Handheld laser cleaning auxiliary device and using method

Abstract

The invention provides a handheld laser cleaning auxiliary device and a using method, and belongs to the technical field of laser cleaning. The handheld laser cleaning auxiliary device comprises a laser cleaning gun, a distance sensor, an attitude sensor, an indicator and a cleaning controller; the distance sensor, the attitude sensor and the indicator are all arranged on the laser cleaning gun; the distance sensor is used for detecting the distance between the laser cleaning gun and the workpiece in real time and outputting a distance signal; the attitude sensor is used for detecting the pitch angle of the laser cleaning gun in real time and outputting an angle signal; an indicator for providing an indication; the cleaning controller is configured to execute the following logic: receive a distance signal and an angle signal; and performing state judgment based on the distance signal and the angle signal, and controlling the indicator to output a judgment result. By integrating the sensor and the intelligent controller, the working state of the laser cleaning gun is monitored in real time, the operation difficulty is reduced, the cleaning quality and the operation safety are improved, the working efficiency is improved, and the device adapts to complex working conditions.

Description

Technical Field

[0001] This application belongs to the field of laser cleaning technology, specifically relating to a handheld laser cleaning auxiliary device and its usage method. Background Technology

[0002] Laser cleaning is an emerging surface cleaning method that uses high-energy laser pulses to irradiate the object being cleaned, causing surface contaminants such as dirt and rust to evaporate or peel off rapidly, achieving the cleaning purpose. Compared to traditional cleaning methods, laser cleaning has the advantages of high efficiency, precision, and environmental friendliness, and is especially suitable for cleaning large or complex-shaped workpieces. However, in actual handheld laser cleaning processes, the following problems still exist, severely restricting the user experience: First, controlling the operating distance is difficult. Laser cleaning effectiveness is extremely sensitive to the distance between the laser nozzle and the workpiece, but existing equipment relies entirely on manual control by the operator. Inappropriate distance can easily lead to poor cleaning results or damage to the workpiece. Second, it is highly dependent on operator experience. To ensure effectiveness, operators require extensive training, which not only increases labor costs but also makes it difficult to guarantee consistent quality during long-term operation or when handling complex curved surfaces. Third, there is a lack of effective real-time feedback. During operation, the operator cannot intuitively and instantly determine whether the current distance is appropriate. The digital display screen of existing equipment requires the operator to look away, resulting in delayed feedback and distraction, making it impractical for dynamic operations. Finally, there are safety hazards. The inability to perceive precise distance in real time increases the risk of equipment collisions or laser-related safety issues during operation.

[0003] Therefore, there is an urgent need for an auxiliary system that can monitor, intelligently judge, and intuitively provide feedback on the working status of handheld laser cleaning guns in real time, so as to reduce the difficulty of operation, improve the consistency of cleaning quality, and enhance operational safety. Summary of the Invention

[0004] In a first aspect, embodiments of this application provide a handheld laser cleaning auxiliary device, including a laser cleaning gun, a distance sensor, a posture sensor, an indicator, and a cleaning controller; The distance sensor, attitude sensor, and indicator are all mounted on the laser cleaning gun; A distance sensor is used to detect the distance between the laser cleaning gun and the workpiece in real time and output a distance signal; An attitude sensor is used to detect the pitch angle of the laser cleaning gun in real time and output an angle signal; Indicators are used to provide indications; The cleaning controller is connected to the distance sensor, attitude sensor, and indicator. The cleaning controller is configured to execute the following logic: Receive distance and angle signals; The state is determined based on distance and angle signals, and the indicator is controlled to output the determination result.

[0005] Furthermore, the indicator is an indicator light; The cleaning controller is configured as follows: Determine whether the actual working distance is within the preset optimal working distance range; Based on the judgment result and angle signal, the control indicator displays the corresponding light status to prompt the operator to adjust the position of the laser cleaning gun.

[0006] Furthermore, the indicator light is located at the tail of the laser cleaning gun, and the light emission direction of the indicator light is parallel to the laser emission direction of the laser cleaning gun.

[0007] Secondly, embodiments of this application also provide a method for using a handheld laser cleaning auxiliary device, applied to the handheld laser cleaning auxiliary device described in the first aspect, comprising the following steps: S1. The cleaning controller receives the distance signal detected and output by the distance sensor in real time, and the angle signal detected and output by the attitude sensor in real time; S2. Based on the angle signal, perform geometric correction on the distance signal to obtain the actual working distance between the laser cleaning gun and the workpiece; S3. Compare the actual working distance with the preset optimal working distance range, and determine whether the actual working distance is within the optimal working distance range; S4. Generate corresponding lighting control commands based on the distance judgment result and angle signal; S5. Use light control commands to drive indicator lights to display the corresponding light status, so as to prompt the operator to adjust the position of the laser cleaning gun.

[0008] Furthermore, the process of receiving the distance signal in step S1 specifically includes: Acquire the analog voltage signal output by the distance sensor, which is proportional to the distance; The analog voltage signal is converted into a digital distance signal by the analog-to-digital converter inside the cleaning controller. The specific conversion formula is as follows:

[0009] in, The converted digital distance signal value. The sampled values ​​of the analog-to-digital converter. For reference voltage, This is the distance conversion coefficient.

[0010] Furthermore, before performing step S2, an adaptive filtering and denoising step is included for the digital distance signal, as follows: The angle signal output from the attitude sensor is used as the reference noise signal vector. ; The digital distance signal is used as the original mixed signal containing the true distance and hand shaky noise. ; Based on the current weight vector of the adaptive filter and reference noise signal vector Calculate the noise estimate at the current moment; From the original mixed signal Subtracting the noise estimate from the signal yields the filtered distance signal. : ; With the filtered distance signal As the error signal, the weight vector of the adaptive filter is updated according to the least mean square criterion, and the update formula is:

[0011] in, This is an adaptive step size factor; Output filtered distance signal In order to perform geometric correction.

[0012] Furthermore, the specific steps of step S2 are as follows: S21. Extract the current pitch angle of the laser cleaning gun from the angle signal. ; S22. Obtain the measured distance along the axis of the laser sensor from the distance signal. ; S23. Based on the pitch angle For measuring distance Perform geometric correction and calculate the actual working distance perpendicular to the workpiece surface. The calculation formula is: .

[0013] Furthermore, the specific steps of step S3 are as follows: S31. Obtain the preset optimal working distance standard value First distance deviation threshold and the second distance deviation threshold ,in ; S32. Calculate the actual working distance Compared with the standard value of optimal working distance absolute deviation ; S33. Determining Absolute Deviation Belonging to: like If so, the actual working distance is determined to be within the optimal working distance range; like If so, the actual working distance is determined to be close to the boundary; like If the actual working distance exceeds the safe range, it is determined that the actual working distance is outside the safe range.

[0014] Furthermore, the specific steps of step S4 are as follows: S41. Obtain the pitch angle output by the attitude sensor. And compare it with the preset optimal angle range boundary; S42. Based on the distance judgment result of step S33 and the angle comparison result of step S41, generate a light control command using a preset mapping rule, wherein the mapping rule is: When the actual working distance is within the optimal working distance range and the angle is within the optimal angle range, a green constant light command is generated; When the actual working distance is within the optimal working distance range, but the pitch angle deviates from the optimal angle boundary, a slow flashing or fast flashing command is generated based on the comparison between the angle deviation value and the angle difference threshold. Specifically, a slow flashing command is generated when the angle deviation is greater than the angle difference threshold, and a fast flashing command is generated when the angle deviation is less than the angle difference threshold. When the actual working distance approaches the boundary, a yellow solid light command is generated. When the actual working distance exceeds the safe range, a red solid light command is generated.

[0015] Furthermore, the specific steps of step S5 are as follows: S51. Analyze the light control command to determine the target display color and the target flashing mode; the target display color includes green, yellow or red, and the target flashing mode includes constant light, fast flashing or slow flashing. S52. Based on the target display color, select the driving channel of the corresponding color LED in the three-color LED light; S53. Based on the target flashing pattern, generate a pulse width modulation signal with a corresponding duty cycle and frequency, which serves as the brightness and rhythm control signal for the corresponding color LED; S54. Output the pulse width modulation signal to the drive channel selected in step S52, and the drive indicator light displays the light status corresponding to the current working status of the cleaning gun.

[0016] As can be seen from the above technical solutions, this application has the following advantages: The handheld laser cleaning auxiliary device and its usage method provided in this application integrate a distance sensor, an attitude sensor, and an indicator light, and combine them with the logic processing of the cleaning controller to achieve real-time monitoring and intuitive feedback of the working status of the laser cleaning gun. This effectively solves the problems of difficulty in controlling the operating distance, high dependence on personnel experience, lack of effective real-time feedback, and safety hazards in the existing handheld laser cleaning process. It reduces the difficulty of operation, improves the consistency of cleaning quality and operational safety, increases work efficiency, and reduces equipment damage or poor cleaning results caused by improper operation. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the control of the handheld laser cleaning auxiliary device of the present invention.

[0019] Figure 2 This is a schematic diagram of the overall process of using the handheld laser cleaning auxiliary device of the present invention.

[0020] Figure 3 This is a schematic diagram illustrating the specific process of using the handheld laser cleaning auxiliary device of the present invention. Detailed Implementation

[0021] In the following detailed description of a handheld laser cleaning aid, various embodiments of this disclosure will be described more fully. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0022] This embodiment provides a handheld laser cleaning auxiliary device that reduces the difficulty of operation, improves cleaning quality and safety, and increases work efficiency.

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] A specific embodiment of a handheld laser cleaning auxiliary device includes a laser cleaning gun, a distance sensor, a posture sensor, an indicator, and a cleaning controller. The distance sensor, attitude sensor, and indicator are all mounted on the laser cleaning gun; A distance sensor is used to detect the distance between the laser cleaning gun and the workpiece in real time and output a distance signal; An attitude sensor is used to detect the pitch angle of the laser cleaning gun in real time and output an angle signal; Indicators are used to provide indications; like Figure 1 As shown, the cleaning controller is connected to the distance sensor, attitude sensor, and indicator. For example, the distance sensor is a laser rangefinder sensor, model VL53L0X, with a measurement range of 0-200mm and an output analog voltage signal range of 0-3.3V, linearly proportional to the distance. It can accurately detect the distance between the laser cleaning gun and the workpiece in real time and output a distance signal. The attitude sensor is an MPU6050, which integrates a three-axis accelerometer and a three-axis gyroscope. It can detect the pitch angle of the laser cleaning gun in real time, with a measurement range of -90° to 90°. The output angle signal is a digital signal, which communicates with the cleaning controller via the I2C protocol. Data transmission is performed; the indicator uses a tri-color LED, specifically the WS2812B model, which is located at the tail of the laser cleaning gun. The light emission direction of the tri-color LED is parallel to the laser emission direction of the laser cleaning gun, allowing the operator to quickly perceive the light status through peripheral vision while focusing on cleaning the workpiece; the cleaning controller uses an STM32F103C8T6 microcontroller, which has ADC analog-to-digital conversion function, I2C communication interface and PWM pulse width modulation output function, and can achieve stable connection and data interaction with distance sensor, attitude sensor and indicator light; The cleaning controller is configured to execute the following logic: Receive distance and angle signals; The state is determined based on distance and angle signals, and the indicator is controlled to output the determination result. It should be noted that the laser cleaning gun is used to emit a laser beam for cleaning operations, and its performance directly affects the cleaning effect. By combining it with auxiliary devices, its cleaning function can be better utilized, and cleaning efficiency and quality can be improved. The distance sensor can detect the distance between the laser cleaning gun and the workpiece in real time and output a distance signal, providing a basis for distance correction and judgment. This enables the device to make intelligent adjustments and feedback based on the actual distance, ensuring that the cleaning operation is carried out within the optimal distance range and avoiding poor cleaning effect or workpiece damage due to improper distance. The attitude sensor is used to detect the pitch angle of the laser cleaning gun in real time and output the angle signal. It is crucial for subsequent distance correction and angle judgment. It can effectively solve the problem of distance measurement error caused by changes in the angle of the cleaning gun, improve the accuracy and consistency of the cleaning operation, and ensure the stability and reliability of the cleaning effect. Indicators, such as indicator lights, provide intuitive operating instructions to operators through light feedback of different colors and flashing patterns. This allows operators to quickly and accurately understand the current working status of the laser cleaning gun without taking their eyes off the machine, reducing the cognitive load on operators, improving the convenience and safety of operation, and reducing the risks caused by improper operation. Indicators can also use sound prompts. The cleaning controller is responsible for receiving signals from the distance sensor and attitude sensor, processing the data and making logical judgments, and controlling the status of the indicator lights. The control logic can automatically monitor the cleaning process and provide safety prompts, which improves the efficiency and quality of cleaning operations, reduces the difficulty of operation, and ensures the safety of equipment and personnel.

[0025] This embodiment integrates sensors and an intelligent controller to monitor the working status of the laser cleaning gun in real time, reducing operational difficulty, improving cleaning quality and operational safety, increasing work efficiency, and adapting to complex working conditions.

[0026] Furthermore, as a refinement and extension of the specific implementation of the above embodiments, in order to fully illustrate the specific implementation process in this embodiment, another handheld laser cleaning auxiliary device is provided, which includes a laser cleaning gun, a distance sensor, an attitude sensor, an indicator, and a cleaning controller. The distance sensor, attitude sensor, and indicator are all mounted on the laser cleaning gun; A distance sensor is used to detect the distance between the laser cleaning gun and the workpiece in real time and output a distance signal. In this embodiment, an ultrasonic ranging sensor, model HC-SR04, is selected as the distance sensor. The measurement range is 2-400cm, the measurement accuracy is ±0.3cm, and the output analog voltage signal is linearly related to the distance, which facilitates subsequent signal conversion and processing. An attitude sensor is used to detect the pitch angle of the laser cleaning gun in real time and output an angle signal. In this embodiment, the attitude sensor is a BMI160, which has the characteristics of low power consumption and high stability. The pitch angle measurement resolution is 0.1°, which can accurately capture the angle changes of the cleaning gun. An indicator is used to provide guidance. In this embodiment, the indicator uses a tri-color LED light, specifically model SMD5050, which is set at the tail of the laser cleaning gun. The light emission direction of the tri-color LED light is parallel to the laser emission direction of the laser cleaning gun, ensuring that the operator can clearly observe the light status without shifting their gaze during the operation. The cleaning controller is connected to the distance sensor, attitude sensor and indicator. In this embodiment, the cleaning controller uses an STM32F407ZGT6 microcontroller. This microcontroller has multiple ADC channels, I2C and SPI communication interfaces, which can meet the data acquisition and processing requirements of multiple sensors. At the same time, it has strong PWM output capability and can accurately control the color and flashing mode of the three-color LED. The cleaning controller is configured to execute the following logic: Receive distance and angle signals; The distance signal is corrected based on the angle signal to obtain the actual working distance; The state is determined based on distance and angle signals, and the indicator is controlled to output the determination result. The distance sensor is either a laser rangefinder or an ultrasonic rangefinder; The distance signal output by the distance sensor is an analog voltage signal; The cleaning controller is equipped with an analog-to-digital converter (ADC) to convert analog voltage signals into digital distance signals. In this embodiment, the ADC uses a 12-bit ADC built into the microcontroller, with a reference voltage set to 3.3V and a sampling rate set to 100Hz to ensure that the analog voltage signal can be converted into a digital distance signal quickly and accurately. The indicator is an indicator light; The cleaning controller is configured as follows: Determine whether the actual working distance is within the preset optimal working distance range; Based on the judgment result and angle signal, the control indicator displays the corresponding light status to prompt the operator to adjust the position of the laser cleaning gun; The indicator lights use tri-color LEDs, and the cleaning controller is configured to provide status feedback by controlling the color and flashing pattern of the tri-color LEDs. Specifically: A solid green light indicates that the actual working distance is within the preset optimal working distance range and the pitch angle is within the preset optimal angle range; in this embodiment, the preset optimal working distance range is 15-25mm and the optimal angle range is -5° to 5°. A solid yellow light indicates that the actual working distance is outside the preset optimal working distance range, and the deviation from the boundary of the optimal working distance range is less than the preset distance difference threshold. In this embodiment, the distance difference threshold is set to 5mm, that is, when the actual working distance is in the range of 10-15mm or 25-30mm, the indicator light will be solid yellow. A solid red indicator light indicates that the actual working distance is outside the preset optimal working distance range, and the deviation from the boundary of the optimal working distance range is greater than the preset distance difference threshold; for example, when the actual working distance is less than 10mm or greater than 30mm, the indicator light will be solid red. The flashing of the lights represents the state of the pitch angle; the flashing of the lights includes slow flashing, fast flashing, and constant light; in this embodiment, the frequency of slow flashing is set to 1Hz, and the frequency of fast flashing is set to 5Hz. A constantly lit light indicates that the pitch angle is within the preset optimal angle range; The slow flashing of the light indicates that the pitch angle deviates from the boundary of the preset optimal angle range, and the deviation from the boundary of the optimal angle range is greater than the angle difference threshold. In this embodiment, the angle difference threshold is set to 5°, that is, when the pitch angle is less than -10° or greater than 10°, the light flashes slowly. Rapid flashing of the lights indicates that the pitch angle deviates from the boundary of the preset optimal angle range, but the deviation from the boundary of the optimal angle range is less than the angle difference threshold; for example, when the pitch angle is between -10° and -5° or between 5° and 10°, the lights flash rapidly. The indicator light is located at the tail of the laser cleaning gun, and the light emission direction of the indicator light is parallel to the laser emission direction of the laser cleaning gun.

[0027] like Figure 2 As shown, the following are embodiments of the use of the handheld laser cleaning auxiliary device provided in this disclosure. This system belongs to the same inventive concept as the handheld laser cleaning auxiliary devices in the above embodiments. For details not described in detail in the embodiments of the use of the handheld laser cleaning auxiliary device, please refer to the embodiments of the handheld laser cleaning auxiliary device described above.

[0028] The method includes the following steps: S1. The cleaning controller receives the distance signal detected and output by the distance sensor in real time, and the angle signal detected and output by the attitude sensor in real time. In this embodiment, the cleaning controller receives the analog voltage signal output by the distance sensor through the ADC channel and the angle digital signal output by the attitude sensor through the I2C communication interface. The sampling rate is set to 100Hz to ensure the real-time data acquisition. It should be noted that by receiving distance and angle signals in real time, the timeliness and accuracy of the processed data can be ensured, providing data support for the device's intelligent judgment and feedback, which is a prerequisite for realizing the device's functions. S2. Based on the angle signal, perform geometric correction on the distance signal to obtain the actual working distance between the laser cleaning gun and the workpiece; In this embodiment, it is assumed that the pitch angle parsed from the angle signal is 30°, and the measured distance in the direction of the laser sensor axis obtained from the distance signal is 20mm. According to the geometric correction formula, the actual working distance perpendicular to the workpiece surface is calculated to be 20×cos(30°)≈17.32mm; It should be noted that this step can effectively solve the problem of distance measurement error caused by changes in the angle of the laser cleaning gun, improve the accuracy and reliability of distance measurement, ensure that the cleaning operation can be carried out under precise distance control, and improve the cleaning quality and stability. S3. Compare the actual working distance with the preset optimal working distance range, and determine whether the actual working distance is within the optimal working distance range; in this embodiment, the preset optimal working distance range is 15-25mm, and the calculated actual working distance of 17.32mm is within this range, so it is determined that the actual working distance is within the optimal working distance range; It should be noted that the judgment in this step can provide real-time information on the distance status of the current cleaning operation, providing a basis for generating light control commands, enabling intelligent prompts to operators, ensuring that the cleaning operation is carried out within the optimal distance range, and avoiding problems caused by improper distance. S4. Based on the distance judgment result and the angle signal, generate the corresponding light control command; In this embodiment, the actual working distance is within the optimal working distance range, and the resolved pitch angle of 30° is greater than the boundary of the optimal angle range by 5°, and the angle deviation is 25°, which is greater than the angle difference threshold of 5°, so a green slow flashing light control command is generated. It should be noted that this step, by converting the judgment result into specific light control commands, ensures that the indicator light can accurately and promptly reflect the current working status of the laser cleaning gun, providing operators with intuitive operation guidance, improving the convenience and safety of operation, and enhancing human-machine interaction performance. S5. Use the light control command to drive the indicator light to display the corresponding light status, so as to prompt the operator to adjust the position of the laser cleaning gun; In this embodiment, the cleaning controller selects the driving channel of the green LED in the three-color LED light according to the green slow flashing light control command, generates a pulse width modulation signal with a frequency of 1Hz, outputs it to the driving channel, drives the green LED to flash slowly at a frequency of 1Hz, prompting the operator that the current distance is appropriate, but the pitch angle is too large and the angle of the cleaning gun needs to be adjusted; It should be noted that this step, through intuitive light indicators, allows operators to quickly and accurately understand the current working status of the cleaning gun and adjust its position in a timely manner according to the indicators, thereby achieving control over the cleaning process, improving cleaning quality and operational safety, and enhancing the user experience.

[0029] This embodiment integrates a distance sensor, an attitude sensor, and a cleaning controller to monitor the distance and angle between the laser cleaning gun and the workpiece in real time, and provides intuitive feedback on the status through indicator lights. This reduces the difficulty of operation, improves cleaning quality and operational safety, increases work efficiency, adapts to complex working conditions, and reduces risks caused by improper operation.

[0030] Furthermore, as a refinement and extension of the specific implementation methods of the above embodiments, in order to fully illustrate the specific implementation process of this embodiment, another method of using the handheld laser cleaning auxiliary device is provided, such as... Figure 3 As shown, the method includes the following steps: S1. The cleaning controller receives the distance signal detected and output by the distance sensor in real time, and the angle signal detected and output by the attitude sensor in real time; The process of receiving the distance signal in step S1 specifically includes: The distance sensor outputs an analog voltage signal that is proportional to the distance. In this embodiment, the distance sensor is a VL53L0X laser rangefinder, whose output analog voltage signal ranges from 0 to 3.3V, corresponding to a measurement distance of 0 to 200mm. That is, for every 1mm increase in distance, the voltage signal increases by 0.0165V. The analog voltage signal is converted into a digital distance signal by the analog-to-digital converter inside the cleaning controller. The specific conversion formula is as follows:

[0031] in, The converted digital distance signal value. The sampled values ​​of the analog-to-digital converter. Use the reference voltage (e.g., 3.3V). The distance conversion factor is K = 200mm / 3.3V ≈ 60.61mm / V. Assuming the analog-to-digital converter has a sampling value of 2048 (12-bit ADC, full-scale sampling value of 4095), the converted digital distance signal value is (2048 / 4095)3.3V60.61mm / V≈100mm; Before performing step S2, an adaptive filtering and noise reduction step is also included for the digital distance signal, as follows: In this embodiment, an adaptive filtering algorithm based on the least mean square (LMS) criterion is adopted, with the order of the adaptive filter set to 32 and the adaptive step size factor set to 0.01. The angle signal output from the attitude sensor is used as the reference noise signal vector. ; The digital distance signal is used as the original mixed signal containing the true distance and hand shaky noise. ; Based on the current weight vector of the adaptive filter and reference noise signal vector Calculate the noise estimate at the current moment; From the original mixed signal Subtracting the noise estimate from the signal yields the filtered distance signal. : ; With the filtered distance signal As the error signal, the weight vector of the adaptive filter is updated according to the least mean square criterion, and the update formula is:

[0032] in, This is an adaptive step size factor; Output filtered distance signal In order to perform geometric correction; S2. Based on the angle signal, perform geometric correction on the distance signal to obtain the actual working distance between the laser cleaning gun and the workpiece; the specific steps of step S2 are as follows: S21. Extract the current pitch angle of the laser cleaning gun from the angle signal. In this embodiment, the attitude sensor is an MPU6050, which acquires the angle signal through the I2C communication interface and analyzes it to obtain the current pitch angle as 15°. S22. Obtain the measured distance along the axis of the laser sensor from the distance signal. After processing in step S1, the measured distance corresponding to the filtered distance signal is 22mm. S23. Based on the pitch angle For measuring distance Perform geometric correction and calculate the actual working distance perpendicular to the workpiece surface. The calculation formula is: Substituting the data, we get the actual working distance = 22mm × cos(15°) ≈ 22 × 0.9659 ≈ 21.25mm; S3. Compare the actual working distance with the preset optimal working distance range, and determine whether the actual working distance is within the optimal working distance range; the specific steps of step S3 are as follows: S31. Obtain the preset optimal working distance standard value (In this embodiment, it is set to 20mm), first distance deviation threshold (In this embodiment, it is set to 2mm, which is 10% of the standard value) and the second distance deviation threshold. (In this embodiment, it is set to 4mm, which is 20% of the standard value), where ; S32. Calculate the actual working distance Compared with the standard value of optimal working distance absolute deviation In this embodiment, the absolute deviation = |21.25mm - 20mm| = 1.25mm; S33. Determining Absolute Deviation Belonging to: like If the actual working distance is within the optimal working distance range, then it is determined that the actual working distance is within the optimal working distance range. In this embodiment, 1.25mm < 2mm, therefore the actual working distance is determined to be within the optimal working distance range. like If so, the actual working distance is determined to be close to the boundary; like If so, the actual working distance is determined to be outside the safe range; S4. Based on the distance judgment result and the angle signal, generate the corresponding lighting control command; the specific steps of step S4 are as follows: S41. Obtain the pitch angle output by the attitude sensor. And compare it with the preset optimal angle range boundary; in this embodiment, the preset optimal angle range is -5° to 5°, the angle difference threshold is set to 5°, the current pitch angle is 15°, and the deviation from the upper boundary of the optimal angle range is 10°. S42. Based on the distance judgment result of step S33 and the angle comparison result of step S41, generate a light control command using a preset mapping rule, wherein the mapping rule is: When the actual working distance is within the optimal working distance range and the angle is within the optimal angle range, a green constant light command is generated; When the actual working distance is within the optimal working distance range, but the pitch angle deviates from the optimal angle boundary, a slow flashing or fast flashing command is generated based on the comparison between the angle deviation value and the angle difference threshold. Specifically, a slow flashing command is generated when the angle deviation is greater than the angle difference threshold, and a fast flashing command is generated when the angle deviation is less than the angle difference threshold. In this embodiment, the angle deviation of 10° is greater than the angle difference threshold of 5°, therefore a green slow flashing command (flashing frequency 1Hz) is generated. When the actual working distance approaches the boundary, a yellow solid light command is generated. When the actual working distance exceeds the safe range, a red solid light command is generated. S5. Use light control commands to drive indicator lights to display the corresponding light status, prompting the operator to adjust the position of the laser cleaning gun; the specific steps of step S5 are as follows: S51. Analyze the light control command to determine the target display color and target flashing mode; the target display color includes green, yellow, or red, and the target flashing mode includes constant light, fast flashing, or slow flashing; in this embodiment, the target display color is green, and the target flashing mode is slow flashing (1Hz). S52. Based on the target display color, select the driving channel of the corresponding color LED among the three-color LEDs; in this embodiment, the driving channel corresponding to the green LED is selected; S53. Based on the target flashing pattern, generate a pulse width modulation signal with a corresponding duty cycle and frequency as the brightness and rhythm control signal for the corresponding color LED; in this embodiment, the duty cycle of the pulse width modulation signal is set to 50%, and the frequency is set to 1Hz; S54. Output the pulse width modulation signal to the drive channel selected in step S52. The drive indicator light displays the light status corresponding to the current working status of the cleaning gun. In this embodiment, the green LED flashes slowly at a frequency of 1Hz and a duty cycle of 50% to indicate to the operator that the current distance is within the optimal range, but the pitch angle is too large and the cleaning gun angle needs to be adjusted in time.

[0033] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0034] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A handheld laser cleaning auxiliary device, characterized in that, Includes a laser cleaning gun, distance sensor, attitude sensor, indicator, and cleaning controller; The distance sensor, attitude sensor, and indicator are all mounted on the laser cleaning gun; A distance sensor is used to detect the distance between the laser cleaning gun and the workpiece in real time and output a distance signal; An attitude sensor is used to detect the pitch angle of the laser cleaning gun in real time and output an angle signal; Indicators are used to provide indications; The cleaning controller is connected to the distance sensor, attitude sensor, and indicator. The cleaning controller is configured to execute the following logic: Receive distance and angle signals; The state is determined based on distance and angle signals, and the indicator is controlled to output the determination result.

2. The handheld laser cleaning auxiliary device according to claim 1, characterized in that, The indicator is an indicator light; The cleaning controller is configured as follows: Determine whether the actual working distance is within the preset optimal working distance range; Based on the judgment result and angle signal, the control indicator displays the corresponding light status to prompt the operator to adjust the position of the laser cleaning gun.

3. The handheld laser cleaning auxiliary device according to claim 2, characterized in that, The indicator light is located at the tail of the laser cleaning gun, and the light emission direction of the indicator light is parallel to the laser emission direction of the laser cleaning gun.

4. A method of using a handheld laser cleaning auxiliary device, applied to the handheld laser cleaning auxiliary device as described in any one of claims 1-3, characterized in that, Includes the following steps: S1. The cleaning controller receives the distance signal detected and output by the distance sensor in real time, and the angle signal detected and output by the attitude sensor in real time; S2. Based on the angle signal, perform geometric correction on the distance signal to obtain the actual working distance between the laser cleaning gun and the workpiece; S3. Compare the actual working distance with the preset optimal working distance range, and determine whether the actual working distance is within the optimal working distance range; S4. Generate corresponding lighting control commands based on the distance judgment result and angle signal; S5. Use light control commands to drive indicator lights to display the corresponding light status, so as to prompt the operator to adjust the position of the laser cleaning gun.

5. The method of using the handheld laser cleaning auxiliary device according to claim 4, characterized in that, The process of receiving the distance signal in step S1 specifically includes: Acquire the analog voltage signal output by the distance sensor, which is proportional to the distance; The analog voltage signal is converted into a digital distance signal by the analog-to-digital converter inside the cleaning controller. The specific conversion formula is as follows: in, The converted digital distance signal value. The sampled values ​​of the analog-to-digital converter. For reference voltage, This is the distance conversion coefficient.

6. The method of using the handheld laser cleaning auxiliary device according to claim 4, characterized in that, Before performing step S2, an adaptive filtering and noise reduction step is also included for the digital distance signal, as follows: The angle signal output from the attitude sensor is used as the reference noise signal vector. ; The digital distance signal is used as the original mixed signal containing the true distance and hand shaky noise. ; Based on the current weight vector of the adaptive filter and reference noise signal vector Calculate the noise estimate at the current moment; From the original mixed signal Subtracting the noise estimate from the signal yields the filtered distance signal. : ； With the filtered distance signal As the error signal, the weight vector of the adaptive filter is updated according to the least mean square criterion, and the update formula is: in, This is an adaptive step size factor; Output filtered distance signal In order to perform geometric correction.

7. The method of using the handheld laser cleaning auxiliary device according to claim 4, characterized in that, The specific steps of step S2 are as follows: S21. Extract the current pitch angle of the laser cleaning gun from the angle signal. ; S22. Obtain the measured distance along the axis of the laser sensor from the distance signal. ; S23. Based on the pitch angle For measuring distance Perform geometric correction and calculate the actual working distance perpendicular to the workpiece surface. The calculation formula is: .

8. The method of using the handheld laser cleaning auxiliary device according to claim 4, characterized in that, The specific steps of step S3 are as follows: S31. Obtain the preset optimal working distance standard value First distance deviation threshold and the second distance deviation threshold ,in ; S32. Calculate the actual working distance Compared with the standard value of optimal working distance absolute deviation ; S33. Determining Absolute Deviation Belonging to: like If so, the actual working distance is determined to be within the optimal working distance range; like If so, the actual working distance is determined to be close to the boundary; like If the actual working distance exceeds the safe range, it is determined that the actual working distance is outside the safe range.

9. The method of using the handheld laser cleaning auxiliary device according to claim 8, characterized in that, The specific steps of step S4 are as follows: S41. Obtain the pitch angle output by the attitude sensor. And compare it with the preset optimal angle range boundary; S42. Based on the distance judgment result of step S33 and the angle comparison result of step S41, generate a light control command using a preset mapping rule, wherein the mapping rule is: When the actual working distance is within the optimal working distance range and the angle is within the optimal angle range, a green constant light command is generated; When the actual working distance is within the optimal working distance range, but the pitch angle deviates from the optimal angle boundary, a slow flashing or fast flashing command is generated based on the comparison between the angle deviation value and the angle difference threshold. Specifically, a slow flashing command is generated when the angle deviation is greater than the angle difference threshold, and a fast flashing command is generated when the angle deviation is less than the angle difference threshold. When the actual working distance approaches the boundary, a yellow solid light command is generated. When the actual working distance exceeds the safe range, a red solid light command is generated.

10. The method of using the handheld laser cleaning auxiliary device according to claim 9, characterized in that, The specific steps of step S5 are as follows: S51. Analyze the light control command to determine the target display color and the target flashing mode; the target display color includes green, yellow or red, and the target flashing mode includes constant light, fast flashing or slow flashing. S52. Based on the target display color, select the driving channel of the corresponding color LED in the three-color LED light; S53. Based on the target flashing pattern, generate a pulse width modulation signal with a corresponding duty cycle and frequency, which serves as the brightness and rhythm control signal for the corresponding color LED; S54. Output the pulse width modulation signal to the drive channel selected in step S52, and the drive indicator light displays the light status corresponding to the current working status of the cleaning gun.

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