Laser cleaning control method, device, electronic equipment and storage medium

Abstract

The present invention provides a laser cleaning control method, device, electronic device, and storage medium, relating to the field of automatic control technology. This laser cleaning control method establishes a projection transformation model and generates a state feedback model based on the projection transformation model to convert the cleaning boundary on the workpiece surface into a linear trajectory and a circular trajectory with continuous coordinate information. A model predictive control algorithm iteratively calculates the state feedback model to achieve dynamic tracking of the cleaning boundary. This reduces the laser scanning process on non-target areas, improves the cleaning efficiency of laser cleaning, and simultaneously ensures a uniform cleaning effect during laser cleaning, preventing laser damage to the workpiece.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a laser cleaning control method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, with the rapid development of laser technology, laser cleaning, derived from this technology, has gradually become an emerging branch of modern industrial cleaning technology. The basic principle of laser cleaning technology is to utilize the high energy density of lasers to interact with contaminants attached to the workpiece substrate, thereby removing contaminants. Due to its high controllability, environmental friendliness, flexibility, non-contact nature, and non-destructive properties, laser cleaning technology has rapidly developed and become an indispensable component of the industrial cleaning market. It is considered the most promising advanced cleaning method to replace traditional cleaning technologies.

[0003] However, there are still deficiencies in the control of laser cleaning technology. For example, the cleaning boundary planned for the target workpiece includes non-target areas, and there are technical problems such as invalid scanning when scanning the cleaning boundary, which reduces the cleaning efficiency of laser cleaning. Summary of the Invention

[0004] To solve the above problems, the present invention provides a laser cleaning control method, device, electronic device and storage medium.

[0005] In a first aspect, the present invention provides a laser cleaning control method, comprising:

[0006] Establishing a projection conversion model between a scanning galvanometer lens and the surface of a target workpiece; wherein the scanning galvanometer lens is a moving device for refracting a laser beam onto the target workpiece;

[0007] A state feedback model of the light spot on the surface of the target workpiece is established based on the projection conversion model; wherein the light spot is the projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece;

[0008] Iteratively calculating the state feedback model using a model predictive control algorithm to obtain an iterative prediction input;

[0009] The spatial deflection of the scanning galvanometer lens is controlled according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

[0010] Optionally, before establishing the projection conversion model of the scanning galvanometer lens and the surface of the target workpiece, the method further includes:

[0011] The output direction of the laser beam is controlled so that the laser beam is projected to the origin position on the scanning galvanometer lens and refracted to the surface of the target workpiece through the scanning galvanometer lens.

[0012] Optionally, the projection conversion model is:

[0013]

[0014] Among them, L x and L y It is divided into the scanning line length of the X-axis and Y-axis of the laser beam deflected by the scanning galvanometer lens on the surface of the target workpiece, L1 is the distance from the first galvanometer to the second galvanometer on the scanning galvanometer lens, and L2 is the distance from the second galvanometer to the surface of the target workpiece. is the deflection angle of the first galvanometer, is the deflection angle of the second galvanometer.

[0015] Optionally, establishing a state feedback model of the light spot on the surface of the target workpiece based on the projection conversion model includes:

[0016] Establishing a motion coupling model of the light spot on the surface of the target workpiece based on the projection transformation model;

[0017] A state feedback model is generated according to the motion coupling model and the coordinates of the light spot on the target workpiece.

[0018] Optionally, the motion coupling model is:

[0019]

[0020] Among them, θ is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X coordinate axis, θ new is the angle between the linear velocity coupling vector and the X-axis after the dynamic deflection of the light spot on the surface of the target workpiece, Δθ is the change in the angle between the linear velocity coupling vector and the X-axis on the surface of the target workpiece, and ΔV x ΔV is the change in the X-axis velocity control component before and after the light spot is deflected on the target workpiece surface, y is the change in the Y-axis velocity control component of the light spot before and after the deflection on the target workpiece surface, and V is the linear velocity coupling variable of the light spot on the target workpiece surface.

[0021] Optionally, the state feedback model is:

[0022]

[0023] Wherein, θ is the angle between the initial linear velocity coupling vector and the X-axis, ω is the angular velocity of the linear velocity coupling vector during the dynamic deflection process, and v is the rotation angle of the linear velocity coupling vector during the dynamic deflection process; and The first derivative of the coordinates of the light spot on the target workpiece, is the first derivative of the angle between the initial linear velocity coupling vector and the X-axis.

[0024] Optionally, controlling the spatial deflection of the scanning galvanometer lens according to the iteratively predicted input comprises:

[0025] Converting the iterative prediction input to obtain the rotation angle component and angular velocity component of the scanning galvanometer lens;

[0026] The rotation angle and angular velocity of the scanning galvanometer lens are controlled respectively according to the rotation angle component and the angular velocity component.

[0027] In a second aspect, the present invention provides a laser cleaning control device, comprising:

[0028] A projection conversion module is used to establish a projection conversion model between the scanning galvanometer lens and the surface of the target workpiece; wherein the scanning galvanometer lens is a moving device used to refract the laser beam onto the target workpiece;

[0029] A state feedback module is used to establish a state feedback model of the light spot on the surface of the target workpiece based on the projection conversion model; wherein the light spot is the projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece;

[0030] An iterative prediction module, configured to perform iterative calculations on the state feedback model using a model predictive control algorithm to obtain an iterative prediction input;

[0031] The spatial deflection module is used to control the spatial deflection of the scanning galvanometer lens according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

[0032] In a third aspect, the present invention provides an electronic device comprising a memory and a processor;

[0033] The memory is used to store computer programs;

[0034] The processor is used to implement the laser cleaning control method as described in the first aspect when executing the computer program.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the laser cleaning control method as described in the first aspect is implemented.

[0036] The laser cleaning control method, device, electronic device, and storage medium of the present invention have the following beneficial effects: by establishing a projection transformation model and generating a state feedback model based on the projection transformation model, the cleaning boundary on the workpiece surface is converted into a linear trajectory and a circular trajectory with continuous coordinate information. A model predictive control algorithm iteratively calculates the state feedback model to achieve dynamic tracking of the cleaning boundary. This reduces the laser scanning process in non-target areas, improves the cleaning efficiency of laser cleaning, and simultaneously ensures a uniform cleaning effect and avoids laser damage to the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The figure is a flow chart of a laser cleaning control method according to an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of equivalent coupling of the light spot action surface in an embodiment of the present invention.

[0039] Figure 3 Schematic diagram of light spot trajectory tracking in an embodiment of the present invention.

[0040] Figure 4 Schematic diagram of the structure of the laser intelligent scanning system in an embodiment of the present invention.

[0041] Figure 5 Graph showing a straight line trajectory tracking error in an embodiment of the present invention.

[0042] Figure 6 Graph showing circular trajectory tracking error in an embodiment of the present invention.

[0043] Figure 7 This is a structural schematic diagram of a laser cleaning control device according to an embodiment of the present invention.

[0044] Figure 8 The figure is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0046] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0047] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0048] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0049] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0050] In the related art, there are two technical problems in the intelligent control of laser cleaning technology. On the one hand, the dynamic deflection of the laser beam is achieved by the dynamic swing of the galvanometer, and the existing scanning control mode is a scanning method of bow-shaped coverage or circular grating coverage. The existing scanning control mode is for the planning of the target area on the workpiece: the overall coverage boundary, the overall coverage boundary is regular, and is included in the non-target area. In the process of scanning the overall coverage boundary, the non-target area is also scanned, and then there is an invalid scanning process in the scanning process, which reduces the cleaning efficiency of the laser cleaning technology. On the other hand, in the existing scanning control mode, at the inflection point of the overall coverage boundary, the laser beam's action time is too long or too short due to the uneven scanning speed of the laser beam, which affects the cleaning effect and even causes ablation of the workpiece.

[0051] In response to the problems existing in the above-mentioned related technologies, this embodiment provides a laser cleaning control method, device, electronic device and storage medium.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a laser cleaning control method, comprising:

[0053] S100: establishing a projection conversion model between a scanning galvanometer lens and a surface of a target workpiece; wherein the scanning galvanometer lens is a moving device for refracting a laser beam onto a target workpiece.

[0054] In this step, the target workpiece is the workpiece to be cleaned. The scanning galvanometer lens includes a first galvanometer and a second galvanometer. The deflection mechanism of the first and second galvanometer mirrors needs to be determined. When determining the spatial deflection of the scanning galvanometer lens, the deflection mechanism of the galvanometer mirror needs to be referenced. A projection conversion model is established between the spatial deflection of the scanning galvanometer lens and the surface of the target workpiece, thereby deriving the spatial projection process of the laser beam under the action of the scanning galvanometer lens.

[0055] The spatial projection process of the laser beam in this step is equivalent to the dynamic deflection process of the parallel beam in space, so the projection conversion model is:

[0056]

[0057] Among them, L x and L y It is divided into the scanning line length of the X-axis and Y-axis of the laser beam deflected by the scanning galvanometer lens on the surface of the target workpiece, L1 is the distance from the first galvanometer to the second galvanometer on the scanning galvanometer lens, and L2 is the distance from the second galvanometer to the surface of the target workpiece. is the deflection angle of the first galvanometer, is the deflection angle of the second galvanometer.

[0058] In this step, the dynamic transmission of the laser beam refracted by the scanning galvanometer lens can be obtained according to the projection conversion model. The projection spot of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece will be presented in the form of coordinate points in the surface equivalent coordinate system, thereby obtaining the surface equivalent scanning process of the laser spot on the surface of the target workpiece, and realizing the definition of the expected scanning trajectory on the surface of the target workpiece as a straight line trajectory and a circular trajectory containing continuous coordinate information.

[0059] S200: Establishing a state feedback model of the light spot on the surface of the target workpiece based on the projection conversion model; wherein the light spot is a projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece.

[0060] In this step, a kinematic coupling model of the light spot on the target workpiece surface is established based on the projection transformation model. This kinematic coupling model is used to determine the motion vector of the light spot on the target workpiece surface. A state feedback model is generated based on the kinematic coupling model and the coordinates of the light spot on the target workpiece. This state feedback model accurately captures the coordinates corresponding to the light spot's current state on the target workpiece, enabling the acquisition of an open-loop motion trajectory of the light spot across the target workpiece surface.

[0061] Specifically, a motion coupling model of the light spot on the surface of the target workpiece is established based on the projection transformation model, including:

[0062] The laser beam is refracted to the target workpiece surface under the continuous deflection of the scanning galvanometer lens, realizing two-dimensional uniform and uninterrupted scanning motion on the target workpiece surface. Combined with the coordinate information matching of the scanning galvanometer lens and the target workpiece, the dynamic tracking requirements of the continuous coordinate guidance of the scanning path are met. Figure 2 As shown in the figure, the change process of the equivalent coupling vector on the surface of the light spot, V1 and V2 are the linear velocity coupling variables before and after dynamic deflection, respectively, θ is determined as the angle between the initial linear velocity coupling vector and the X coordinate axis, and θ new is the angle between the linear velocity coupling vector and the X-axis after dynamic deflection, (V x1 ,V y1 ) and (V x2 ,V y2 ) are the linear velocity control components of the X-axis and Y-axis before and after dynamic deflection. The motion coupling process of the light spot on the surface of the target workpiece is established based on the projection transformation model. The motion coupling model is:

[0063]

[0064] Among them, θ is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X coordinate axis, θ newis the angle between the linear velocity coupling vector and the X-axis after the dynamic deflection of the light spot on the surface of the target workpiece, Δθ is the change in the angle between the linear velocity coupling vector and the X-axis on the surface of the target workpiece, and ΔV x ΔV is the change in the X-axis velocity control component before and after the light spot is deflected on the target workpiece surface, y is the change in the Y-axis velocity control component of the light spot before and after the deflection on the target workpiece surface, and V is the linear velocity coupling variable of the light spot on the target workpiece surface.

[0065] Specifically, a state feedback model is generated based on the motion coupling model and the coordinates of the light spot on the target workpiece, including:

[0066] The motion coupling model is combined with the coordinates of the target workpiece to transform it into a state feedback model based on state feedback. The state feedback model is:

[0067]

[0068] Wherein, θ is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X-axis, ω is the angular velocity of the linear velocity coupling vector of the light spot on the target workpiece surface during the dynamic deflection process, and v is the rotation angle of the linear velocity coupling vector of the light spot on the target workpiece surface during the dynamic deflection process; and The first derivative of the coordinates of the light spot on the target workpiece, is the first derivative of the angle between the initial linear velocity coupling vector and the X-axis.

[0069] S300: Using a model predictive control algorithm to perform iterative calculation on the state feedback model to obtain an iterative prediction input.

[0070] In this step, a model predictive control (MPC) algorithm based on the deflection of the scanning galvanometer lens is pre-established. The MPC algorithm is used to iteratively calculate the state feedback model to obtain the iterative predicted input. That is, the input increment can be updated in real time through iterative calculation during the spot scanning process. The model predictive control algorithm is an external compensation algorithm that dynamically predicts and eliminates the state error of the controlled object. By predicting and correcting the error, the dynamic optimization of the system input is achieved. The state feedback model can be linearized and discretized before this step. Through linearization and discretization, state feedback can be obtained in real time.

[0071] like Figure 3As shown in the figure, the dynamic trajectory tracking of the light spot on the surface of the target workpiece is guided by the trajectory position. In the XY axis coordinate system of the target workpiece surface, θ is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X coordinate axis, s is the expected scanning path trajectory, and the trajectory contains continuous coordinate index variables. (x, y) represents the current light spot projection coordinates, e (x,y) It is expressed as the normal distance between the current spot coordinate position and the trajectory curve s in the normal direction. The intersection point of the normal line and the trajectory curve s is determined as (x r ,y r ), and use the intersection point as the coordinate index variable on the trajectory at the current moment, in (x r ,y r ) point to make a tangent to the trajectory curve s, and we have θ r is the angle between the tangent and the X-axis, and θ is obtained e is the deflection angle of the velocity coupling vector relative to the tangent parallel line, that is:

[0072] θ e =θ-θ r .

[0073] Based on this, the state feedback model is linearized and converted into:

[0074]

[0075] Where u is the input variable, ω is the angular velocity of the linear velocity coupling vector of the light spot on the target workpiece surface during the dynamic deflection process, v is the rotation angle of the linear velocity coupling vector of the light spot on the target workpiece surface during the dynamic deflection process, θ is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X-axis, x and y are the horizontal and vertical coordinates of the current light spot projection, respectively. ref 、y ref ,θ ref 、u ref 、v ref and ω ref are the linear basis of the corresponding variables, are the first-order derivatives of the corresponding variables. is the state feedback model after linear transformation.

[0076] Discretize the state feedback model after linear transformation to obtain:

[0077]

[0078] Where T1 is the discrete period, k is the discrete moment, u(k) is the input variable at moment k, and X(k) is the value of the X-axis at moment k. is the predicted output of the state feedback model after linear transformation at time k+1.

[0079] Apply the model predictive control algorithm to iteratively calculate the state feedback model, including:

[0080] The prediction of the model predictive control algorithm is based on the energy error cost function, which is converted into the energy error cost function at time k in the form of QP (quadratic programming) as follows:

[0081] J(ξ kout (k),u kin (k-1),ΔU(k))=[ΔU(k) T ,ε] T H k [ΔU(k) T ,ε] T +G k [ΔU(k) T ,ε] T +P k ;

[0082] Among them, J(ξ kout (k),u kin (k-1),ΔU(k)) is the cost function, which means that in state ξ kout (k), input time u kin (k-1) and the total cost under the control increment ΔU(k). T represents the transpose operation of the matrix or vector. ref is the model reference quantity, ξ kout (k) is the state at time k, u kin (k-1) is the input at time k-1, ΔU(k) ​​is the control increment at time k, and ε is the tracking relaxation coefficient. The coefficient matrix H k , G k and P k Respectively expressed as:

[0083]

[0084] G k =[2E(k+1) T Q e Θ k 0];

[0085] P k =[E(k+1) T Q e E(k+1)];

[0086] Among them, E(k+1) is the output deviation at time k+1, Θ k is the coefficient matrix, Q e and R eThey represent the tracking ability and stabilization ability respectively, ρ is the weighting factor, and T represents the transpose operation of the matrix or vector.

[0087] In determining P k When is a constant, the constraint on the increment is as follows:

[0088]

[0089] Among them, k is a vector matrix, N c is the prediction step size, T represents the transpose operation of the matrix or vector. min and U max are the minimum and maximum values ​​of the input variables, respectively. min and Y max are the minimum and maximum values ​​of the vertical axis.

[0090] By solving the constraint formula of the increment, the iterative prediction input at the next moment (k+1 moment) can be obtained:

[0091] u kin (k+1)=u kin (k)+Δu(k+1).

[0092] Among them, u kin (k+1) is the iterative prediction input at time k+1, u kin (k) is the iterative prediction input at time k, and Δu(k+1) is the iterative prediction increment at time k+1.

[0093] S400: Controlling the spatial deflection of the scanning galvanometer lens according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

[0094] In this step, the iterative prediction input obtained in the above step S300 is converted into tracking input of the rotation angle and angular velocity of the scanning galvanometer lens.

[0095] Specifically, the iterative prediction input is converted to obtain a surface velocity input variable and a surface angle input variable, wherein the surface velocity input variable corresponds to the angular velocity component of the scanning galvanometer lens; the surface angle input variable corresponds to the rotation angle component of the scanning galvanometer lens, and the rotation angle and angular velocity of the scanning galvanometer lens are controlled respectively according to the rotation angle component and the angular velocity component.

[0096] In this embodiment, a projection transformation model is established and a state feedback model is generated based on the projection transformation model to transform the cleaning boundary on the workpiece surface into linear and circular trajectories with continuous coordinate information. A model predictive control algorithm iteratively calculates the state feedback model to achieve dynamic tracking of the cleaning boundary. This reduces the laser scanning process in non-target areas, improves the cleaning efficiency of laser cleaning, and ensures a uniform cleaning effect, preventing laser damage to the workpiece.

[0097] Optionally, before establishing the projection conversion model between the scanning galvanometer lens and the surface of the target workpiece, the laser cleaning control further includes:

[0098] The output direction of the laser beam is controlled so that the laser beam is projected to the origin position on the scanning galvanometer lens and refracted to the surface of the target workpiece through the scanning galvanometer lens.

[0099] In this step, the workpiece to be cleaned is adjusted and fixed according to the mechanical coordinate reference, which serves as a reference for the spatial coordinate matching process. The scanning galvanometer lens is adjusted to the working position, the beam range is calibrated, the laser output direction is calibrated, and the zero coordinate point of the laser spot is defined. The output direction of the laser beam emitted by the laser is calibrated and controlled so that the laser beam is projected to the origin position on the scanning galvanometer lens and reflected by the scanning galvanometer lens onto the surface of the target workpiece.

[0100] The embodiment of the present invention also provides a laser intelligent scanning system that can apply the above laser cleaning control method, such as Figure 4 As shown, the laser intelligent scanning system includes: a surface workpiece to be cleaned, a laser light output module, a scanning galvanometer module and a motion control module;

[0101] The workpiece to be cleaned is a material substrate with random characteristic dirt on the surface, such as rusted or painted carbon steel alloy or aluminum alloy.

[0102] The laser output module is a laser with preset output parameters, including laser wavelength, output power, continuous or pulsed output mode, and laser spot diameter.

[0103] The scanning galvanometer module is a key motion component responsible for beam deflection, which enables the secondary reflected laser beam incident on the scanning galvanometer to achieve moving coverage of the light spot within a two-dimensional surface range of preset size as the scanning galvanometer deflects the laser beam.

[0104] The motion control module performs coupling control of the scanning galvanometer and dynamic tracking processing of a given scanning trajectory, and provides real-time feedback of dynamic variables such as speed and projection position, as well as real-time calculated tracking errors.

[0105] Specifically, the workpiece to be cleaned is adjusted and fixed according to the mechanical coordinate reference, which serves as a reference for the spatial coordinate matching process. The scanning galvanometer lens is adjusted to the working position, the beam range is calibrated, the laser emission direction is calibrated, and the zero point of the laser spot starting coordinate is defined. The output direction of the laser beam emitted by the laser is calibrated and controlled so that the laser beam is projected to the origin position on the scanning galvanometer lens and reflected by the scanning galvanometer lens onto the surface of the target workpiece.

[0106] In this embodiment, the initial projection point of the calibration light spot is set as the origin of the coordinate system, the surface dimension of the workpiece to be cleaned is 110mmx110mm, the expected tracking trajectory is set as a straight line trajectory with Y=100mm inside the surface and parallel to the X axis, and a circle with a center coordinate of (50,50) and a radius of 50mm, the light spot surface coupling scanning speed is set to 1m / s, and the prediction step size and incremental constraint optimization boundary parameters in the model predictive control algorithm are set to 10 and [-20,20] respectively, to realize the dynamic continuous tracking process of the light spot on the expected trajectory. The linear and circular trajectory tracking errors are obtained as follows: Figure 5 、 Figure 6 As shown, input1, input2, and input3 are the state outputs, namely the real-time errors of x, y, and θ angles, respectively. Figure 5 It means that when tracking a straight line, only the error in the Y-axis direction has data significance. At this time, the tracking error calculated after the tracking is stable is 1.6e-7. Figure 6 It shows that when tracking a circular trajectory, the x and y errors calculated after the tracking is stable have periodic fluctuations, but the coupled position error remains stable at 0.078mm. It can be seen that the model predictive control algorithm has very small and stable dynamic and static errors in the predicted tracking of the trajectory.

[0107] like Figure 7 As shown, an embodiment of the present invention provides a laser cleaning control device 700, comprising:

[0108] The projection conversion module 710 is used to establish a projection conversion model between the scanning galvanometer lens and the surface of the target workpiece; wherein the scanning galvanometer lens is a moving device used to refract the laser beam onto the target workpiece;

[0109] A state feedback module 720 is configured to establish a state feedback model of a light spot on the surface of the target workpiece based on the projection transformation model; wherein the light spot is a projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece;

[0110] Iterative prediction module 730, used to perform iterative calculation on the state feedback model using a model predictive control algorithm to obtain an iterative prediction input;

[0111] The spatial deflection module 740 is configured to control the spatial deflection of the scanning galvanometer lens according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

[0112] Optionally, the laser cleaning control device further includes:

[0113] The calibration module is used to control the output direction of the laser beam so that the laser beam is projected to the origin position on the scanning galvanometer lens and refracted to the surface of the target workpiece through the scanning galvanometer lens.

[0114] Optionally, the projection conversion model is:

[0115]

[0116] Among them, L x and L y It is divided into the scanning line length of the X-axis and Y-axis of the laser beam deflected by the scanning galvanometer lens on the surface of the target workpiece, L1 is the distance from the first galvanometer to the second galvanometer on the scanning galvanometer lens, and L2 is the distance from the second galvanometer to the surface of the target workpiece. is the deflection angle of the first galvanometer, is the deflection angle of the second galvanometer.

[0117] Optionally, the state feedback module 720 includes:

[0118] A coupling unit, configured to establish a motion coupling model of the light spot on the surface of the target workpiece based on the projection conversion model;

[0119] A feedback unit is used to generate a state feedback model according to the motion coupling model and the coordinates of the light spot on the target workpiece.

[0120] Optionally, the motion coupling model is:

[0121]

[0122] Among them, θ is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X coordinate axis, θ new is the angle between the linear velocity coupling vector and the X-axis after the dynamic deflection of the light spot on the surface of the target workpiece, Δθ is the change in the angle between the linear velocity coupling vector and the X-axis on the surface of the target workpiece, and ΔV x ΔV is the change in the X-axis velocity control component before and after the light spot is deflected on the target workpiece surface, y is the change in the Y-axis velocity control component of the light spot before and after the deflection on the target workpiece surface, and V is the linear velocity coupling variable of the light spot on the target workpiece surface.

[0123] Optionally, the state feedback model is:

[0124]

[0125] Wherein, θ is the angle between the initial linear velocity coupling vector and the X-axis, ω is the angular velocity of the linear velocity coupling vector during the dynamic deflection process, and v is the rotation angle of the linear velocity coupling vector during the dynamic deflection process; and The first derivative of the coordinates of the light spot on the target workpiece, is the first derivative of the angle between the initial linear velocity coupling vector and the X-axis.

[0126] Optionally, the spatial deflection module 740 includes:

[0127] a conversion unit, configured to convert the iterative prediction input to obtain a rotation angle component and an angular velocity component of the scanning galvanometer lens;

[0128] A control unit is used to control the rotation angle and angular velocity of the scanning galvanometer lens according to the rotation angle component and the angular velocity component respectively.

[0129] The laser cleaning control device of this embodiment is used to implement the laser cleaning control method described above. Its advantages over the prior art are the same as the advantages of the laser cleaning control method described above over the prior art, and will not be repeated here.

[0130] like Figure 8 As shown, an electronic device 800 provided by an embodiment of the present invention includes a memory 820 and a processor 810; the memory 820 is used to store computer programs; the processor 810 is used to implement the laser cleaning control method as described above when executing the computer program.

[0131] In other words, an electronic device 800 includes a memory 820 and a processor 810 coupled to the memory 820; the memory 820 is configured to store a computer program; and the processor 810 is configured to perform the following operations when executing the computer program:

[0132] Establishing a projection conversion model between a scanning galvanometer lens and the surface of a target workpiece; wherein the scanning galvanometer lens is a moving device for refracting a laser beam onto the target workpiece;

[0133] A state feedback model of the light spot on the surface of the target workpiece is established based on the projection conversion model; wherein the light spot is the projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece;

[0134] Iteratively calculating the state feedback model using a model predictive control algorithm to obtain an iterative prediction input;

[0135] The spatial deflection of the scanning galvanometer lens is controlled according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

[0136] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the laser cleaning control method described above is implemented.

[0137] In other words, a non-volatile computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the following operations:

[0138] Establishing a projection conversion model between a scanning galvanometer lens and the surface of a target workpiece; wherein the scanning galvanometer lens is a moving device for refracting a laser beam onto the target workpiece;

[0139] A state feedback model of the light spot on the surface of the target workpiece is established based on the projection conversion model; wherein the light spot is the projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece;

[0140] Iteratively calculating the state feedback model using a model predictive control algorithm to obtain an iterative prediction input;

[0141] The spatial deflection of the scanning galvanometer lens is controlled according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

[0142] An electronic device 800 that can serve as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 800 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 800 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0143] The electronic device 800 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0144] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM). In this application, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present invention. In addition, the functional units in the various embodiments of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated units can be implemented in the form of hardware or software functional units.

[0145] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A laser cleaning control method, characterized in that: include: A projection conversion model between the scanning galvanometer lens and the surface of the target workpiece is established; wherein the scanning galvanometer lens is a moving device used to refract the laser beam onto the target workpiece, and the projection conversion model is: ； in, and It is divided into the scanning line length of the X-axis and Y-axis on the surface of the target workpiece after the laser beam is deflected by the scanning galvanometer lens. is the distance from the first galvanometer to the second galvanometer on the scanning galvanometer lens, is the distance from the second galvanometer to the surface of the target workpiece, is the deflection angle of the first galvanometer, is the deflection angle of the second galvanometer; A state feedback model of the light spot on the surface of the target workpiece is established based on the projection conversion model; wherein the light spot is the projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece, and the state feedback model is: ； in, is the angle between the initial linear velocity coupling vector and the X-axis, is the angular velocity of the linear velocity coupling vector during dynamic deflection, The rotation angle of the linear velocity coupling vector during dynamic deflection; and The first derivative of the coordinates of the light spot on the target workpiece, is the first-order derivative of the angle between the initial linear velocity coupling vector and the X-axis; Iteratively calculating the state feedback model using a model predictive control algorithm to obtain an iterative prediction input; The spatial deflection of the scanning galvanometer lens is controlled according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

2. The laser cleaning control method according to claim 1, characterized in that: Before establishing the projection conversion model between the scanning galvanometer lens and the surface of the target workpiece, the method further includes: The output direction of the laser beam is controlled so that the laser beam is projected to the origin position on the scanning galvanometer lens and refracted to the surface of the target workpiece through the scanning galvanometer lens.

3. The laser cleaning control method according to claim 1 or 2, characterized in that: The establishing of a state feedback model of the light spot on the surface of the target workpiece based on the projection conversion model includes: Establishing a motion coupling model of the light spot on the surface of the target workpiece based on the projection transformation model; A state feedback model is generated according to the motion coupling model and the coordinates of the light spot on the target workpiece.

4. The laser cleaning control method according to claim 3, characterized in that: The kinematic coupling model is: ； in, is the angle between the initial linear velocity coupling vector of the light spot on the target workpiece surface and the X-axis, is the angle between the linear velocity coupling vector and the X-axis after the dynamic deflection of the light spot on the surface of the target workpiece, is the change in the angle between the linear velocity coupling vector of the light spot on the surface of the target workpiece and the X-axis, is the change in the X-axis velocity control component before and after the light spot is deflected on the surface of the target workpiece. is the change in the Y-axis velocity control component before and after the light spot deflects on the surface of the target workpiece. is the linear velocity coupling variable of the light spot on the surface of the target workpiece.

5. The laser cleaning control method according to claim 1, characterized in that: The controlling the spatial deflection of the scanning galvanometer lens according to the iterative prediction input comprises: Converting the iterative prediction input to obtain the rotation angle component and angular velocity component of the scanning galvanometer lens; The rotation angle and angular velocity of the scanning galvanometer lens are controlled respectively according to the rotation angle component and the angular velocity component.

6. A laser cleaning control device, characterized in that: include: The projection conversion module is used to establish a projection conversion model between the scanning galvanometer lens and the surface of the target workpiece; wherein the scanning galvanometer lens is a moving device used to refract the laser beam onto the target workpiece, and the projection conversion model is: ； in, and It is divided into the scanning line length of the X-axis and Y-axis on the surface of the target workpiece after the laser beam is deflected by the scanning galvanometer lens. is the distance from the first galvanometer to the second galvanometer on the scanning galvanometer lens, is the distance from the second galvanometer to the surface of the target workpiece, is the deflection angle of the first galvanometer, is the deflection angle of the second galvanometer; A state feedback module is used to establish a state feedback model of the light spot on the surface of the target workpiece based on the projection transformation model; wherein the light spot is the projection of the laser beam refracted by the scanning galvanometer lens on the surface of the target workpiece, and the state feedback model is: ； in, is the angle between the initial linear velocity coupling vector and the X-axis, is the angular velocity of the linear velocity coupling vector during dynamic deflection, The rotation angle of the linear velocity coupling vector during dynamic deflection; and The first derivative of the coordinates of the light spot on the target workpiece, is the first-order derivative of the angle between the initial linear velocity coupling vector and the X-axis; An iterative prediction module, configured to perform iterative calculations on the state feedback model using a model predictive control algorithm to obtain an iterative prediction input; The spatial deflection module is used to control the spatial deflection of the scanning galvanometer lens according to the iterative prediction input, so that the scanning galvanometer lens refracts the laser beam to the surface of the target workpiece.

7. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to implement the laser cleaning control method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the laser cleaning control method according to any one of claims 1 to 5 is implemented.

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