation manners in the above method embodiments are applicable to the device embodiments and can achieve the same technical effects.

[0076] The embodiment of the application provides a computing device, including a processor and a memory storing a computer program, when the computer program is executed by the processor, the method is executed. All implementation manners in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0077] The embodiment of the application also provides a computer readable storage medium storing instructions, when the instructions are executed on a computer, the computer executes the method. All implementation manners in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0078] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0080] In the embodiments of the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic, and the division of the units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0081] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0082] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be a physically independent unit, or two or more units can be integrated in one unit.

[0083] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various other media that can store program codes.

[0084] Moreover, it is to be noted that in the device and method of the present application, it is clear that the various components or steps can be decomposed and / or recombined. These decompositions and / or recombinations are to be considered as equivalents of the present application. Also, the steps of performing the series of processes described above can naturally be executed in time series according to the order of description, but do not necessarily have to be executed in time series. Some steps can be executed in parallel or independently of each other. It is to be understood by those skilled in the art that all or any of the steps or components of the method and device of the present application can be implemented in hardware, firmware, software, or a combination thereof, in any computing device (including a processor, a storage medium, etc.) or network of computing devices, using the basic programming skills of those skilled in the art upon reading the description of the present application.

[0085] Therefore, the object of the present application can also be achieved by running a program or a set of programs on any computing device. The computing device can be a commonly known general-purpose device. Therefore, the object of the present application can also be achieved simply by providing a program product containing program code for implementing the method or device. That is, such a program product also constitutes the present application, and a storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It is also to be noted that in the device and method of the present application, it is clear that the various components or steps can be decomposed and / or recombined. These decompositions and / or recombinations are to be considered as equivalents of the present application. Also, the steps of performing the series of processes described above can naturally be executed in time series according to the order of description, but do not necessarily have to be executed in time series. Some steps can be executed in parallel.

Claims

1. A method of determining a feature of a surface of an object to be laser cleaned, characterized in that, The method comprises the following steps: determining the surface rough features of the target object by laser radar; determining the accurate scanning position and path of the 3D scanner according to the surface rough features; accurately scanning the target object by the 3D scanner according to the accurate scanning position and path to determine the accurate features of the target object; laser cleaning the target object by the laser irradiation device according to the accurate features of the target object; wherein the laser radar, the 3D scanner and the laser irradiation device are arranged at the end of the mobile robot mechanical arm; the angle of single scanning of the laser radar is 68° horizontally x 55° vertically; the scanning angle of the 3D scanner is 24° horizontally x 18° vertically; wherein the determination of the surface rough features of the target object by the laser radar comprises the following steps: determining at least one preset point of scanning the target object by the laser radar according to the shape features of the target object and the arm span features of the mobile robot; scanning the target object at the at least one preset point by the laser radar to obtain at least one rough point cloud image; wherein the at least one preset point is evenly around the target object, and the straight-line distance between the preset point and the center of the target object is equal to one third of the arm span of the mobile robot equipped with the laser radar; wherein the determination of the accurate scanning position and path of the 3D scanner according to the surface rough features comprises the following steps: splicing the at least one rough point cloud image to obtain an overall rough point cloud image reflecting the surface rough features of the target object; identifying the overall rough point cloud image by a preset algorithm to determine the accurate scanning position and path of the 3D scanner; wherein the accurate scanning of the target object by the 3D scanner according to the accurate scanning position and path to determine the accurate features of the target object comprises the following steps: accurately scanning the target object by the 3D scanner at the at least one accurate scanning position according to the preset path to obtain at least one accurate point cloud image, and the scanning accuracy is less than 0.1 mm; splicing the at least one accurate point cloud image to obtain an overall accurate point cloud image reflecting the surface accurate features of the target object, and the accuracy of the overall accurate point cloud image obtained by splicing is less than 1 mm; wherein the laser cleaning of the target object by the laser irradiation device according to the accurate features of the target object comprises the following steps: determining the laser cleaning position of the target object and the laser cleaning path with the minimum repeated walking area according to the overall accurate point cloud image, and laser cleaning the target object by the laser irradiation device.

2. A determination device for laser cleaning of a surface feature of an object, characterized in that The method comprises the following steps: an acquisition module for determining the surface rough features of the target object by laser radar; a processing module for determining the accurate scanning position and path of the 3D scanner according to the surface rough features, accurately scanning the target object by the 3D scanner according to the accurate scanning position and path to determine the accurate features of the target object, and laser cleaning the target object by the laser irradiation device according to the accurate features of the target object. The laser radar, the 3D scanner and the laser irradiation device are all arranged at the end of the mobile robot mechanical arm through an adapter plate; when the laser radar scans, the angle of single scanning is 68° horizontally x 55° vertically; the scanning angle of the 3D scanner is 24° horizontally x 18° vertically; The surface rough features of the target object are determined by the laser radar, including: At least one preset point of the laser radar scanning the target object is determined according to the shape features of the target object and the arm spread features of the mobile robot; The laser radar scans the target object at the at least one preset point to obtain at least one rough point cloud map; The at least one preset point is evenly around the target object, and the straight-line distance between the preset point and the center of the target object is equal to one third of the arm spread of the mobile robot equipped with the laser radar; According to the surface rough features, the accurate scanning position and path of the 3D scanner are determined, including: The at least one rough point cloud map is spliced to obtain an overall rough point cloud map reflecting the surface rough features of the target object; The overall rough point cloud map is identified by a preset algorithm to determine the accurate scanning position and path of the 3D scanner; According to the accurate scanning position and path, the target object is accurately scanned by the 3D scanner to determine the accurate features of the target object, including: The target object is accurately scanned by the 3D scanner at the at least one accurate scanning position according to the preset path to obtain at least one accurate point cloud map, and the scanning accuracy is less than 0.1 mm; The at least one accurate point cloud map is spliced to obtain an overall accurate point cloud map reflecting the surface accurate features of the target object, and the accuracy of the overall accurate point cloud map obtained by splicing is less than 1 mm; According to the accurate features of the target object, the target object is laser cleaned by the laser irradiation device, including: According to the overall accurate point cloud map, the laser cleaning position of the target object is determined, the laser cleaning path of the minimum repeated walking area is determined, and the target object is laser cleaned by the laser irradiation device.

3. A computing device, comprising: The computer program is run by the processor, and the method of claim 1 is executed. The instructions are run on the computer, and the computer executes the method of claim 1.

4. A computer-readable storage medium, characterized in that, ​

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