Online laser intelligent cleaning method, device, equipment, medium and product for cultural relics

Abstract

The invention relates to the technical field of laser cleaning, and provides an online laser intelligent cleaning method, device, equipment, medium and product for cultural relics, and the method comprises the following steps: dividing the surface of a to-be-cleaned cultural relic into a plurality of cleaning areas at least comprising a first cleaning area and a second cleaning area according to a three-dimensional shape; adjusting a first distance between the laser output head and the first cleaning area according to the three-dimensional shape, and controlling the laser beam to clean the first cleaning area according to a first working parameter corresponding to the first distance until the first cleaning area is cleaned; and a second distance between the laser output head and the second cleaning area is adjusted according to the three-dimensional shape, and the laser beam is controlled to clean the second cleaning area according to a second working parameter corresponding to the second distance until the second cleaning area is cleaned completely. The cleaning areas are divided according to the surface morphology of the cultural relics, and different working parameters are adopted for different cleaning areas, so that intelligent precise cleaning of pollutants on the surfaces of the cultural relics is realized.

Description

Technical Field

[0001] The present invention relates to the field of laser cleaning technology, and in particular to online laser intelligent cleaning methods, devices, equipment, media and products for cultural relics. Background Art

[0002] Laser cleaning technology is a new cleaning technology based on the interaction between laser and material. Its principle is that the laser focuses the laser beam into a very small area through a focusing lens combination to form a high-energy density laser beam, thereby destroying the interaction force between the contaminants and the material substrate. The contaminants are stripped from the material surface through physical processes such as ablation, gasification, photo-stripping, and ultrasound to ensure that the substrate is not damaged, so as to achieve the cleaning purpose.

[0003] Unlike the objects cleaned by industrial lasers, cultural relics are non-renewable resources, so safety and precision must be considered first when cleaning them with lasers. Compared with traditional mechanical cleaning, chemical cleaning, and ultrasonic cleaning, laser cleaning has unique advantages such as object selectivity, precise controllability, environmental friendliness, and non-contact, making it an important means of cleaning and repairing cultural relics.

[0004] At present, the commonly used laser cleaning devices for cultural relics (such as laser cleaning machines for cultural relics) mostly use solid lasers or fiber lasers as laser light sources, and the output laser beam is irradiated to the surface of the cultural relics to be cleaned through a multi-joint mechanical arm light guide system containing multiple reflective lenses or optical fibers. When laser cleaning cultural relics, the light output direction of the laser head or light guide system is mostly controlled by hand, and the real-time changes of the cleaning surface are observed by naked eyes or image sensors, the cleaning parameters are adjusted, and the completion of the cleaning process is judged.

[0005] However, this laser cleaning method for cultural relics relies heavily on the stability of manual hand-holding and the experience in judging the cleaning effect of cultural relics. For precious and non-renewable cultural relics, the safety, accuracy and stability of this laser cleaning method are not guaranteed. Summary of the invention

[0006] The present invention provides a method, device, equipment, medium and product for online intelligent laser cleaning of cultural relics, so as to solve the technical problems that the laser cleaning method of cultural relics in the prior art relies on manual operation and has safety, accuracy and stability.

[0007] The invention provides an online laser intelligent cleaning method for cultural relics, comprising: obtaining the three-dimensional morphology of the surface of the cultural relics to be cleaned, and dividing the surface of the cultural relics to be cleaned into a plurality of cleaning areas according to the three-dimensional morphology; wherein the cleaning areas at least include a first cleaning area and a second cleaning area; adjusting a first distance between a laser output head and the first cleaning area according to the three-dimensional morphology, and determining a first working parameter corresponding to the first distance; controlling a laser beam to perform cleaning work on the first cleaning area with the first working parameter until the first cleaning area is cleaned; adjusting a second distance between the laser output head and the second cleaning area according to the three-dimensional morphology, and determining a second working parameter corresponding to the second distance; controlling a laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned; wherein the first distance and the second distance are different, and the first working parameter and the second working parameter are different.

[0008] According to an online laser intelligent cleaning method for cultural relics provided by the present invention, a laser beam is controlled to perform cleaning work on a first cleaning area with a first working parameter until the first cleaning area is cleaned, including: using the focused laser beam obtained according to the first working parameter as a first target beam; obtaining a first laser spot within the laser focusing distance range according to the first target beam, and using the first laser spot to clean contaminants in the first cleaning area; when no contaminants are detected in the first cleaning area, it is determined that the first cleaning area is cleaned.

[0009] According to an online laser intelligent cleaning method for cultural relics provided by the present invention, a laser beam is controlled to perform cleaning work on a second cleaning area with a second working parameter until the second cleaning area is cleaned, including: using the focused laser beam obtained according to the second working parameter as a second target beam; obtaining a second laser spot within the laser focusing distance range according to the second target beam, and using the second laser spot to clean contaminants in the second cleaning area; when no contaminants are detected in the second cleaning area, it is determined that the cleaning of the second cleaning area is completed.

[0010] An online laser intelligent cleaning method for cultural relics provided by the present invention also includes: obtaining a first monitoring image after a first laser spot performs a first cleaning time on contaminants in a first cleaning area; if contaminants are detected in the first monitoring image, readjusting the first working parameters, and controlling the laser beam to perform a second cleaning of the contaminants in the first cleaning area with the adjusted first working parameters.

[0011] According to an online laser intelligent cleaning method for cultural relics provided by the present invention, the method also includes: obtaining a second monitoring image after a second laser spot performs a second cleaning time on contaminants in a second cleaning area; if contaminants are detected in the second monitoring image, readjusting the second operating parameters, and controlling the laser beam to perform a second cleaning of the contaminants in the second cleaning area with the adjusted second operating parameters.

[0012] According to an online laser intelligent cleaning method for cultural relics provided by the present invention, the cleaning area also includes other cleaning areas in addition to the first cleaning area and the second cleaning area; the laser beam is controlled to perform cleaning work on the second cleaning area with a second working parameter until the second cleaning area is cleaned, including: obtaining a target distance between the other cleaning areas and the laser output head corresponding to the other cleaning areas, and determining a target working parameter according to the target distance; the laser beam is controlled to perform cleaning work on the other cleaning areas with the target working parameter until all cleaning areas of the cultural relics to be cleaned are cleaned.

[0013] The present invention also provides an online laser intelligent cleaning device for cultural relics, comprising: a laser light source, an intelligent processing module, a cultural relic surface topography measurement module and a three-dimensional motion module; the laser light source is used to emit a laser beam, the laser light source is arranged on the three-dimensional motion module, the three-dimensional motion module is used to adjust the distance between the laser beam and the cultural relic to be cleaned through XYZ three-dimensional translation movement; the cultural relic surface topography measurement module is used to measure the three-dimensional topography of the surface of the cultural relic to be cleaned; the intelligent processing module comprises: a cleaning area division module, which is used to obtain the three-dimensional topography of the surface of the cultural relic to be cleaned, and divide the surface of the cultural relic to be cleaned into a plurality of cleaning areas according to the three-dimensional topography; wherein the cleaning area at least comprises a first cleaning area and a second cleaning area. Two cleaning areas; a first cleaning working module, used to adjust a first distance between the laser output head and the first cleaning area according to the three-dimensional morphology, and determine a first working parameter corresponding to the first distance; control the laser beam to perform cleaning work on the first cleaning area with the first working parameter until the first cleaning area is cleaned; a second cleaning working module, used to adjust a second distance between the laser output head and the second cleaning area according to the three-dimensional morphology, and determine a second working parameter corresponding to the second distance; control the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned; wherein the first distance and the second distance are different, and the first working parameter and the second working parameter are different.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an online laser intelligent cleaning method for cultural relics as described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the online laser intelligent cleaning method for cultural relics as described in any one of the above methods is implemented.

[0016] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned online laser intelligent cleaning methods for cultural relics.

[0017] The invention provides an online laser intelligent cleaning method, device, equipment, medium and product for cultural relics, the method comprising: obtaining the three-dimensional morphology of the surface of the cultural relics to be cleaned, and dividing the surface of the cultural relics to be cleaned into multiple cleaning areas according to the three-dimensional morphology; wherein the cleaning area at least includes a first cleaning area and a second cleaning area; adjusting the first distance between the laser output head and the first cleaning area according to the three-dimensional morphology, and determining the first working parameter corresponding to the first distance; controlling the laser beam to perform cleaning work on the first cleaning area with the first working parameter until the first cleaning area is cleaned; adjusting the second distance between the laser output head and the second cleaning area according to the three-dimensional morphology, and determining the second working parameter corresponding to the second distance; controlling the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned; wherein the first distance and the second distance are different, and the first working parameter and the second working parameter are different. In the above manner, the invention divides the cleaning area according to the surface morphology of the cultural relics, and adopts different working parameters for different cleaning areas, thereby realizing intelligent precision cleaning of pollutants on the surface of the cultural relics. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a flow chart of the online laser intelligent cleaning method for cultural relics provided by an embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the change in the spot size of the laser beam at different focusing positions provided by an embodiment of the present invention.

[0021] Figure 3 It is a structural schematic diagram of the intelligent processing module in the online laser intelligent cleaning device for cultural relics provided in an embodiment of the present invention.

[0022] Figure 4 It is one of the structural schematic diagrams of the online laser intelligent cleaning device for cultural relics provided in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the laser intelligent cleaning process provided by an embodiment of the present invention.

[0024] Figure 6 is with Figure 5 Schematic diagram of the corresponding laser intelligent cleaning device.

[0025] Figure 7This is the second structural schematic diagram of the online laser intelligent cleaning device for cultural relics provided in an embodiment of the present invention.

[0026] Figure 8 It is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0028] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0030] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0032] Cultural relics suffer from different degrees of corrosion, loss and damage due to natural weathering, air pollution since industrialization, acid rain erosion and other reasons, causing irreparable losses. Therefore, cultural relics need to be cleaned, repaired and protected. For special objects such as cultural relics, the cleaning method used should remove pollutants on the surface of the base material while ensuring that the base material of the cultural relics is not affected.

[0033] The solutions for laser cleaning in the current related technologies have the following problems: 1. If the collimated beam output by the laser is used directly for laser cleaning, and the laser energy / power density on the surface of the cultural relic is controlled by adjusting the output energy / power, the energy / power density of the beam remains unchanged throughout the entire optical transmission path. How to accurately judge the end of laser cleaning of the cultural relic, that is, to only clean away the contaminants without damaging the substrate, is a major problem.

[0034] 2. If a beam focusing device such as a laser head or lens is used to increase the energy / power density of the beam within a limited range, it is necessary to precisely control the distance between the output end of the laser head and the surface of the cultural relic, which is a task that cannot be accomplished by handheld means.

[0035] Based on this, the present invention provides an online laser intelligent cleaning method for cultural relics. Unlike the relatively flat surface of the cleaned material in industrial laser cleaning applications, the surface of cultural relics often has complex structures and textures. Therefore, the present invention can perform controllable, precise and intelligent laser cleaning on the structure and texture of the surface of cultural relics.

[0036] See also Figure 1 , Figure 1 1 is a flow chart of an online laser intelligent cleaning method for cultural relics provided by an embodiment of the present invention. In this embodiment, the online laser intelligent cleaning method for cultural relics may include steps S110 to S150, each of which is specifically as follows: S110: Acquire the three-dimensional morphology of the surface of the cultural relic to be cleaned, and divide the surface of the cultural relic to be cleaned into a plurality of cleaning areas according to the three-dimensional morphology; wherein the cleaning areas at least include a first cleaning area and a second cleaning area.

[0037] S120: adjusting a first distance between the laser output head and the first cleaning area according to the three-dimensional topography, and determining a first operating parameter corresponding to the first distance.

[0038] S130: Control the laser beam to perform a cleaning operation on the first cleaning area with a first operating parameter until the first cleaning area is completely cleaned.

[0039] S140: adjusting a second distance between the laser output head and the second cleaning area according to the three-dimensional topography, and determining a second operating parameter corresponding to the second distance.

[0040] S150: Control the laser beam to perform a cleaning operation on the second cleaning area with a second operating parameter until the second cleaning area is completely cleaned.

[0041] In this embodiment, the first distance and the second distance are different, and the first working parameter and the second working parameter are different. Different cleaning areas are divided according to the surface morphology of the cultural relic, and different working parameters are used for different cleaning areas, so as to achieve intelligent precision cleaning of pollutants on the surface of the cultural relic.

[0042] Optionally, the working parameters include but are not limited to laser energy, power density, cleaning time, cleaning times and other parameters.

[0043] Specifically, the three-dimensional morphology of the surface to be cleaned is first measured, and then the distance between the laser output head and the sample surface is adjusted to make it consistent with the focusing distance of the laser head used for cleaning work, and then the laser is turned on to perform cleaning work.

[0044] Then, the cleaning surface status is judged. If it is not cleaned completely, the next cleaning cycle is continued; if it is cleaned completely, it moves to the next cleaning area and repeats the above-mentioned operation of first measuring, then cleaning and judging until the entire cleaning area is cleaned.

[0045] The core of the method of this embodiment is that the cleaning laser is a focused laser beam, and effective cleaning of pollutants can only be achieved within the laser focusing distance range. Therefore, by measuring the surface morphology, the distance between the laser output head and the sample is accurately controlled, and combined with real-time cleaning effect judgment means, intelligent cleaning of cultural relics on the surface of complex structures can be achieved.

[0046] Based on any of the above embodiments, the step of controlling the laser beam to clean the first cleaning area with the first working parameter until the first cleaning area is cleaned may specifically include: The focused laser beam obtained according to the first working parameter is used as the first target beam; a first laser spot is obtained within the laser focusing distance range according to the first target beam, and the contaminants in the first cleaning area are cleaned using the first laser spot; when no contaminants are detected in the first cleaning area, it is determined that the cleaning of the first cleaning area is completed.

[0047] Based on any of the above embodiments, the step of controlling the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned may specifically include: The focused laser beam obtained according to the second working parameter is used as the second target beam; a second laser spot is obtained within the laser focusing distance range according to the second target beam, and the contaminants in the second cleaning area are cleaned using the second laser spot; when no contaminants are detected in the second cleaning area, it is determined that the cleaning of the second cleaning area is completed.

[0048] See also Figure 2 , Figure 2 Schematic diagram of the change of the spot size of the laser beam at different positions provided by the embodiment of the present invention, wherein the horizontal axis represents the z position (position) along the propagation direction, the unit is mm; the vertical axis represents the beam radius (beam radius), the unit is μm.

[0049] After the laser beam is focused, the spot size is different at different focusing positions. The spot size is the smallest at the focus, and increases before and after the focus. Therefore, after the beam focusing device is determined, the distance between the laser output head and the sample surface can be controlled to select the effective spot size, thereby controlling the laser intensity acting on the surface.

[0050] Similarly, by controlling the laser energy / power near the threshold, the laser energy / power density required for laser cleaning can be controlled to be met only in the case of a small spot at the focus, thereby achieving controllability and precision of the cleaning process.

[0051] Based on any of the above embodiments, the online laser intelligent cleaning method for cultural relics may also include: A first monitoring image is obtained after the first laser spot performs a first cleaning time on the contaminants in the first cleaning area; if the first monitoring image detects contaminants, the first operating parameters are readjusted, and the laser beam is controlled to perform a second cleaning of the contaminants in the first cleaning area with the adjusted first operating parameters.

[0052] Based on any of the above embodiments, the online laser intelligent cleaning method for cultural relics may also include: A second monitoring image is obtained after the second laser spot performs a second cleaning time on the contaminants in the second cleaning area; if the second monitoring image detects contaminants, the second operating parameters are readjusted, and the laser beam is controlled to perform a second cleaning of the contaminants in the second cleaning area with the adjusted second operating parameters.

[0053] In this embodiment, a monitoring module may also be included to detect the completion of cleaning. The following monitoring method may be used for multiple cleaning areas including the first cleaning area and the second cleaning area: The cleaning work starts at time t0 using the laser spot. After the cleaning work starts, the pollutants in the cleaning area are detected in real time by taking images. If no pollutants are detected in the current cleaning area during the time period between time t0 and time t1 (i.e. the above-mentioned cleaning time), it is determined that the current cleaning area has been cleaned; if pollutants are still detected in the current cleaning area after time t1, it is determined that the cleaning has timed out. At this time, it is necessary to adjust the working parameters to enhance the cleaning effect of the laser so that the pollutants in the current cleaning area can be cleaned again with the enhanced laser beam.

[0054] It should be noted that if contaminants still exist in the current cleaning area after enhanced cleaning, or the working parameters of the laser that needs to be enhanced have exceeded the preset working threshold, a warning message can be issued to prompt the user to intervene.

[0055] Based on any of the above embodiments, the cleaning area further includes other cleaning areas in addition to the first cleaning area and the second cleaning area; the step of controlling the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned may specifically include: Obtain the target distances of other cleaning areas corresponding to the laser output head, and determine the target working parameters according to the target distances; control the laser beam to perform cleaning work on other cleaning areas with the target working parameters until all cleaning areas of the cultural relics to be cleaned are cleaned.

[0056] As described above, the embodiment of the present invention proposes an online laser intelligent cleaning method for cultural relics. The core is to utilize the characteristics of focused lasers, measure and control the laser action distance, and only clean the pollutants at the focus. After moving away from the focus, the energy / power density of the laser drops rapidly and cannot interact with the pollutants / cultural relic substrate, thereby achieving controllable and precise cleaning of pollutants on the sample surface only; at the same time, the cleaning effect is set in the cleaning system to monitor / evaluate the cleaning effect in real time, and the laser cleaning process is monitored and evaluated in real time, thereby controlling the laser cleaning action distance, cleaning time and cleaning times, thereby achieving laser intelligent cleaning of cultural relics.

[0057] The present invention also provides an online laser intelligent cleaning device for cultural relics. The online laser intelligent cleaning device for cultural relics provided by the present invention is described below. The online laser intelligent cleaning device for cultural relics described below and the online laser intelligent cleaning method for cultural relics described above can be referenced to each other.

[0058] The present invention also provides an online laser intelligent cleaning device for cultural relics, comprising: a laser light source, an intelligent processing module, a cultural relic surface morphology measurement module and a three-dimensional motion module; the laser light source is used to emit a laser light beam, the laser light source is arranged on the three-dimensional motion module, the three-dimensional motion module is used to adjust the distance between the laser light beam and the cultural relic to be cleaned through XYZ three-dimensional translational motion; the cultural relic surface morphology measurement module is used to measure the three-dimensional morphology of the surface of the cultural relic to be cleaned.

[0059] See also Figure 3 , Figure 3 3 is a schematic diagram of the structure of the intelligent processing module in the online laser intelligent cleaning device for cultural relics provided by an embodiment of the present invention. The intelligent processing module may include a cleaning area division module 310, a first cleaning operation module 320 and a second cleaning operation module 330.

[0060] The cleaning area division module 310 is used to obtain the three-dimensional morphology of the surface of the cultural relic to be cleaned, and divide the surface of the cultural relic to be cleaned into multiple cleaning areas according to the three-dimensional morphology; wherein the cleaning areas at least include a first cleaning area and a second cleaning area.

[0061] The first cleaning module 320 is used to adjust the first distance between the laser output head and the first cleaning area according to the three-dimensional morphology, and determine the first working parameter corresponding to the first distance; control the laser beam to perform cleaning work on the first cleaning area with the first working parameter until the first cleaning area is cleaned.

[0062] The second cleaning working module 330 is used to adjust the second distance between the laser output head and the second cleaning area according to the three-dimensional morphology, and determine the second working parameter corresponding to the second distance; control the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned; wherein the first distance and the second distance are different, and the first working parameter and the second working parameter are different.

[0063] Based on any of the above embodiments, the first cleaning module 320 can be specifically used for: The focused laser beam obtained according to the first working parameter is used as the first target beam; a first laser spot is obtained within the laser focusing distance range according to the first target beam, and the contaminants in the first cleaning area are cleaned using the first laser spot; when no contaminants are detected in the first cleaning area, it is determined that the cleaning of the first cleaning area is completed.

[0064] Based on any of the above embodiments, the second cleaning module 330 can be specifically used for: The focused laser beam obtained according to the second working parameter is used as the second target beam; a second laser spot is obtained within the laser focusing distance range according to the second target beam, and the contaminants in the second cleaning area are cleaned using the second laser spot; when no contaminants are detected in the second cleaning area, it is determined that the cleaning of the second cleaning area is completed.

[0065] Based on any of the above embodiments, the first cleaning module 320 may also be used for: A first monitoring image is obtained after the first laser spot performs a first cleaning time on the contaminants in the first cleaning area; if the first monitoring image detects contaminants, the first operating parameters are readjusted, and the laser beam is controlled to perform a second cleaning of the contaminants in the first cleaning area with the adjusted first operating parameters.

[0066] Based on any of the above embodiments, the second cleaning module 330 may also be used for: A second monitoring image is obtained after the second laser spot performs a second cleaning time on the contaminants in the second cleaning area; if the second monitoring image detects contaminants, the second operating parameters are readjusted, and the laser beam is controlled to perform a second cleaning of the contaminants in the second cleaning area with the adjusted second operating parameters.

[0067] Based on any of the above embodiments, the cleaning area further includes other cleaning areas in addition to the first cleaning area and the second cleaning area; the intelligent processing module may further include other cleaning work modules, and the other cleaning work modules may be specifically used for: Obtain the target distances of other cleaning areas corresponding to the laser output head, and determine the target working parameters according to the target distances; control the laser beam to perform cleaning work on other cleaning areas with the target working parameters until all cleaning areas of the cultural relics to be cleaned are cleaned.

[0068] In view of the above shortcomings of the laser cleaning device for cultural relics in the related art in terms of safety, precision, intelligence, etc., and in view of the application requirements of online laser intelligent cleaning of cultural relics with complex structures and textures, the present invention proposes an online laser intelligent cleaning device for cultural relics, which can perform laser cleaning on the surface of cultural relics with complex structures and textures through precise control and adjustment of the focused light beam on the basis of accurately scanning the three-dimensional structure of the surface of the cultural relics, and judge the cleaning results in real time to confirm the end of the cleaning process. The online laser intelligent cleaning device for cultural relics has the characteristics of safety, controllability and intelligence.

[0069] See also Figure 4 , Figure 4 It is one of the structural schematic diagrams of the online laser intelligent cleaning device for cultural relics provided in an embodiment of the present invention.

[0070] In some embodiments, the online laser intelligent cleaning device for cultural relics may include a laser light source, a cultural relic surface morphology measurement module, a laser beam control module, a cleaning effect monitoring module, a three-dimensional motion module and an intelligent processing module.

[0071] The interior of the overall device supporting mechanism 1 may be provided with a laser light source, an intelligent processing module and a laser beam control module.

[0072] The laser light source is a commonly used laser cleaning light source, such as a nanosecond 1064nm optical fiber or solid laser, or other laser light sources that can be used for laser cleaning.

[0073] The intelligent processing module and the laser beam control module are composed of a computer and a driver, etc., and are used to receive the three-dimensional morphology or ranging data of the sample surface returned by the cultural relic surface morphology measurement module, calculate the required cleaning working distance, the laser energy / power density acting on the sample surface, and send motion control instructions to the three-dimensional motion platform or the three-dimensional galvanometer module; receive the sample surface conditions before and after cleaning returned by the cleaning effect monitoring module, judge the cleaning effect, and give instructions on whether to clean this area again.

[0074] In this embodiment, the intelligent processing module and the laser beam control module are two separately provided functional modules. In some embodiments (such as the above-mentioned embodiments), the laser beam control module can also be integrated into the intelligent processing module for use.

[0075] A laser output device such as a laser head can be placed on the three-dimensional motion translation stage 2, and the action position and action distance of the laser beam and the surface can be adjusted through the XYZ three-dimensional translation movement.

[0076] The sensor assembly 3 can be regarded as a component that integrates modules such as the measurement of the surface morphology of cultural relics and the monitoring of the cleaning effect, and also includes laser output devices such as a laser head and components for laser beam control. It should be noted that only by setting the components for beam control in the sensor assembly 3 can the laser beam be adjusted according to the feedback working parameters.

[0077] The surface topography measurement component can be a laser ranging module for a single point, or a laser radar module for the cleaning area (or a binocular camera or other surface target distance measurement module), which can feedback single-point distance data or three-dimensional point cloud information of the area.

[0078] The cleaning laser beam control component may only include a focusing module of a lens group, or may be a laser cleaning head module including a three-dimensional galvanometer and a corresponding field lens.

[0079] The cleaning effect monitoring components may include photoelectric detectors and lenses. The cleaning effect monitoring module mainly monitors and evaluates the target surface through imaging of photoelectric detectors and lenses. Other known online cleaning effect evaluation methods may also be added, such as spectroscopy evaluation, photoacoustic evaluation, etc.

[0080] Optionally, the operating program (ie, the software part) of the cleaning effect monitoring module can be integrated into the intelligent processing module for use.

[0081] See also Figure 5-Figure 6 , Figure 5 is a schematic diagram of the laser intelligent cleaning process provided by an embodiment of the present invention, Figure 6 is with Figure 5 Schematic diagram of the corresponding laser intelligent cleaning device.

[0082] A functional module composed of several optical lenses (such as a focusing lens group) can realize the function of laser beam control, specifically, it can adjust the spot size of the laser on the surface of the object to be cleaned (i.e., the cultural relic to be cleaned), and then adjust the laser energy / power density acting on the cultural relic.

[0083] The functional module composed of a laser ranging unit (such as a rangefinder) can realize the function of surface topography measurement, specifically used to measure the distance between the surface of the object to be cleaned in the laser spot irradiation area and the laser head, so as to facilitate the feedback control system to adjust the working distance between the laser head and the surface of the object to be cleaned.

[0084] The functional module composed of an imaging lens, a filter and a photoelectric detector can realize the function of monitoring the cleaning effect, specifically, real-time clear imaging of the surface of the object to be cleaned is performed to evaluate the cleaning effect.

[0085] The specific usage process is as follows: ① The laser ranging unit obtains the distance between the current laser spot irradiation area and the laser head, and compares it with the ideal cleaning distance of the cleaning light source after passing through the laser beam control module (generally at the focus if lens focusing is used), and drives the three-dimensional motion translation stage to move on the Z axis, so that the distance between the laser head and the object to be cleaned is adjusted to the ideal cleaning distance of the beam.

[0086] ② The cleaning effect monitoring module adjusts the imaging settings to obtain the image of the surface of the object to be cleaned at this time (surface condition before cleaning).

[0087] ③ The cleaning light source emits light to clean the surface of the cultural relics in the area irradiated by the laser spot. The cleaning starts at t0.

[0088] ④ Turn off the laser at time t1, and use the cleaning effect monitoring module to obtain the image of the surface of the cultural relic being cleaned at this time.

[0089] ⑤ The intelligent processing module compares and determines whether the cleaning is completed. If not, the laser continues to be turned on for cleaning, and the ③-⑤ process is repeated; if it is determined that the cleaning is completed, the three-dimensional motion translation stage moves the XY axis to move the cleaning spot to the next area to be cleaned. Among them, the XY axis movement distance is related to the size of the spot irradiated on the surface of the cultural relic.

[0090] ⑥After the laser spot moves to a new position, repeat the process of ①-⑤.

[0091] ⑦ Until all cleaning areas of the object to be cleaned are completely cleaned.

[0092] As described above, the embodiment of the present invention proposes an online laser intelligent cleaning device for cultural relics, which mainly includes a laser light source, a cultural relic surface morphology measurement module, a laser beam control module, a cleaning effect monitoring module, a three-dimensional motion module and an intelligent processing module. By real-time measurement of the surface morphology of the cultural relic to be cleaned, the working distance between the cleaning laser and the target surface is controlled, and the cleaning effect of the cleaning part is fed back in real time, and intelligent adjustment of parameters and autonomous cleaning are performed.

[0093] Compared with handheld laser cleaning machines, the online laser intelligent cleaning method and device for cultural relics proposed in the embodiments of the present invention can accurately measure and adjust the working distance between the laser and the surface of the cultural relics in real time, and achieve precision cleaning of the surface of the cultural relics. However, the handheld laser cleaning method and device heavily rely on the stability of the manual handheld cleaning head. The shaking of the human hand during the cleaning process can cause the laser focus position to deviate from the sample surface / or cause the cross-section of the cleaning position to shift, and it is impossible to achieve the precision of the three-dimensional platform / three-dimensional galvanometer.

[0094] Furthermore, the embodiment of the present invention controls the laser energy / power density at the laser focus by focusing the characteristics of the laser, so that the laser cleaning effect can only be achieved within a limited focal depth near the laser focus. After deviating from the focus, as the laser energy / power density decreases, it cannot act on the pollutants or the cultural relic substrate, thereby achieving controllable cleaning / layer-by-layer cleaning of the cultural relic surface.

[0095] In addition, the embodiments of the present invention also actively monitor and judge the laser cleaning process through real-time evaluation of the cleaning effect of cultural relics, and combine intelligent information processing to achieve real-time judgment of the cleaning effect of the cultural relic surface and autonomous control of the cleaning process, thereby improving the intelligence of laser cleaning of the cultural relic surface.

[0096] See also Figure 7 , Figure 7 This is the second structural schematic diagram of the online laser intelligent cleaning device for cultural relics provided in an embodiment of the present invention.

[0097] The laser beam control module 710 is composed of a three-dimensional galvanometer and a corresponding focusing field lens, which can irradiate the focused laser beam on the surface of the cultural relic within a certain area (for example, 300mm×300mm) to scan and clean the area.

[0098] The cultural relic surface morphology measurement module 720 is composed of a laser radar or a binocular camera, which measures the three-dimensional morphology of the cultural relic surface within the galvanometer action area to form a three-dimensional point cloud map, so as to facilitate the feedback of the three-dimensional galvanometer system to adjust the (xyz) coordinates of the light beam focus point and accurately irradiate the focused light beam to the corresponding position.

[0099] The cleaning effect monitoring module 730 is composed of an imaging lens, a filter and a photoelectric detector, and performs real-time clear imaging of the surface to be cleaned to evaluate the cleaning effect.

[0100] The specific usage process is as follows: ① The laser radar or binocular camera obtains a 3D point cloud image of the surface of the cultural relic to be cleaned that is larger than the galvanometer action area (300mm×300mm), drives the 3D galvanometer system, and adjusts the beam focusing distance during the above-mentioned area scanning laser cleaning to ensure that each laser is at the focus and cleans the surface of the cultural relic. Set the scanning speed v0 and scanning times n0 of the 3D galvanometer.

[0101] ② The cleaning effect monitoring module 730 adjusts the imaging settings to obtain an image of the surface of the cultural relic to be cleaned (surface condition before cleaning) including the above-mentioned galvanometer action area. ③ The cleaning light source emits laser, and based on the three-dimensional point cloud image, completes n0 laser cleanings of the surface of the cultural relics in the selected area at a scanning speed of v0, ensuring that the laser at each cleaning position is at the focus on the surface of the cultural relics for cleaning, and the cleaning time is T0.

[0102] ④ Turn off the laser and use the cleaning effect monitoring module 730 to obtain the image of the surface of the cultural relic in the cleaning area at this time (the surface condition after cleaning time T0).

[0103] ⑤ The intelligent processing module compares and determines whether the cleaning is completed. If not, the laser is turned on for T0 time cleaning, and the ③-⑤ process is repeated; if it is judged that the cleaning is completed, the three-dimensional motion translation stage moves the XY axis to move the cleaning spot to the next area to be cleaned. Among them, the XY axis movement distance is the same as the galvanometer action area this time.

[0104] ⑥After the laser spot moves to a new position, repeat the process of ①-⑤.

[0105] ⑦Until all areas to be cleaned are cleaned.

[0106] It should be noted that the cleaning time T0 mentioned in this embodiment can be understood as the time interval between the above-mentioned time t0 and time t1.

[0107] On the other hand, an embodiment of the present invention further provides an electronic device, see Figure 8 , Figure 8 is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention, such as Figure 8 As shown, the electronic device may include a memory 820, a processor 810, and a computer program stored in the memory 820 and executable on the processor 810. When the processor 810 executes the program, the online laser intelligent cleaning method for cultural relics provided by the above methods is implemented.

[0108] Optionally, the electronic device may further include a communication bus 830 and a communication interface (CommunicationsInterface) 840, wherein the processor 810, the communication interface 840, and the memory 820 communicate with each other via the communication bus 830. The processor 810 may call a computer program in the memory 820 to execute the online laser intelligent cleaning method for cultural relics, which may include: The three-dimensional morphology of the surface of the cultural relic to be cleaned is obtained, and the surface of the cultural relic to be cleaned is divided into a plurality of cleaning areas according to the three-dimensional morphology; wherein the cleaning areas at least include a first cleaning area and a second cleaning area; a first distance between a laser output head and the first cleaning area is adjusted according to the three-dimensional morphology, and a first working parameter corresponding to the first distance is determined; a laser beam is controlled to perform cleaning work on the first cleaning area with the first working parameter until the first cleaning area is cleaned; a second distance between the laser output head and the second cleaning area is adjusted according to the three-dimensional morphology, and a second working parameter corresponding to the second distance is determined; a laser beam is controlled to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned; wherein the first distance and the second distance are different, and the first working parameter and the second working parameter are different.

[0109] In addition, the logic instructions in the above-mentioned memory 820 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0110] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the online laser intelligent cleaning method for cultural relics provided by the above methods. Its steps and principles have been introduced in detail in the above methods and will not be repeated here.

[0111] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the online laser intelligent cleaning method for cultural relics provided by the above-mentioned methods. The steps and principles thereof have been introduced in detail in the above-mentioned methods and will not be repeated here.

[0112] Non-transitory computer-readable storage media can be any available media or data storage devices that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drives (SSDs)), etc.

[0113] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for online laser intelligent cleaning of cultural relics, characterized in that: include: Acquire the three-dimensional morphology of the surface of the cultural relic to be cleaned, and divide the surface of the cultural relic to be cleaned into a plurality of cleaning areas according to the three-dimensional morphology; The cleaning area at least includes a first cleaning area and a second cleaning area; Adjusting a first distance between the laser output head and the first cleaning area according to the three-dimensional topography, and determining a first operating parameter corresponding to the first distance; Controlling the laser beam to perform cleaning work on the first cleaning area with the first working parameter until the first cleaning area is completely cleaned; adjusting a second distance between the laser output head and the second cleaning area according to the three-dimensional topography, and determining a second operating parameter corresponding to the second distance; Controlling the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is completely cleaned; The first distance is different from the second distance, and the first operating parameter is different from the second operating parameter.

2. The online laser intelligent cleaning method for cultural relics according to claim 1 is characterized in that: The step of controlling the laser beam to perform cleaning on the first cleaning area with the first working parameter until the first cleaning area is completely cleaned includes: Using the focused laser beam obtained according to the first working parameter as a first target beam; Obtaining a first laser spot within a laser focusing distance range according to the first target light beam, and using the first laser spot to clean contaminants in the first cleaning area; When no contaminants are detected in the first cleaning area, it is determined that the cleaning of the first cleaning area is completed.

3. The online laser intelligent cleaning method for cultural relics according to claim 1 is characterized in that: The step of controlling the laser beam to perform cleaning on the second cleaning area with the second working parameter until the second cleaning area is completely cleaned includes: Using the focused laser beam obtained according to the second working parameter as a second target beam; Obtaining a second laser spot within the laser focusing distance according to the second target light beam, and using the second laser spot to clean the contaminants in the second cleaning area; When no contaminants are detected in the second cleaning area, it is determined that the cleaning of the second cleaning area is completed.

4. The online laser intelligent cleaning method for cultural relics according to claim 2 is characterized in that: Also includes: Acquire a first monitoring image after the first laser spot cleans the pollutants in the first cleaning area for a first time; If contaminants are detected in the first monitoring image, the first operating parameter is readjusted, and the laser beam is controlled to perform secondary cleaning on the contaminants in the first cleaning area with the adjusted first operating parameter.

5. The online laser intelligent cleaning method for cultural relics according to claim 3 is characterized in that: Also includes: Acquire a second monitoring image after the second laser spot performs a second cleaning time on the contaminants in the second cleaning area; If the second monitoring image detects contaminants, the second operating parameter is readjusted, and the laser beam is controlled to perform secondary cleaning on the contaminants in the second cleaning area with the adjusted second operating parameter.

6. The online laser intelligent cleaning method for cultural relics according to any one of claims 1 to 5, characterized in that: The cleaning area further includes other cleaning areas except the first cleaning area and the second cleaning area; The step of controlling the laser beam to perform cleaning on the second cleaning area with the second working parameter until the second cleaning area is completely cleaned includes: Obtaining a target distance between the other cleaning areas and the laser output head, and determining a target working parameter according to the target distance; The laser beam is controlled to perform cleaning work on the other cleaning areas with the target working parameters until all cleaning areas of the cultural relics to be cleaned are cleaned.

7. An online laser intelligent cleaning device for cultural relics, characterized in that: Includes: laser light source, intelligent processing module, cultural relic surface topography measurement module and three-dimensional motion module; The laser light source is used to emit a laser beam, and the laser light source is arranged on the three-dimensional motion module, and the three-dimensional motion module is used to adjust the distance between the laser beam and the cultural relic to be cleaned through XYZ three-dimensional translation motion; The cultural relic surface topography measurement module is used to measure the three-dimensional topography of the surface of the cultural relic to be cleaned; The intelligent processing module comprises: A cleaning area division module is used to obtain the three-dimensional morphology of the surface of the cultural relic to be cleaned, and divide the surface of the cultural relic to be cleaned into a plurality of cleaning areas according to the three-dimensional morphology; wherein the cleaning areas at least include a first cleaning area and a second cleaning area; A first cleaning operation module is used to adjust a first distance between the laser output head and the first cleaning area according to the three-dimensional morphology, and determine a first operation parameter corresponding to the first distance; control the laser beam to perform cleaning operation on the first cleaning area with the first operation parameter until the first cleaning area is cleaned; A second cleaning working module is used to adjust a second distance between the laser output head and the second cleaning area according to the three-dimensional morphology, and determine a second working parameter corresponding to the second distance; control the laser beam to perform cleaning work on the second cleaning area with the second working parameter until the second cleaning area is cleaned; The first distance is different from the second distance, and the first operating parameter is different from the second operating parameter.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the online laser intelligent cleaning method for cultural relics as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the online laser intelligent cleaning method for cultural relics as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the online laser intelligent cleaning method for cultural relics as claimed in any one of claims 1 to 6 is implemented.

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