A method, apparatus and device for determining the end point of a concrete coating removal

Abstract

The present application relates to the field of building structure maintenance, and discloses a concrete coating peeling end point judgment method, device and equipment, the method comprising: controlling the optical fiber laser to sequentially scan each target grid unit of the target peeling path; in the microsecond time window after each scan, controlling the pulsed laser to emit pulsed laser to the corresponding area, and collecting the emission spectrum data of the generated plasma; extracting the real-time spectral features and / or continuous spectral features of the emission spectrum data; when the features meet the preset conditions, it is determined that the coating of the corresponding target grid unit is peeled off. The present application can identify the interface in real time during the peeling process and automatically determine the end point, automatically form a digital operation record after peeling, thereby significantly improving the safety, accuracy and automation level of the operation, realizing real-time perception, intelligent control and whole-process traceability of concrete surface coating removal.

Description

Technical Field

[0001] This invention relates to the field of building structure maintenance, and in particular to a method, apparatus and equipment for determining the end point of concrete coating peeling. Background Technology

[0002] In the maintenance and repair of concrete structures (such as bridges, tunnels, building facades, and historical sites), it is usually necessary to first remove aged or damaged coatings, paint films, contaminants, or adhering layers from their surfaces to facilitate subsequent inspection, repair, or repainting. Existing coating removal methods mainly include mechanical methods, chemical methods, and laser cleaning methods.

[0003] Laser cleaning, as a relatively new surface treatment technology, has certain advantages in terms of environmental protection compared to mechanical and chemical methods. However, it still has obvious shortcomings when applied to concrete surfaces. The main problem is that the determination of the cleaning endpoint is not accurate. It often relies on the operator's experience or preset parameters such as time and power for control, which can easily lead to insufficient cleaning (i.e., residual coating) or over-cleaning (i.e., damage to the substrate). Summary of the Invention

[0004] This invention provides a method, apparatus, and equipment for determining the peeling endpoint of concrete coatings, which solves the technical problems mentioned above.

[0005] A first aspect of this invention provides a method for determining the end point of concrete coating peeling, comprising the following steps:

[0006] Step 1: Control the fiber laser to scan each target grid cell of the target stripping path in sequence to strip the coating;

[0007] Step 2: In the microsecond-level time window after each scan, control the pulsed laser to emit pulsed laser to the corresponding area and collect the emission spectrum data of the generated plasma;

[0008] Step 3: Extract the real-time spectral features and / or continuous spectral features of the emission spectral data;

[0009] Step 4: When the real-time spectral features and / or the continuous spectral features meet the preset conditions, it is determined that the coating of the corresponding target grid unit has been completely peeled off.

[0010] Step 5: Repeat the above steps until the coating of each target grid cell in the target stripping path has been completely stripped.

[0011] In a preferred embodiment, the real-time spectral features include the coating normalized intensity, the substrate normalized intensity, and / or the substrate to coating intensity ratio after the current pulsed laser scan.

[0012] In a preferred embodiment, the continuous spectral features include the relative change in coating intensity and / or the relative change in substrate intensity corresponding to two adjacent pulsed laser scans.

[0013] In a preferred embodiment, the preset conditions include:

[0014] Condition 1: ;

[0015] Condition 2: ,and ;

[0016] Condition 3: ,and

[0017] in, n represents the current scan number of the pulsed laser, and M represents the number of consecutive judgments. , , These represent the normalized intensity of the coating, the normalized intensity of the substrate, and the intensity ratio after the current pulsed laser scan, respectively. , These represent the relative changes in coating strength and the relative changes in substrate strength over M consecutive cycles, respectively. , , , These are preset thresholds. When all three conditions are met simultaneously, the coating peeling of the corresponding target grid cell is completed.

[0018] In a preferred embodiment, a safety control step is further included, specifically: during the coating peeling process, if the current number of laser pulses of any target grid cell exceeds a preset threshold and peeling is not completed, the process is forcibly stopped and the target grid cell is marked as abnormal.

[0019] In a preferred embodiment, when the fiber laser is controlled to perform multiple laser scans on the same target grid cell, the laser scanning parameters are adjusted according to the current number of scans.

[0020] In a preferred embodiment, an early warning step is further included, specifically: in the initial stage of coating peeling, multiple coating normalized intensities or substrate normalized intensities are obtained and arranged in chronological order; if the coating normalized intensities do not conform to the gradually decreasing characteristic, or the substrate normalized intensities do not conform to the gradually increasing characteristic, an early warning is issued.

[0021] A second aspect of the present invention provides a concrete coating peeling endpoint determination device, including a computer-readable storage medium and a processor, wherein the processor executes a computer program on the computer-readable storage medium to implement the steps of the concrete coating peeling endpoint determination method described above.

[0022] A third aspect of the present invention provides a device for determining the endpoint of concrete coating peeling, comprising a first control module, a second control module, an analysis module, and a determination module.

[0023] The first control module is used to control the fiber laser to scan each target grid unit of the target stripping path in sequence to strip the coating;

[0024] The second control module is used to control the pulsed laser to emit pulsed laser to the corresponding area within a microsecond-level time window after each scan, and to collect the emission spectrum data of the generated plasma.

[0025] The analysis module is used to extract real-time spectral features and / or continuous spectral features from the emission spectral data;

[0026] The judgment module is used to determine that the coating of the corresponding target grid unit has been completely peeled off when the real-time spectral features and / or the continuous spectral features meet preset conditions.

[0027] The beneficial effects of this invention are: This invention provides a method, device, and equipment for determining the endpoint of concrete coating peeling, which identifies the interface in real time and automatically determines the endpoint during the peeling process, and automatically generates a digital operation record after peeling, thereby significantly improving the safety, accuracy, and automation level of the operation, realizing real-time perception, intelligent control, and full-process traceability of concrete surface coating removal, and has high engineering application value and promotion significance.

[0028] To make the above-mentioned objects, features and advantages of the invention more apparent and understandable, preferred embodiments of the invention are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating an embodiment of a method for determining the end point of concrete coating peeling.

[0031] Figure 2 This is a schematic diagram illustrating the principle of real-time determination of the stripping endpoint in one embodiment;

[0032] Figure 3 This is a schematic diagram of the physical process of peeling off the coating layer by layer and plasma excitation in one embodiment;

[0033] Figure 4 This is a schematic diagram of a concrete coating peeling endpoint determination device provided in one embodiment;

[0034] Figure 5 This is a schematic diagram of a device for determining the end point of concrete coating peeling, provided in one embodiment. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0036] It should be noted that, unless otherwise specified, the various features in the embodiments of this invention can be combined with each other, all of which are within the protection scope of this invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this invention do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0037] This embodiment uses the old paint coating on the surface of a concrete bridge pier as the object of removal to specifically describe the method, device and equipment for determining the end point of concrete coating peeling described in the aforementioned invention, but the invention is not limited thereto.

[0038] For ease of understanding, it is assumed that the surface area of ​​the bridge pier to be treated is a rectangular area of ​​approximately 1m × 1m. The relevant method flowcharts, principle diagrams, physical process diagrams of coating peeling, and structural diagrams and connection schematics of the devices and equipment are shown below. Figure 1-5 As shown.

[0039] For the old paint coating on the surface of concrete bridge piers, this embodiment uses an Nd:YAG pulsed laser as the LIBS excitation source to generate plasma and perform spectral analysis. Typical parameters are: wavelength 1064 nm, single pulse energy 20–80 mJ, pulse width 5–10 ns, and repetition frequency 1–20 Hz. A spectrometer is connected to an fiber optic probe near the Nd:YAG laser's active region to collect the plasma emission light. In this embodiment, the spectrometer's spectral range covers the main spectral line positions of coating characteristic elements (such as C, H, O, etc.) and matrix characteristic elements (such as Ca, Si, etc.), and the integration time is set by a control method.

[0040] To achieve coating peeling on the surface of concrete bridge piers, this embodiment employs a six-axis robotic arm and a laser processing head. The six-axis robotic arm is fixed to a mobile platform, with a laser processing head installed at its end. The laser processing head integrates a fiber laser output path and a galvanometer scanning assembly, and is coaxially or nearly coaxially aligned with the spectral acquisition paths of an Nd:YAG laser and a spectrometer within the processing area, enabling multiple beams to act on the same micro-area. The fiber laser is a pulsed fiber laser with a wavelength of 1064nm, adjustable average output power (e.g., a maximum power of 500W), and a repetition frequency of 10–50kHz. Integrating the fiber laser and the galvanometer scanning head within the laser processing head of the six-axis robotic arm allows for rapid scanning of small areas.

[0041] In a preferred embodiment, the control device of the present invention can also be connected to an external negative pressure dust extraction device. The dust extraction port is located near the laser processing head and is connected to the negative pressure dust extraction device through a pipe for real-time extraction of smoke and particulate matter generated during the stripping process.

[0042] Of course, in other types of embodiments, pulsed lasers, laser stripping devices, or signal detection devices of different models and parameters can also be used. In this case, only the control method and connection method of the present invention need to be adapted, and therefore all are within the protection scope of the present invention.

[0043] In this embodiment, the specific implementation steps of the concrete coating peeling endpoint determination method are detailed in the appendix. Figure 1 Steps 1 through 5 are explained below.

[0044] First, in step 1, the concrete surface to be treated is divided into several grid units. In this embodiment, a rectangular area of ​​approximately 1m × 1m is selected on the surface of the bridge pier as the area to be treated, and this area is divided into multiple grid units with a grid spacing of 5mm. Each grid unit is numbered in row and column order. In the specific implementation process, during the coating peeling stage, each grid unit can contain one or more measuring points. Using multiple measuring points slightly affects the detection efficiency, but it can more accurately evaluate the coating peeling state of each grid unit, further improving the accuracy of coating peeling. Then, during the peeling process, the peeling endpoint is continuously identified using normalized strength, strength ratio, and stability, and control commands to stop or continue peeling are issued to the fiber laser and robot motion control module based on the judgment results.

[0045] Specifically, in this embodiment, the robotic arm drives the laser processing head to sequentially move to the processing positions of each target grid cell. Within any target grid cell, a fiber laser is first triggered to emit a cleaning pulse. Within a preset microsecond time window after the fiber laser pulse ends, an Nd:YAG pulsed laser is triggered again to irradiate the same micro-area, causing localized plasma generation in the material, such as... Figure 3 As shown, the spectrometer performs integration and acquisition within a time window corresponding to the Nd:YAG pulse under synchronous control to obtain the emission spectrum data under the action of that pulse.

[0046] The fiber laser pulses, Nd:YAG pulses, and spectral acquisition data emitted sequentially within the same grid cell are uniformly numbered to form a spectral data sequence arranged according to the pulse sequence, which facilitates subsequent analysis of the coating fading and substrate exposure process in chronological order.

[0047] For example, before the formal stripping operation, a coating reference sample containing only the coating and a substrate reference sample exposing the concrete matrix are selected respectively. Multiple Nd:YAG pulse excitations and spectral acquisitions are performed on both types of reference samples. For the coating reference sample, the peak intensity of the coating characteristic element spectral lines (e.g., carbon element characteristic spectral lines) is extracted in each acquisition, and the average of the peak intensities obtained from multiple acquisitions is calculated. This average value is recorded as the coating reference intensity. For the matrix reference sample, the peak intensities of the matrix characteristic element spectral lines (e.g., calcium characteristic spectral lines) are measured multiple times in the same manner, and the average value is recorded as the matrix reference intensity. .

[0048] In the actual stripping process, for any grid cell, the first... Nd:YAG pulse excitation was used to extract the peak intensity of the coating's characteristic spectral lines from the spectral data. and the peak intensity of the matrix characteristic spectral lines The normalized strength of the coating was obtained by normalizing the strength. and matrix normalized strength The calculation formula is:

[0049] ,

[0050] ,

[0051] in, and All are dimensionless quantities; Indicates the first The term refers to the intensity ratio of the coating's characteristic spectral lines relative to the coating reference sample under the current pulse. Indicates the first The intensity ratio of the matrix characteristic spectral lines to the matrix reference sample under subpulse irradiation. The higher the value, the stronger the contribution of the coating components. The higher the value, the stronger the contribution of the concrete matrix components.

[0052] In a preferred embodiment, to comprehensively reflect the coating fading and substrate exposure, the third... Sub-pulse action, i.e., the ratio of substrate strength to coating strength under the current pulse action. The calculation formula is:

[0053] ,

[0054] in, It is a dimensionless quantity; To prevent small positive numbers with a denominator of zero, we can choose to... Within the range. The higher the value, the higher the proportion of the matrix component relative to the coating component under that pulse action.

[0055] As those skilled in the art will know, during the calibration phase, the upper limit threshold of the normalized intensity of the coating can be determined by statistically analyzing the spectral data of different peel depth states (thick coating, near the coating-substrate interface, and completely exposed substrate). Lower threshold of matrix normalized strength and the lower limit threshold of the intensity ratio .

[0056] In one implementation, it can be specified that: when At that time, it was believed that very little coating residue remained; when At that time, it was believed that the matrix was fully exposed; when It was believed that the matrix components dominated the spectrum.

[0057] Generally speaking, in this embodiment The value range is 0.10-0.20. The value range is 0.70-0.90. The value range is 1.0-2.0. In this embodiment, during the initial pulse when the coating is thicker, Typically above 0.8, Generally below 0.2, Less than 0.5, as the stripping process proceeds, Gradually decreasing, Gradually rise, and as it approaches the interface, It dropped to around 0.2. Approximately 0.8 It can rise to above 1.5. However, the present invention is not limited to the above numerical range; it can be reset through calibration tests under other material systems or operating conditions. The specific value to be taken.

[0058] In a preferred embodiment, to avoid misjudgments caused by random fluctuations in a single pulse, the analysis is not limited to the analysis of a single pulse. , , Whether the threshold condition is met, and also constrain the changing trend of multiple consecutive pulses. For example, the first... Relative change in coating strength after the second pulse Relative change in matrix strength The calculation formula is as follows:

[0059] ,

[0060] ,

[0061] in, and Both are dimensionless quantities, used to characterize the relative changes in the normalized intensity of the coating and the normalized intensity of the substrate between two adjacent pulses. and When the value is small, it indicates that the spectral distribution has become stable.

[0062] For example, a stability threshold can be set. The value range is 0.02-0.05, and the number of consecutive judgments M is set to 3, that is, the relative change of the normalized intensity of the coating and the normalized intensity of the substrate is calculated three times in a row. If the results of the three calculations are all less than the stability threshold, it indicates that the spectral distribution has become stable.

[0063] In one implementation, the current grid cell is determined to have reached the stripping endpoint when the following conditions are met:

[0064] (1) Under the current pulse action, the normalized intensity of the coating satisfies:

[0065] ;

[0066] (2) Under the current pulse action, the normalized matrix intensity and intensity ratio satisfy the following:

[0067] ;

[0068] (3) In the most recent consecutive During the next pulse, both the relative change in coating strength and the relative change in substrate strength satisfy the following:

[0069] ;

[0070] When all three conditions above are met simultaneously, the coating stripping within the grid cell can be considered complete and the process stable. A command is then sent to the fiber laser to stop the current micro-area laser output, and a command is sent to the robot motion control module to move to the next grid cell. This achieves automatic identification and exit from the endpoint of individual micro-area stripping. Figure 2 As shown.

[0071] To further enhance security, a preferred embodiment may also set a maximum pulse count limit for each grid cell. When a certain grid cell is in continuous If the above endpoint judgment conditions are not met after the second laser treatment, the grid cell can be marked as an "abnormal area" or "complex interface area", the laser stripping of the area can be stopped, and the area can be specially marked in the health status map and processing report so that other methods can be used for manual inspection or special reinforcement treatment in the future.

[0072] In other embodiments, for grid cells with third-level defects and the aforementioned "abnormal regions," only Nd:YAG laser excitation and spectral acquisition are performed to understand the material composition or contamination status of the area, but no coating removal is performed. The corresponding data is recorded in the processing report with special markings, indicating that a specialized reinforcement or repair process is required subsequently.

[0073] As those skilled in the art know, diagnostic scan data, comprehensive defect indices and defect levels, corresponding peeling power and scanning speed parameters, actual number of laser pulses, and endpoint judgment results for each grid cell can be recorded and stored in association. Based on this, a concrete health status map is generated in the surface coordinate system of the area to be treated to visually display the spatial distribution of areas with different defect levels; and / or a peeling coverage map is generated to identify areas that have been peeled, abnormally terminated areas, and untreated areas.

[0074] In a preferred embodiment, statistical analysis can also be performed on the spectral characteristics of representative grid cells during the stripping process, the satisfaction of endpoint criteria, and the process parameters corresponding to different defect levels. This results in a processing report containing basic operational information, a summary of defect distribution, stripping coverage, abnormal area markings, and key parameter records. This processing report can be stored or exported as an electronic file to support subsequent structural health assessments, reinforcement decisions, and long-term operation and maintenance management, enabling visualization and traceability management of the concrete structure surface treatment process.

[0075] Through the above specific implementation methods, the judgment method of the present invention can identify the interface in real time and automatically determine the endpoint during the stripping process, and automatically form a digital operation record after stripping, thereby significantly improving the safety, accuracy and automation level of the operation, realizing real-time perception, intelligent control and full-process traceability of concrete surface coating removal, and has high engineering application value and promotion significance.

[0076] In a preferred embodiment, a parameter adjustment step is also included, specifically: when the fiber laser is controlled to perform multiple laser scans on the same target grid unit, the laser scanning parameters are adjusted according to the current number of scans. For example, the adjustment coefficient corresponding to the current number of scans is obtained, and the current laser scanning parameters are optimized through the adjustment coefficient. The more scans, the laser scanning parameters gradually decrease within a preset range to prevent damage to the substrate.

[0077] In a preferred embodiment, an early warning step is further included, specifically: in the initial stage of coating peeling, multiple coating normalized strengths or substrate normalized strengths are obtained and arranged in chronological order; if the coating normalized strength does not conform to the gradually decreasing characteristic, or the substrate normalized strength does not conform to the gradually increasing characteristic, an early warning is issued to remind managers to find the cause of the fault in a timely manner.

[0078] 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.

[0079] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the concrete coating peeling endpoint determination method described above.

[0080] Figure 4 This is a schematic diagram of a concrete coating peeling endpoint determination device provided in one embodiment, as shown below. Figure 4 As shown, it includes a first control module 100, a second control module 200, an analysis module 300, and a judgment module 400.

[0081] The first control module 100 is used to control the fiber laser to scan each target grid unit of the target stripping path in sequence to strip the coating;

[0082] The second control module 200 is used to control the pulsed laser to emit pulsed laser to the corresponding area within a microsecond-level time window after each scan, and to collect the emission spectrum data of the generated plasma.

[0083] The analysis module 300 is used to extract real-time spectral features and / or continuous spectral features of the emission spectral data;

[0084] The judgment module 400 is used to determine that the coating of the corresponding target grid unit has been completely peeled off when the real-time spectral features and / or the continuous spectral features meet preset conditions.

[0085] The above embodiments provide a concrete coating peeling endpoint determination device, which can identify the interface in real time during the peeling process and automatically determine the endpoint. After peeling, it automatically generates a digital operation record, thereby significantly improving the safety, accuracy and automation level of the operation. It realizes real-time perception, intelligent control and full-process traceability of concrete surface coating removal, and has high engineering application value and promotion significance.

[0086] It should be noted that the explanation of the concrete coating peeling endpoint determination method embodiment described above also applies to the concrete coating peeling endpoint determination device of the above embodiment, and will not be repeated here.

[0087] This invention also provides a concrete coating peeling endpoint determination device, including a computer-readable storage medium and a processor, wherein the processor executes a computer program on the computer-readable storage medium to implement the steps of the concrete coating peeling endpoint determination method described above.

[0088] Figure 5 This is a structural schematic diagram of the concrete coating peeling endpoint determination device provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the concrete coating peeling endpoint determination device 8 of this embodiment includes: a processor 80, a readable storage medium 81, and a computer program 82 stored in the readable storage medium 81 and executable on the processor 80. When the processor 80 executes the computer program 82, it implements the steps in the various method embodiments described above, for example... Figure 1 The steps shown. Alternatively, when the processor 80 executes the computer program 82, it implements the functions of each module in the above-described device embodiments, for example... Figure 4 The functions of the module shown.

[0089] For example, the computer program 82 may be divided into one or more modules, which are stored in the readable storage medium 81 and executed by the processor 80 to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 82 in the concrete coating peeling endpoint determination device 8.

[0090] The concrete coating peeling endpoint determination device 8 may include, but is not limited to, a processor 80 and a readable storage medium 81. Those skilled in the art will understand that... Figure 5This is merely an example of the concrete coating peeling endpoint determination device 8 and does not constitute a limitation on the concrete coating peeling endpoint determination device 8. It may include more or fewer components than shown, or combine certain components, or different components. For example, the concrete coating peeling endpoint determination device may also include a power management module, a computing processing module, input / output devices, network access devices, buses, etc.

[0091] The processor 80 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0092] The readable storage medium 81 can be an internal storage unit of the concrete coating peeling endpoint determination device 8, such as a hard drive or memory of the device. The readable storage medium 81 can also be an external storage device of the device, such as a plug-in hard drive, SmartMediaCard (SMC), SecureDigital (SD) card, or FlashCard. Furthermore, the readable storage medium 81 can include both internal and external storage units of the device. The readable storage medium 81 is used to store the computer program and other programs and data required by the device. The readable storage medium 81 can also be used to temporarily store data that has been output or will be output.

[0093] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0094] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0095] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0096] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0097] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0098] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0099] The present invention is not limited to the description in the specification and embodiments, and thus other advantages and modifications can be readily realized by those skilled in the art. Therefore, the present invention is not limited to the specific details, representative devices and illustrated examples shown and described herein without departing from the spirit and scope of the general concept as defined by the claims and their equivalents.

Claims

1. A method for determining the endpoint of concrete coating peeling, characterized in that, Includes the following steps: Step 1: Control the fiber laser to scan each target grid cell of the target stripping path in sequence to strip the coating; Step 2: In the microsecond-level time window after each scan, control the pulsed laser to emit pulsed laser to the corresponding area and collect the emission spectrum data of the generated plasma; Step 3: Extract the real-time spectral features and / or continuous spectral features of the emission spectral data; Step 4: When the real-time spectral features and / or the continuous spectral features meet the preset conditions, it is determined that the coating of the corresponding target grid unit has been completely peeled off. Step 5: Repeat the above steps until the coating of each target grid cell in the target stripping path has been completely stripped.

2. The method for determining the end point of concrete coating peeling according to claim 1, characterized in that, The real-time spectral features include the normalized intensity of the coating, the normalized intensity of the substrate, and / or the ratio of substrate to coating intensity after the current pulsed laser scan.

3. The method for determining the endpoint of concrete coating peeling according to claim 2, characterized in that, The continuous spectral characteristics include the relative change in coating intensity and / or the relative change in substrate intensity corresponding to two adjacent pulsed laser scans.

4. The method for determining the end point of concrete coating peeling according to claim 3, characterized in that, The preset conditions include: Condition 1: ; Condition 2: ,and ; Condition 3: ,and ; in, n represents the current scan number of the pulsed laser, and M represents the number of consecutive judgments. , , These represent the normalized intensity of the coating, the normalized intensity of the substrate, and the intensity ratio after the current pulsed laser scan, respectively. , These represent the relative changes in coating strength and the relative changes in substrate strength over M consecutive cycles, respectively. , , , These are preset thresholds. When all three conditions are met simultaneously, the coating peeling of the corresponding target grid cell is completed.

5. The method for determining the end point of concrete coating peeling according to any one of claims 1-4, characterized in that, It also includes safety control steps, specifically: during the coating peeling process, if the current number of laser pulses of any target grid cell exceeds a preset threshold and peeling is not completed, the process is forcibly stopped and the target grid cell is marked as abnormal.

6. The method for determining the end point of concrete coating peeling according to claim 5, characterized in that, When the fiber laser is controlled to perform multiple laser scans on the same target grid cell, the laser scanning parameters are adjusted according to the current number of scans.

7. The method for determining the end point of concrete coating peeling according to claim 5, characterized in that, It also includes an early warning step, specifically: in the initial stage of coating peeling, multiple coating normalized intensities or substrate normalized intensities are obtained and arranged in chronological order. If the coating normalized intensities do not conform to the gradually decreasing characteristic, or the substrate normalized intensities do not conform to the gradually increasing characteristic, an early warning is issued.

8. A device for determining the endpoint of concrete coating peeling, based on the method of any one of claims 1-7, characterized in that, It includes a first control module, a second control module, an analysis module, and a judgment module. The first control module is used to control the fiber laser to scan each target grid unit of the target stripping path in sequence to strip the coating; The second control module is used to control the pulsed laser to emit pulsed laser to the corresponding area within a microsecond-level time window after each scan, and to collect the emission spectrum data of the generated plasma. The analysis module is used to extract real-time spectral features and / or continuous spectral features from the emission spectral data; The judgment module is used to determine that the coating of the corresponding target grid unit has been completely peeled off when the real-time spectral features and / or the continuous spectral features meet preset conditions.

9. A device for determining the endpoint of concrete coating peeling, comprising a computer-readable storage medium and a processor, characterized in that, When the processor executes a computer program on the computer-readable storage medium, it implements the steps of the method according to any one of claims 1-7.

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