A laser spot removal method and system based on online moving cord fabric

Abstract

The present invention discloses a laser spot elimination method and system based on an online moving cord fabric. The method includes the following steps: Step S1, obtaining a detection image sequence C{C1, C2... Cn}; Step S2, searching and identifying glue spots in the image Cn; Step S3, calculating the reciprocating movement stroke D of the laser head and the position of the movement area; Step S4, performing spot elimination processing. The present invention simplifies the configuration operation, does not require experienced staff, and ordinary staff can also perform the configuration operation. The present invention incorporates corresponding algorithms, enabling the laser head to change from full-stroke movement to targeted movement. With such a design, by minimizing the stroke to the greatest extent, the work efficiency is improved and the energy consumption is reduced.

Description

Technical Field

[0001] The present invention belongs to a control and regulation system and method of non-electrical variables, and relates to a laser spot elimination method and system based on online moving cord fabric used in cord fabric production. Background Art

[0002] Cord fabric mainly uses strong strands as warp and medium and fine single yarns as weft, so that the warp is arranged closely and the weft is arranged sparsely, resembling a curtain, so it is called cord fabric. Cord fabric is mainly used in the pipe wall of oil pipelines to enable it to withstand huge pressure, impact load and strong vibration.

[0003] In the production process of dipped cord fabric, the cord fabric is usually dipped in phenolic resin and latex, and then dried, stretched and shaped by heat treatment to make it have good adhesion with rubber. In this production process, rubber spots are easily generated on the surface of the cord fabric, which affects the quality of the cord fabric. The rubber spots of dipped cord fabric are solid foreign matter that gathers and adheres to the surface of the dipped cord fabric. The main components are solidified phenolic resin and latex, and some contain fine fibers and dust. At the location of the rubber spots, the adhesion between the dipped cord fabric and rubber is greatly reduced, resulting in the risk of bulging and delamination of the oil pipeline, which will not only cause the appearance quality of the dipped cord fabric to decline, but also endanger the safety of the oil pipeline.

[0004] The problem of rubber spots on the cord fabric is a problem that is recognized by the prior art as difficult to solve. In the actual production process of the cord fabric, in order to improve the calendering adhesion, the mass fraction of natural rubber latex is usually greatly increased. The easy coagulation property of natural rubber latex will lead to an increase in rubber spots; there are also internal stresses in some cord fabrics, and wrinkles will appear during the transportation of the cord fabric, which is another reason for the generation of rubber spots on the cord fabric. In order to improve the performance of the cord fabric in the prior art production process, various factors will lead to the generation of rubber spots on the surface of the cord fabric, and the rubber spots on the cord fabric will also cause the decline in the surface quality of the cord fabric, which has a great impact on the performance of the cord fabric. In the production process of the cord fabric, reducing and eliminating the rubber spots on the surface of the cord fabric is a technical problem that is generally needed to be solved in the industry but is difficult to solve.

[0005] In response to the above problems, the applicant has developed and disclosed an intelligent tire cord glue coating production line. However, the intelligent tire cord glue coating production line has the following problems during the experimental debugging stage: 1. It was found during the experimental stage that the time interval TG was used as an input parameter, and the configuration required experienced staff. Since the time interval TG parameter is related to the moving speed of the tire cord fabric, changing the moving speed of the tire cord fabric requires changing the time interval TG parameter. Therefore, in practice, repeated debugging is required, and the operation is particularly troublesome; 2. In the early experimental stage of the intelligent production equipment, the reciprocating travel of the laser head is based on the maximum travel, which is relatively coarse. It not only has low work efficiency, but also is not energy-saving. Summary of the invention

[0006] The purpose of the present invention is to provide a laser spot removal method and system based on online moving cord fabric. The method adopts a new algorithm to identify rubber spots through graphic detection. The system has the characteristics of convenient configuration and operation, high working efficiency and low energy consumption.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] A laser spot removal method based on online moving cord fabric comprises the following steps:

[0009] Step S1, obtaining a detection image sequence C{C1, C2...Cn}: When the cord fabric after the glue coating process is moving, the detection image of the cord fabric is collected in real time by a camera device just above the center of the cord fabric, and the shooting time point Tn is recorded. The detection image is collected once every time interval TG to obtain a detection image sequence C{C1, C2...Cn}, where the initial value of the variable n is 1, and Cn is the nth detection image;

[0010] Step S2, searching for adhesive spots of the recognition image Cn: searching for adhesive spots of the detection image Cn in the detection image sequence;

[0011] Step S3, calculating the reciprocating travel distance D of the laser head and the position of the moving area: when the adhesive spots are found in the detection image, the reciprocating travel distance D of the laser head for laser spot removal scanning and the position of the reciprocating moving area of ​​the laser head are determined according to the number and position distribution of the adhesive spots;

[0012] In step S3, according to the number and distribution of adhesive spots, the method for determining the reciprocating travel distance D of the laser head for laser spot removal scanning is as follows:

[0013] When the number of rubber spots is 1, take the center F of the rubber spot as the reference point, select the point A1 with the maximum Manhattan distance value between the edge contour line of the rubber spot and the center F (X0, Y0) of the rubber spot, calculate the straight-line distance R between point A1 and the center F (X0, Y0), then the reciprocating stroke of the laser head D=2R, the XY axis coordinate system is established on the plane where the cord fabric is located, and the direction of movement of the cord fabric is the X axis; the line parallel to the front and rear sides of the cord fabric passing through the center F (X, Y) of the rubber spot is taken as the center line of the reciprocating movement area of ​​the laser head, and the position of the reciprocating movement area of ​​the laser head is determined according to the center line;

[0014] When the number of rubber spots is ≥2, the point B1 (X1, Y1) closest to the front side of the cord fabric is selected from the edge contour line of each rubber spot, and the point B2 (X2, Y2) closest to the back side of the cord fabric is selected from the edge contour line of each rubber spot. The XY axis coordinate system is the plane where the cord fabric is located, and the direction of movement of the cord fabric is the X axis. The reciprocating travel of the laser head D = |Y2-Y1|, and the area between Y1 and Y2 is used as the position of the reciprocating movement area of ​​the laser head.

[0015] Step S4, speckle removal processing: when it is confirmed that the rubber spot on the cord fabric enters the laser speckle removal scanning area, the laser is irradiated onto the rubber spot for speckle removal processing. During the speckle removal processing, the laser head in the laser equipment reciprocates within the range of the laser head reciprocating travel D; after the speckle removal processing is completed, the variable n is increased by 1, and the process returns to step S2 to search for the rubber spot until the rubber spot search and speckle removal work of the detection image Cn in the detection image sequence is completed.

[0016] Furthermore, in step S1, the time interval TG is calculated as follows:

[0017] TG = (LQ) / V

[0018] Wherein, L is the length of the cord fabric in the detection image, in meters; Q is the overlapping length of two adjacent detection images, and the value range of Q is [0.01, 0.1]; V is the moving speed of the cord fabric, in meters per minute.

[0019] Furthermore, the overlap length Q of the two adjacent detection images is a configuration input parameter, and the time interval TG is determined by configuring the overlap length Q of the two adjacent detection images.

[0020] Furthermore, in step S2, the method for searching for glue spots is as follows: the detection image is first grayscaled, then binarized, and then edge detection is performed using an edge detection operator. When there are one or more closed partitions enclosed by the detected edge lines in the detection image, the closed partition is the glue spot.

[0021] Further, in the step S4, the method for confirming that the rubber spot on the cord fabric enters the laser spot removal scanning area is determined by the time point Tm. When the time point is Tm, it is confirmed that the rubber spot on the cord fabric enters the laser spot removal scanning area. The calculation formula of the time point Tm is as follows:

[0022] Tm=Tn+S / VP

[0023] Among them, Tn is the shooting time point of the nth detection image; S is the length of the cord fabric between the camera device and the laser head, in meters; V is the moving speed of the cord fabric, in meters per minute; P is the time correction parameter, and its value is 6-12 seconds.

[0024] Furthermore, in step S4, the relevant parameters of the laser equipment during the spot removal process are as follows: the defocus amount is 6.3-6.5 mm; the laser power is 22-28 W; the repetition frequency is 90-94 kHz; the scanning speed is 170-180 mm / s, and the spot overlap rate is 82-84%.

[0025] Furthermore, in step S4, the relevant parameters of the laser device during the spot removal process are as follows: the defocus amount is 6.4 mm; the laser power is 25 W; the repetition frequency is 92 kHz; the scanning speed is 175 mm / s, and the spot overlap rate is 83%.

[0026] Furthermore, in step S4, the laser used is a short pulse laser, and the number of pulses in the short pulse laser pulse train is 5.

[0027] A laser spot removal system based on online moving cord fabric comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program and runs in the following system units:

[0028] The detection image acquisition unit is used to collect the detection image of the cord fabric in real time during the movement of the cord fabric after the glue coating process;

[0029] The glue spot image searching and identifying unit is used to search and identify the glue spot image in the detection image;

[0030] A reciprocating travel D calculation unit, used for calculating the reciprocating travel D of the laser head;

[0031] A time interval TG calculation unit calculates the time interval TG according to a set overlap length of two adjacent detection images;

[0032] The time point Tm calculation start unit is used to calculate the time point Tm, start the laser device when the time point Tm is reached, and regulate the moving speed of the laser device.

[0033] The beneficial effects of the present invention are:

[0034] 1. The present invention changes the configuration of the time interval TG parameter to the configuration of the "overlap length Q of two adjacent detection images", which is very intuitive. When configuring the parameters, the staff no longer needs to consider the moving speed of the cord fabric, which greatly simplifies the configuration operation. The present invention does not require experienced staff, and ordinary staff can also perform the configuration operation.

[0035] 2. The present invention adds a corresponding algorithm to determine the reciprocating stroke D of the laser head for laser spot removal scanning according to the number and distribution of adhesive spots. When there is only one adhesive spot in the detection image, the maximum width of the adhesive spot is set as the reciprocating stroke D value of the laser head; when there are more than two adhesive spots in the detection image, the absolute value of the Y-direction distance difference between the point on the edge contour line of the adhesive spot closest to the front side of the cord fabric and the point on the edge contour line of the adhesive spot closest to the rear side of the cord fabric is used as the reciprocating stroke D value of the laser head. Through the above algorithm, the laser head is changed from the original full-stroke movement to a targeted movement. This design improves work efficiency and reduces energy consumption by shortening the stroke to the maximum extent.

[0036] 3. The present invention uses the time and position information required for the rubber spot to move and takes into account the time when the laser equipment needs to be started in advance to determine whether the rubber spot on the cord fabric has entered the laser spot removal scanning area, which will be more reasonable and more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the present invention;

[0038] Figure 2 It is a schematic diagram of the number of adhesive spots in the detection image being 1;

[0039] Figure 3 It is a schematic diagram when the number of adhesive spots in the detection image is more than 2;

[0040] Figure 4 It is a structural block diagram of the system of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "forward", "reverse", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] like Figure 1 As shown, a laser speckle removal method based on online moving cord fabric includes the following steps:

[0044] Production conditions of cord fabric: The production of cord fabric adopts the intelligent assembly line operation mode. The cord fabric is wound on the material tray. The cord fabric on the cord fabric winding tray is sequentially subjected to the unfolding and wrinkle removal process, the double-sided gluing process, the air cooling process, and the cord fabric edge cutting process, and finally the finished cord fabric is wound into a disk. The laser spot removal process of the present invention is carried out after the double-sided gluing process and before the air cooling process. Before the air cooling process, the glue coated on the cord fabric is still hot, so the glue spots can be melted faster and energy will be saved. Since the cord fabric is double-sidedly glued or coated, the upper and lower surfaces of the cord fabric need to be laser spot-removed. Since the laser spot removal processes on the upper and lower surfaces are the same, the present invention only performs laser spot removal on the upper surface of the cord fabric.

[0045] Step S1, obtaining a detection image sequence C{C1, C2...Cn}: When the cord fabric after the glue coating process is moving, the detection image of the cord fabric is collected in real time by a camera device just above the center of the cord fabric, and the shooting time point Tn is recorded. The detection image is collected once every time interval TG to obtain a detection image sequence C{C1, C2...Cn}, the initial value of the variable n is 1, and Cn is the nth detection image; the time interval TG is calculated as follows:

[0046] TG = (LQ) / V

[0047] Wherein, L is the length of the cord fabric in the detection image, in meters; Q is the overlapping length of two adjacent detection images, and the value range of Q is [0.01, 0.1]; V is the moving speed of the cord fabric, in meters per minute.

[0048] It was found in the experimental stage that using the time interval TG as an input parameter requires experienced staff. Since the time interval TG parameter is related to the moving speed of the curtain fabric, changing the moving speed of the curtain fabric requires changing the time interval TG parameter. Therefore, in practice, it is necessary to debug repeatedly, which is troublesome to operate. In order to simplify the operation and facilitate the staff to configure and regulate the equipment, the present invention changes the configuration of the time interval TG parameter to the configuration of the "overlap length Q of two adjacent detection images". This is very intuitive. When configuring the parameters, the staff no longer considers the moving speed of the curtain fabric, which greatly simplifies the configuration operation. The present invention does not require experienced staff, and ordinary staff can also perform the configuration operation. The overlap length of two adjacent detection images is related to the time interval of the collected images. The shorter the time interval, the greater the overlap length; when the time interval is long, there is no overlap, that is, the overlap length is 0.

[0049] Step S2, searching for adhesive spots in the recognition image C1: searching for adhesive spots in the detection image C1 in the detection image sequence.

[0050] The method for finding glue spots is as follows: the detection image is first grayscaled, then binarized, and then edge detection is performed using an edge detection operator. When there are one or more closed partitions enclosed by the detected edge lines in the detection image, the closed partition is the glue spot.

[0051] The edge detection operator used is the Sobel edge detection operator or the Robert edge detection operator.

[0052] Step S3, calculating the laser head reciprocating travel distance D and the position of the moving area: when adhesive spots are found in the detection image, the laser head reciprocating travel distance D and the position of the laser head reciprocating moving area for laser spot removal scanning are determined according to the number and position distribution of adhesive spots.

[0053] Specifically, according to the number and distribution of adhesive spots, the method for determining the reciprocating travel distance D of the laser head for laser spot removal scanning is as follows:

[0054] When the number of rubber spots is 1, take the center of the rubber spot F as the reference point, select the point A1 on the edge contour line of the rubber spot with the maximum Manhattan distance value between the center of the rubber spot F (X0, Y0), calculate the straight-line distance R between point A1 and the center of the rubber spot F (X0, Y0), then the reciprocating stroke of the laser head D=2R, the XY axis coordinate system is established on the plane where the cord fabric is located, and the direction of movement of the cord fabric is the X axis; the line parallel to the front and rear sides of the cord fabric passing through the center of the rubber spot F (X, Y) is taken as the center line ZXX of the reciprocating movement area of ​​the laser head, and the position of the reciprocating movement area of ​​the laser head is determined according to the center line ZXX, as shown in the following example. Figure 2 As shown;

[0055] When the number of rubber spots is ≥2, select the point B1 (X1, Y1) closest to the front side of the cord fabric from the edge contour line of each rubber spot, and select the point B2 (X2, Y2) closest to the back side of the cord fabric from the edge contour line of each rubber spot. The XY axis coordinate system is established on the plane where the cord fabric is located, and the direction of movement of the cord fabric is taken as the X axis. The reciprocating travel of the laser head D = |Y2-Y1|, and the area between Y1 and Y2 is taken as the position of the reciprocating movement area of ​​the laser head, as shown in the following figure. Figure 3 shown.

[0056] The laser head is actually installed on a mobile platform. During laser spot removal, during the reciprocating movement of the laser head, when the laser head moves to one side, the mobile platform and the cord fabric move in the same direction are synchronized. Before each reverse movement of the laser head, the moving speed of the mobile platform needs to be adjusted to make the laser head move one spot removal step. The size of the spot removal step is not greater than the diameter of the laser head spot.

[0057] In the early experimental stage of intelligent production equipment, the reciprocating stroke of the laser head is carried out at the maximum moving stroke, which is relatively coarse. It not only has low work efficiency, but also does not save energy. In order to solve this problem, the present invention adds a corresponding algorithm to determine the reciprocating stroke D of the laser head for laser spot removal scanning according to the number and distribution of the glue spots. When there is only one glue spot in the detection image, the maximum width of the glue spot is set as the reciprocating stroke D value of the laser head; when there are more than two glue spots in the detection image, the absolute value of the Y-direction distance difference between the point on the edge contour line of the glue spot closest to the front side of the cord fabric and the point on the edge contour line of the glue spot closest to the rear side of the cord fabric is used as the reciprocating stroke D value of the laser head. Through the above algorithm, the laser head is changed from the original full stroke movement to a targeted movement. This design can improve work efficiency and reduce energy loss by shortening the stroke to the maximum extent.

[0058] Step S4, spot removal: When it is confirmed that the rubber spot on the cord fabric enters the laser spot removal scanning area, the laser is irradiated onto the rubber spot for spot removal. During the spot removal process, the laser head in the laser equipment moves back and forth within the range of the laser head reciprocating travel D; after the spot removal process is completed, the variable n is increased by 1, and the process returns to step S2 to search for rubber spots until the rubber spot search and spot removal work of the detection image Cn in the detection image sequence is completed. The relevant parameters of the laser equipment during spot removal are as follows: the defocus is 6.4mm; the laser power is 25W; the repetition frequency is 92kHz; the scanning speed is 175mm / s, and the spot overlap rate is 83%. The laser uses a short pulse laser, and the number of pulses in the short pulse laser pulse train is 5.

[0059] The method for confirming that the rubber spots on the cord fabric enter the laser despeckle scanning area is to judge it based on the time point Tm. When the time point is Tm, it is confirmed that the rubber spots on the cord fabric enter the laser despeckle scanning area. The calculation formula of the time point Tm is as follows:

[0060] Tm=Tn+S / VP

[0061] Among them, Tn is the shooting time point of the nth detection image; S is the length of the cord fabric between the camera device and the laser head, in meters; V is the moving speed of the cord fabric, in meters per minute; P is the time correction parameter, and its value is 6-12 seconds.

[0062] The significance of the time correction parameter P lies in: first, S is the length of the cord fabric between the camera device and the laser head, S is the camera point of the camera device located in the center E of the detection image, and the actual position of the glue spot in the detection image is not necessarily exactly in the center E; second, before the glue spot enters the laser spot removal scanning area, the laser device needs to be started in advance.

[0063] The present invention uses the time and position information required for the rubber spot to move and takes into account the time when the laser equipment needs to be started in advance to determine whether the rubber spot on the cord fabric has entered the laser spot removal scanning area, which is more reasonable and more accurate.

[0064] like Figure 4 As shown, a laser spot removal system based on online moving cord fabric includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program and runs in the following system units:

[0065] The detection image acquisition unit is used to collect the detection image of the cord fabric in real time during the movement of the cord fabric after the glue coating process;

[0066] The glue spot image searching and identifying unit is used to search and identify the glue spot image in the detection image;

[0067] A reciprocating travel D calculation unit, used for calculating the reciprocating travel D of the laser head;

[0068] A time interval TG calculation unit calculates the time interval TG according to a set overlap length of two adjacent detection images;

[0069] The time point Tm calculation start unit is used to calculate the time point Tm, start the laser device when the time point Tm is reached, and regulate the moving speed of the laser device.

[0070] In addition to the above-mentioned units, a mobile platform control unit is also included. Before the laser head moves in the opposite direction each time, the moving speed of the mobile platform needs to be adjusted so that the laser head moves a spot elimination step, and the size of the spot elimination step is not greater than the diameter of the laser head spot. The mobile platform control unit is not a technical improvement point of the present invention and will not be described in detail.

[0071] The laser spot removal system based on online moving cord fabric of the present invention can be run in computing devices such as desktop computers, notebooks, palmtop computers and cloud servers.

[0072] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the laser spot removal system based on online moving cord fabric, and uses various interfaces and lines to connect various parts of the entire laser spot removal system based on online moving cord fabric.

[0073] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the laser spot removal system based on online mobile cord fabric by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and an application required for at least one function, such as a sound playback function, an image playback function, etc.; the data storage area can store data created according to the use of the mobile phone, such as audio data, a phone book, etc.

[0074] The memory may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0075] In addition, those skilled in the art may combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradiction. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A laser spot removal method based on online moving cord fabric, characterized in that: Step S1, obtaining a detection image sequence C{C1, C2...Cn}: When the cord fabric after the glue coating process is moving, the detection image of the cord fabric is collected in real time by a camera device just above the center of the cord fabric, and the shooting time point Tn is recorded. The detection image is collected once every time interval TG to obtain a detection image sequence C{C1, C2...Cn}, where the initial value of the variable n is 1, and Cn is the nth detection image; In step S1, the time interval TG is calculated as follows: TG = (LQ) / V Wherein, L is the length of the cord fabric in the detection image, in meters; Q is the overlap length of two adjacent detection images, and the value range of Q is [0.01, 0.1]; V is the moving speed of the cord fabric, in meters per minute; Step S2, searching for adhesive spots of the recognition image Cn: searching for adhesive spots of the detection image Cn in the detection image sequence; Step S3, calculating the reciprocating travel distance D of the laser head and the position of the moving area: when the adhesive spots are found in the detection image, the reciprocating travel distance D of the laser head for laser spot removal scanning and the position of the reciprocating moving area of ​​the laser head are determined according to the number and position distribution of the adhesive spots; In step S3, according to the number and distribution of adhesive spots, the method for determining the reciprocating travel distance D of the laser head for laser spot removal scanning is as follows: When the number of rubber spots is 1, take the center F of the rubber spot as the reference point, select the point A1 with the maximum Manhattan distance value between the edge contour line of the rubber spot and the center F (X0, Y0) of the rubber spot, calculate the straight-line distance R between point A1 and the center F (X0, Y0), then the reciprocating stroke of the laser head D=2R, the XY axis coordinate system is established on the plane where the cord fabric is located, and the direction of movement of the cord fabric is the X axis; the line parallel to the front and rear sides of the cord fabric passing through the center F (X, Y) of the rubber spot is taken as the center line of the reciprocating movement area of ​​the laser head, and the position of the reciprocating movement area of ​​the laser head is determined according to the center line; When the number of rubber spots is ≥2, select the point B1 (X1, Y1) closest to the front side of the cord fabric from the edge contour line of each rubber spot, and select the point B2 (X2, Y2) closest to the back side of the cord fabric from the edge contour line of each rubber spot. The XY axis coordinate system is established on the plane where the cord fabric is located, and the direction of movement of the cord fabric is taken as the X axis. Then the reciprocating travel of the laser head D = |Y2-Y1|, and the area between Y1 and Y2 is taken as the position of the reciprocating movement area of ​​the laser head; Step S4, speckle removal processing: when it is confirmed that the rubber spot on the cord fabric enters the laser speckle removal scanning area, the laser is irradiated onto the rubber spot for speckle removal processing. During the speckle removal processing, the laser head in the laser equipment reciprocates within the range of the laser head reciprocating travel D; after the speckle removal processing is completed, the variable n is increased by 1, and the process returns to step S2 to search for the rubber spot until the rubber spot search and speckle removal work of the detection image Cn in the detection image sequence is completed.

2. The laser spot removal method based on online moving tire cord fabric according to claim 1 is characterized in that: The overlap length Q of two adjacent detection images is a configuration input parameter, and the time interval TG is determined by configuring the overlap length Q of two adjacent detection images.

3. The laser spot removal method based on online moving tire cord fabric according to claim 1 is characterized in that: In step S2, the method for finding the glue spot is as follows: the detection image is first grayed and then binarized, and then edge detection is performed using an edge detection operator. When there are one or more closed partitions enclosed by the detected edge lines in the detection image, the closed partition is the glue spot.

4. The laser spot removal method based on online moving tire cord fabric according to claim 1 is characterized in that: In step S4, the method for confirming that the rubber spot on the cord fabric enters the laser spot removal scanning area is determined by the time point Tm. When the time point is Tm, it is confirmed that the rubber spot on the cord fabric enters the laser spot removal scanning area. The calculation formula of the time point Tm is as follows: Tm=Tn+S / VP Among them, Tn is the shooting time point of the nth detection image; S is the length of the cord fabric between the camera device and the laser head, in meters; V is the moving speed of the cord fabric, in meters per minute; P is the time correction parameter, with a value of 0.1-0.2 minutes.

5. The laser spot removal method based on online moving tire cord fabric according to claim 1 is characterized in that: In step S4, the relevant parameters of the laser device during the spot removal process are as follows: the defocus amount is 6.3-6.5 mm; the laser power is 22-28 W; the repetition frequency is 90-94 kHz; the scanning speed is 170-180 mm / s, and the spot overlap rate is 82-84%.

6. The laser spot removal method based on online moving tire cord fabric according to claim 5 is characterized in that: In step S4, the relevant parameters of the laser device during the spot removal process are as follows: the defocus amount is 6.4 mm; the laser power is 25 W; the repetition frequency is 92 kHz; the scanning speed is 175 mm / s, and the spot overlap rate is 83%.

7. The laser spot removal method based on online moving tire cord fabric according to claim 1 is characterized in that: In step S4, the laser used is a short pulse laser, and the number of pulses in the short pulse laser pulse train is 5.

8. A system for implementing the laser speckle removal method based on online moving tire cord fabric according to any one of claims 1 to 7, characterized in that: The system comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to run in the following units of the system: The detection image acquisition unit is used to collect the detection image of the cord fabric in real time during the movement of the cord fabric after the glue coating process; The glue spot image searching and identifying unit is used to search and identify the glue spot image in the detection image; A reciprocating travel D calculation unit, used for calculating the reciprocating travel D of the laser head; A time interval TG calculation unit calculates the time interval TG according to a set overlap length of two adjacent detection images; The time point Tm calculation start unit is used to calculate the time point Tm, start the laser device when the time point Tm is reached, and adjust the moving speed of the laser device.

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