Handheld laser cleaning head with multi-source cooperative safety monitoring function

Abstract

The application discloses a handheld laser cleaning head with multi-source cooperative safety monitoring function, which comprises a cleaning head body, a detection module, a hardware-level fast response link, a laser cutting execution module and a control module. When the inclination angle is abnormal, the laser is directly turned off without being affected by the distance detection result; when the laser is in the light-emitting state and the photoelectric detection result exceeds the safety threshold, a turn-off signal is output, the abnormal flag bit is latched and then sent to the control module. When multiple dangerous signals coexist and are contradictory, the application can realize conflict-free fast cutting at the hardware layer without software operation or simple logic, and the total response time is less than or equal to 50 ms.

Description

Technical Field

[0001] This invention relates to the field of laser operation monitoring technology, specifically to a handheld laser cleaning head with multi-source collaborative safety monitoring function. Background Technology

[0002] To ensure the safety of handheld laser cleaning operations, existing technologies have proposed various safety protection schemes. For example, CN117324325A and CN117324321A use tilt sensors to detect the cleaning head's attitude, shutting off the laser when the attitude angle exceeds a preset range; CN118681866A uses a laser rangefinder to measure the distance between the cleaning head and the workpiece in real time, shutting off the laser when the focal length deviates from the limit; CN210023103U has a photoelectric sensor inside the laser cleaning head, which immediately alarms and shuts down the laser when an anomaly is detected. In addition, there are schemes that combine multiple sensors and perform software fusion judgments, such as CN117505405A, which uses a 3D LiDAR and panoramic camera to collect point cloud and image data, and uses a multi-dimensional information perception algorithm for fusion processing to construct a safe target working range.

[0003] However, the safety of the aforementioned existing technologies, whether single-sensor or multi-sensor solutions, is limited to simple threshold comparison followed by shutdown or software weighting for judgment. They either employ a single decision-making approach: shutting off when the tilt angle exceeds a threshold, when the distance exceeds a limit, or when there is an abnormality in photoelectric activity; or they input the signals from each sensor into a software model for unified evaluation before outputting control commands. Faced with multi-source, heterogeneous hazardous signals, existing technologies cannot provide a hardware-based solution to differentiate different signals according to their actual risk characteristics. Summary of the Invention

[0004] This invention proposes a handheld laser cleaning head with multi-source collaborative safety monitoring function, which solves the technical problem that existing handheld laser cleaning heads cannot achieve conflict-free and rapid cut-off at the hardware level when multiple heterogeneous danger signals occur simultaneously and contradict each other.

[0005] The technical solution of this invention is implemented as follows:

[0006] A handheld laser cleaning head with multi-source collaborative safety monitoring function is characterized by comprising:

[0007] Cleaning head body;

[0008] The detection module, located on the cleaning head body, includes at least an angle sensor, a laser rangefinder, and a photoelectric detection unit;

[0009] The hardware-level fast response link includes signal conditioning circuitry, threshold comparison circuitry, hardware priority arbitration unit, and isolation drive circuitry.

[0010] The laser cutting execution module is connected to the hardware-level fast response link;

[0011] The hardware priority arbitration unit receives danger sign signals from the threshold comparison circuits corresponding to the tilt sensor, laser rangefinder, and photoelectric detection unit, and outputs a laser cutting-off control signal according to a preset asymmetric decision rule. The asymmetric decision rule includes at least the following:

[0012] When the tilt angle is abnormal, it is not affected by the distance detection result and directly outputs the laser cutting control signal;

[0013] When the laser is in the light-emitting state and the photoelectric detection result exceeds the safety threshold, a laser cut-off control signal is output, and the abnormal flag bit is latched and sent to the control module.

[0014] Furthermore, the asymmetric decision rule also includes: when the laser is in the light-emitting state and the photoelectric detection result exceeds the safety threshold, and the distance detection result exceeds the limit, the laser cutting-off control signal is directly output.

[0015] Furthermore, the asymmetric decision rule also includes: when the laser is in a non-emitting state and the distance detection result exceeds the limit, outputting a signal to prohibit the establishment of an emitting signal.

[0016] Furthermore, it also includes a control module, which is set in parallel with the hardware-level fast response link, for acquiring the light emission status of the laser and switching the main detection path according to the light emission status: in the non-light emission state, the laser rangefinder and tilt sensor are used as the main detection basis; in the light emission state, the photoelectric detection unit and tilt sensor are used as the main detection basis.

[0017] Furthermore, the asymmetric decision-making rule also includes a preset priority order: tilt angle anomaly signal has the highest priority; when the laser is in the light-emitting state, photoelectric detection over-threshold signal has the second highest priority; when the laser is in the non-light-emitting state, distance over-limit signal is used as a pre-locking condition, and its priority is lower than the former two.

[0018] Furthermore, the total response time of the hardware-level fast response link from the triggering of the danger signal to laser cutting is no more than 50ms.

[0019] Furthermore, the photoelectric detection unit is a photovoltaic cell, and it is sensitive to optical signals in the 500nm to 800nm ​​wavelength band; the safety threshold is a preset process library threshold or an on-site calibration threshold, which is loaded onto the comparison reference terminal of the threshold comparison circuit through a switchable reference source.

[0020] Furthermore, the abnormal flag bit is latched and sent to the control module for post-event diagnosis, data recording, or decision support; the laser cutting execution module responds to the laser cutting control signal to execute the cutting action, which is performed in parallel with the abnormal flag bit latching operation.

[0021] Furthermore, the hardware priority arbitration unit is implemented by a field-programmable gate array, a programmable logic device, or a discrete logic gate circuit; the laser cutting execution module includes a relay or electronic switch, and its coil or drive terminal is connected in parallel with a freewheeling diode, a TVS transient suppressor, and / or an RC absorption network.

[0022] Furthermore, the tilt sensor, laser rangefinder, and photoelectric detection unit in the detection module are coplanarly packaged in the same module, and the cleaning head body is provided with a quick-release protective cover for on-site maintenance of the optical window.

[0023] The beneficial effects of the technical solution provided in this application are as follows:

[0024] 1. This application sets up a link in parallel with the control module and presets asymmetric decision-making in the hardware arbitration unit. When the tilt angle is abnormal, it is directly shut down without being affected by the distance detection result. When the photoelectric detection exceeds the threshold in the light output state, hardware cut-off is performed simultaneously. Thus, in the case of multiple sources of danger, it ensures that the logic does not rely on software calculations, and enables the hardware layer to cut off quickly and without conflict.

[0025] 2. This application sets a three-level priority order of tilt angle, photoelectric effect, and distance, and switches the detection path according to the light output status, so that the system takes into account safety, adaptability to working conditions, and speed. This asymmetric decision-making strategy can control the total response time from danger triggering to laser cut-off within 50ms, reduce the false turn-off rate to 3%, the missed turn-off rate to 1%, and compress the decision time to 41ms. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram illustrating the risk of laser defocusing;

[0028] Figure 2 This is a schematic diagram of the laser cleaning head structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the preset process library path of the present invention;

[0030] Figure 4 This is a schematic diagram of the photovoltaic cell threshold calibration process of the present invention;

[0031] Figure 5 This is a comparison diagram of the photovoltaic cell signals in the focused / defocused states of the present invention;

[0032] Figure 6 This is a graph showing the relationship between the laser frequency and the photovoltaic cell signal of this invention;

[0033] Figure 7 This is a schematic diagram of the hardware fast response link of the present invention;

[0034] Figure 8 This is a timing waveform diagram of the tilt angle over-limit triggering rapid light shut-off according to the present invention;

[0035] Figure 9 This is a timing waveform diagram of the photoelectric over-threshold triggering rapid light shut-off in the light-emitting state of the present invention;

[0036] Figure 10 This is a timing waveform diagram of the distance exceeding the limit triggering the prohibition of light emission in the non-light emission state of the present invention. Detailed Implementation

[0037] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] First refer to Figure 1 , Figure 1 A schematic diagram illustrating the risks of laser defocusing is shown. It illustrates the decrease in energy density and the increased risk of reflected light in the defocused state, which is precisely the source of the core technical problem that this invention aims to solve. To address this technical problem, this invention provides a handheld laser cleaning head with multi-source collaborative safety monitoring capabilities.

[0039] The handheld laser cleaning head includes the cleaning head body, detection module 4, hardware-level fast response link, laser cutting execution module, and control module. (Refer to...) Figure 2 The cleaning head body mainly consists of a handle 1, a laser head 2, a light emission button 3, a protective cover side groove 5, a protective cover clip 6, and a protective cover 7. The detection module 4 coplanarly encapsulates an tilt sensor, a laser rangefinder, and a photocell; all three are integrated into the same module and fixed to the front end of the cleaning head body. The protective cover 7 can be quickly removed via the clip 6, facilitating on-site cleaning of the optical window. This integrated arrangement ensures a unified measurement benchmark for tilt angle, distance, and optical signals.

[0040] Reference Figure 7 The hardware-level fast response link includes signal conditioning and comparison circuits, a hardware priority arbitration unit, and an isolation drive circuit. The output signals from the tilt sensor, laser rangefinder, and photocell first enter their respective signal conditioning and comparison circuits. The signal conditioning circuit filters, amplifies, and shapes the raw signal to eliminate hand-held shaking and high-frequency noise interference; the comparison circuit compares the conditioned signal with a preset threshold and outputs a digitized danger signal. For example, the tilt comparator outputs a high level when the absolute value of the washing head tilt angle exceeds 10°, the photoelectric comparator outputs a high level when the photocurrent exceeds the safety threshold I_safe, and the distance window comparator outputs a high level when the deviation between the actual distance and the theoretical focal length exceeds 1mm.

[0041] The hardware priority arbitration unit receives hazard flag signals from the three comparators and directly outputs the laser cutting control signal according to a preset asymmetric decision rule. In this embodiment, the arbitration unit is implemented using a field-programmable gate array (FPGA). The asymmetric decision rule refers to assigning differentiated processing paths to different hazard signals and their combinations, rather than using simple AND / OR logic or equal weighting, based on the essential differences in the physical risk level of each signal. Specific rules include:

[0042] (1) When the tilt angle abnormality signal is valid, the arbitration unit immediately outputs a shutdown command regardless of the status of the photoelectric and distance signals. This is because a tilt angle exceeding 10° means that the laser beam may directly irradiate the operator's eyes or skin, which is the highest level of personal safety risk, and this risk is not affected by whether the distance measurement is accurate or whether the plasma emission is strong.

[0043] (2) When the laser is in the light-emitting state and the photoelectric comparator outputs a high level, the arbitration unit performs two actions simultaneously: first, it outputs a shutdown instruction; second, it latches the abnormal flag bit and sends it to the control module. The latching operation is implemented by a D flip-flop or register, and is parallel and independent of the shutdown instruction in hardware, so it does not occupy the shutdown path time.

[0044] (3) When both photoelectric threshold and distance limit are detected simultaneously in the light output state, the arbitration unit unconditionally outputs a shutdown command and no longer executes flag bit latching, so as to further shorten the response time.

[0045] (4) When the laser is in a non-emitting state and the distance window comparator outputs a high level, the arbitration unit outputs a signal to prohibit the establishment of light emission, so that the laser emission permission signal remains invalid.

[0046] To further clarify the specific logical implementation of the above asymmetric decision-making rules at the hardware layer, Table 1 provides a complete definition of the hardware priority arbitration logic.

[0047] Table 1: Hardware Priority Arbitration Logic Representation

[0048] Any working condition Tilt sensor The absolute value of the tilt angle is greater than a preset attitude threshold, such as 10°. Level 1 yes Immediately stop or disable light emission. ≤35ms Laser output status Photoelectric detection unit Photocurrent greater than the safety threshold I_safe Level 2 yes Stop lighting immediately ≤50ms Laser non-emitting state Laser rangefinder The deviation between the actual distance and the theoretical focal length is greater than the preset focal length deviation threshold, such as 1mm. Level 3 Yes, as a pre-locking interlock Prohibit the creation of light ≤30ms Any working condition Software fusion judgment module The overall risk value exceeds the set threshold. Level 4 no Output alarms, log information, or provide auxiliary control. Not the sole basis for hardware pass-through disconnection

[0049] As shown in Table 1, tilt angle anomaly signals are given the highest priority, directly corresponding to the personal safety risk to the operator from laser scattering. Regardless of the status of other sensors, they are immediately shut down unconditionally. In the light-emitting state, photoelectric over-threshold signals have the next highest priority, and the anomaly flag is latched simultaneously for post-event diagnosis. In the non-light-emitting state, distance over-limit signals serve only as a pre-locking mechanism before laser establishment and have the lowest priority. The software fusion judgment module does not participate in the hardware cutoff decision at all, but is only used to assist in alarm and recording. This hierarchical priority design fundamentally solves the decision-making conflict problem of "not knowing which one to prioritize" when multiple source signals conflict in existing technologies.

[0050] To further clarify the specific decision-making behaviors under different conflict scenarios, Table 2 presents the truth table for asymmetric decision-making.

[0051] Table 2 Truth Table for Hardware Priority Arbitration Asymmetric Decision Making (Contradictory Scenario)

[0052] 1 any any any Turn off immediately Angle of inclination as a veto 0 1 0 out of light Shutdown + Flag Latch Hardware shutdown, software post-event diagnosis 0 1 1 out of light Turn off immediately Double danger, no diagnosis required 0 0 1 non light No light allowed Distance as a pre-locking mechanism 0 0 0 out of light Maintain light emission Risk-free

[0053] Table 2 shows that this invention does not use simple "OR" logic (shutdown occurs when any signal exceeds the threshold) or "AND" logic (shutdown occurs only when all signals exceed the threshold), but rather differentiates processing based on the combination of operating conditions and risks. For example, when the tilt angle is abnormal, the device is directly shut down regardless of the photoelectric and distance conditions (first row); when only the photoelectric exceeds the threshold and the distance is normal in the light-emitting state, the device is shut down and the flag bit is latched for easy diagnosis (second row); when both the photoelectric and distance exceed the threshold in the light-emitting state, the device is directly shut down without latching to achieve the fastest speed (third row). These asymmetric rules have never been disclosed in the prior art, let alone implemented at the hardware level.

[0054] Reference Figure 8 In the timing sequence for rapid laser shutdown triggered by tilt angle exceeding the limit: CH1 is the output of tilt sensor 100, CH2 is the output of tilt comparator, CH3 is the output of arbitration unit 500, and CH4 is the laser enable signal. At time t0, the tilt signal exceeds the preset 10° threshold; at time t1, the comparator output flips; at time t2, the arbitration unit outputs a shutdown command; and at time t3, the laser enable signal is pulled low. The total response time Δt = t3 - t0 ≤ 35ms.

[0055] Reference Figure 9In the timing sequence of rapid shutdown triggered by photoelectric over-threshold during light output: CH1 is the output current of the photovoltaic cell, CH2 is the output of the photoelectric comparator, CH3 is the output of the arbitration unit, and CH4 is the laser enable cut-off signal. At time t0, the photocurrent exceeds the safety threshold I_safe; at time t1, the comparator flips; at time t2, the arbitration unit outputs a shutdown command and simultaneously latches the abnormal flag; at time t3, the laser enable circuit is cut off. The total response time is ≤48ms. The shutdown action and flag latching are executed in parallel without blocking each other.

[0056] Reference Figure 10 In the timing sequence for triggering the prohibition of laser emission due to excessive distance in the non-emission state: CH1 is the distance deviation signal, CH2 is the output of the window comparator, CH3 is the arbitration output, and CH4 is the laser emission permission signal. At time t0, the distance deviation enters the emission prohibition window; at t1, the window comparator outputs a prohibition signal; at t2, the arbitration output prohibits the establishment of the emission command; and at t3, the laser emission permission signal remains invalid. The total response time is ≤34ms.

[0057] comprehensive Figures 8 to 10 Based on the timing waveforms and the logical definitions in Tables 1 and 2, it is clear that the total response time from the triggering of the danger signal to laser cutting can be stably controlled within 50ms.

[0058] To further verify the above conclusions with actual test data, the applicant fabricated a hardware pass-through prototype and conducted comparative tests with a control prototype that used pure software decision-making. Table 3 records the detailed test results.

[0059] Table 3 Comparison of Different Response Time Definitions

[0060] Pure electronic circuit delay ≤1μs (CN221361671U) ≤5μs This application is slightly more complex due to the addition of arbitration logic, but it is acceptable. End-to-end physical disconnection time Not given (usually >100ms) ≤50ms The advantage of this application lies in its end-to-end controllability and inclusion of multi-signal arbitration. Decision-making time in multi-signal conflict scenarios Software-dependent, typically >200ms ≤50ms (hardware passthrough) Core advantages of this application

[0061] As shown in Table 3, the maximum response times of the hardware pass-through prototype in this application under the three types of hazardous scenarios are 39ms, 48ms, and 34ms, respectively, all less than 50ms, with an average response time of only 33ms. In contrast, the minimum response time of the control prototype is over 191ms, with an average of 214ms. The response time of this invention is shortened by approximately 6.5 times, fully demonstrating the advantages of the hardware-level fast response link compared to software decision-making schemes. It should be noted that the control prototype uses the same sensor configuration as this invention, but its safety decision-making is entirely completed by software. That is, the sensor signal is sampled by the ADC, processed by the CPU, and judged by software logic before outputting the drive to shut down. Therefore, the response time is generally over 200ms, which cannot meet the shutdown requirement of less than 100ms required by human eye safety standards, let alone reach the 50ms level of this invention.

[0062] Besides response speed, the false shutdown rate and missed shutdown rate of a security system are also crucial. Therefore, this invention further designed a comparative experiment, comparing the asymmetric decision rule of this invention with two other arbitration strategies. Table 4 presents the experimental results.

[0063] Table 4. Performance Comparison of Different Arbitration Strategies

[0064] Strategy 1 (Simple Priority) 23% 5% 48 Strategy 2 (Pure Software Integration) 8% 12% 215 Strategy 3 (this application) 3% 1% 41

[0065] Strategy 1 uses a simple hardware "OR" logic, where any sensor exceeding a threshold immediately shuts off the system. While fast (48ms), this strategy suffers from a false shutdown rate as high as 23%. For example, normal fluctuations in workpiece surface reflectivity or normal plasma emission can trigger shutdown, severely impacting operational continuity. Strategy 2 employs pure software multi-sensor weighted fusion, mimicking existing technology CN117732801B by inputting acoustic and optical signals into the discrimination model. However, this results in a 12% missed shutdown rate and a decision time as long as 215ms, potentially missing real hazards and exhibiting slow response. Strategy 3, the asymmetric decision rule of this invention, boasts a false shutdown rate of only 3%, a missed shutdown rate of only 1%, and a decision time of only 41ms, outperforming existing strategies across all three dimensions. The data in Table 4 demonstrates that this invention achieves a balance between speed and accuracy through hardware-level asymmetric decision-making, a technical effect unattainable by existing "OR" logic or software fusion schemes.

[0066] Regarding the safety threshold setting of the photoelectric detection unit, this invention provides a switchable dual-path reference source. (Refer to...) Figure 3 The preset process library path allows users to select material type and laser parameters via a human-machine interface. The control module then automatically calls the corresponding threshold and loads it onto the reference terminal of the photoelectric comparator via a switchable reference source. (Refer to...) Figure 4 The on-site calibration path allows users to press and hold the calibration button. The system prompts that the cleaning head should be kept in the focal state to collect the photocurrent. Then raise the focus by more than 1mm to a defocused state to collect the photocurrent. The system automatically calculates the safety threshold I_safe and stores it in non-volatile memory; the entire calibration process takes ≤10 seconds. (Refer to...) Figure 5 The comparison chart of photovoltaic cell signals in the out-of-focus and defocused states shows that the photocurrent decreases significantly when out of focus. Therefore, the risk of defocusing can be judged by comparing the photocurrent with a threshold. (Refer to...) Figure 6 The photocurrent signal changes significantly under different laser frequencies, proving that a fixed threshold cannot adapt to all operating conditions, and a calibration mechanism is necessary.

[0067] The control module is configured in parallel with the hardware-level fast response link. The control module acquires the laser's emission status in real time and switches the primary detection path accordingly: in the non-emission state, the laser rangefinder and tilt sensor are used as the primary detection criteria to determine whether emission is permitted; in the emission state, the photovoltaic cell and tilt sensor are used as the primary detection criteria to determine whether to maintain or stop emission. The control module does not participate in the rapid cutoff decision-making for high-risk events, thus avoiding delays caused by software sampling, computation, and output driving.

[0068] To suppress the back electromotive force at the moment of relay disconnection, a freewheeling diode and a TVS transient suppressor are connected in parallel across the relay coil in the laser cutting execution module, and an RC absorption network is connected in series. The isolation drive circuit uses an optocoupler 6N137 to achieve electrical isolation between the control side and the power side. Actual measurements show that the action time of the laser cutting execution module is consistently within 8ms. Including comparison, arbitration, and drive delays, the total response time of the entire link is always ≤50ms.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A handheld laser cleaning head with multi-source collaborative safety monitoring function, characterized in that, include: Cleaning head body; The detection module, located on the cleaning head body, includes at least an tilt sensor, a laser rangefinder, and a photoelectric detection unit; The hardware-level fast response link includes signal conditioning circuitry, threshold comparison circuitry, hardware priority arbitration unit, and isolation drive circuitry. The laser cutting execution module is connected to the hardware-level fast response link; The hardware priority arbitration unit receives danger sign signals from the threshold comparison circuits corresponding to the tilt sensor, laser rangefinder, and photoelectric detection unit, and outputs a laser cutting-off control signal according to a preset asymmetric decision rule. The asymmetric decision rule includes at least the following: When the tilt angle is abnormal, it is not affected by the distance detection result and directly outputs the laser cutting control signal; When the laser is in the light-emitting state and the photoelectric detection result exceeds the safety threshold, a laser cut-off control signal is output, and the abnormal flag bit is latched and sent to the control module.

2. The handheld laser cleaning head according to claim 1, characterized in that, The asymmetric decision rule also includes: when the laser is in the light-emitting state and the photoelectric detection result exceeds the safety threshold, and the distance detection result exceeds the limit, the laser cutting-off control signal is directly output.

3. The handheld laser cleaning head according to claim 1, characterized in that, The asymmetric decision rule also includes: when the laser is in a non-emitting state and the distance detection result exceeds the limit, outputting a signal to prohibit the establishment of emission signal.

4. The handheld laser cleaning head according to claim 1, characterized in that, It also includes a control module, which is set in parallel with the hardware-level fast response link, for acquiring the light emission status of the laser and switching the main detection path according to the light emission status: in the non-light emission state, the laser rangefinder and tilt sensor are used as the main detection basis; in the light emission state, the photoelectric detection unit and tilt sensor are used as the main detection basis.

5. The handheld laser cleaning head according to claim 1, characterized in that, The asymmetric decision-making rule also includes a preset priority order: tilt angle anomaly signal has the highest priority; when the laser is in the light-emitting state, photoelectric detection over-threshold signal has the second highest priority; when the laser is in the non-light-emitting state, distance over-limit signal is used as a pre-locking condition, and its priority is lower than the former two.

6. The handheld laser cleaning head according to claim 1, characterized in that, The total response time of the hardware-level fast response link from the triggering of the danger signal to laser cutting is no more than 50ms.

7. The handheld laser cleaning head according to claim 1, characterized in that, The photoelectric detection unit is a photovoltaic cell, and it is sensitive to optical signals in the 500nm to 800nm ​​wavelength band; the safety threshold is a preset process library threshold or an on-site calibration threshold, which is loaded onto the comparison reference terminal of the threshold comparison circuit through a switchable reference source.

8. The handheld laser cleaning head according to claim 1, characterized in that, The abnormal flag bit is latched and sent to the control module for post-event diagnosis, data recording, or decision support; the laser cutting execution module responds to the laser cutting control signal to execute the cutting action, which is performed in parallel with the abnormal flag bit latching operation.

9. The handheld laser cleaning head according to claim 1, characterized in that, The hardware priority arbitration unit is implemented by a field-programmable gate array, a programmable logic device, or a discrete logic gate circuit; the laser cutting execution module includes a relay or electronic switch, and its coil or drive terminal is connected in parallel with a freewheeling diode, a TVS transient suppressor, and / or an RC absorption network.

10. The handheld laser cleaning head according to claim 1, characterized in that, The tilt sensor, laser rangefinder, and photoelectric detection unit in the detection module are coplanarly packaged in the same module. The cleaning head body is equipped with a quick-release protective cover for on-site maintenance of the optical window.

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