Built-in container inner wall cleaning structure and cleaning method

Abstract

This invention provides a built-in container inner wall cleaning structure and method, comprising: a container opening disposed on a container and communicating with a receiving cavity of the container; a laser source disposed outside the container and used to emit laser light; a galvanometer assembly disposed outside the container and used to form a cleaning beam from the laser emitted by the laser source, allowing the cleaning beam to enter the receiving cavity from the container opening; and a telescopic assembly comprising a telescopic rod and a scanning component disposed on the telescopic rod; the telescopic rod is movably disposed within the receiving cavity, and the scanning component is used to receive the cleaning beam and emit the cleaning beam onto the inner wall surface of the container; the scanning component is movably disposed. The built-in container inner wall cleaning structure and method of this invention solves the technical problem of low efficiency in cleaning the inner wall of containers in related technologies.

Description

Technical Field

[0001] This invention relates to the field of container cleaning technology, specifically to a built-in container inner wall cleaning structure and cleaning method. Background Technology

[0002] Uranium hexafluoride (UF6) is a fundamental nuclear material widely used in uranium enrichment and handling. With the rapid development of the nuclear power industry, UF6 production has increased year by year, leading to a rapid increase in the usage and processing volume of UF6 containers. UF6 containers are generally sealed, hollow containers with a right-angle valve and a plug at each end serving as the container's inlet.

[0003] According to industry standards, uranium hexafluoride containers must be cleaned and inspected when any of the following situations occur: "regular inspection and testing of containers; excessive residual amount in empty containers; change in the type (abundance) of container filling material; container maintenance; excessively high radiation dose rate on the container surface". Containers that pass the inspection can be reused, while those that fail are scrapped and temporarily stored.

[0004] The cleaning process for uranium hexafluoride containers requires a comprehensive inspection of the internal surfaces (inner walls). According to industry standards, the interior of the container should be clean, dry, and free of any contaminants. Visible surfaces such as valve passages should not have any corrosion marks, green spots, sediment, moisture, scratches, or white alkaline substances.

[0005] Currently, the cleaning of uranium hexafluoride containers employs a chemical reagent transfer cleaning method. The container is fixed on a large, rotating cleaning fixture, and cleaning liquid is injected into the container for transfer cleaning. The specific process flow is as follows: "Container weighing—hydrolysis (production water)—alkaline washing (a mixture of 5% sodium carbonate solution or 5% potassium carbonate solution and 27.5% or higher hydrogen peroxide)—water washing (production water)—rust removal (4.5%~10% oxalic acid solution)—hydraulic pressure test—blowing—baking—vacuum measurement."

[0006] While the above-described process for cleaning uranium hexafluoride containers can achieve satisfactory and comprehensive cleaning of the container's internal surface, it requires approximately three times the container's volume in water. Furthermore, the relatively low impact force of rotating water results in poor removal of scale-laden contaminants. The cleanliness of the uranium hexafluoride containers directly impacts the purity of the uranium hexafluoride feed, and the waste liquid generated from container cleaning accounts for approximately 80% of the total waste liquid from uranium enrichment plants. Treating uranium-containing waste liquid requires significant energy and financial investment and poses serious environmental risks.

[0007] In summary, existing cleaning methods for uranium hexafluoride containers are insufficient to meet practical application requirements in terms of improving cleaning efficiency and reducing the generation of cleaning waste liquid. Summary of the Invention

[0008] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a built-in container inner wall cleaning structure and cleaning method to solve the technical problem of low efficiency in cleaning the inner wall of containers in related technologies.

[0009] To achieve the above technical objectives, the present invention adopts the following technical solution: A built-in container inner wall cleaning structure is provided, comprising: a container opening disposed on the container and communicating with the container's receiving cavity; a laser source disposed outside the container and used to emit laser light; a galvanometer assembly disposed outside the container and used to form a cleaning beam from the laser emitted by the laser source, allowing the cleaning beam to enter the receiving cavity from the container opening; and a telescopic assembly comprising a telescopic rod and a scanning component disposed on the telescopic rod; the telescopic rod is movably disposed within the receiving cavity, and the scanning component is used to receive the cleaning beam and emit the cleaning beam onto the inner wall surface of the container; the scanning component is movably disposed.

[0010] Furthermore, the galvanometer assembly includes: a galvanometer component for receiving laser light emitted from a laser source and converting the laser light emitted from the laser source into a cleaning beam; an optical cable, one end of which is connected to the laser source; and an output head connected to the end of the optical cable away from the laser source, with the output port of the output head positioned opposite to the galvanometer component.

[0011] Furthermore, the built-in container inner wall cleaning structure also includes a focusing module located between the galvanometer component and the output head. The focusing module includes multiple lenses and is used to focus the light emitted from the laser source.

[0012] Furthermore, the galvanometer assembly includes: a ranging module, which emits ranging light into the cavity; the ranging light passes through the inner wall of the container and exits from the container opening; the ranging module obtains distance information based on the ranging light emitted from the container opening; and a control module, which is signal-connected to the ranging module and to the focusing module; the control module controls the focusing module to focus based on the distance information.

[0013] Furthermore, the galvanometer assembly includes a dichroic mirror, which is disposed between the galvanometer component and the laser source. The dichroic mirror includes an exit surface and an incident surface that are disposed opposite to each other. The light emitted from the laser source passes through the dichroic mirror through the incident surface. The ranging light is reflected by the exit surface and enters the galvanometer component.

[0014] Furthermore, the angle between the line along the extension direction of the light emitted from the output head and the incident surface is 45°; the angle between the line along the extension direction of the ranging light and the exit surface is 45°.

[0015] Furthermore, the galvanometer assembly includes a reflector disposed outside the container, and the reflector is disposed correspondingly to the telescopic rod so that the cleaning beam is reflected by the reflector into the telescopic rod and then reaches the scanning component.

[0016] Furthermore, the telescopic rod is movably disposed relative to the container opening; and / or, the telescopic rod is rotatably disposed relative to the container opening.

[0017] A cleaning method applicable to the aforementioned built-in container inner wall cleaning structure, the cleaning method comprising:

[0018] Step S1: Insert the telescopic rod of the built-in container inner wall cleaning structure into the container's receiving cavity, so that the scanning component reaches the preset scanning position;

[0019] Step S2: The cleaning beam is emitted onto the inner wall of the container to clean the inner wall of the container;

[0020] Step S3: Drive the scanning component to move so that the cleaning beam scans the inner wall surface of the container;

[0021] Step S4: Rotate the telescopic rod to make the cleaning beam scan the inner wall of the container.

[0022] Furthermore, the preset scanning positions include a first scanning position, a second scanning position, a third scanning position, and a fourth scanning position; the first scanning position and the second scanning position are distributed along a first preset direction; the third scanning position and the fourth scanning position are distributed along a second preset direction.

[0023] Furthermore, the method for bringing the scanning component to the second scanning position includes: bringing the scanning component to the first scanning position along a first preset direction; pushing the telescopic rod along the first preset direction until the telescopic component abuts against the inner wall surface of the container, thereby reaching the second scanning position; the method for bringing the scanning component to the fourth scanning position includes: bringing the scanning component to the third scanning position along a second preset direction; pushing the telescopic rod along the second preset direction until the telescopic component abuts against the inner wall surface of the container, thereby reaching the fourth scanning position.

[0024] Beneficial effects:

[0025] 1. This invention adopts an internal container wall cleaning structure and an extended laser cleaning method to achieve laser cleaning of uranium hexafluoride containers without generating liquid wastewater. The generated gaseous and solid wastes are easy to recycle and utilize.

[0026] 2. The cleaning method used in this invention is simple in structure, highly efficient in cleaning, low in waste disposal cost, and economical and environmentally friendly. Attached Figure Description

[0027] Figure 1This is a schematic diagram of the built-in container inner wall cleaning structure used in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the scanning component of the built-in container inner wall cleaning structure scanning the CED area in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the scanning component of the built-in container inner wall cleaning structure scanning the FGH area in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the scanning component of the built-in container inner wall cleaning structure scanning the LMN region in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the scanning component of the built-in container inner wall cleaning structure used in an embodiment of the present invention scanning the KJI region.

[0032] The above figures include the following reference numerals:

[0033] 1. Container; 11. Container opening; 12. Receiving cavity; 2. Laser source; 3. Galvanometer assembly; 31. Galvanometer component; 32. Optical cable; 33. Output head; 34. Ranging module; 35. Control module; 36. Dichroic mirror; 37. Reflector; 4. Cleaning beam; 5. Telescopic assembly; 51. Telescopic rod; 52. Scanning component; 6. Focusing module; 7. Exhaust gas exhaust port. Detailed Implementation

[0034] 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.

[0035] According to an embodiment of the present invention, a built-in container inner wall cleaning structure is provided. Please refer to [link / reference]. Figures 1 to 2The system includes: a container opening 11, which is disposed on a container 1 and communicates with the receiving cavity 12 of the container 1; a laser source 2, disposed outside the container 1, which is used to emit laser light; a galvanometer assembly 3, disposed outside the container 1, which is used to make the laser emitted by the laser source 2 form a cleaning beam 4, and then make the cleaning beam 4 enter the receiving cavity 12 from the container opening 11; and a telescopic assembly 5, which includes a telescopic rod 51 and a scanning component 52 disposed on the telescopic rod 51; the telescopic rod 51 is movably disposed inside the receiving cavity 12, and the scanning component 52 is used to receive the cleaning beam 4 and emit the cleaning beam 4 onto the inner wall surface of the container 1; the scanning component 52 is movably disposed.

[0036] The built-in container inner wall cleaning structure of this embodiment uses a laser source 2 to emit a laser beam. The laser beam passes through a galvanometer assembly 3, forming a cleaning beam 4 with a specific direction, which is then directed into the receiving cavity 12. A scanning component 52 on the telescopic assembly 5 receives the cleaning beam 4 and projects it onto the inner wall of the container 1, completing the cleaning operation of the scanned area within the receiving cavity 12. The scanning component 52 is movably mounted on the telescopic assembly 5. By adjusting the length of the telescopic rod 51 entering the receiving cavity 12 and the angle of the movable scanning component 52 within the receiving cavity 12, the cleaning beam 4 scans and cleans the entire inner wall of the container. This built-in container inner wall cleaning structure reduces the generation of cleaning waste liquid and improves cleaning efficiency, solving the technical problem of low efficiency in cleaning the inner wall of containers in related technologies.

[0037] Specifically, the laser source 2 is a pulsed fiber laser that outputs pulsed laser light with a wavelength of L1.

[0038] Specifically, the telescopic rod 51 is rotatable and retractable, and has a hollow structure for beam transmission. A small illumination lamp is installed at one end of the telescopic rod 51 near the receiving cavity 12 to provide area illumination for the scanning component 52.

[0039] Specifically, a reflector is mounted on the frame of the scanning component 52, and the reflector is highly reflective to all lasers.

[0040] See Figure 1In the built-in container inner wall cleaning structure of this embodiment, the galvanometer assembly 3 includes: a galvanometer component 31, which receives the laser emitted by the laser source 2 and converts it into a cleaning beam 4; an optical cable 32, one end of which is connected to the laser source 2; and an output head 33, which is connected to the end of the optical cable 32 away from the laser source 2, with its output port facing the galvanometer component 31. With the galvanometer component 31 and the output port of the output head 33 facing each other, the laser light reaches the galvanometer component 31 through the optical cable 32 and the output port of the output head 33. The galvanometer component 31 then directs and positions the laser emitted by the laser source 2 to form the cleaning beam 4. Connecting the laser source 2 to the output head 33 using the optical cable 32 allows for better adjustment of the direction in which the light source enters the galvanometer assembly 3.

[0041] Specifically, the galvanometer component 31 consists of two high-speed galvanometers, which can realize rapid scanning of the input laser and achieve line spot or narrow-band rectangular spot.

[0042] Specifically, output head 33 is a collimation output head, which collimates the output pulsed laser.

[0043] Specifically, the laser beam aperture is less than 25mm, and can be 5mm, 8mm, 10mm, etc.

[0044] See Figure 1 In the built-in container inner wall cleaning structure of this embodiment, the built-in container inner wall cleaning structure also includes a focusing module 6. The focusing module 6 is located between the galvanometer component 31 and the output head 33. The focusing module 6 includes multiple lenses and is used to focus the light emitted from the laser source 2.

[0045] Specifically, the focusing module 6 is a dynamic focusing lens, with L1 band anti-reflection coating on both the front and rear surfaces of the lens, which can achieve dynamic focusing of a straight beam.

[0046] See Figure 1 In the built-in container inner wall cleaning structure of this embodiment, the galvanometer assembly 3 includes: a ranging module 34, which is used to emit ranging light into the receiving cavity 12. After passing through the inner wall surface of the container 1, the ranging light is emitted from the container opening 11. The ranging module 34 obtains distance information based on the ranging light emitted from the container opening 11; and a control module 35, which is signal-connected to the ranging module 34. The control module 35 controls the focusing module 6 to focus based on the distance information.

[0047] Specifically, the ranging module 34 is a laser rangefinder, which outputs a ranging laser beam with a wavelength of L2, which can measure the distance to the position inside the container, and the measured distance signal is sent to the controller.

[0048] See Figure 1 In the built-in container inner wall cleaning structure of this embodiment, the galvanometer assembly 3 includes a dichroic mirror 36, which is disposed between the galvanometer component 31 and the laser source 2. The dichroic mirror 36 includes an exit surface and an incident surface that are arranged opposite to each other. The light emitted from the laser source 2 passes through the dichroic mirror through the incident surface; the ranging light is reflected by the exit surface and enters the galvanometer component 31. The incident surface of the dichroic mirror 36 is coated with an anti-reflection film to facilitate the passage of the light emitted from the laser source 2 through the incident surface; the exit surface of the dichroic mirror 36 is coated with a high-reflection film to facilitate the reflection of more ranging light onto the galvanometer component 31 through the exit surface.

[0049] Specifically, the dichroic mirror 36 is used to achieve high transmission of pulsed laser and high reflection of ranging laser, and its coating is an L1 band antireflection coating and an L2 band high reflection coating.

[0050] See Figure 1 In the built-in container inner wall cleaning structure of this embodiment, the angle between the straight line along the extension direction of the light emitted from the output head 33 and the incident surface is 45°; the angle between the straight line along the extension direction of the ranging light and the exit surface is 45°. The 45° angle between the ranging light and the exit surface of the dichroic mirror 36 is beneficial for the ranging light to be completely reflected to the galvanometer component 31.

[0051] See Figure 1 In the built-in container inner wall cleaning structure of this embodiment, the galvanometer assembly 3 includes a reflector 37, which is disposed outside the container 1. The reflector 37 is correspondingly disposed with the telescopic rod 51 so that the cleaning beam 4 is reflected by the reflector 37 into the telescopic rod 51 and reaches the scanning component 52. The placement of the reflector 37 allows for better adjustment of the direction of the cleaning beam 4 entering the telescopic rod 51, enabling the scanning component 52 on the inner wall to more flexibly adjust the area of ​​the inner wall to be scanned. The reflector 37 is used for high reflectivity of pulsed laser and ranging light.

[0052] See Figure 1 In the built-in container inner wall cleaning structure of this embodiment, the telescopic rod 51 is movably arranged relative to the container opening 11. The telescopic rod 51 is moved to the desired position at the container opening according to the actual needs of scanning the inner wall, and then scanned by the scanning component 52.

[0053] In some embodiments of the built-in container inner wall cleaning structure, the telescopic rod 51 is rotatably disposed relative to the container opening 11. The telescopic rod 51 is rotatable at the container opening 11, and extends into the receiving cavity 12 through the container opening 11. The position of the telescopic rod 51 within the receiving cavity 12 is adjusted by rotating it to adjust the angle and range of the scanning area.

[0054] The container 1 is also equipped with an exhaust port 7, which is used to discharge the gaseous particles and dust generated by laser cleaning into the container.

[0055] In one embodiment of the cleaning method, the cleaning structure described above is included, and the cleaning method includes:

[0056] Step S1: Insert the telescopic rod 51 of the built-in container inner wall cleaning structure into the receiving cavity 12 of the container 1, so that the scanning component 52 reaches the preset scanning position;

[0057] Step S2: The cleaning beam 4 is emitted onto the inner wall surface of container 1 to clean the inner wall surface of container 1;

[0058] Step S3: Drive the scanning component 52 to move so that the cleaning beam 4 scans the inner wall surface of the container 1;

[0059] Step S4: Rotate the telescopic rod 51 to allow the cleaning beam 4 to scan the inner wall of the container 1. The method of rotating the telescopic rod 51 includes: rotating the telescopic rod 51 around a first preset axis, or rotating the telescopic rod 51 around a second preset axis; the first preset axis and the second preset axis are perpendicular to each other.

[0060] In one cleaning method of this embodiment, the preset scanning positions include a first scanning position, a second scanning position, a third scanning position, and a fourth scanning position; the first scanning position and the second scanning position are distributed along a first preset direction; the third scanning position and the fourth scanning position are distributed along a second preset direction.

[0061] In one cleaning method of this embodiment, the method of bringing the scanning component 52 to the second scanning position includes: bringing the scanning component 52 to the first scanning position along a first preset direction; pushing the telescopic rod 51 along the first preset direction until the telescopic component 5 abuts against the inner wall surface of the container 1, thereby reaching the second scanning position; the method of bringing the scanning component 52 to the fourth scanning position includes: bringing the scanning component 52 to the third scanning position along a second preset direction; pushing the telescopic rod 51 along the second preset direction until the telescopic component 5 abuts against the inner wall surface of the container 1, thereby reaching the fourth scanning position.

[0062] The cleaning method includes the following processes and steps:

[0063] 1. 52-degree scanning method for scanning components

[0064] The pulsed laser is incident on the reflector on the frame of the scanning component 52. By driving the telescopic rod 51 to move and rotate, the reflector on the frame of the scanning component 52 moves relative to each other, thus realizing the angle scanning of the pulsed laser.

[0065] 2. Laser cleaning methods and procedures

[0066] The ranging module 34 measures the distance, obtains the distance signal, and sends it to the control module 35. The control module 35 then converts the signal into a focusing module 6, which focuses the pulsed laser. The focused beam is then rapidly scanned into a line spot by the galvanometer component 31, and then scanned by the scanning component 52. The cleaning beam 4 removes uranium hexafluoride residue from the inner wall surface of the container 1. The generated gaseous particles and dust are discharged from the container 1 through the exhaust port 7, thus completing the laser cleaning process.

[0067] 3. Full-coverage scanning method

[0068] See Figures 2 to 5 The telescopic rod 51 enters from the container opening 11 and drives the scanning component 52 to extend and retract within the container cavity 12 of the container 1.

[0069] See Figure 2 When the scanning component 52 moves from the first preset position (attached) Figure 2 (A2 in the middle) reaches the second preset position (attached) Figure 2 A1 in the image), the scanning area is CED, and the cleaning of the CED area is completed;

[0070] See Figure 3 Then, the telescopic rod 51 rotates along the second preset axis from the first preset position (attached). Figure 3 (A2 in the middle) reaches the second preset position (attached) Figure 3 (A1 in the image), the scanning area is FGH, and the cleaning of the FGH area is completed;

[0071] See Figure 4 Rotate the telescopic rod 51 along the first preset axis, as follows Figure 4 and Figure 5 When the scanning component 52 moves from the third preset position (attached) Figure 4 B2 in the middle) reaches the fourth preset position (attached) Figure 4 B1 in the image), the scanning area is LMN, and the cleaning of the LMN region is completed;

[0072] See Figure 5 The telescopic rod 51 rotates along the second preset axis from the third preset position (attached). Figure 5 B2 in the middle) reaches the second preset position (attached) Figure 5 (B1 in the image), the scanning area is KJI, and the cleaning of the KJI area is completed.

[0073] By extending and retracting the telescopic rod 51 and rotating it along the first preset axis and the second preset axis, the cleaning beam is scanned, thereby achieving full-coverage internal scanning cleaning.

[0074] 4. Imaging data processing and detection

[0075] The images captured during the two scanning processes are stitched together, and surface rendering is performed based on the 3D structural model of container 1 to obtain 3D graphic data for detection.

[0076] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0077] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0078] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0079] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A built-in type container inner wall cleaning structure, characterized by, The container mouth (11) is arranged on the container (1), and the container mouth (11) communicates with the containing cavity (12) of the container (1); the laser light source (2) is arranged outside the container (1), and the laser light source (2) is used for emitting laser light; the galvanometer assembly (3) is arranged outside the container (1), and the galvanometer assembly (3) is used for forming a cleaning light beam (4) after the laser light emitted by the laser light source (2) and making the cleaning light beam (4) enter the containing cavity (12) from the container mouth (11); the telescopic assembly (5) comprises a telescopic rod (51) and a scanning component (52) arranged on the telescopic rod (51); the telescopic rod (51) is movably arranged in the containing cavity (12), and the scanning component (52) is used for receiving the cleaning light beam (4) and emitting the cleaning light beam (4) to the inner wall surface of the container (1); the scanning component (52) is movably arranged; the telescopic rod (51) is a hollow structure and is used for transmitting the light beam; a first reflecting mirror is arranged on the mirror frame of the scanning component (52), and the first reflecting mirror is high-reflective to all laser lights; the galvanometer assembly (3) comprises a second reflecting mirror (37), the second reflecting mirror (37) is arranged outside the container (1), and the second reflecting mirror (37) is correspondingly arranged with the telescopic rod (51) so that the cleaning light beam (4) is reflected into the telescopic rod (51) through the second reflecting mirror (37) and reaches the scanning component (52). The galvanometer assembly (3) comprises: The galvanometer component (31) is used for receiving the laser light emitted by the laser light source (2) and converting the laser light emitted by the laser light source (2) into the cleaning light beam (4); the optical cable (32) is connected with the laser light source (2) at one end; the output head (33) is connected with the optical cable (32) at an end away from the laser light source (2), and the output port of the output head (33) is oppositely arranged with the galvanometer component (31). The built-in container inner wall cleaning structure further comprises a focusing module (6), the focusing module (6) is located between the galvanometer component (31) and the output head (33), the focusing module (6) comprises a plurality of lenses, and the focusing module (6) is used for focusing the light emitted from the laser light source (2). The galvanometer assembly (3) comprises: The distance measuring module (34) is used for emitting distance measuring light to the containing cavity (12), the distance measuring light is emitted out of the container mouth (11) after passing through the inner wall surface of the container (1), and the distance measuring module (34) obtains distance information according to the distance measuring light emitted out of the container mouth (11); 2. The built-in type cleaning structure for the inner wall of a container according to claim 1, wherein ​ ​ ​ ​ 3. The built-in type cleaning structure for inner wall of a container according to claim 2, wherein ​ 4. The built-in type cleaning structure for inner wall of a container according to claim 3, wherein ​ ​ A control module (35) is in signal connection with the distance measuring module (34), and the control module (35) is in signal connection with the focusing module (6); the control module (35) controls the focusing module (6) to focus according to the distance information.

5. The built-in type cleaning structure for the inner wall of a container according to claim 4, wherein The galvanometer assembly (3) comprises a dichroic mirror (36) arranged between the galvanometer component (31) and the laser light source (2), the dichroic mirror (36) comprising an exit surface and an entrance surface arranged oppositely; the light emitted by the laser light source (2) penetrates the dichroic mirror through the entrance surface; and the distance measuring light is reflected into the galvanometer component (31) through the exit surface.

6. The built-in type cleaning structure for inner wall of a container according to claim 5, wherein The angle between the straight line where the extending direction of the light emitted by the output head (33) is located and the entrance surface is 45°; and the angle between the straight line where the extending direction of the distance measuring light is located and the exit surface is 45°.

7. The built-in container inner wall cleaning structure according to any one of claims 1-7, wherein, The telescopic rod (51) is movably arranged relative to the container mouth (11); and / or the telescopic rod (51) is rotatably arranged relative to the container mouth (11).

8. A cleaning method characterized by, The cleaning method is suitable for the built-in container inner wall cleaning structure according to any one of claims 1-7, and the cleaning method comprises: Step S1: extending the telescopic rod (51) of the built-in container inner wall cleaning structure into the containing cavity (12) of the container (1) so that the scanning component (52) reaches a preset scanning position; Step S2: emitting the cleaning light beam (4) onto the inner wall surface of the container (1) to clean the inner wall surface of the container (1); Step S3: driving the scanning component (52) to move so that the cleaning light beam (4) scans the inner wall surface of the container (1); Step S4: rotating the telescopic rod (51) so that the cleaning light beam (4) scans the inner wall surface of the container (1).

9. The cleaning method according to claim 8, wherein The preset scanning position comprises a first scanning position, a second scanning position, a third scanning position and a fourth scanning position; the first scanning position and the second scanning position are distributed along a first preset direction; and the third scanning position and the fourth scanning position are distributed along a second preset direction.

10. The cleaning method according to claim 9, wherein The method for making the scanning component (52) reach the second scanning position comprises: making the scanning component (52) reach the first scanning position along the first preset direction; and pushing the telescopic rod (51) along the first preset direction until the scanning component (52) abuts against the inner wall surface of the container (1) so as to reach the second scanning position; The method for making the scanning component (52) reach the fourth scanning position comprises: making the scanning component (52) reach the third scanning position along the second preset direction; and pushing the telescopic rod (51) along the second preset direction until the scanning component (52) abuts against the inner wall surface of the container (1) so as to reach the fourth scanning position.

Images