Laser cleaning device and laser cleaning method for workpiece surface

Abstract

According to the laser cleaning device and method for the surface of the workpiece, the limitation that a contact type cleaning mode is restrained by geometric accessibility is avoided by utilizing the advantages of non-contact and environmental protection of laser, and an auxiliary line laser transmitter is arranged to emit visible line type indicating laser to cover a laser focal spot cleaning operation area; the projection contrast of the curved surface area is enhanced, the obtained point cloud data is more accurate, the position vector of the moving point of the laser focal spot and the normal vector which is perpendicular to the position vector and is on the same tangent plane with the position vector are obtained based on the Weinarten equation and Gaussian mapping, and finally the laser cleaning beam can be always perpendicular to the surface of the workpiece to be cleaned. For irregular complex molded surfaces such as large power transmission and transformation components, cleaning operation can be carried out under the condition that the optimal working focal length and angle are kept, and the problem that the surface of a cleaned area is damaged and coarsened due to the fact that energy and uniformity of cleaning laser beams are affected by changes of the cleaning angle and the working focal length is avoided.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and particularly relates to a laser cleaning device and a laser cleaning method for the surface of a workpiece. Background Art

[0002] For power infrastructure, for example, extra-high voltage and large-capacity power transmission and transformation components are prone to being contaminated (adhering to bird droppings, ash residues, etc.). If not cleaned for a long time, it may increase power loss and heat generation, and seriously, transmission failure may occur, which brings great trouble to power inspection and maintenance.

[0003] Currently, power inspection mainly relies on manual labor. When facing contamination, grinding and chemical reagent spraying are often used for cleaning operations. However, when grinding and chemical reagent spraying are performed on the irregular and complex surfaces of large power transmission and transformation components, due to geometric accessibility constraints, there are often residual contaminants adhering after the operation, making it difficult to ensure maintenance and easily hiding potential safety hazards. Summary of the Invention

[0004] To solve the above technical problems, a first aspect embodiment of the present invention provides a laser cleaning device for the surface of a workpiece.

[0005] A second aspect embodiment of the present invention provides a laser cleaning method for the surface of a workpiece.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A first aspect embodiment of the present invention proposes a laser cleaning device for the surface of a workpiece, including: a cleaning laser generator for generating an invisible cleaning laser beam; a laser cleaning gun head connected to the cleaning laser generator for focusing the cleaning laser beam onto the surface of the workpiece to form a laser focal spot in the cleaning operation area; a line laser emitter coupled to the laser cleaning gun head, the line laser emitter being used to emit a visible linear laser coaxial with the cleaning laser beam; a vision measurement camera for collecting point cloud data of the cleaning operation area by collecting the area covered by the visible linear laser, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area based on the point cloud data; a control system connected to the vision measurement camera for obtaining the normal vector of the current laser focal spot in the tangent plane of the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, and adjusting the laser cleaning gun head according to the normal vector so that the spatial pose angle of the laser beam currently emitted by the laser cleaning gun head is parallel to the normal vector in the tangent plane.

[0008] The above laser cleaning device for the surface of a workpiece of the present invention further has the following additional technical features:

[0009] According to an embodiment of the present invention, the control system is further configured to: judge the cleaning effect of the current cleaning operation area based on the hard pollutants attached to the workpiece surface. If the set cleaning effect is not achieved, the cleaning times of the cleaning operation area are successively increased until the set cleaning effect is achieved, and then the cleaning of the next cleaning operation area is performed.

[0010] According to an embodiment of the present invention, the control system is further configured to: calibrate the center position of the laser focal spot on the linear laser.

[0011] According to an embodiment of the present invention, the control system is specifically configured to: use the current laser focal spot as the position vector of a moving point D on the three-dimensional surface model S Perform an expansion in terms of the first derivative to obtain the tangent vector of the moving point D on the three-dimensional surface model S, and based on the Gauss map Map the tangent vector of the moving point D on the three-dimensional surface model S to the tangent plane to obtain the normal vector n(u, v) of the moving point D in the tangent space ; Obtain the normal vector of the moving point D in the same tangent plane of the three-dimensional surface model S according to the normal vector n(u, v) and .

[0012] According to an embodiment of the present invention, the vision measurement camera is specifically configured to: collect the point cloud data of the area covered by the visible linear laser, identify the dot-like laser focal spot as the target point, synchronously measure the depth information data of the target point, and collect the point cloud data of the area around the laser focal spot as the target point, and analyze the point cloud data to obtain the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area.

[0013] An embodiment of the second aspect of the present invention provides a laser cleaning method for the surface of a workpiece, including the following steps: controlling a cleaning laser generator to generate an invisible cleaning laser beam; focusing the cleaning laser beam on the surface of the workpiece through a laser cleaning gun head to form a laser focal spot in the cleaning operation area; controlling a line laser emitter to emit a visible linear laser coaxial with the cleaning laser beam; collecting the point cloud data of the cleaning operation area by collecting the point cloud data of the area covered by the visible linear laser, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area according to the point cloud data; obtaining the normal vector of the current laser focal spot in the same tangent plane of the three-dimensional surface model S based on the Gauss map and the Weingarten equation, and adjusting the laser cleaning gun head according to the normal vector so that the spatial pose angle of the laser beam currently emitted by the laser cleaning gun head is parallel to the normal vector in the same tangent plane.

[0014] The above laser cleaning method for the surface of a workpiece of the present invention further has the following additional technical features:

[0015] According to an embodiment of the present invention, the above method further includes: judging the cleaning effect of the current cleaning operation area according to the hard pollutants attached to the surface of the workpiece. If the set cleaning effect is not achieved, the cleaning times of the cleaning operation area are increased successively until the set cleaning effect is achieved, and then the cleaning of the next cleaning operation area is carried out.

[0016] According to an embodiment of the present invention, the above method further includes: calibrating the center position of the laser focal spot on the center of the line-shaped laser.

[0017] According to an embodiment of the present invention, obtaining the normal vector of the tangent plane of the current laser focal spot on the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation specifically includes: taking the current laser focal spot as the position vector of a moving point D on the three-dimensional surface model S Performing an extension in terms of the first derivative to obtain the tangent vector of the moving point D on the three-dimensional surface model S, and based on the Gaussian mapping Mapping the tangent vector of the moving point D on the three-dimensional surface model S to the tangent plane , obtaining the normal vector n(u, v) of the moving point D in the tangent space ; obtaining the normal vectors of the moving point D on the three-dimensional surface model S in the same tangent plane and .

[0018] According to an embodiment of the present invention, collecting the point cloud data of the cleaning operation area by collecting the point cloud data of the area covered by the visible line-shaped laser, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area based on the point cloud data specifically includes: collecting the point cloud data of the area covered by the visible line-shaped laser, identifying the dot-shaped laser focal spot as the target point, synchronously measuring the depth information data of the target point, and collecting the point cloud data of the area around the laser focal spot as the target point, and analyzing the point cloud data to obtain the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area.

[0019] Advantages of the present invention:

[0020] The present invention utilizes the non-contact, safe and environmentally friendly processing advantages of laser cleaning, enables the laser beam of the cleaning operation to have the ability to adjust the spatial position and posture, and solves the problem that the cleaning operation is restricted by the surface geometric accessibility of the irregular and complex surfaces of large power transmission and transformation components.

[0021] The present invention sets an auxiliary line laser emitter to emit a visible line-shaped indicating laser to cover the laser focal spot cleaning operation area, enhances the projection contrast of this curved surface area, and makes the obtained point cloud data more accurate.

[0022] Based on the Weingarten equation and the Gaussian mapping, the present invention obtains the position vector of the moving point D of the laser focal spot and the normal vector perpendicular to it and in the same tangent plane, so that the spatial pose angle of the currently emitted laser beam is parallel to the normal vector in the same tangent plane. Finally, it is realized that the laser cleaning beam can always be perpendicular to the surface of the workpiece to be cleaned. For the surface of irregular and complex shapes such as large power transmission and transformation components, cleaning operations can be carried out at the optimal working focal length and angle, avoiding damage and roughening problems on the surface of the cleaned area caused by changes in the cleaning angle and working focal length, which affect the energy and uniformity of the cleaning laser beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. 6 is a schematic structural diagram of a laser cleaning device for a workpiece surface according to an embodiment of the present invention;

[0024] Figure 2 FIG. 10 is a schematic structural diagram of a laser cleaning gun head according to an embodiment of the present invention;

[0025] Figure 3 FIG. 14 is a schematic diagram of the principle of obtaining the normal vector according to an embodiment of the present invention;

[0026] Figure 4 FIG. 18 is a flowchart of a laser cleaning method for a workpiece surface according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] Figure 1 FIG. 27 is a schematic structural diagram of a laser cleaning device for a workpiece surface according to an embodiment of the present invention, as Figure 1 shown. The laser cleaning device includes: a cleaning laser generator 1, a laser cleaning gun head 2, a line laser emitter 3, a vision measurement camera 4, and a control system 5.

[0029] Among them, the cleaning laser generator 1 is used to generate an invisible cleaning laser beam; the laser cleaning gun head 2 is connected to the cleaning laser generator 1 and is used to focus the cleaning laser beam onto the surface of the workpiece to form a laser focal spot in the cleaning operation area; the line laser emitter 3 is coupled with the laser cleaning gun head 2, and the line laser emitter 3 is used to emit a visible line-shaped laser coaxial with the cleaning laser beam; the vision measurement camera 4 is used to collect the point cloud data of the cleaning operation area by collecting the point cloud data of the area covered by the visible line-shaped laser, and obtain the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area according to the point cloud data; the control system 5 is connected to the vision measurement camera 4 and is used to obtain the normal vector of the current laser focal spot on the same tangent plane of the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, and adjust the laser cleaning gun head according to the normal vector so that the spatial pose angle of the laser beam currently emitted by the laser cleaning gun head 2 is parallel to the same tangent plane as the normal vector.

[0030] Specifically, as Figure 2 shown, the laser cleaning gun head 2 is connected to the cleaning laser generator 1 through an optical fiber adapter 201 and a transmission optical fiber 202. The laser cleaning gun head 2 includes: an optical lens group 203, Figure 2 The direction of the arrow in it is the direction of the laser beam emitted by the laser cleaning gun head 2.

[0031] When performing laser cleaning operations on complex curved surface areas, place the laser cleaning device near the workpiece to be cleaned, install and power on for debugging. After calibrating the measurement distance with a measuring tool, place the vision measurement camera 4 at the position, place the laser cleaning gun head 2 after calibrating the working focal length with a measuring tool, adjust the optical lens group 203 of the laser cleaning device, and couple the line laser emitter 3 with the laser cleaning gun head 2. After coupling, the indicating light emitted by the line laser emitter 3 is transmitted through the internal optical lens group 203 of the laser cleaning gun head and then emitted coaxially with the cleaning laser beam. The line-shaped laser emitted by the auxiliary line laser emitter 3 is visible light that covers the laser focal spot cleaning operation area, such as a blue line-shaped laser line, which can effectively enhance the projection contrast of this curved surface area, making the vision measurement camera 4 collect the point cloud data of this area more accurately, and then analyzing the point cloud data to obtain the three-dimensional surface model S of the current laser focal spot cleaning operation area and the spatial position information of the current laser focal spot on the surface model S. Based on the Weingarten equation and the Gaussian mapping, the current laser focal spot can be extended in terms of the first derivative of the position vector of a moving point D on the surface model S. According to the obtained moving point D of the laser focal spot and the normal vector of the same tangent plane of the three-dimensional surface model S and and, and are fed back to the control system 5, and the control system 5 is based on and Adjust the laser cleaning gun head 2 so that the spatial pose angle of the currently emitted laser beam is parallel to the normal vector and on the same tangent plane, and finally make the laser beam always perpendicular to the surface of the cleaning target. For the surfaces of irregular complex shapes such as large power transmission and transformation components, maintain the cleaning operation at the optimal working focal length and angle, and avoid affecting the energy and uniformity of the cleaning laser beam due to changes in the cleaning angle and working focal length, resulting in damage and roughening of the surface of the cleaned area.

[0032] In an embodiment of the present invention, the control system 5 is further configured to: judge the cleaning effect of the current cleaning operation area according to the hard contaminants attached to the workpiece surface. If the set cleaning effect is not achieved, gradually increase the cleaning times of the cleaning operation area until the set cleaning effect is achieved, and then clean the next cleaning operation area.

[0033] Specifically, the control system 5 combines the hard contaminants attached to the surface of the complex curved workpiece to judge the cleaning effect. If the set cleaning effect is not achieved, it is determined that the cleaning is not completed, and the cleaning times of the curved surface area are gradually increased until the set cleaning effect is achieved. Then, clean the next cleaning operation area according to the pre-divided cleaning operation areas until all cleaning operation areas are completed.

[0034] In an embodiment of the present invention, the control system 5 is further configured to: calibrate the center position of the laser focal spot on the center line of the linear laser.

[0035] Specifically, after dividing the cleaning operation areas according to the situation of the contaminants attached to the workpiece surface, turn on the laser cleaning gun head 2, and calibrate the center position of the dot-shaped laser focal spot formed by focusing the cleaning laser beam on the center of the blue linear laser emitted by the linear laser emitter. Subsequently, the visual measurement camera 4 can accurately collect the point cloud data of the laser focal spot by collecting the center position of the linear laser.

[0036] In a specific embodiment of the present invention, the visual measurement camera 4 is specifically configured to: collect the point cloud data of the area covered by the visible linear laser, identify the dot-shaped laser focal spot as the target point, synchronously measure the depth information data of the target point, and collect the point cloud data of the area around the laser focal spot serving as the target point, and analyze the point cloud data to obtain the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area.

[0037] In a specific embodiment of the present invention, the control system 5 is specifically configured to: expand the position vector of the current laser focal spot as a moving point D on the three-dimensional surface model S based on the Weingarten equation in terms of the first derivative to obtain the tangent vector of the moving point D on the three-dimensional surface model S, and based on the Gaussian mapping Map the tangent vector of the moving point D on the three-dimensional surface model S to the tangent space , obtaining the normal vector n(u, v) of the moving point D in the tangent space ; Obtain the normal vectors of the moving point D in the same tangent plane of the three-dimensional surface model S according to the normal vector n(u, v) and .

[0038] Specifically, as Figure 3 shown, based on the Weingarten equation, the current laser focal spot can be extended in terms of the first derivative as the position vector of a moving point D on the three-dimensional surface model S. That is, when setting the domain of the current three-dimensional surface model S in the three-dimensional Euclidean space as (u(t), v(t)), its function equation is , the moving point of the laser focal spot , and at the same time, based on the tangent mapping of the Gauss mapping and the Weingarten equation , the three-dimensional surface model S can be mapped to the tangent space at the moving point D . The two tangent vectors of the moving point D are expressed as and . Then the normal vector n(u, v) of the moving point D in the tangent space is: , that is .

[0039] It can be understood that, as Figure 1 shown, the laser cleaning device on the workpiece surface may further include: a power supply box for supplying electrical energy to the laser cleaning device.

[0040] In summary, for the laser cleaning device on the workpiece surface according to the embodiments of the present invention, by utilizing the non-contact, safe and environmentally friendly processing advantages of laser cleaning, the laser beam of the cleaning operation has the ability to adjust the spatial pose, solving the problem that the cleaning operation is restricted by the surface geometric accessibility of the irregular and complex surfaces of large power transmission and transformation components. The present invention sets an auxiliary line laser emitter to emit visible line-shaped indicating laser to cover the laser focal spot cleaning operation area, enhancing the projection contrast of this curved surface area and making the obtained point cloud data more accurate. Based on the Weingarten equation and the Gauss mapping, the present invention obtains the position vector of the moving point D of the laser focal spot and the normal vector perpendicular to it and in the same tangent plane, enabling the spatial pose angle of the currently emitted laser beam to be parallel to the normal vector in the same tangent plane. Finally, it is realized that the laser cleaning beam can always be perpendicular to the surface of the workpiece to be cleaned. For irregular and complex surfaces such as large power transmission and transformation components, cleaning operations can be carried out at the optimal working focal length and angle, avoiding problems such as damage and roughening of the surface of the cleaned area caused by changes in the cleaning angle and working focal length, which affect the energy and uniformity of the cleaning laser beam.

[0041] Corresponding to the above laser cleaning device for the workpiece surface, the present invention also provides a laser cleaning method for the workpiece surface. Since the method embodiments of the present invention correspond to the above device embodiments, for the details not disclosed in the device embodiments, reference may be made to the above method embodiments, and they will not be elaborated herein.

[0042] Figure 4 is a flowchart of a laser cleaning method for the workpiece surface according to an embodiment of the present invention. As Figure 4 shown, the method includes the following steps:

[0043] S1, controlling the cleaning laser generator to generate an invisible cleaning laser beam.

[0044] S2, focusing the cleaning laser beam onto the workpiece surface through the laser cleaning gun head to form a laser focal spot in the cleaning operation area.

[0045] S3, controlling the line laser emitter to emit a visible line-shaped laser coaxial with the cleaning laser beam.

[0046] S4, collecting the point cloud data of the cleaning operation area by collecting the point cloud data of the area covered by the visible line-shaped laser, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area according to the point cloud data.

[0047] S5, obtaining the normal vector of the current laser focal spot in the tangent plane of the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, and adjusting the laser cleaning gun head according to the normal vector so that the spatial pose angle of the laser beam currently emitted by the laser cleaning gun head is parallel to the normal vector in the tangent plane.

[0048] According to an embodiment of the present invention, the above laser cleaning method for the workpiece surface may further include: judging the cleaning effect of the current cleaning operation area according to the hard contaminants attached to the workpiece surface. If the set cleaning effect is not achieved, the cleaning times of the cleaning operation area are increased successively until the set cleaning effect is achieved, and then the cleaning of the next cleaning operation area is carried out.

[0049] According to an embodiment of the present invention, the above laser cleaning method for the workpiece surface may further include: calibrating the center position of the laser focal spot on the line-shaped laser.

[0050] According to an embodiment of the present invention, the above laser cleaning method for the workpiece surface may further include: obtaining the normal vector of the current laser focal spot in the tangent plane of the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, specifically including: regarding the current laser focal spot as the position vector of a moving point D on the three-dimensional surface model S based on the Weingarten equation Perform an expansion in terms of the first derivative to obtain the tangent vector of the moving point D on the three-dimensional surface model S, and based on the Gauss map Map the tangent vector of the moving point D on the three-dimensional surface model S to the tangent plane , and obtain the normal vector n(u, v) of the moving point D in the tangent space ; Obtain the normal vectors of the moving point D on the three-dimensional surface model S that are in the same tangent plane according to the normal vector n(u, v) and .

[0051] According to an embodiment of the present invention, by collecting the point cloud data of the area covered by the visible line-shaped laser for the area of the point cloud data collection and cleaning operation, and obtaining the spatial position information of the laser focus spot and the three-dimensional surface model S of the cleaning operation area based on the point cloud data, specifically including: collecting the point cloud data of the area covered by the visible line-shaped laser, identifying the dot-shaped laser focus spot as the target point, synchronously measuring the depth information data of the target point, and collecting the point cloud data of the area around the laser focus spot used as the target point, and analyzing the point cloud data to obtain the spatial position information of the laser focus spot and the three-dimensional surface model S of the cleaning operation area.

[0052] In summary, according to the laser cleaning method for the workpiece surface of the embodiment of the present invention, by utilizing the advantages of non-contact, safe and environmentally friendly processing of laser cleaning, the laser beam of the cleaning operation has the ability to adjust the spatial position and posture, and solves the problem that the cleaning operation is restricted by the surface geometric accessibility of the non-regular and complex surface of large power transmission and transformation components. The present invention sets an auxiliary line laser emitter to emit a visible line-shaped indication laser to cover the laser focus spot cleaning operation area, enhancing the projection contrast of this curved surface area and making the obtained point cloud data more accurate. The present invention obtains the position vector of the moving point D of the laser focus spot and the normal vector perpendicular to it and in the same tangent plane based on the Weingarten equation and the Gauss map, so that the spatial position and posture angle of the currently emitted laser beam are parallel to the normal vector in the same tangent plane, and finally realizes that the laser cleaning beam can always be perpendicular to the surface of the workpiece to be cleaned. For the non-regular and complex surfaces such as large power transmission and transformation components, the cleaning operation can be carried out at the best working focal length and angle, avoiding the problem of damage and roughening of the surface of the cleaned area caused by the change of the cleaning angle and the working focal length, which affects the energy and uniformity of the cleaning laser beam.

[0053] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "plurality" is two or more, unless otherwise specifically defined.

[0054] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0055] Any process or method description depicted in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0056] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0057] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), and the like.

[0058] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0059] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0060] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0061] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laser cleaning device for the surface of a workpiece, characterized in that, Including: A cleaning laser generator for generating an invisible cleaning laser beam; A laser cleaning gun head connected to the cleaning laser generator for focusing the cleaning laser beam onto the surface of the workpiece to form a laser focal spot in the cleaning operation area; A line laser emitter coupled to the laser cleaning gun head, the line laser emitter being used to emit a visible line-shaped laser coaxial with the cleaning laser beam; A vision measurement camera for acquiring point cloud data of the cleaning operation area by collecting point cloud data of the area covered by the visible line-shaped laser, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area based on the point cloud data; A control system connected to the vision measurement camera for obtaining the normal vector of the current laser focal spot in the same tangent plane of the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, and adjusting the laser cleaning gun head according to the normal vector so that the spatial pose angle of the laser beam currently emitted by the laser cleaning gun head is parallel to the same tangent plane as the normal vector.

2. The laser cleaning device for the surface of the workpiece according to claim 1, wherein The control system is further used for: Judging the cleaning effect of the current cleaning operation area according to the hard contaminants attached to the workpiece surface. If the set cleaning effect is not achieved, the cleaning times of the cleaning operation area are increased successively until the set cleaning effect is achieved, and then the cleaning of the next cleaning operation area is carried out.

3. The laser cleaning device for the surface of the workpiece according to claim 1, characterized in that, The control system is further used for: calibrating the central position of the laser focal spot on the line-shaped laser.

4. The laser cleaning device for the surface of a workpiece according to claim 1, characterized in that, Specifically, the control system is used for: Based on the Weingarten equation, the current laser focal spot is taken as the position vector of a moving point D on the three-dimensional surface model S Perform an expansion in terms of the first derivative to obtain the tangent vector of the moving point D on the three-dimensional surface model S, and based on the Gauss map Map the tangent vector of the moving point D on the three-dimensional surface model S to the tangent space , obtaining the normal vector n(u, v) of the moving point D in the tangent space ; Obtain the normal vector of the moving point D on the same tangent plane of the three-dimensional surface model S according to the normal vector n(u, v) and .

5. The laser cleaning device for the surface of the workpiece according to claim 1, characterized in that, Specifically, the vision measurement camera is used for: Collecting point cloud data of the area covered by the visible line-shaped laser, identifying the dot-shaped laser focal spot as the target point, synchronously measuring the depth information data of the target point, and collecting point cloud data of the area around the laser focal spot serving as the target point, and analyzing the point cloud data to obtain the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area.

6. A laser cleaning method for the surface of a workpiece, characterized in that, Including the following steps: Controlling the cleaning laser generator to generate an invisible cleaning laser beam; Focusing the cleaning laser beam onto the surface of the workpiece through the laser cleaning gun head to form a laser focal spot in the cleaning operation area; Controlling the line laser emitter to emit a visible line-shaped laser coaxial with the cleaning laser beam; Acquiring point cloud data of the cleaning operation area by collecting point cloud data of the area covered by the visible line-shaped laser, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area based on the point cloud data; Obtaining the normal vector of the current laser focal spot in the same tangent plane of the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, and adjusting the laser cleaning gun head according to the normal vector so that the spatial pose angle of the laser beam currently emitted by the laser cleaning gun head is parallel to the same tangent plane as the normal vector.

7. The laser cleaning method for the surface of a workpiece according to claim 6, wherein, It further includes: Judging the cleaning effect of the current cleaning operation area according to the hard contaminants attached to the workpiece surface. If the set cleaning effect is not achieved, the cleaning times of the cleaning operation area are increased successively until the set cleaning effect is achieved, and then the cleaning of the next cleaning operation area is carried out.

8. The laser cleaning method for the surface of a workpiece according to claim 6, characterized in that, It further includes: Calibrating the central position of the laser focal spot on the line-shaped laser.

9. The laser cleaning method for the surface of the workpiece according to claim 6, characterized in that, Obtaining the normal vector of the tangent plane of the current laser focal spot on the three-dimensional surface model S based on the Gaussian mapping and the Weingarten equation, specifically including: Based on the Weingarten equation, the current laser focal spot is taken as the position vector of a moving point D on the three-dimensional surface model S Perform an expansion in terms of the first derivative to obtain the tangent vector of the moving point D on the three-dimensional surface model S, and based on the Gauss map Map the tangent vector of the moving point D on the three-dimensional surface model S to the tangent plane , obtaining the normal vector n(u, v) of the moving point D in the tangent space ; Obtain the normal vector of the moving point D in the same tangent plane of the three-dimensional surface model S according to the normal vector n(u, v) and .

10. The laser cleaning method for the surface of the workpiece according to claim 6, characterized in that, Collecting the point cloud data of the area covered by the visible line-shaped laser and the area of the cleaning operation, and obtaining the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area according to the point cloud data, specifically including: Collecting the point cloud data of the area covered by the visible line-shaped laser, identifying the dot-shaped laser focal spot as the target point, synchronously measuring the depth information data of the target point, and collecting the point cloud data of the area around the laser focal spot as the target point, and analyzing the point cloud data to obtain the spatial position information of the laser focal spot and the three-dimensional surface model S of the cleaning operation area.

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