Laser cleaning method, system and equipment based on staggered lap joint and medium

Abstract

The invention discloses a laser cleaning method, system and equipment based on staggered lap joint and a medium, and relates to the field of laser cleaning, and the method comprises the steps that parameters and cleaning width are configured based on the laser frequency, light path configuration parameters and the cleaning width of the laser cleaning equipment; the vibration frequency, the switch light delay duration and the cleaning speed are obtained through calculation, the laser frequency serves as the emission frequency of laser rays, the switch light delay duration serves as the standby interval between the forward stroke and the return stroke of light spot lap joint, and the laser rays are emitted; the laser rays are emitted at different angles at the vibration frequency, and longitudinal linear laser spots are formed on the surface of the to-be-cleaned workpiece; and the cleaning speed serves as the transverse extension speed of the linear laser spots, and staggered lap joint cleaning is conducted on the to-be-cleaned workpiece. According to the laser cleaning method and device, the gap of the light spot lap joint coverage face is supplemented, repeated lap joint of the light spots is avoided, and then the laser cleaning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of laser cleaning, and in particular to a laser cleaning method, system, equipment and medium based on staggered overlap. Background Art

[0002] In the current laser cleaning industry, the MOPA (Master Oscillator Power Amplifier) ​​fiber laser system can strictly amplify according to the seed signal source coupled into the system without changing the relevant characteristics of the laser, such as the central wavelength, pulse waveform and pulse width. Its parameter adjustment dimension is higher and the range is wider. It has stronger adaptability and a larger process window range for different application scenarios of different materials, and can meet the surface cleaning of various materials. Therefore, MOPA laser is currently the most widely used laser for laser cleaning. During laser cleaning operations, the spot overlap rate is one of the important factors affecting the cleaning efficiency. A good spot overlap state is: all areas of the cleaning surface are covered by laser spots without residue. The conventional method of adjusting the spot overlap rate in laser cleaning (taking circular spots as an example) is to adjust the spot overlap method by changing the laser frequency and line spacing, and finally achieve the overlapping effect that the spot completely covers the cleaning area. However, the spot position distribution adjusted by this adjustment method is not optimal. Since the centers of adjacent spots are parallel, in order to overlap and cover all cleaning areas, adjacent spots need to overlap more areas to achieve this. This results in a smaller actual action area of ​​each spot and reduced laser cleaning efficiency.

[0003] Therefore, the current laser cleaning process has problems such as omissions in the overlap coverage of the light spot, which requires repeated overlap, resulting in low laser cleaning efficiency. Summary of the invention

[0004] The purpose of this application is to provide a laser cleaning method, system, equipment and medium based on staggered overlap, which can fill the gaps in the overlap coverage of the light spot, avoid repeated overlap of the light spot, and improve the laser cleaning efficiency.

[0005] To achieve the above objectives, this application provides the following solutions.

[0006] In a first aspect, the present application provides a laser cleaning method based on staggered overlap, the laser cleaning method based on staggered overlap is applied to a laser cleaning device, and the laser cleaning method based on staggered overlap includes: obtaining a laser frequency of the laser cleaning device , optical path configuration parameters and cleaning width ; The optical path configuration parameters include: optical fiber core diameter , Collimation focal length and focus distance ; Using the fiber core diameter , Collimation focal length and focus distance Calculate the actual effective diameter of the light spot ; According to the laser frequency , Actual effective diameter of the light spot and target cleaning width Calculate the vibration frequency ; Based on laser frequency Calculate the switching light delay time ; According to the vibration frequency And the actual diameter of the spot Calculate the cleaning speed ; With laser frequency As the emission frequency of the laser light, the delay time of the switching light As the standby interval between the outbound and return paths of the light spot overlap, the laser light is emitted; The laser beam is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned; As the lateral extension speed of the linear laser spot, the workpiece to be cleaned is subjected to staggered overlapping cleaning; the staggered overlapping cleaning is performed by staggering the longitudinal distance between the center of the outgoing spot and the center of the returning spot.

[0007] In the second aspect, the present application provides a laser cleaning system based on staggered overlap, which applies the above-mentioned laser cleaning method based on staggered overlap, and the laser cleaning system based on staggered overlap includes: a control screen, a laser, a laser head, a motion platform and a control board; the laser head is arranged on the output light path of the laser, and the motion platform is arranged below the laser head; the control screen, the laser, the laser head and the motion platform are all connected to the control board; the control screen is used to import and store the laser frequency of the laser cleaning equipment , optical path configuration parameters and cleaning width The control board is used to utilize the optical fiber core diameter , Collimation focal length and focus distance Calculate the actual effective diameter of the light spot ; According to the laser frequency , Actual effective diameter of the light spot and target cleaning width Calculate the vibration frequency ; Based on laser frequency Calculate the switching light delay time ; According to the vibration frequency And the actual diameter of the spot Calculate the cleaning speed The laser is used to generate a laser at a frequency As the emission frequency of the laser light, the switching light delay time As a standby interval between the outward and return paths of the light spot overlap, the laser light is emitted; the laser head moves on the moving platform at a cleaning speed As the lateral extension speed of the linear laser spot is driven by the vibration frequency The laser light is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned, so as to perform staggered overlapping cleaning on the workpiece to be cleaned.

[0008] In a third aspect, the present application provides a computer device, comprising: 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 implement any of the above-described laser cleaning methods based on staggered overlap.

[0009] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described laser cleaning methods based on staggered overlap.

[0010] According to the specific embodiments provided in this application, this application discloses the following technical effects.

[0011] The present application uses the delay time of the switching light as the standby interval between the outbound and return overlapping light spots, so that the longitudinal linear laser light spots of the outbound and return overlapping light spots are staggered, the gaps in the overlapping coverage of the light spots are filled, and repeated overlapping of the light spots is avoided; the cleaning speed is used as the lateral extension speed of the linear laser light spot, and the workpiece to be cleaned is staggered and overlapped to improve the laser cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 A schematic flow chart of a laser cleaning method based on staggered overlap provided in an embodiment of the present application.

[0014] Figure 2 A schematic diagram of the non-misaligned light spot overlapping process provided in an embodiment of the present application.

[0015] Figure 3 A schematic diagram of the process of overlapping misaligned light spots provided in an embodiment of the present application.

[0016] Figure 4 A schematic diagram of a laser cleaning system based on staggered overlap provided in an embodiment of the present application Figure 1 .

[0017] Figure 5 A schematic diagram of a laser cleaning system based on staggered overlap provided in an embodiment of the present application Figure 2 .

[0018] Figure 6 Schematic diagram of the laser head structure provided in the embodiment of the present application Figure 1 .

[0019] Figure 7 Schematic diagram of the laser head structure provided in the embodiment of the present application Figure 2 .

[0020] Figure 8 This is a diagram of the non-misaligned light spot overlap result provided in an embodiment of the present application.

[0021] Fig. 9 This is a diagram of the overlapping results of the misaligned light spots provided in the embodiment of the present application.

[0022] Fig.10 A schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0023] Figure numerals: control screen-1; laser-2; laser head-3; collimator-31; reflector-32; electric galvanometer-33 and field mirror-34; motion platform-4 and control board-5. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0026] Embodiment 1, as Figure 1-Figure 3 As shown, this embodiment provides a laser cleaning method based on staggered overlap, the laser cleaning method based on staggered overlap is applied to laser cleaning equipment, and the laser cleaning method based on staggered overlap includes the following steps.

[0027] S1. Obtain the laser frequency of the laser cleaning equipment , optical path configuration parameters and cleaning width ;Optical path configuration parameters include:Fiber core diameter , Collimation focal length and focus distance .

[0028] In actual application, the optical fiber core diameter It is the crystal diameter of the laser transmitted in the optical fiber of laser 2, and also the diameter of the laser spot emitted at the end of the optical fiber. It is a fixed parameter of laser 2; collimation focal length and focus distance It refers to the focal length of the collimator 31 and the focal length of the focusing mirror, which is a fixed value of the optical device (collimator 31 and focusing mirror); pulse width (pulse width) refers to the duration of a pulse, and the value range is 5~500ns; laser frequency refers to the number of pulses emitted by the laser 2 within 1s, and the value range is 20~4000kHz; cleaning width is the line width during laser cleaning operation, and the value range is related to the galvanometer configuration, generally 1~150mm.

[0029] S2. Using the fiber core diameter , Collimation focal length and focus distance Calculate the actual effective diameter of the light spot .

[0030] Furthermore, the actual effective diameter of the light spot The calculation formula is as follows.

[0031] .

[0032] .

[0033] In the formula, D’ is the actual effective diameter of the light spot, D is the spot diameter after focusing, is the preset spot overlap rate, is the fiber core diameter, is the collimation focal length, is the focus focal length.

[0034] Further, =20%.

[0035] S3. According to the laser frequency , Actual effective diameter of the light spot and target cleaning width Calculate the vibration frequency .

[0036] Furthermore, the vibration frequency The calculation formula is as follows.

[0037] .

[0038] In the formula, is the vibration frequency, is the laser frequency, is the actual effective diameter of the light spot, For cleaning width.

[0039] S4. Based on laser frequency Calculate the switching light delay time .

[0040] Furthermore, the switching delay time The calculation formula is as follows.

[0041] .

[0042] In the formula, is the delay time of switching light, is the vibration frequency.

[0043] S5. According to the vibration frequency And the actual diameter of the spot Calculate the cleaning speed .

[0044] Furthermore, the cleaning speed The calculation formula is as follows.

[0045] .

[0046] In the formula, is the cleaning speed, is the vibration frequency, It is the actual effective diameter of the light spot.

[0047] S6. At laser frequency As the emission frequency of the laser light, the delay time of the switching light As the standby interval between the outbound and return paths of the light spot overlap, the laser light is emitted; The laser beam is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned; As the lateral extension speed of the linear laser spot, the workpiece to be cleaned is subjected to staggered overlapping cleaning; the staggered overlapping cleaning is performed by staggering the longitudinal distance between the center of the outgoing spot and the center of the returning spot for cleaning.

[0048] In actual application, the control board 5 reads the laser parameters and optical path configuration parameters input by the control screen 1, and the system calculates the cleaning width compensation value. And the switching light delay time , control board 5 will delay the switch light Output to laser 2, adjust the laser switch light delay when the galvanometer goes back and forth, and finally make the two rows of light spots shift longitudinally distance, so as to achieve the purpose of precise adjustment of the spot position and improve the utilization rate of the laser spot.

[0049] Optional, switch light delay time Including outbound delay and return delay ,when hour, , that is, the outbound trip is not delayed, but the return trip is delayed ;when hour, , that is, the outbound delay , the return trip is not delayed; when and , that is, the outbound delay , return delay .

[0050] Optional, longitudinal offset The calculation formula is as follows.

[0051] .

[0052] In the formula, The vertical offset.

[0053] Embodiment 2, as Figure 4-Figure 5 As shown, this embodiment also provides a laser cleaning system based on staggered overlap. The laser cleaning system based on staggered overlap applies the above laser cleaning method based on staggered overlap. The laser cleaning system based on staggered overlap includes: a control screen 1, a laser 2, a laser head 3, a motion platform 4 and a control board 5.

[0054] The laser head 3 is arranged on the outgoing light path of the laser 2 , and the motion platform 4 is arranged below the laser head 3 .

[0055] The control screen 1, laser 2, laser head 3 and motion platform 4 are all connected to the control board 5; the control screen 1 is used to import and store the laser frequency of the laser cleaning equipment , optical path configuration parameters and cleaning width ; Control board 5 is used to utilize the optical fiber core diameter , Collimation focal length and focus distance Calculate the actual effective diameter of the light spot ; According to the laser frequency , Actual effective diameter of the light spot and target cleaning width Calculate the vibration frequency ; Based on laser frequency Calculate the switching light delay time ; According to the vibration frequency And the actual diameter of the spot Calculate the cleaning speed ; Laser 2 is used to generate laser light at a frequency As the emission frequency of the laser light, the delay time of the switching light As the standby interval between the outward and return paths of the light spot overlap, the laser light is emitted; the laser head 3 moves on the moving platform 4 at a cleaning speed Driven by the lateral extension speed of the linear laser spot, Vibration frequency The laser beam is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned, and the workpiece to be cleaned is subjected to staggered overlapping cleaning.

[0056] Optionally, the laser 2 is a fiber laser generator.

[0057] Optionally, the laser 2 is connected to the control board 5 via a DB25 interface.

[0058] Furthermore, if Figure 6-Figure 7 As shown, the laser head 3 includes: a collimating mirror 31 , a reflecting mirror 32 , an electric galvanometer mirror 33 and a field lens 34 .

[0059] The collimator 31 is arranged on the outgoing light path of the laser 2 , the reflector 32 is arranged on the outgoing light path of the collimator 31 , the electric galvanometer 33 is arranged on the reflected light path of the reflector 32 , and the field lens 34 is arranged on the reflected light path of the electric galvanometer 33 .

[0060] The electric galvanometer 33 is connected to the control board 5 .

[0061] The laser light is collimated into parallel light by the collimator, and is reflected to the electric galvanometer 33 by the reflector 32. The laser beam is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned.

[0062] In actual application, the laser cleaning head is composed of a shell, a laser 2 connector, a collimator 31, a reflector 32, an electric galvanometer 33 and a field mirror 34. Four threaded through holes are designed on the cleaning head shell, and the cleaning head shell is directly fixed to the motion platform 4 by bolts; the laser 2 connector is fixed to the shell by bolts and connected to the laser generator through a rotating slot; the collimator 31 is used to convert the divergent laser generated by the laser 2 into parallel light, and is fixed in the collimator 31 tube. The collimator 31 is connected to the end of the laser 2 connector by threads; the reflector 32 is used to reflect the laser light path so that the collimated parallel light is reflected on the galvanometer, and the reflector 32 is fixed on the reflector 32 base inside the cleaning head; the galvanometer is connected to the galvanometer motor, and the laser point is scanned into a line by rapid vibration. The galvanometer motor is a high-speed galvanometer motor, which is connected to the control board 5 through a quick-plug connector and controlled by the control board 5; the field mirror 34 is a flat field focusing mirror, which is used to focus the laser beam and is connected to the shell by threads.

[0063] The control screen 1 is connected to the control card through the signal interface, and then transmits parameter data to the control board 5, including the laser frequency of the laser cleaning equipment. , optical path configuration parameters (fiber core diameter , Collimation focal length and focus distance ) and cleaning width ， Automatically calculate the spot position adjustment parameters, and then adjust the spot position and spot overlap rate.

[0064] The laser spot overlap rate is obtained by reading the laser frequency, scanning line width and optical path configuration input by the control screen 1 through the control board 5, and the system automatically calculates the optimal vibration frequency. , cleaning speed , vibration frequency Through the control board 5 output to the galvanometer motor, the cleaning speed The output is sent to the mobile platform through the control board 5, so that the light spots overlap by 20% in both the vibration direction and the cleaning direction.

[0065] In actual application, the cleaning process of the laser cleaning system based on staggered overlap is as follows.

[0066] A laser 2 with a core diameter of 60µm fiber is used, in conjunction with a collimator lens 31 with a focal length of 100 and a focusing lens with a focal length of 300. The cleaning head is fixed on a motion platform 4, and the Z-direction height of the motion mechanism is adjusted so that the surface of the workpiece to be cleaned is located at the positive focus of the laser. Through the control screen 1, a laser pulse width of 500ns, an input laser frequency of 130kHz, and a cleaning width of 100mm are selected (imported and stored). The spot overlap position precision adjustment system automatically calculates that the focal spot diameter is 60µm×100÷300=200µm, the actual effective spot diameter is 100µm×4 / 5=160µm, the cleaning width compensation value is 200µm×1 / 2=100µm, the vibration frequency is 130kHz×0.16mm÷100mm=208Hz, the switch light delay parameter is 1÷4÷208=1.2ms, and the cleaning speed is 208Hz×0.16mm=33.28mm / s. The spot position adjustment parameters calculated by the spot overlap position precision adjustment system are output to the laser 2, the electric galvanometer 33 and the motion platform 4 through the control board 5 to realize laser cleaning based on misaligned overlap. The non-misaligned spot overlap results and the misaligned spot overlap results are shown in the figure. Figure 8-Figure 9 shown.

[0067] The beneficial effects of this application are as follows.

[0068] This application fills the gaps in the overlapping coverage of the light spot, avoids repeated overlapping of the light spot, effectively improves the utilization rate of the light spot, and thus improves the efficiency of laser cleaning. At the same time, by inputting laser parameters, automatically calculating the light spot position adjustment parameters and adjusting the light spot overlapping position, it greatly simplifies the operation process of adjusting the light spot overlapping position and reduces the difficulty of operation.

[0069] Embodiment 3, the present application also provides a computer device, which may be a server or a terminal, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store processing data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a laser cleaning method based on misaligned overlap is implemented.

[0070] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0071] Embodiment 4: The present application also provides a computer-readable storage medium storing a computer program, which implements the above methods when executed by a processor.

[0072] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0073] All actions to obtain signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0074] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A laser cleaning method based on staggered overlap, the laser cleaning method based on staggered overlap is applied to laser cleaning equipment, characterized in that: The laser cleaning method based on staggered overlap comprises: Get the laser frequency of the laser cleaning equipment , optical path configuration parameters and cleaning width ; The optical path configuration parameters include: optical fiber core diameter , Collimation focal length and focus distance ; Utilize the fiber core diameter , Collimation focal length and focus distance Calculate the actual effective diameter of the light spot ; According to the laser frequency , Actual effective diameter of the light spot and target cleaning width Calculate the vibration frequency ; Based on laser frequency Calculate the switching light delay time ; According to the vibration frequency And the actual diameter of the spot Calculate the cleaning speed ; Laser frequency As the emission frequency of the laser light, the delay time of the switching light As the standby interval between the outbound and return paths of the light spot overlap, the laser light is emitted; The laser beam is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned; As the lateral extension speed of the linear laser spot, the workpiece to be cleaned is subjected to staggered overlapping cleaning; the staggered overlapping cleaning is performed by staggering the longitudinal distance between the center of the outgoing spot and the center of the returning spot.

2. The laser cleaning method based on staggered overlap according to claim 1, characterized in that: The actual effective diameter of the light spot The calculation formula is as follows: ； ； In the formula, D’ is the actual effective diameter of the light spot, D is the spot diameter after focusing, is the preset spot overlap rate, is the fiber core diameter, is the collimation focal length, is the focus focal length.

3. The laser cleaning method based on staggered overlap according to claim 2, characterized in that: =20%。 4. The laser cleaning method based on staggered overlap according to claim 1, characterized in that: The vibration frequency The calculation formula is as follows: ； In the formula, is the vibration frequency, is the laser frequency, is the actual effective diameter of the light spot, For cleaning width.

5. The laser cleaning method based on staggered overlap according to claim 1, characterized in that: The switch light delay time The calculation formula is as follows: ； In the formula, is the delay time of switching light, is the vibration frequency.

6. The laser cleaning method based on staggered overlap according to claim 1, characterized in that: The cleaning speed The calculation formula is as follows: ； In the formula, is the cleaning speed, is the vibration frequency, It is the actual effective diameter of the light spot.

7. A laser cleaning system based on staggered overlap, characterized in that: The laser cleaning system based on staggered overlap applies the laser cleaning method based on staggered overlap according to any one of claims 1 to 6, and the laser cleaning system based on staggered overlap comprises: a control screen, a laser, a laser head, a motion platform and a control board; The laser head is arranged on the outgoing light path of the laser, and the motion platform is arranged below the laser head; The control screen, the laser, the laser head and the motion platform are all connected to the control board; the control screen is used to import and store the laser frequency of the laser cleaning equipment , optical path configuration parameters and cleaning width The control board is used to utilize the optical fiber core diameter , Collimation focal length and focus distance Calculate the actual effective diameter of the light spot ; According to the laser frequency , Actual effective diameter of the light spot and target cleaning width Calculate the vibration frequency ; Based on laser frequency Calculate the switching light delay time ; According to the vibration frequency And the actual diameter of the spot Calculate the cleaning speed The laser is used to generate a laser at a frequency As the emission frequency of the laser light, the switching light delay time As a standby interval between the outward and return paths of the light spot overlap, the laser light is emitted; the laser head moves on the moving platform at a cleaning speed As the lateral extension speed of the linear laser spot is driven by the vibration frequency The laser light is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned, so as to perform staggered overlapping cleaning on the workpiece to be cleaned.

8. The laser cleaning system based on staggered overlap according to claim 7, characterized in that: The laser head comprises: a collimating mirror, a reflecting mirror, an electric galvanometer and a field mirror; The collimator is arranged on the outgoing light path of the laser, the reflector is arranged on the outgoing light path of the collimator, the electric galvanometer is arranged on the reflected light path of the reflector, and the field mirror is arranged on the reflected light path of the electric galvanometer; The electric galvanometer is connected to the control board; The laser light is collimated into parallel light by a collimator, and then reflected to the electric galvanometer by a reflector. The laser light is emitted at different angles to form a longitudinal linear laser spot on the surface of the workpiece to be cleaned.

9. A computer device comprising: 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 implement the laser cleaning method based on staggered overlap as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the laser cleaning method based on staggered overlap described in any one of claims 1 to 6 is implemented.

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