Method, device and equipment for cleaning ceramic glaze through laser and storage medium

Abstract

The invention discloses a method, device and equipment for cleaning a ceramic glaze surface through laser and a storage medium, and the method comprises the steps that an image of a to-be-cleaned material is obtained in real time, and first boundary information of the to-be-cleaned material is obtained; comparing the first boundary information with an image boundary database to obtain second boundary information; according to the second boundary information, a to-be-cleaned track is determined, and a control instruction is generated; and the position of a laser galvanometer is controlled according to the control instruction, and cleaning is completed along the to-be-cleaned track. According to the method, the boundary information of the to-be-cleaned material is obtained, so that all materials exceeding the outline of the to-be-cleaned material are prevented from being cleaned, the material gasification area of laser is reduced, and the waste utilization rate is increased.

Description

Technical Field

[0001] The invention relates to the field of laser cleaning, and in particular to a method, device, equipment and storage medium for laser cleaning of ceramic glaze. Background Art

[0002] Laser cleaning technology is an efficient and environmentally friendly surface treatment method. It has been widely used in the field of ceramic surface cleaning in recent years. Ceramic products are formed by slip injection, and their surfaces are generally provided with a glaze coating. Aluminum foil of different colors is added to the glaze coating to promote the product and increase the aesthetic effect. During the cleaning process, it is often necessary to remove unnecessary parts of the material surface while maintaining the integrity of the pattern area.

[0003] At present, the traditional laser cleaning method adopts a full coverage cleaning method, using laser to irradiate the material to be cleaned until all the material to be cleaned is removed.

[0004] However, traditional laser cleaning methods have the disadvantages of many repeated processing times and low cleaning efficiency. At the same time, the laser will vaporize the material to be cleaned, polluting the environment and wasting materials. Summary of the invention

[0005] The main purpose of the present invention is to propose a method for laser cleaning of ceramic glaze, aiming to solve the problems of traditional laser cleaning methods such as many repeated processing times, low cleaning efficiency, and laser vaporization of the material to be cleaned, polluting the environment and wasting materials.

[0006] To achieve the above object, the present invention provides a method for laser cleaning of ceramic glaze, the method comprising:

[0007] Acquire an image of the material to be cleaned in real time to obtain first boundary information of the material to be cleaned;

[0008] Comparing the first boundary information with the image boundary database to obtain second boundary information;

[0009] Determine the track to be cleaned according to the second boundary information, and generate a control instruction;

[0010] The position of the laser galvanometer is controlled according to the control instruction, and the cleaning is completed along the track to be cleaned.

[0011] Preferably, obtaining the first boundary information of the material to be cleaned includes:

[0012] Preprocessing the image of the material to be cleaned to obtain a preprocessed image;

[0013] The preprocessed image is identified according to an edge detection algorithm to obtain first boundary information.

[0014] Preferably, before comparing the first boundary information with the image boundary database, the method includes:

[0015] Selecting an image template from an image boundary database;

[0016] According to the image template, the image to be cleaned is matched using a sliding window method, and the matching degree of each position is calculated;

[0017] The area with the largest matching degree is selected to obtain second boundary information.

[0018] Preferably, the second boundary information obtained includes an overlapping portion of the first boundary information and the comparison image.

[0019] Preferably, determining the track to be cleaned includes:

[0020] Generate a minimum outer contour trajectory according to the second boundary information;

[0021] Expanding the minimum outer contour trajectory toward the outside of the contour to generate an outer contour trajectory;

[0022] Generate a scanning path according to the outer contour trajectory and determine the cleaning trajectory.

[0023] The present invention further proposes a device for laser cleaning of ceramic glaze, applying the above method, the device comprising:

[0024] A frame, the surface of which is provided with a moving device for carrying and moving a carrier, wherein the carrier is used to load the ceramics to be cleaned;

[0025] A laser cleaning device, disposed on one side of the moving device, the laser cleaning device can move relative to the carrier and is used for laser cleaning the ceramic to be cleaned;

[0026] A laser is arranged on the laser cleaning device facing the carrier and is used to improve the laser;

[0027] A visual positioning device, located on one side of the laser, is used to determine the laser cleaning trajectory;

[0028] The control device is located below the frame and is electrically connected to the moving device, and is used to control the start and stop of the moving device.

[0029] Preferably, the visual positioning device further comprises:

[0030] An acquisition module, used for acquiring an image of the material to be cleaned in real time to obtain first boundary information of the material to be cleaned;

[0031] A processing module, used for comparing the first boundary information with the image boundary database to obtain second boundary information;

[0032] A generation module is used to determine the track to be cleaned according to the second boundary information and generate a control instruction.

[0033] Preferably, the light spot of the laser is a square light spot.

[0034] The present invention also provides an electronic device, comprising:

[0035] a memory for storing program instructions; and

[0036] A processor is used to execute the program instructions to implement any of the methods described above.

[0037] The present invention also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions are used to enable a computer to execute any of the above methods.

[0038] In the present invention, by acquiring the image of the material to be cleaned in real time and extracting the first boundary information, and then comparing the information with the image boundary database, the pattern of the ceramic glaze surface can be accurately identified and the cleaning trajectory can be determined. By dynamically adjusting the cleaning trajectory, the laser galvanometer can accurately scan according to the predetermined path, reducing unnecessary scanning and repeated cleaning, optimizing the cleaning process, and improving the cleaning efficiency. At the same time, the cleaning trajectory is only the outer contour of the ceramic surface pattern, avoiding the cleaning of all materials beyond the pattern contour, reducing the laser gasification area of ​​the material, and increasing the utilization rate of waste materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a method for laser cleaning of ceramic glaze in one embodiment of the present invention;

[0040] Figure 2 A schematic diagram of a process for obtaining first boundary information in one embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a process for obtaining second boundary information in one embodiment of the present invention;

[0042] Figure 4 A schematic diagram of a process for determining a track to be cleaned in one embodiment of the present invention;

[0043] Figure 5 It is a schematic structural diagram of a device for laser cleaning of ceramic glaze in one embodiment of the present invention;

[0044] Figure 6 The figure is a schematic structural diagram of an electronic device of the present invention. DETAILED DESCRIPTION

[0045] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0048] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] Reference Figure 1 As shown, in one embodiment, a method for laser cleaning of ceramic glaze is provided, which specifically includes the following steps.

[0050] Step S102, acquiring an image of the material to be cleaned in real time to obtain a first boundary of the material to be cleaned.

[0051] The features such as patterns and stains on the ceramic glaze are captured instantly through industrial cameras (CCD) or scanning equipment, and images are collected. The material to be cleaned can be the irregular part of the ceramic glaze pattern (i.e., the excess part of the pattern that exceeds the pattern boundary is removed), or the part of the ceramic glaze pattern that needs to be hollowed out. The first boundary information refers to the boundary data extracted from the image of the material to be cleaned. The boundary data represents the outline of the pattern area that needs to be cleaned on the ceramic glaze. The first boundary information can be obtained through edge detection, contour extraction and other technologies.

[0052] Step S104: Compare the first boundary information with the image boundary database to obtain second boundary information.

[0053] The image boundary database is a database that stores the boundary features of various ceramic glaze patterns. In the database, the boundary information of each pattern is stored as feature data (such as outline, geometric shape, size, etc.) to facilitate comparison with the boundary in the image to be cleaned. The second boundary information is more accurate boundary data obtained by comparing with the image boundary database. The second boundary information also includes information obtained from the database.

[0054] Step S106, determining the track to be cleaned according to the second boundary information, and generating a control instruction.

[0055] The trajectory to be cleaned is a cleaning path calculated based on the second boundary information. The trajectory to be cleaned can be a boundary around a specific pattern, or a continuous trajectory segment, or a discontinuous trajectory segment. The control instruction is used to control the movement of the laser cleaning device, including the moving trajectory of the laser galvanometer, laser power, scanning speed and other information.

[0056] Step S108, controlling the position of the laser galvanometer according to the control instruction, and completing the cleaning along the track to be cleaned.

[0057] The laser galvanometer is an important component of the laser cleaning device, which is used to accurately adjust the direction of the laser beam. It can adjust the laser scanning path according to the control instructions to ensure that the laser beam accurately irradiates the required cleaning area.

[0058] In this embodiment, the ceramic glaze is a layer of smooth, shiny glaze on the surface of ceramic products, usually used for decoration and protection. A substrate (exemplarily, the coating is an aluminum ring) is embedded in the middle of the outer surface of the ceramic glaze, and a coating (exemplarily, the coating is aluminum foil) is attached to the outer surface of the substrate. Different surface patterns can be formed by the substrate and the coating. Because the coating has a certain thickness (0.15mm), it cannot be completely attached to the substrate one-to-one, and there will be residual excess coating extending to the ceramic glaze. Exemplarily, the outer surface of the ceramic is the ceramic tank body, the glaze layer, the substrate and the coating in sequence.

[0059] In this embodiment, a high-resolution industrial camera with a resolution of up to 20MP is used to capture subtle pattern defects on the ceramic glaze. If the ceramic surface is very complex, a laser scanning device can also be combined to obtain more accurate three-dimensional data. The Canny edge detection algorithm is used to identify the boundary of the pattern. The Canny algorithm extracts clear edge information by detecting the area with large grayscale changes in the image. The first boundary information extracted from the ceramic image to be cleaned is compared with the pre-stored pattern in the database. The best matching image can be found by the template matching algorithm, and then the second boundary information is obtained. By analyzing the second boundary information, an accurate trajectory to be cleaned can be generated. And the cleaning is completed according to the trajectory to be cleaned. Exemplarily, the ceramic bottle to be cleaned has an aluminum foil coating for decoration on its surface, which is attached to the aluminum ring substrate. Before cleaning, a high-definition image of the aluminum foil coating is obtained by scanning the surface of the ceramic bottle with a camera. The boundary line of the aluminum foil coating is obtained by the edge detection algorithm and displayed in the image. The boundary line image of the aluminum foil coating is compared with the boundary information preset in the database, and the second boundary information is obtained, which not only marks which areas are required for cleaning, but also determines that the material type of the aluminum foil coating is aluminum.

[0060] Reference Figure 2 As shown, in one embodiment, obtaining first boundary information of the material to be cleaned includes:

[0061] Step S202, preprocessing the image of the material to be cleaned to obtain a preprocessed image;

[0062] Step S204: Identify the preprocessed image according to an edge detection algorithm to obtain first boundary information.

[0063] In this embodiment, the image of the material to be cleaned can be a color or grayscale image. Usually, the grayscale image is more concise and reduces the computational complexity. After acquiring the image, the image is preprocessed to improve the accuracy and robustness of edge detection. The preprocessing process includes the following steps: 1. Grayscale processing. Grayscale can discard the color information in the image and only retain the brightness information, which can reduce the computational complexity. In the grayscale image, the contrast between the pattern and the background will be more obvious. 2. Denoising. The image may be interfered by noise during image acquisition, which affects the subsequent edge detection. Therefore, the image is blurred by the Gaussian kernel to smooth the image and reduce noise. 3. Contrast enhancement. Contrast enhancement is often achieved by histogram equalization. By evenly distributing the grayscale value of the image, the contrast between the pattern and the background in the image is more obvious, which is convenient for subsequent edge extraction. After preprocessing, the Canny edge detection algorithm is used to identify the boundary information in the image. The steps of the Canny algorithm are as follows: 1. Smooth the image: Use a Gaussian filter to smooth the image to remove noise. 2. Gradient calculation: The Sobel operator is used to calculate the gradient strength and gradient direction of each pixel in the image. Usually, the horizontal gradient and vertical gradient are calculated and then the total gradient strength is calculated. 3. Non-maximum suppression: By comparing each pixel with its neighboring pixels in the gradient direction, the pixel with the largest gradient value is retained and other pixels are suppressed. 4. Double threshold processing: By setting high and low thresholds, determine which pixels are strong edges, weak edges or non-edges, and use them to connect the edges. After the edge detection is completed, the algorithm will extract the boundary information of the image, usually expressed as a series of edge points or contour lines. Based on this edge information, the first boundary information of the area to be cleaned can be obtained. This information will serve as the basis for subsequent processing (such as comparison with the graphic boundary database) and laser cleaning path planning.

[0064] This embodiment accurately extracts the first boundary information of the area to be cleaned by preprocessing the image of the material to be cleaned and using an edge detection algorithm. The preprocessing steps include graying, denoising and smoothing, etc., so that the image is more suitable for subsequent edge extraction. Through edge detection algorithms such as Canny or Sobel, the boundaries of the pattern can be effectively identified, providing the necessary basic information for laser cleaning path planning and precise control.

[0065] Reference Figure 3 As shown, in one embodiment, before comparing the first boundary information with the image boundary database, the process includes:

[0066] Step S302, selecting an image template from an image boundary database;

[0067] Step S304, matching the image to be cleaned using a sliding window method according to the image template, and calculating the matching degree of each position;

[0068] Step S306: Select the area with the largest matching degree to obtain second boundary information.

[0069] In this embodiment, it is necessary to construct an image boundary database, which contains boundary information of various known patterns. The information of each pattern should include: pattern outline (boundary): it can be the outer edge of the pattern, the internal detail boundary, etc., usually represented by a binary image, the pattern area is white, and the background area is black. Pattern identifier: For management and fast retrieval, a unique identifier is assigned to each template pattern. The pattern templates in the image boundary database may include different shapes, sizes, directions, etc., so the diversity of the template can ensure that it can adapt to different types of ceramic glazes. One or more possible pattern templates are selected from the image boundary database as reference objects for matching with the first boundary information. The first boundary information is matched using a sliding window method, the window size is consistent with the size of the template pattern, the entire image area is scanned step by step, and the matching degree of each position is calculated. The commonly used matching degree calculation method is normalized cross correlation. The value of the matching degree is between -1 and 1, and the closer the value is to 1, the higher the matching degree. After calculating the matching degree of all window positions, the matching area with the largest matching degree is selected, which means that the pattern in this area is most similar to the database template pattern. If the matching degree is low, the first boundary information may need to be rotated, scaled or otherwise geometrically transformed before re-matching to improve the matching accuracy.

[0070] In one embodiment, the second boundary information obtained includes the overlapped portion of the first boundary information and the image template.

[0071] In this embodiment, the second boundary information includes an area obtained by a template matching method that overlaps with an image template in an image boundary database. Exemplarily, the first boundary information is the actual boundary of the aluminum foil coating, and the image template is the standard aluminum foil coating boundary. If the actual boundary is one circle larger than the standard boundary, the trajectory line where the actual boundary and the standard boundary overlap is the second boundary, that is, the boundary obtained by projecting the standard boundary on the actual boundary.

[0072] Reference Figure 4 As shown, in one embodiment, determining the trajectory to be cleaned includes:

[0073] Step S402, generating a minimum outer contour trajectory according to the second boundary information;

[0074] Step S404, expanding the minimum outer contour trajectory toward the outside of the contour to generate an outer contour trajectory;

[0075] Step S306, generating a scanning path according to the outer contour trajectory and determining a cleaning trajectory.

[0076] In this embodiment, the minimum outer contour refers to a minimum contour that does not contain any internal area and only covers the outer boundary of the pattern. This contour is the most concise outer boundary of the pattern, does not contain the details inside the pattern, and is suitable for preliminary planning of the laser cleaning path. The second boundary information may contain redundant details or noise, so it needs to be simplified, small fluctuations or unnecessary parts are removed, and the outermost boundary is retained. The Douglas-Peucker algorithm can be used for simplification and make the contour smoother.

[0077] In this embodiment, when performing laser cleaning, the actual cleaning area needs to be slightly larger than the boundary of the pattern to ensure that the laser can effectively remove all excess materials outside the boundary. In order to avoid accidental damage to the pattern area, the laser cleaning area should be expanded to the outside of the minimum outer contour. The expansion distance is determined based on the spot size of the laser beam, the cleaning accuracy requirements, and the physical properties of the material (such as thickness, reflectivity, etc.). The extended distance is usually a multiple of the laser spot diameter, usually between 0.5mm and 2mm. Use geometric methods (such as expansion algorithms) to expand the minimum outer contour outward. The expansion algorithm adds additional areas around each contour point of the minimum outer contour value to form a larger outer contour trajectory. The trajectory includes the boundary of the material to be cleaned, and leaves a certain redundant area outside the original pattern boundary to avoid slight shaking during work and accidentally damaging the material to be cleaned.

[0078] In this embodiment, the outer contour trajectory can be a separate multi-segment trajectory, and the optimal scanning path is determined by the path planning algorithm to avoid unnecessary movement of the laser beam and ensure the efficiency of the cleaning process. The optimal scanning path is determined as the cleaning trajectory. The cleaning trajectory is the actual control instruction of the laser cleaning path, and the laser cleaning device performs the cleaning task according to this trajectory. The cleaning trajectory ensures that the laser beam moves accurately along the outer contour trajectory and only cleans the area outside the pattern boundary without interfering with the pattern itself.

[0079] Reference Figure 5 As shown, the embodiment of the present invention also provides a device for laser cleaning of ceramic glaze, which can be applied to the above method embodiment, and the device includes:

[0080] A frame 1, on the surface of which is provided a moving device 2 for carrying and moving a carrier 3, wherein the carrier 3 is used for loading ceramics to be cleaned;

[0081] The laser cleaning device 4 is disposed on one side of the moving device 2. The laser cleaning device 4 can move relative to the carrier 3 and is used for laser cleaning the ceramic to be cleaned.

[0082] A laser 5 is disposed on the laser cleaning device 4 facing the carrier 3 and is used to provide laser light;

[0083] A visual positioning device 6, provided on one side of the laser 5, is used to determine the laser cleaning trajectory;

[0084] The control device 7 is located below the frame and is electrically connected to the moving device 2 to control the start and stop of the moving device 2 .

[0085] In this embodiment, the frame 1 provides stable support for the device and ensures the accuracy of the relative positions of various components. The surface of the frame 1 is equipped with a moving device 2 for carrying and moving the carrier 3. The moving device 2 is usually composed of components such as a servo motor and a guide rail, and has a high-precision mobile control capability. It is used to carry the carrier 3 and move it along the frame to ensure that the ceramics to be cleaned can be accurately positioned during the laser cleaning process. Specifically, the moving device 2 can be a cross slide, which is two slides that are superimposed and vertically arranged on each other. The slide includes a slider, a guide rail, a support seat and a transmission structure. The transmission structure can drive the screw to rotate by a servo motor, and the nut moves linearly on the screw, driving the slider to move on the guide rail. The support seat of the upper slide is arranged on the slider of the lower slide, and the carrier 3 is arranged on the slider of the upper slide. In this way, the cross slide provides precise movement in two horizontal directions. The carrier 3 is provided with a clamp that matches the shape of the ceramic to be cleaned, and the ceramic to be cleaned is fixed by the clamp.

[0086] The laser cleaning device 4 is installed on one side of the mobile device 2, and can move relative to the carrier 3. It can move accurately in the horizontal and vertical directions to ensure that the laser beam can cover the entire ceramic to be cleaned, so as to clean patterns of complex shapes. The laser 5, as the core component of the laser cleaning device 4, is located on the laser cleaning device 4 and is facing the carrier 3 of the ceramic to be cleaned. The main function of the laser 5 is to provide a laser beam for cleaning excess materials beyond the boundary of the ceramic pattern. The laser 5 will adjust the laser power, frequency and scanning speed according to the instructions of the control device to adapt to different ceramic materials, pattern complexity and cleaning requirements. Fiber lasers, CO2 lasers or other lasers suitable for ceramic cleaning are usually used. The specific selection depends on the material of the ceramic, the glaze characteristics and the cleaning accuracy requirements. For example, an ultraviolet picosecond laser with a wavelength of 1064nm is used.

[0087] The visual positioning device 6 is usually located on one side of the laser 5, and monitors the surface of the ceramic to be cleaned in real time to accurately determine the laser cleaning trajectory. The visual positioning device 6 is usually composed of a camera, a sensor, etc., and can capture images in real time. The visual positioning device 6 collects images of the ceramic to be cleaned, processes the image data through a computer vision algorithm, and analyzes the boundary information of the ceramic pattern. Through image processing, the precise position of the boundary of the material to be cleaned can be determined, and the laser cleaning trajectory can be calculated. The control device is located below the frame and controls the operation of the entire cleaning device, including the operation of the laser cleaning device, the adjustment of the laser, the feedback of the visual positioning device, and the start and stop of the moving device.

[0088] In one embodiment, the visual positioning device further includes:

[0089] An acquisition module, used for acquiring an image of the material to be cleaned in real time to obtain first boundary information of the material to be cleaned;

[0090] A processing module, used for comparing the first boundary information with the image boundary database to obtain second boundary information;

[0091] The generation module is used to determine the track to be cleaned according to the second boundary information and generate a control instruction.

[0092] In this embodiment, the acquisition module acquires the image of the material to be cleaned in real time through the image acquisition device and extracts the first boundary information. The processing module generates the second boundary information by comparing the first boundary information with the image in the image boundary database, determines the boundary of the material to be cleaned, generates the cleaning trajectory based on the second boundary information, and generates the laser cleaning control instruction to accurately control the movement of the cleaning device.

[0093] In one embodiment, the laser spot is a square spot.

[0094] In this embodiment, a square spot is used. The main features of the square spot include: the energy distribution of the four edges and corners of the square spot is relatively uniform, which can avoid excessive concentration of energy in the central area during laser cleaning and reduce the risk of pattern damage. The edge of the square spot is a straight line, and the combination of spots can form a straight cleaning track, which reduces the unprocessed part between two adjacent spots compared to the circular spot.

[0095] Reference Figure 6 As shown, an embodiment of the present invention further provides an electronic device, which can be applied to the above method embodiment, and can include: a memory 1010 and a processor 1020. The memory 1010 is used to store program instructions; the processor 1020 is used to execute the program instructions to implement the method in the above embodiment.

[0096] The processor 1020 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0097] The memory 1010 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1010 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1010 and are called and executed by the processor 1020.

[0098] It should be noted that, although the above device only shows the processor 1020 and the memory 1010. However, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0099] The electronic device of the above embodiment is used to implement the corresponding method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0100] An embodiment of the present invention further provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the method described in any of the above embodiments.

[0101] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0102] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0103] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A method for laser cleaning of ceramic glaze, characterized in that: The method comprises: Acquire an image of the material to be cleaned in real time to obtain first boundary information of the material to be cleaned; Comparing the first boundary information with the image boundary database to obtain second boundary information; Determine the track to be cleaned according to the second boundary information, and generate a control instruction; The position of the laser galvanometer is controlled according to the control instruction, and the cleaning is completed along the track to be cleaned.

2. The method for laser cleaning of ceramic glaze according to claim 1, characterized in that: Obtaining first boundary information of the material to be cleaned includes: Preprocessing the image of the material to be cleaned to obtain a preprocessed image; The preprocessed image is identified according to an edge detection algorithm to obtain first boundary information.

3. The method for laser cleaning of ceramic glaze according to claim 1, characterized in that: Comparing the first boundary information with the image boundary database includes: Selecting an image template from an image boundary database; According to the image template, the image to be cleaned is matched using a sliding window method, and the matching degree of each position is calculated; The area with the largest matching degree is selected to obtain second boundary information.

4. The method for laser cleaning of ceramic glaze according to claim 3, characterized in that: The second boundary information obtained includes the overlapped portion of the first boundary information and the image template.

5. The method for laser cleaning of ceramic glaze according to claim 1, characterized in that: Determining the track to be cleaned includes: Generate a minimum outer contour trajectory according to the second boundary information; Expanding the minimum outer contour trajectory toward the outside of the contour to generate an outer contour trajectory; Generate a scanning path according to the outer contour trajectory and determine the cleaning trajectory.

6. A device for laser cleaning of ceramic glaze, using the method according to any one of claims 1 to 5, characterized in that: The device comprises: A frame, the surface of which is provided with a moving device for carrying and moving a carrier, wherein the carrier is used to load the ceramics to be cleaned; A laser cleaning device, disposed on one side of the moving device, the laser cleaning device can move relative to the carrier and is used for laser cleaning the ceramic to be cleaned; A laser, arranged on the laser cleaning device facing the carrier, for providing laser; A visual positioning device, located on one side of the laser, is used to determine the laser cleaning trajectory; The control device is located below the frame and is electrically connected to the moving device, and is used to control the start and stop of the moving device.

7. The laser cleaning device for ceramic glaze according to claim 6, characterized in that: The visual positioning device also includes: An acquisition module, used for acquiring an image of the material to be cleaned in real time to obtain first boundary information of the material to be cleaned; A processing module, used for comparing the first boundary information with the image boundary database to obtain second boundary information; A generation module is used to determine the track to be cleaned according to the second boundary information and generate a control instruction.

8. The laser cleaning device for ceramic glaze according to claim 6, characterized in that: The light spot of the laser is a square light spot.

9. An electronic device, characterized in that: include: A memory for storing program instructions; as well as A processor, configured to execute the program instructions to implement the method according to any one of claims 1 to 5.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the method according to any one of claims 1 to 5.

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