A method and device for collaborative control of laser cleaning and cladding based on a UAV

Abstract

The application discloses a kind of based on unmanned aerial vehicle's laser cleaning and cladding collaborative control method, device, electronic equipment, readable storage medium and computer program product.The method comprises: determining operation target;When the surface rust depth of operation target exceeds preset depth threshold, the current operation mode of unmanned aerial vehicle is adjusted to cleaning mode;Laser cleaning operation is carried out to operation target in cleaning mode;When detecting that the target metal ion characteristic peak intensity of the surface of operation target reaches preset intensity threshold, the current operation mode of unmanned aerial vehicle is switched from cleaning mode to cladding mode;Cladding operation is carried out to operation target in cladding mode.The method can solve the problem that in the prior art, cleaning and cladding step operation lead to long exposure time of metal surface, easy to occur secondary oxidation, thereby affecting cladding layer combination quality and operation efficiency.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a method, apparatus, electronic device, readable storage medium, and computer program product for coordinated control of laser cleaning and cladding based on UAVs. Background Technology

[0002] Currently, drone-based laser cleaning and cladding technology has been widely applied to the in-service repair and protection of large metal structural components, such as rust removal and remanufacturing of bridge steel beams, ship hulls, or chemical storage tank surfaces. Existing technologies typically employ a step-by-step process, where drones are first used to complete laser cleaning of the entire area, followed by a unified laser cladding operation. This method results in the metal substrate being completely exposed to air after cleaning, leading to a long waiting window for cladding. This makes the substrate highly susceptible to secondary oxidation or moisture corrosion, severely impacting the bonding quality and corrosion resistance of the cladding layer. Furthermore, the overall operational efficiency is low, failing to meet the engineering requirements for high-quality, rapid repair. Summary of the Invention

[0003] In view of the above problems, this application provides a method, device, electronic device, readable storage medium and computer program product for coordinated control of laser cleaning and cladding based on UAVs, which can solve the problem that the separate operation of cleaning and cladding in the prior art leads to excessive exposure time of metal surface, which is prone to secondary oxidation, thereby affecting the bonding quality of cladding layer and operation efficiency.

[0004] In a first aspect, this application provides a method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles (UAVs), including:

[0005] Define the task objectives;

[0006] When the surface rust depth of the target exceeds a preset depth threshold, the current operation mode of the drone is adjusted to cleaning mode;

[0007] The target object is subjected to laser cleaning in the cleaning mode.

[0008] When the intensity of the target metal ion characteristic peak on the surface of the target is detected to reach a preset intensity threshold, the current operation mode of the UAV is switched from the cleaning mode to the cladding mode.

[0009] The cladding operation is performed on the target object under the cladding mode.

[0010] In the above technical solution, the method can switch to cladding operation immediately after effective laser cleaning by using the characteristic peak intensity of target metal ions on the surface of the target as the switching basis. This minimizes the time that the metal substrate is exposed to air after cleaning, thereby significantly reducing the risk of secondary oxidation and moisture corrosion, and ensuring the bonding quality and anti-corrosion performance of the cladding layer and the substrate. At the same time, it does not require waiting for all areas to be cleaned before starting cladding, which greatly improves the overall operation efficiency and meets the engineering needs of high-quality and rapid repair of large metal structural components.

[0011] In some implementations, after determining the task objective, the method further includes:

[0012] Hover near the target area;

[0013] The target object was subjected to multispectral surface scanning to obtain the scanning results;

[0014] The surface corrosion depth of the target object is determined based on the scanning results;

[0015] When the surface rust depth exceeds a preset depth threshold, the current operating mode of the drone is adjusted to cleaning mode.

[0016] When the surface rust depth does not exceed a preset depth threshold, the current operation mode of the UAV is adjusted to the cladding mode, and the cladding operation on the target is performed in the cladding mode.

[0017] In the above technical solution, this method can accurately detect the rust depth of the target object through multispectral scanning, and thus select the operation mode according to the difference in depth threshold. Among them, the method of cleaning is used first when the rust exceeds the threshold, and directly cladding is used when the rust does not exceed the threshold, which can effectively reduce the time consumed by ineffective processes.

[0018] In some implementations, adjusting the current operating mode of the drone to a cleaning mode includes:

[0019] The drone's acousto-optic modulator is triggered to output a high-peak pulse laser wave to adjust the current operation mode to cleaning mode.

[0020] In the above technical solution, the method can accurately switch the drone operation mode to the cleaning mode by triggering the acousto-optic modulator to output a high peak pulse laser wave.

[0021] In some implementations, switching the current operating mode of the drone from the cleaning mode to the cladding mode includes:

[0022] The acousto-optic modulator is controlled to stop outputting high-peak pulsed laser waves and to output continuous laser waves, so as to switch the current operation mode of the UAV from the cleaning mode to the cladding mode.

[0023] In the above technical solution, the method can switch the laser output type (from high peak pulse laser wave to continuous laser wave) by controlling the acousto-optic modulator, so as to accurately realize the smooth switching of the operation mode from cleaning to cladding, and provide suitable laser energy for subsequent cladding operations.

[0024] In some implementations, hovering near the target includes:

[0025] Obtain the preset device voltage and material dielectric constant;

[0026] The maximum allowable electric field is calculated based on the preset device voltage and the dielectric constant of the material.

[0027] The minimum hovering distance between the UAV and the target is calculated based on the maximum permissible electric field and the preset equipment voltage.

[0028] The drone is dynamically hovered near the target based on the minimum hovering distance.

[0029] In the above technical solution, the method can accurately calculate the minimum hovering distance and control the dynamic hovering of the UAV by combining the preset equipment voltage and the dielectric constant of the material. This avoids the electric field safety risks caused by improper distance between the UAV and the target, and ensures the stable operation of subsequent multispectral scanning and other operations.

[0030] In some embodiments, the method further includes:

[0031] When the ultraviolet sensor of the drone detects an electric arc, the power supply to the drone is cut off through the drone's pulse circuit.

[0032] The plasma around the drone was dispersed by nitrogen injection.

[0033] When the arc is detected to be extinguished, power to the drone is restored.

[0034] In the above technical solution, the method can quickly deal with the risk when an electric arc is detected by a combination of cutting off the power supply and blowing away the plasma with nitrogen. After the electric arc is eliminated, the power supply is restored, thereby effectively dealing with the electric arc safety hazard in the operation and ensuring the safety of the UAV equipment and the continuity of the operation.

[0035] In some embodiments, after performing laser cleaning on the target in the cleaning mode, the method further includes:

[0036] The plasma spectrum of the target surface is collected in real time by the photoelectric sensor of the UAV;

[0037] The plasma spectrum is transmitted via optical fiber to a spectrometer for analysis to obtain the intensity of the characteristic peaks of the target metal ions.

[0038] When the intensity of the characteristic peak of the target metal ion reaches a preset intensity threshold, the current operation mode of the UAV is switched from the cleaning mode to the cladding mode.

[0039] When the intensity of the characteristic peak of the target metal ion does not reach the preset intensity threshold, the laser cleaning operation is performed on the target in the cleaning mode.

[0040] In the above technical solution, the method can collect plasma spectra through photoelectric sensors, transmit them through optical fibers, and analyze them through a spectrometer. It uses the intensity of the characteristic peaks of the target metal ions as the core judgment criterion to accurately control the cleaning operation effect. By using a threshold to achieve automatic switching between cladding mode and continuous cleaning mode, it can ensure that the cleaning is thorough enough, provide a qualified pretreatment basis for subsequent cladding operations, and avoid invalid processes or insufficient pretreatment affecting the overall operation quality.

[0041] In some embodiments, performing cladding operations on the target under the cladding mode includes:

[0042] The electric field intensity distribution is acquired in real time by an electrode array, resulting in an electric field distribution map.

[0043] Calculate the safe injection path based on the electric field distribution diagram;

[0044] Adjust the spray direction of the cladding powder according to the described safe spray path;

[0045] The target is clad according to the spray direction.

[0046] In the above technical solution, the method can obtain the electric field distribution map in real time through the electrode array and calculate the safe spraying path accordingly. Then, the spraying direction of the cladding powder is adjusted according to the path, thereby avoiding the influence of electric field interference on the powder spraying accuracy and ensuring that the cladding powder can be accurately delivered to the work area.

[0047] In some embodiments, after performing cladding operations on the target under the cladding mode, the method further includes:

[0048] Detect the infrared data of the cladding layer of the target object;

[0049] Calculate the cladding layer quality indicators based on the infrared data of the cladding layer;

[0050] When it is determined that there is an abnormality in the cladding layer of the target operation based on the cladding layer quality index, the location of the abnormality is determined and the cladding process is repeated at the location of the abnormality.

[0051] When it is determined, based on the quality indicators of the cladding layer, that there are no abnormalities in the cladding layer, the cladding operation on the target is terminated.

[0052] In the above technical solution, the method can realize real-time evaluation and feedback of the quality of the cladding layer by detecting infrared data of the cladding layer and calculating quality indicators, thereby ensuring that the quality of the cladding layer meets the standards and improving the reliability of the overall repair effect.

[0053] Secondly, this application provides a drone-based laser cleaning and cladding collaborative control device, comprising:

[0054] The first determining unit is used to determine the task objective;

[0055] The mode adjustment unit is used to adjust the current operation mode of the UAV to cleaning mode when the surface rust depth of the target exceeds a preset depth threshold.

[0056] A cleaning unit is used to perform laser cleaning on the target under the cleaning mode.

[0057] The mode switching unit is used to switch the current operation mode of the UAV from the cleaning mode to the cladding mode when the intensity of the target metal ion characteristic peak on the surface of the target is detected to reach a preset intensity threshold.

[0058] A cladding operation unit is used to perform cladding operations on the target under the cladding mode.

[0059] In the above technical solution, the device can switch to cladding operation immediately after effective laser cleaning by using the characteristic peak intensity of target metal ions on the surface of the target as the switching basis. This minimizes the time the metal substrate is exposed to air after cleaning, thereby significantly reducing the risk of secondary oxidation and moisture corrosion, and ensuring the bonding quality and anti-corrosion performance of the cladding layer and the substrate. At the same time, it does not require waiting for all areas to be cleaned before starting cladding, which greatly improves the overall operation efficiency and meets the engineering needs of high-quality and rapid repair of large metal structural components.

[0060] Thirdly, this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the UAV-based laser cleaning and cladding collaborative control method as described in any one of the first aspects.

[0061] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the UAV-based laser cleaning and cladding collaborative control method described in any one of the first aspects.

[0062] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, performs the UAV-based laser cleaning and cladding collaborative control method described in any one of the first aspects.

[0063] The beneficial effects of this application are as follows: it can apply acousto-optic modulation technology to the switching process of the coordinated control of UAV laser cleaning-cladding, realize millisecond-level switching of laser mode, and suppress metal surface oxidation; at the same time, it can also establish dynamic planning of powder spraying under high voltage electric field to adapt to moving target operation; and it can optimize the working distance of ultra-high voltage non-contact operation, thereby improving high-risk adaptability. Attached Figure Description

[0064] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a flowchart illustrating the UAV-based laser cleaning and cladding collaborative control method in some embodiments of this application;

[0066] Figure 2 These are example diagrams illustrating the drone-based laser cleaning and cladding collaborative control method in some embodiments of this application;

[0067] Figure 3 This is a framework diagram of a drone-based laser cleaning and cladding collaborative control system in some embodiments of this application;

[0068] Figure 4 This is a schematic diagram of the structure of the drone-based laser cleaning and cladding collaborative control device in some embodiments of this application;

[0069] Figure 5 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0070] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0072] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0073] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0074] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0075] Currently, drone-based laser cleaning and cladding technology has been widely applied to the in-service repair and protection of large metal structural components, such as rust removal and remanufacturing of bridge steel beams, ship hulls, or chemical storage tank surfaces. Existing technologies typically employ a step-by-step process, where drones are first used to complete laser cleaning of the entire area, followed by a unified laser cladding operation. This method results in the metal substrate being completely exposed to air after cleaning, leading to a long waiting window for cladding. This makes the substrate highly susceptible to secondary oxidation or moisture corrosion, severely impacting the bonding quality and corrosion resistance of the cladding layer. Furthermore, the overall operational efficiency is low, failing to meet the engineering requirements for high-quality, rapid repair.

[0076] To address the aforementioned technical problems, embodiments of this application provide a collaborative control method for laser cleaning and cladding based on unmanned aerial vehicles (UAVs). This method includes a collaborative control method that applies acousto-optic modulation technology to UAV laser cleaning-cladding; a method for dynamic planning of powder paths based on electric field distribution; and a distance optimization method for ultra-high pressure non-contact operations.

[0077] The embodiments of this application can apply acousto-optic modulation technology to the switching process of coordinated control of UAV laser cleaning-cladding, realize millisecond-level switching of laser mode, and suppress metal surface oxidation; at the same time, it can also establish dynamic planning of powder spraying under high voltage electric field to adapt to moving target operation; and can optimize the working distance of ultra-high voltage non-contact operation, thereby improving high-risk adaptability.

[0078] like Figure 1 As shown, some embodiments of this application provide a drone-based laser cleaning and cladding collaborative control method, which includes:

[0079] S101. Determine the work objectives;

[0080] S102. When the surface rust depth of the target exceeds the preset depth threshold, the current operation mode of the drone is adjusted to cleaning mode.

[0081] S103. Perform laser cleaning on the target in cleaning mode;

[0082] S104. When the intensity of the characteristic peak of the target metal ions on the surface of the target is detected to reach the preset intensity threshold, the current operation mode of the drone is switched from cleaning mode to cladding mode.

[0083] S105. Perform cladding operations on the target object in cladding mode.

[0084] In some embodiments, the operational target refers to the specific object on which the UAV needs to perform laser cleaning and cladding operations, typically a target for ultra-high voltage non-contact operations. Specifically, this could be bridge steel beams, ship hulls, or the surface of chemical storage tanks. When these metal structural components are in ultra-high voltage environments (e.g., chemical storage tanks storing high-pressure media, bridge steel beams involved in high-voltage power transmission scenarios), a "non-contact operation" mode is adopted to avoid the risk of electric shock or electric field interference during the operation.

[0085] In some embodiments, surface rust depth refers to the vertical depth to which the target metal surface is corroded by rusting.

[0086] In some embodiments, the preset depth threshold refers to a critical value for rust depth set according to work quality requirements, metal substrate characteristics, etc., and is used to determine whether the work target needs to be laser cleaned.

[0087] In some embodiments, a drone refers to an unmanned aerial vehicle equipped with a laser cleaning module, a cladding module, sensors and a control unit, which can perform metal structural component repair operations autonomously or remotely.

[0088] In some embodiments, the current operating mode refers to the working state of the UAV at a specific operating stage. In this method, it mainly includes a cleaning mode for rust removal and a cladding mode for forming a protective layer.

[0089] In some embodiments, the cleaning mode refers to the working mode in which the drone triggers laser cleaning-related equipment (such as an acousto-optic modulator that outputs a high-peak pulse laser wave) to clean the rust on the surface of the target.

[0090] In some embodiments, laser cleaning refers to the specific process by which a drone, in cleaning mode, uses laser energy to remove rust, oxide layers, and other contaminants from the surface of a target object.

[0091] In some embodiments, the characteristic peak intensity of the target metal ion refers to the intensity of the characteristic peak formed by a specific metal ion in the spectrum after the metal substrate on the surface of the target is subjected to plasma generated by laser treatment. This intensity is used to determine whether the cleaning process meets the pretreatment requirements before cladding. In this method, the characteristic peak intensity of the target metal ion can be the characteristic peak intensity of iron ions.

[0092] In some embodiments, the preset intensity threshold refers to the critical value of the characteristic peak intensity of the target metal ions set by the user according to the material of the metal substrate and the bonding requirements of the cladding layer, which is used to determine whether the laser cleaning operation is completed.

[0093] In some embodiments, cladding mode refers to the working mode in which the UAV switches the laser output type (such as an acousto-optic modulator outputting a continuous laser wave) to prepare a cladding layer on the cleaned metal surface.

[0094] In some embodiments, cladding operation refers to the specific process in which a drone, in cladding mode, melts cladding powder with a laser and combines it with the surface of the target metal to form a cladding layer with properties such as corrosion resistance and wear resistance.

[0095] In the above embodiments, the method can switch to cladding operation immediately after effective laser cleaning by using the characteristic peak intensity of target metal ions on the surface of the target as the switching basis. This minimizes the time the metal substrate is exposed to air after cleaning, thereby significantly reducing the risk of secondary oxidation and moisture corrosion, and ensuring the bonding quality and anti-corrosion performance of the cladding layer and the substrate. At the same time, it does not require waiting for all areas to be cleaned before starting cladding, which greatly improves the overall operation efficiency and meets the engineering requirements for high-quality and rapid repair of large metal structural components.

[0096] In some embodiments, the method further includes:

[0097] Establish a task target information database that includes multiple task objectives;

[0098] Acquire target image information using the drone's camera;

[0099] Match the target to the target image information in the target information database.

[0100] In some embodiments, establishing a task target information database that includes multiple task targets includes:

[0101] Obtain basic information and panoramic images of the target;

[0102] Store the basic information and panoramic information of the task target in the task target information database.

[0103] In some embodiments, the work targets include bridge steel beams, ship hulls, or chemical storage tanks. Basic information about the work targets includes the bridge steel beam model, ship hull material, and type of chemical storage tank medium.

[0104] In some embodiments, the method further includes:

[0105] Determine whether a historical task record corresponding to the task target has been detected;

[0106] When historical operation records are detected, extract the historical cleaning parameters and historical cladding parameters from the historical operation records;

[0107] Obtain current working environment information; current working environment information includes temperature, humidity, and wind speed;

[0108] Based on the current operating environment information, the historical cleaning parameters and historical cladding parameters are corrected to obtain the target cleaning parameters and target cladding parameters;

[0109] Laser cleaning is performed on the target object in cleaning mode based on the target cleaning parameters; or cladding is performed on the target object in cladding mode based on the target cladding parameters.

[0110] The panoramic image of the target is divided into regions and labeled using an image segmentation algorithm to obtain the labeled image group before and after the operation. The labeled image group before and after the operation is then stored in the target information database for archiving.

[0111] In some embodiments, historical cleaning parameters include preset depth thresholds, and historical cladding parameters include preset strength thresholds and cladding powder types.

[0112] In some embodiments, the group of labeled images before and after the operation may include the rust concentration area before the operation, the cladding layer damage area before the operation, the cladding completed area after the operation, etc.

[0113] In some embodiments, after determining the task objective, the method further includes:

[0114] Hover near the target area;

[0115] Multispectral surface scanning was performed on the target area to obtain the scanning results;

[0116] Determine the surface corrosion depth of the target object based on the scanning results;

[0117] When the surface rust depth exceeds the preset depth threshold, the drone's current operating mode will be adjusted to cleaning mode;

[0118] When the surface rust depth does not exceed the preset depth threshold, the current operation mode of the drone is adjusted to the cladding mode, and the cladding operation is carried out on the target in the cladding mode.

[0119] In some embodiments, multispectral surface scanning of the target object yields scanning results including:

[0120] Calculate the minimum hovering distance of the drone;

[0121] Based on the minimum hovering distance of the UAV, a full-coverage or zone-focused multispectral surface scan is performed on the surface of the target to obtain the scan results.

[0122] In some embodiments, the method can determine a hovering position that can be scanned without omission based on the size of the target (such as the length of a bridge steel beam or the diameter of a storage tank); wherein the hovering position corresponds to the minimum hovering distance of the UAV.

[0123] In some embodiments, when calculating the minimum hovering distance of a drone, the method can first detect the electric field around the target and then calculate the minimum hovering distance of the drone to ensure its safety.

[0124] In some embodiments, full-coverage scanning refers to a scanning method that completely covers the target area, characterized by its comprehensiveness and completeness. Partial-focused scanning refers to a targeted scanning method, characterized by directional scanning of a specific location on the target area to obtain more accurate scanning results.

[0125] In some embodiments, during a partitioned focusing scan, it is necessary to identify the focus object in the target area, and this identification method may include image recognition, etc.

[0126] In some embodiments, the method can obtain scanning results by scanning and collecting light reflection, absorption, and scattering signals of the target surface in different preset spectral bands.

[0127] In some embodiments, the method can perform noise reduction (removal of ambient light) and signal calibration (based on standard whiteboard correction) on the scanned spectral signal to ensure the validity of the data.

[0128] In some embodiments, the multispectral band types involved in multispectral surface scanning may include:

[0129] Visible light band (400-760nm): Visible light scanning results can identify the distribution of surface corrosion (such as the color and area of ​​rust, and distinguish between reddish-brown iron oxide and the original metal color);

[0130] Near-infrared band (760-2500nm): Light in this band can penetrate shallow corrosion layers and invert the thickness of the corrosion layer (the absorption rate of near-infrared light varies significantly for different thicknesses of corrosion).

[0131] Short-wave infrared band (2500-3000nm): This band of light can capture the characteristic spectrum of metallic substrates (such as steel and aluminum), helping to distinguish material types;

[0132] Specific narrow wavelength bands (such as 560nm and 940nm): Light in this band can be focused on the characteristic absorption peaks of key corrosion components (such as Fe2O3 and Fe3O4) to accurately determine the type of corrosion.

[0133] In this embodiment, the method can determine the operating mode based on both the type and depth of rust.

[0134] In the above embodiments, this method can accurately detect the rust depth of the target object through multispectral scanning, and thus select the operation mode according to the difference in depth threshold. The implementation method of cleaning first when the rust exceeds the threshold and directly cladding when the rust does not exceed the threshold can effectively reduce the time consumed by ineffective processes.

[0135] In some embodiments, adjusting the drone's current operating mode to a cleaning mode includes:

[0136] The drone's acousto-optic modulator is triggered to output a high-peak pulsed laser wave to adjust the current operation mode to cleaning mode.

[0137] In some embodiments, the method can rapidly switch between high peak power pulses (cleaning) and continuous waves (cladding) when the same laser source is diffracted through an acousto-optic crystal.

[0138] In some embodiments, high peak power pulses can concentrate energy to meet the need for "instantaneous high-energy stripping" in rust cleaning; continuous waves meet the need for "continuous heating and fusion" in metal cladding.

[0139] In some embodiments, the method can change the output characteristics (pulse / continuous, peak power) of the same laser source as needed through diffraction, thereby corresponding to different operation modes (cleaning requires pulsed high energy, cladding requires continuous energy), and finally achieve precise and rapid switching of UAV operation modes.

[0140] In the above embodiments, the method can accurately switch the drone operation mode to the cleaning mode by triggering the acousto-optic modulator to output a high-peak pulse laser wave.

[0141] In some embodiments, switching the drone's current operating mode from cleaning mode to cladding mode includes:

[0142] Control the acousto-optic modulator to stop outputting high-peak pulsed laser waves and control the acousto-optic modulator to output continuous laser waves, so as to switch the current operation mode of the drone from cleaning mode to cladding mode.

[0143] In the above embodiments, the method can precisely achieve a smooth switch from cleaning to cladding in the working mode by controlling the acousto-optic modulator to switch the laser output type (from high-peak pulsed laser wave to continuous laser wave), providing suitable laser energy for subsequent cladding operations.

[0144] In some embodiments, hovering near the target of the operation includes:

[0145] Obtain the preset device voltage and material dielectric constant;

[0146] The maximum allowable electric field is calculated based on the preset equipment voltage and material dielectric constant.

[0147] The minimum hovering distance between the UAV and the target is calculated based on the maximum allowable electric field and the preset equipment voltage.

[0148] The drone is dynamically hovered near the target based on the minimum hovering distance.

[0149] In some embodiments, the preset device voltage U droneThis refers to the pre-set operating voltage reference value of the equipment before the drone carries out specific operations (such as laser cleaning or cladding), based on the performance parameters or safety standards of the operation target (such as metal components) and the equipment used (such as laser modules and sensors).

[0150] In some embodiments, the method can dynamically calculate the safety distance based on the device voltage level and material properties (formula: d∝V). 2 / E max） .

[0151] For example, this method can read the device voltage V (user input) and the material dielectric constant ε. r Then calculate the maximum allowable electric field E. max =k·ε r -0.5 (k is the safety factor); finally, the hovering distance d of the drone is dynamically controlled to satisfy d≥C·V 2 / E max (C is the calibration constant, default 0.01).

[0152] In the above embodiments, the method can accurately calculate the minimum hovering distance and control the dynamic hovering of the UAV by combining the preset device voltage and the dielectric constant of the material. This avoids electric field safety risks caused by improper distance between the UAV and the target, and ensures the stable operation of subsequent multispectral scanning and other tasks.

[0153] In some embodiments, the method further includes:

[0154] When the drone's ultraviolet sensor detects an electric arc, the drone's power supply is cut off via the drone's pulse circuit.

[0155] The plasma around the drone was dispersed by nitrogen injection.

[0156] Power is restored to the drone once the arc is detected to be extinguished.

[0157] For example, this method can achieve the following three levels of protection through a dynamic arc suppressor:

[0158] Primary prevention: Control hovering distance to avoid arcing;

[0159] Secondary suppression: The generated arc is eliminated within 1 ms by an arc suppressor;

[0160] Level 3 repair: residual damage is treated with a self-healing insulation layer.

[0161] In some embodiments, during the primary prevention phase, the method can collect real-time operational environment data (e.g., when humidity > 60% and air pressure < standard atmospheric pressure, air insulation decreases and the risk of electric arc increases) after the UAV takes off, using onboard temperature and humidity sensors and air pressure sensors. Then, the calculation model for the "maximum permissible electric field" is corrected based on the environmental data (e.g., for every 10% increase in humidity, the originally calculated Emax is reduced by 8%). Finally, based on the corrected Emax, the minimum hovering distance is recalculated (the formula can be r). min =C×U drone / E max The method involves controlling the drone to automatically adjust its hovering position, ensuring that the distance to the target is always above the risk threshold. Specifically, this method continuously monitors environmental parameters during drone operation, updating the hovering distance every 30 seconds to prevent sudden increases in arc risk due to environmental changes.

[0162] In some embodiments, during the secondary suppression process, the method can further add a current sensor to the ultraviolet sensor to monitor abnormal current in the UAV power supply circuit, and simultaneously add an electric field sensor to monitor abrupt changes in the electric field between the UAV and the target, thereby forming a triple detection system of "ultraviolet + current + electric field". Specifically, if any sensor detects an arc signal (e.g., the ultraviolet sensor captures arc ultraviolet light, and the current sensor detects an instantaneous current >10A), the system immediately triggers a graded response:

[0163] If only a single sensor alarms (suspected false alarm): first suspend laser operation, start nitrogen injection (low intensity, lasting 2 seconds), and simultaneously detect the arc signal a second time;

[0164] If two or more sensors alarm (confirming an arc): the pulse circuit immediately cuts off the main power supply (<0.5ms), the nitrogen injection device operates at full load (for 5 seconds), and the plasma is dispersed;

[0165] After the electric arc is extinguished (with no abnormal signals from the three sensors), first restore the auxiliary power supply to the drone (only start the sensors and control system), and after confirming that the equipment insulation layer is not damaged, restore the main power supply and resume operation.

[0166] In some embodiments, during the three-level repair process, this method can pre-apply a composite self-healing insulation layer of "microcapsules + conductive monitoring wires" (the monitoring wires are embedded in the insulation layer to sense the degree of damage) to the surface of key components of the UAV (such as the power supply lines of the laser module and the outer shell of the electrode array). When an electric arc breaks down the insulation layer, the high temperature will melt the monitoring wires. This method can determine the damaged area based on the number of broken wires (e.g., 1-2 broken wires indicate small damage, 3 or more broken wires indicate large damage), and determine the repair plan based on the damaged area.

[0167] For minor damage: the microcapsule ruptures automatically (with built-in silicone prepolymer and platinum catalyst), and local polymerization repair is completed within 30 seconds. After repair, the insulation performance is tested by an insulation resistance meter (must be >100MΩ).

[0168] For major damage: In addition to microcapsule repair, the system activates the backup insulating coating spraying device (which stores solid insulating powder and heats it into a liquid state with hot airflow) to spray an additional 20-50μm insulating layer onto the damaged area, and resumes operation after cooling and curing.

[0169] In some embodiments, the method can also reassess the work area and replan the path after an electric arc accident. Specifically, after the arc is extinguished and power is restored, the drone can be switched to "detection mode" to capture images of the work area using a high-definition camera, combined with an infrared sensor to detect the target surface temperature (electric arcs can cause localized overheating of metal); then, the image and temperature data are analyzed.

[0170] If there is no obvious damage to the work area (temperature < 80℃, no traces of metal melting): follow the original work path and restart the laser operation (first run it at 50% power for 10 seconds, and if there is no abnormality, then restore it to full power).

[0171] If the work area is overheated or slightly damaged: mark the damaged area, replan the work path (avoid the damaged area, prioritize other areas, and after the overall work is completed, perform low-energy laser pretreatment on the damaged area separately before performing cladding).

[0172] Record the time, location, environmental parameters, and handling process of this electric arc accident, and store it in the work log for future optimization of protection parameters in similar scenarios.

[0173] In the above embodiments, the method can quickly handle the risk when an electric arc is detected by a combination of cutting off the power supply and blowing away the plasma with nitrogen. After the electric arc is eliminated, the power supply is restored, thereby effectively dealing with the electric arc safety hazard in operation and ensuring the safety of the UAV equipment and the continuity of operation.

[0174] In some embodiments, after performing laser cleaning on the target in a cleaning mode, the method further includes:

[0175] The plasma spectrum of the target surface is collected in real time using the photoelectric sensors of the drone;

[0176] The plasma spectrum is transmitted via optical fiber to a spectrometer for analysis to obtain the intensity of the characteristic peaks of the target metal ions.

[0177] When the intensity of the characteristic peak of the target metal ions reaches the preset intensity threshold, the current operation mode of the drone is switched from cleaning mode to cladding mode.

[0178] When the intensity of the characteristic peak of the target metal ions does not reach the preset intensity threshold, laser cleaning is performed on the target in cleaning mode.

[0179] In some embodiments, the method can determine the timing of process switching in real time based on the spectral characteristics of laser-induced plasma.

[0180] In some embodiments, plasma spectrum refers to the spectrum formed when the electrons of atoms or ions in plasma emit or absorb electromagnetic waves of a specific wavelength when they are excited (e.g., by high temperature or high-energy collisions) and their electrons transition between different energy levels.

[0181] For example, this method can resolve the intensity of the Fe ion characteristic peaks (358.1 nm / 374.8 nm); when the intensity is less than a threshold, it triggers the acousto-optic modulator to switch to cladding mode.

[0182] In the above embodiments, the method can collect plasma spectra through photoelectric sensors, transmit them through optical fibers, and analyze them with a spectrometer. The intensity of the characteristic peak of the target metal ions is used as the core judgment criterion to accurately control the cleaning operation effect. By using a threshold to achieve automatic switching between cladding mode and continuous cleaning mode, the method can ensure that the cleaning is thorough enough, provide a qualified pretreatment basis for subsequent cladding operations, and avoid invalid processes or insufficient pretreatment affecting the overall operation quality.

[0183] In some embodiments, performing a cladding operation on the target in a cladding mode includes:

[0184] The electric field intensity distribution is acquired in real time by an electrode array, resulting in an electric field distribution map.

[0185] Calculate the safe injection path based on the electric field distribution diagram;

[0186] Adjust the spray direction of the cladding powder according to the safe spray path;

[0187] The cladding operation is carried out on the target according to the spray direction.

[0188] In some embodiments, the method can generate an electric field distribution map in real time using a ring electrode array and dynamically adjust the powder injection vector.

[0189] For example, this method can acquire the electric field intensity distribution in real time through an electrode array to obtain an electric field distribution map; then, based on the central control unit, a safe injection path (avoiding the region E>3kV / cm) is calculated, and a PWM signal is output to the vector nozzle to achieve the adjustment of the injection direction.

[0190] In the above embodiments, the method can obtain the electric field distribution map in real time through the electrode array and calculate the safe spraying path accordingly. Then, the spraying direction of the cladding powder is adjusted according to the path, thereby avoiding the influence of electric field interference on the powder spraying accuracy and ensuring that the cladding powder can be accurately delivered to the working area.

[0191] In some embodiments, after performing a cladding operation on the target in the cladding mode, the method further includes:

[0192] Infrared data of the cladding layer of the target object;

[0193] Calculate the quality indicators of the cladding layer based on infrared data of the cladding layer;

[0194] When an anomaly is found in the cladding layer of the target work area based on the cladding layer quality index, the location of the anomaly is determined, and the location of the anomaly is re-clad.

[0195] When the quality indicators of the cladding layer determine that there are no abnormalities in the cladding layer, the cladding operation on the target is terminated.

[0196] In some embodiments, the quality indicators of the cladding layer include porosity and adhesion. Porosity refers to the volume ratio of pores inside the cladding layer, which directly affects the density and failure resistance of the cladding layer; while adhesion refers to the bonding strength between the cladding layer and the substrate material.

[0197] In the above embodiments, the method can detect infrared data of the cladding layer and calculate quality indicators to achieve real-time evaluation and feedback of the cladding layer quality, thereby ensuring that the cladding layer quality meets the standards and improving the reliability of the overall repair effect.

[0198] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below. In some embodiments, Figure 2 An example diagram of a drone-based laser cleaning and cladding collaborative control method is shown. Figure 3 The diagram shows the framework of the UAV-based laser cleaning and cladding collaborative control system upon which this UAV-based laser cleaning and cladding collaborative control method relies.

[0199] In some embodiments, the UAV-based laser cleaning and cladding collaborative control system may include a central control unit, an electromagnetic decoupling powder transfer module, a laser mode switching module, and a dynamic protection control module, wherein the modules are interconnected via a CAN bus.

[0200] In some embodiments, the electromagnetic decoupling cladding powder transport module includes a gradient dielectric chamber.

[0201] The inner wall of the gradient dielectric chamber is made of a three-layer co-fired composite material with a gradually changing dielectric constant (such as SiO2 / Al2O3 stack, with a SiO2 / Al2O3 volume ratio of 7:3 to 3:7 gradient transition). It is formed into a dense stack by hot isostatic pressing (temperature 1650℃±50℃, pressure 150MPa), with interlayer thicknesses of 0.2mm / 0.3mm / 0.5mm.

[0202] The gradient dielectric chamber and the powder conveying pipe are connected by a flange seal, and the conveying pipe is embedded with a PTFE insulating bushing to prevent the powder from becoming charged when it comes into contact with the metal pipe wall.

[0203] In some embodiments, the electromagnetic decoupling cladding powder transport module further includes an electric field adaptive path planning module, the hardware of which includes:

[0204] Annular electrode array: 16 platinum electrodes are equidistantly distributed around the nozzle periphery, with a spacing of 5 mm;

[0205] Signal processing unit: Converts the analog electric field signal collected by the electrodes into a digital signal (sampling rate 10kHz).

[0206] Vector nozzle: Piezoelectric ceramic drives nozzle deflection (angle range ±15°).

[0207] In some embodiments, the laser mode switching module (millisecond level) includes an acousto-optic modulation unit, the optical path structure of which is as follows:

[0208] Laser source → acousto-optic crystal (TeO2) → diffraction beam splitter → radio frequency drive source (frequency 80MHz, power 600W);

[0209] In the optical output of the acousto-optic crystal, the zero-order light corresponds to the continuous wave (cladding mode), and the first-order light corresponds to the high-peak pulse (cleaning mode).

[0210] In some embodiments, the laser mode millisecond-level switching module further includes a plasma feedback module, wherein the signal link is as follows:

[0211] Photoelectric sensor → optical fiber → spectrometer → central control unit;

[0212] Among them, the photoelectric sensor is used to collect plasma spectra;

[0213] The central control unit is used to analyze the intensity of the Fe ion characteristic peaks (358.1nm / 374.8nm); when the intensity is less than the threshold, it triggers the acousto-optic modulator to switch to cladding mode.

[0214] In some embodiments, the non-contact dynamic protection module includes a hovering distance optimization control module, which includes: a millimeter-wave radar with an operating frequency of 77 GHz and a detection range of 0.2-10 m; and an electric field sensor with a range of 0-100 kV / cm.

[0215] In some embodiments, the non-contact dynamic protection module further includes a dynamic arc suppressor. This dynamic arc suppressor can provide millisecond-level active arc suppression based on the hovering distance optimization module.

[0216] The dynamic arc suppressor consists of an ultraviolet light sensor, a pulse arc extinguishing circuit, and a nitrogen injection port. Its working process is as follows: the ultraviolet light sensor detects the arc, the pulse circuit cuts off the power supply, the nitrogen injection disperses the plasma, and the system self-tests and restores power supply.

[0217] In some embodiments, the non-contact dynamic protection module further includes a self-healing insulation mechanism module, wherein the material structure of the self-healing insulation mechanism module is as follows:

[0218] Bilayer microcapsules embedded in a polyimide matrix (0.3 mm thick):

[0219] Outer capsule: 50μm in diameter, containing silicone prepolymer;

[0220] Inner capsule: 10μm in diameter, containing a platinum catalyst.

[0221] In some embodiments, when self-healing is triggered (when the surface is broken down by an electric arc), the capsules rupture to release the prepolymer and catalyst, thereby completing the polymerization reaction and filling the damage within 30 seconds. Thus, this system can utilize microencapsulated insulating materials to automatically release the repair agent at the site of arc damage.

[0222] Figure 4 A schematic diagram of a drone-based laser cleaning and cladding collaborative control device is shown. It should be understood that this device is related to... Figure 1 The device is corresponding to the execution method and can perform the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0223] The drone-based laser cleaning and cladding collaborative control device includes:

[0224] The first determining unit 210 is used to determine the task objective;

[0225] The mode adjustment unit 220 is used to adjust the current operation mode of the drone to cleaning mode when the surface rust depth of the target exceeds a preset depth threshold.

[0226] The cleaning unit 230 is used to perform laser cleaning operations on the target in cleaning mode;

[0227] The mode switching unit 240 is used to switch the current operation mode of the drone from cleaning mode to cladding mode when the intensity of the characteristic peak of the target metal ions on the surface of the target is detected to reach a preset intensity threshold.

[0228] The cladding operation unit 250 is used to perform cladding operations on the target in cladding mode.

[0229] In some embodiments, the drone-based laser cleaning and cladding coordinated control device further includes:

[0230] The hovering control unit 260 is used to hover near the work target after the work target has been determined;

[0231] Scanning unit 270 is used to perform multispectral surface scanning on the target and obtain scanning results;

[0232] The second determining unit 280 is used to determine the surface rust depth of the target based on the scanning results;

[0233] The mode adjustment unit 220 is specifically used to adjust the current operation mode of the UAV to cleaning mode when the surface rust depth exceeds the preset depth threshold; and to adjust the current operation mode of the UAV to cladding mode when the surface rust depth does not exceed the preset depth threshold, and to trigger the cladding operation unit 250 to perform cladding operation on the target in cladding mode.

[0234] In some embodiments, the mode adjustment unit 220 is specifically used to trigger the acousto-optic modulator of the UAV to output a high-peak pulse laser wave to adjust the current operation mode to a cleaning mode.

[0235] In some embodiments, the mode switching unit 240 is specifically used to control the acousto-optic modulator to stop outputting high peak pulse laser waves and to control the acousto-optic modulator to output continuous laser waves, so as to switch the current operation mode of the UAV from cleaning mode to cladding mode.

[0236] In some embodiments, the hovering control unit 260 is specifically used to acquire a preset device voltage and material dielectric constant;

[0237] The maximum allowable electric field is calculated based on the preset equipment voltage and material dielectric constant.

[0238] The minimum hovering distance between the UAV and the target is calculated based on the maximum allowable electric field and the preset equipment voltage.

[0239] The drone is dynamically hovered near the target based on the minimum hovering distance.

[0240] In some embodiments, the drone-based laser cleaning and cladding coordinated control device further includes:

[0241] The power-off unit 290 is used to cut off the power supply to the drone via the drone's pulse circuit when the drone's ultraviolet sensor detects an electric arc.

[0242] The jetting unit 300 is used to disperse the plasma around the drone by jetting nitrogen gas.

[0243] The recovery unit 310 is used to restore the power of the drone when the arc is detected to be extinguished.

[0244] In some embodiments, the drone-based laser cleaning and cladding coordinated control device further includes:

[0245] The acquisition unit 320 is used to collect the plasma spectrum of the target surface in real time through the photoelectric sensor of the UAV after laser cleaning operation is performed on the target in cleaning mode.

[0246] The analytical unit 330 is used to transmit the plasma spectrum via optical fiber to a spectrometer for analysis, thereby obtaining the intensity of the characteristic peaks of the target metal ions.

[0247] The mode switching unit 240 is specifically used to switch the current operation mode of the drone from cleaning mode to cladding mode when the intensity of the characteristic peak of the target metal ion reaches a preset intensity threshold.

[0248] The cleaning unit 230 is specifically used to perform laser cleaning on the target in cleaning mode when the intensity of the characteristic peak of the target metal ions does not reach the preset intensity threshold.

[0249] In some embodiments, the cladding unit 250 is specifically used to collect the electric field intensity distribution in real time through the electrode array to obtain an electric field distribution map;

[0250] Calculate the safe injection path based on the electric field distribution diagram;

[0251] Adjust the spray direction of the cladding powder according to the safe spray path;

[0252] The cladding operation is carried out on the target according to the spray direction.

[0253] In some embodiments, the drone-based laser cleaning and cladding coordinated control device further includes:

[0254] The detection unit 340 is used to detect the infrared data of the cladding layer of the target after the cladding operation is performed on the target in the cladding mode;

[0255] Calculation unit 350 is used to calculate the quality indicators of the cladding layer based on the infrared data of the cladding layer;

[0256] The cladding operation unit 250 is also used to determine the location of the abnormality when the cladding layer of the target work is determined to be abnormal according to the cladding layer quality index, and to re-clad the location of the abnormality; or to end the cladding operation of the target work when the cladding layer is determined to be normal according to the cladding layer quality index.

[0257] like Figure 5 As shown, this application provides an electronic device 400, which includes a processor 401 and a memory 402. The processor 401 and the memory 402 are interconnected and communicate with each other through a communication bus 403 and / or other forms of connection mechanism (not shown). The memory 402 stores a computer program that can be executed by the processor 401. When the computing device is running, the processor 401 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0258] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0259] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0260] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0261] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles (UAVs), characterized in that, include: Define the task objectives; When the surface rust depth of the target exceeds a preset depth threshold, the current operation mode of the drone is adjusted to cleaning mode; The target object is subjected to laser cleaning in the cleaning mode. When the intensity of the target metal ion characteristic peak on the surface of the target is detected to reach a preset intensity threshold, the current operation mode of the UAV is switched from the cleaning mode to the cladding mode. The cladding operation is performed on the target object under the cladding mode; This method achieves the following three levels of protection through a dynamic arc suppressor: Primary prevention, secondary inhibition, and tertiary repair; In the secondary suppression protection process, the method further includes: When the UAV's ultraviolet sensor detects an electric arc, or the UAV's current sensor detects an abnormal current in the UAV's power supply circuit, or the UAV's electric field sensor detects a sudden change in the electric field between the UAV and the target, low-intensity nitrogen injection is initiated. When two or more of the following conditions are met: the drone's ultraviolet sensor detects an electric arc, the drone's current sensor detects an abnormal current in the drone's power supply circuit, and the drone's electric field sensor detects a sudden change in the electric field between the drone and the target, full-load nitrogen injection is initiated.

2. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 1, characterized in that, After determining the task objective, the method further includes: Hover near the target area; The target object was subjected to multispectral surface scanning to obtain the scanning results; The surface corrosion depth of the target object is determined based on the scanning results; When the surface rust depth exceeds a preset depth threshold, the current operating mode of the drone is adjusted to cleaning mode. When the surface rust depth does not exceed a preset depth threshold, the current operation mode of the UAV is adjusted to the cladding mode, and the cladding operation on the target is performed in the cladding mode.

3. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 1, characterized in that, The step of adjusting the current operating mode of the drone to cleaning mode includes: The drone's acousto-optic modulator is triggered to output a high-peak pulse laser wave to adjust the current operation mode to cleaning mode.

4. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 3, characterized in that, The step of switching the current operating mode of the drone from the cleaning mode to the cladding mode includes: The acousto-optic modulator is controlled to stop outputting high-peak pulsed laser waves and to output continuous laser waves, so as to switch the current operation mode of the UAV from the cleaning mode to the cladding mode.

5. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 2, characterized in that, The hovering near the target includes: Obtain the preset device voltage and material dielectric constant; The maximum allowable electric field is calculated based on the preset device voltage and the dielectric constant of the material. The minimum hovering distance between the UAV and the target is calculated based on the maximum permissible electric field and the preset equipment voltage. The drone is dynamically hovered near the target based on the minimum hovering distance.

6. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 1, characterized in that, The method further includes: When the ultraviolet sensor of the drone detects an electric arc, the power supply to the drone is cut off through the drone's pulse circuit. The plasma around the drone was dispersed by nitrogen injection. When the arc is detected to be extinguished, power to the drone is restored.

7. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 1, characterized in that, After performing laser cleaning on the target in the cleaning mode, the method further includes: The plasma spectrum of the target surface is collected in real time by the photoelectric sensor of the UAV; The plasma spectrum is transmitted via optical fiber to a spectrometer for analysis to obtain the intensity of the characteristic peaks of the target metal ions. When the intensity of the characteristic peak of the target metal ion reaches a preset intensity threshold, the current operation mode of the UAV is switched from the cleaning mode to the cladding mode. When the intensity of the characteristic peak of the target metal ion does not reach the preset intensity threshold, the laser cleaning operation is performed on the target in the cleaning mode.

8. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 1, characterized in that, The cladding operation on the target under the cladding mode includes: The electric field intensity distribution is acquired in real time by an electrode array, resulting in an electric field distribution map. Calculate the safe injection path based on the electric field distribution diagram; Adjust the spray direction of the cladding powder according to the described safe spray path; The target is clad according to the spray direction.

9. The method for coordinated control of laser cleaning and cladding based on unmanned aerial vehicles according to claim 1, characterized in that, After performing cladding operations on the target under the cladding mode, the method further includes: Detect the infrared data of the cladding layer of the target object; Calculate the cladding layer quality indicators based on the infrared data of the cladding layer; When it is determined that there is an abnormality in the cladding layer of the target operation based on the cladding layer quality index, the location of the abnormality is determined and the cladding process is repeated at the location of the abnormality. When it is determined, based on the quality indicators of the cladding layer, that there are no abnormalities in the cladding layer, the cladding operation on the target is terminated.

10. A drone-based laser cleaning and cladding collaborative control device, characterized in that, The UAV-based laser cleaning and cladding collaborative control device includes: The first determining unit is used to determine the task objective; The mode adjustment unit is used to adjust the current operation mode of the UAV to cleaning mode when the surface rust depth of the target exceeds a preset depth threshold. A cleaning unit is used to perform laser cleaning on the target under the cleaning mode. The mode switching unit is used to switch the current operation mode of the UAV from the cleaning mode to the cladding mode when the intensity of the target metal ion characteristic peak on the surface of the target is detected to reach a preset intensity threshold. A cladding operation unit is used to perform cladding operations on the target under the cladding mode; Among them, the UAV-based laser cleaning and cladding collaborative control device achieves the following three levels of protection through a dynamic arc suppressor: Primary prevention, secondary inhibition, and tertiary repair; In the secondary suppression protection process, the UAV-based laser cleaning and cladding collaborative control device further includes: The injection unit is used to initiate low-intensity nitrogen injection when the UAV's ultraviolet sensor detects an electric arc, or the UAV's current sensor detects an abnormal current in the UAV's power supply circuit, or the UAV's electric field sensor detects a sudden change in the electric field between the UAV and the target. The injection unit is also used to initiate full-load nitrogen injection when two of the following three conditions are met: the UAV's ultraviolet sensor detects an electric arc, the UAV's current sensor detects an abnormal current in the UAV's power supply circuit, and the UAV's electric field sensor detects a sudden change in the electric field between the UAV and the target.

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