An automated workpiece cleaning system, method, apparatus, and medium

Abstract

The application discloses an automatic workpiece cleaning system, method, device and medium, relates to the technical field of automatic equipment, and the system comprises a main control module, which is used for acquiring cleaning station coordinates corresponding to a workpiece to be cleaned and relative position coordinates of a cleaning area; an autonomous mobile module, which is used for collecting current coordinates of the cleaning system in real time, performing path planning according to the current coordinates of the cleaning system and the cleaning station coordinates, and moving to the cleaning station according to a path planning result; a parameter calibration module, which is used for collecting on-site images of the workpiece to be cleaned from multiple different angles, determining an actual pose of the workpiece to be cleaned according to all the on-site images, and calculating cleaning motion parameters according to the actual pose and the relative position coordinates of the cleaning area; and a workpiece cleaning module, which is used for performing cleaning work on the cleaning area on the workpiece to be cleaned according to the cleaning motion parameters. The application improves the flexibility, efficiency and automation level of workpiece cleaning, and reduces labor costs.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to an automated workpiece cleaning system, method, equipment and medium. Background Technology

[0002] Traditional workpiece surface cleaning operations rely heavily on manual operation or fixed-station equipment, resulting in poor flexibility, low efficiency, and high labor costs. Manual operation makes it difficult to guarantee the stability of cleaning quality, and it is also difficult to operate on large or complex workpieces. Fixed-station equipment cannot adapt to the needs of multi-station and multi-scenario operations, making it difficult to achieve automated flow and precise processing of workpieces.

[0003] With the development of intelligent manufacturing, higher requirements are being placed on the automation and intelligence of workpiece surface treatment. While autonomous mobile carriers (such as Automated Guided Vehicles, AGVs) can achieve automated material transfer, they lack deep integration with surface treatment technologies such as laser cleaning. On the other hand, existing robotic cleaning equipment (such as laser cleaning equipment) is mostly fixed and cannot be flexibly moved to different workstations, which limits production efficiency and the expansion of application scenarios. Summary of the Invention

[0004] The purpose of this application is to provide an automated workpiece cleaning system, method, equipment, and medium that can improve the flexibility, efficiency, and automation level of workpiece cleaning while reducing labor costs.

[0005] To achieve the above objectives, this application provides the following solution.

[0006] In a first aspect, this application provides an automated workpiece cleaning system, comprising: a main control module, used to acquire the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the area to be cleaned on the workpiece; an autonomous movement module, used to collect the current coordinates of the cleaning system in real time, perform path planning based on the current coordinates of the cleaning system and the coordinates of the cleaning station, and move to the cleaning station corresponding to the workpiece to be cleaned according to the path planning result; a parameter calibration module, placed on the autonomous movement module, used to acquire on-site images of the workpiece to be cleaned from multiple different perspectives, determine the actual pose of the workpiece to be cleaned based on all on-site images, and calculate cleaning motion parameters based on the actual pose and the relative position coordinates of the area to be cleaned; the cleaning motion parameters include a cleaning path and a cleaning angle; and a workpiece cleaning module, placed on the autonomous movement module, used to perform cleaning operations on the area to be cleaned on the workpiece according to the cleaning motion parameters.

[0007] Secondly, this application provides an automated workpiece cleaning method, comprising: acquiring the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the area to be cleaned on the workpiece; acquiring the current coordinates of the cleaning system in real time, performing path planning based on the current coordinates of the cleaning system and the coordinates of the cleaning station, and moving to the cleaning station corresponding to the workpiece to be cleaned according to the path planning result; acquiring on-site images of the workpiece to be cleaned from multiple different perspectives, determining the actual pose of the workpiece to be cleaned based on all on-site images, and calculating cleaning motion parameters based on the actual pose and the relative position coordinates of the area to be cleaned; the cleaning motion parameters include the cleaning path and the cleaning angle; and performing cleaning operations on the area to be cleaned on the workpiece according to the cleaning motion parameters.

[0008] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described automated workpiece cleaning method.

[0009] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described automated workpiece cleaning method.

[0010] Based on the specific embodiments provided in this application, the following technical effects are disclosed.

[0011] This application provides an automated workpiece cleaning system, method, equipment, and medium. The main control module acquires the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the areas to be cleaned on the workpiece, providing a basic positional reference for the entire system and raw position input for subsequent path planning and parameter calculation. The autonomous movement module collects the current coordinates of the cleaning system in real time, performs path planning based on the cleaning station coordinates, and moves to the cleaning station corresponding to the workpiece according to the path planning results. This enables the autonomous movement module, equipped with cleaning components, to autonomously complete station movement without manual handling or adjustment of equipment positions, reducing the degree of manual intervention in on-site operations and improving efficiency. The automation level of workpiece cleaning operations is achieved through a parameter calibration module mounted on an autonomous moving module. This module acquires images of the workpiece from multiple perspectives to calculate its actual position and further calculates the cleaning motion parameters. This compensates for positional deviations between the actual placement of the workpiece and its preset position, eliminating operational errors caused by workpiece placement offsets and ensuring that the calculated cleaning motion parameters match the actual installation posture of the workpiece. The workpiece cleaning process executes cleaning operations on the area to be cleaned based on the cleaning motion parameters. It can accurately complete the cleaning of the target area by relying on the calibrated motion parameters, avoiding positional offsets during cleaning operations and improving the accuracy of cleaning operations on the area to be cleaned. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0013] Figure 1 This is a schematic diagram of the functional modules of an automated workpiece cleaning system provided in an embodiment of this application.

[0014] Figure 2 This is a schematic diagram of the overall structure of an automated workpiece cleaning system provided in an embodiment of this application.

[0015] Figure 3 This is a side view of an automated workpiece cleaning system provided in an embodiment of this application.

[0016] Figure 4 This is an isometric schematic diagram of an automated workpiece cleaning system provided in an embodiment of this application.

[0017] Figure 5 This is a front view structural diagram of an automated workpiece cleaning system provided in an embodiment of this application.

[0018] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.

[0019] Reference numerals: 1-robotic arm, 2-laser cleaning gun head, 3-cabinet, 4-AGV control panel, 5-laser, 6-AGV trolley, 7-laser control unit, 8-robotic arm control module, 9-first sensor, 10-power supply unit for robotic arm and laser components, 11-power supply unit for AGV trolley, 12-second sensor, 13-drive wheel set, 14-positioning module, 15-gun head visual positioning unit, 16-visual obstacle avoidance unit. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] In one exemplary embodiment, such as Figure 1 As shown, an automated workpiece cleaning system is provided, including a main control module 001, an autonomous movement module 002, a parameter calibration module 003, and a workpiece cleaning module 004.

[0023] The main control module 001 is used to obtain the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the area to be cleaned on the workpiece to be cleaned.

[0024] The autonomous movement module 002 is used to collect the current coordinates of the cleaning system in real time, perform path planning based on the current coordinates of the cleaning system and the coordinates of the cleaning station, and move to the cleaning station corresponding to the workpiece to be cleaned based on the path planning result.

[0025] The parameter calibration module 003 is mounted on the autonomous movement module and is used to acquire on-site images of the workpiece to be cleaned from multiple different perspectives. Based on all the on-site images, the actual pose of the workpiece to be cleaned is determined, and the cleaning motion parameters are calculated based on the actual pose and the relative position coordinates of the area to be cleaned. The cleaning motion parameters include the cleaning path and the cleaning angle.

[0026] The workpiece cleaning module 004 is placed on the autonomous moving module and is used to perform cleaning operations on the area to be cleaned on the workpiece according to the cleaning motion parameters.

[0027] In another example, such as Figure 2 As shown, the automated workpiece cleaning system consists of a robotic arm 1, a laser cleaning module, an AGV (Automated Guided Vehicle) trolley 6, an image processing module, and a power supply system. The AGV trolley 6 is responsible for the automated transfer of the entire system according to preset work points (i.e., cleaning station coordinates). The robotic arm 1, as the core actuator, is equipped with the laser cleaning module and the image processing module, used to complete workpiece surface treatment and automatic calibration at designated cleaning stations. The power supply system provides stable power support to all modules.

[0028] In one example, the autonomous mobility module 002 includes a positioning sensor, a path planning unit, and a drive wheel assembly.

[0029] The positioning sensor is used to collect the current coordinates of the cleaning system in real time.

[0030] The path planning unit is used to obtain the path planning result by taking the current coordinates of the cleaning system as the starting point and the coordinates of the cleaning station as the ending point, using the path planning method.

[0031] The drive wheel assembly is used to move to the cleaning station corresponding to the workpiece to be cleaned according to the path planning results.

[0032] In one example, the autonomous movement module 002 further includes an obstacle recognition unit. The obstacle recognition unit is used to collect environmental perception data in real time during the movement of the drive wheel assembly, calculate the coordinates and dimensions of obstacles on the movement path based on the environmental perception data, and generate obstacle avoidance commands based on the path planning results, the obstacle coordinates, and the obstacle dimensions.

[0033] The drive wheel assembly is also used to adjust the direction of movement according to the obstacle avoidance command to achieve obstacle avoidance.

[0034] In one example, such as Figure 2 As shown, the autonomous movement module is the AGV vehicle 6. The AGV vehicle 6 has autonomous navigation and positioning capabilities. It can autonomously plan its path within the area where the workpiece to be cleaned is located based on the preset coordinates of the cleaning station, realize the automated transfer of the system, ensure that the system accurately reaches different cleaning stations, and meet the needs of multi-station operations.

[0035] Specifically, the AGV 6 is equipped with a high-precision navigation and positioning system that utilizes mature technologies such as laser navigation and visual navigation. Combined with preset cleaning station coordinates, it adjusts its route in real time through path planning algorithms to avoid obstacles and accurately reach the target station. Simultaneously, the AGV 6 has a communication interface with the main control module (which can be a host computer or control system), enabling it to receive work instructions and provide feedback on its own position and status information.

[0036] In one example, such as Figures 2 to 5 As shown, the AGV trolley 6 includes an AGV control screen 4, a first sensor 9, a second sensor 12, a drive wheel set 13, and a visual obstacle avoidance unit 16.

[0037] The AGV control screen 4 is used for human-machine interaction, configuring parameters and displaying the status of the AGV trolley 6, receiving work instructions from operators, and providing feedback on equipment operation and fault information. The first sensor 9 collects positioning and sensing data, providing the current coordinates of the cleaning system, supporting system coordinate calculation, and assisting in station navigation and positioning. The second sensor 12 collects surrounding environmental information, assisting in obstacle detection, cooperating in achieving on-site environmental perception, and providing raw sensing data for obstacle avoidance. The drive wheel set 13, as the walking execution component, moves to the cleaning station corresponding to the workpiece to be cleaned according to the path planning results. Specifically, the drive wheel set 13 can receive motion commands, drive the entire machine to move, and complete travel, turning, and obstacle avoidance adjustment actions. The visual obstacle avoidance unit 16 collects environmental image data on the path, identifies obstacles, and outputs obstacle avoidance related signals to assist the drive wheel set in obstacle avoidance and ensure safety during movement.

[0038] In one example, the parameter calibration module 003 includes an image acquisition unit, an image processing unit, and a motion parameter calibration unit.

[0039] The image acquisition unit is used to acquire on-site images of the workpiece to be cleaned from multiple different perspectives.

[0040] The image processing unit is used to perform pose calculation based on all the on-site images to determine the actual pose of the workpiece to be cleaned.

[0041] The motion parameter calibration unit is used to calculate the cleaning motion parameters based on the actual pose and the relative position coordinates of the area to be cleaned.

[0042] Specifically, the relative position coordinates of the area to be cleaned are the coordinate set in the local coordinate system of the workpiece to be cleaned. The actual pose of the workpiece calculated by the image processing unit represents the translation and rotation transformation relationship of the local coordinate system of the workpiece relative to the global coordinate system of the system. The motion parameter calibration unit uses the transformation matrix corresponding to the actual pose to transform the relative position coordinates of the area to be cleaned in the local coordinate system of the workpiece to the global coordinate system of the system, and obtains the spatial point sequence that the laser cleaning unit needs to traverse and the corresponding gun head posture, and then obtains the cleaning motion parameters including the cleaning path and cleaning angle.

[0043] In one example, such as Figure 2 As shown, the robotic arm 1 is equipped with an image processing module. After the system arrives at the cleaning station, it acquires images of the workpiece to be cleaned through an image acquisition device. The image processing algorithm is used to identify and analyze the position, posture, size and other parameters of the workpiece to be cleaned, and achieves automatic calibration to ensure that the laser cleaning module can accurately align with the area of ​​the workpiece to be cleaned, thereby improving the cleaning accuracy and efficiency.

[0044] Specifically, a high-definition industrial camera and other image acquisition equipment are installed at the end of robotic arm 1. After arriving at the cleaning station, robotic arm 1 adjusts the camera position to acquire images of the workpiece to be cleaned from multiple angles. The acquired images are transmitted to the image processing unit, where key feature information of the workpiece is extracted through image processing algorithms such as edge detection, feature matching, and 3D reconstruction, and the actual position and posture deviation of the workpiece are calculated. The motion parameter calibration unit adjusts the motion parameters of robotic arm 1 in real time based on the deviation information to achieve automatic calibration, ensuring precise alignment between the laser cleaning module and the area to be cleaned on the workpiece. In one example, such as... Figure 3 As shown, robotic arm 1 is controlled by robotic arm control module 8.

[0045] In one example, the workpiece cleaning module 004 includes a motion control unit and a cleaning unit.

[0046] The motion control unit is used to move according to the cleaning path and the cleaning angle.

[0047] The cleaning unit is placed on the motion control unit and is used to perform cleaning operations on the area to be cleaned on the workpiece during the movement of the motion control unit.

[0048] In one example, the cleaning unit is a laser cleaning unit. The workpiece cleaning module 004 also includes a laser control unit.

[0049] The laser control unit is used to control the laser parameters output by the laser cleaning unit. The laser parameters include laser intensity, laser power, and laser frequency.

[0050] In one example, such as Figure 2 As shown, the robotic arm 1 is equipped with a laser cleaning module. After the AGV trolley 6 arrives at the designated cleaning station, the robotic arm 1 adjusts its posture according to the preset program so that the laser cleaning module can perform precise cleaning on the surface of the workpiece to be cleaned, effectively removing stains, rust, coatings and other substances from the workpiece surface, and achieving efficient and high-quality surface treatment.

[0051] Specifically, robotic arm 1 adopts a multi-degree-of-freedom design, possessing flexible movement capabilities. It can precisely adjust the spatial position and attitude of the laser cleaning module according to the shape, position, and cleaning requirements of the workpiece to be cleaned. The motion control of the robotic arm, as well as the start / stop and power adjustment of the laser cleaning module, are all uniformly coordinated by the main control module.

[0052] In one example, such as Figures 2 to 4 As shown, the laser cleaning module includes a laser cleaning gun head 2, a laser 5, a laser control unit 7, and a gun head vision positioning unit 15.

[0053] The laser cleaning gun head 2 serves as the cleaning execution end, outputting a laser beam to the area to be cleaned. It uses laser energy to remove contaminants from the workpiece surface, completing the cleaning process. The laser 5 generates the necessary laser source for cleaning, providing energy output to the laser cleaning gun head and ensuring sufficient laser power for the cleaning operation. In this example, a high-power, high-stability laser is selected, working in conjunction with the laser cleaning gun head 2 and a professional optical system to focus the laser beam onto the workpiece surface. The cleaning purpose is achieved through the interaction between the laser and the workpiece surface material. The laser control unit 7 regulates the laser output parameters, configuring and adjusting parameters such as laser power and pulse frequency to adapt to different workpiece surface cleaning conditions. The gun head vision positioning unit 15 acquires local image information of the workpiece, assisting in calibrating the position of the laser cleaning gun head relative to the area to be cleaned, ensuring the laser spot is accurately aligned with the target cleaning position.

[0054] In one example, the automated workpiece cleaning system further includes a first power supply module and a second power supply module.

[0055] The first power supply module is used to supply power to the autonomous mobile module.

[0056] The second power supply module is used to supply power to the parameter calibration module and the workpiece cleaning module.

[0057] In one example, the automated workpiece cleaning system is also equipped with a power supply module to provide a stable and reliable power supply to all modules of the system, ensuring the normal operation of the system.

[0058] Among them, the AGV trolley 6 is powered by a separate battery to meet its power needs for autonomous movement; the laser cleaning module and the robot part (robotic arm 1 and image processing module) use external power supply to ensure stable operation of high-power equipment.

[0059] Specifically, the AGV 6 is equipped with a high-capacity, long-endurance battery pack to provide power for its drive system, navigation and positioning system, and communication system. The laser cleaning module and the robot are connected to a stable power system via an external power supply line, employing voltage stabilization and filtering technologies to ensure the stability and safety of the power supply. Simultaneously, the power supply module has power monitoring and alarm functions to monitor the power status of each module in real time, promptly issuing alarm messages when the power is insufficient to remind operators to charge or maintain the vehicle.

[0060] In one example, such as Figure 2 and Figure 4 As shown, the automated workpiece cleaning system also includes a cabinet 3, in which the power supply unit 10 for the robotic arm and laser is placed, and the power supply unit 11 for the AGV trolley is placed in the AGV trolley 6. In addition, a positioning module 14 is installed in the cabinet 3. The positioning module 14 is used to collect environmental perception information, calculate the current coordinates of the entire machine, provide the system with its own position data, support the navigation, path planning, and station positioning of the AGV trolley 6, and ensure that the equipment can accurately travel to the cleaning station coordinates.

[0061] In one example, the overall workflow of an automated workpiece cleaning system is as follows.

[0062] 1. System Deployment: Deploy this system in the factory production area. Based on the workstation distribution, preset the coordinate information of each cleaning station in the system. Simultaneously, place the workpiece cleaning module on the AGV's carrying platform, and ensure that the laser cleaning module, image processing module, and power supply module are properly connected.

[0063] 2. Task assignment: The operator issues work tasks to the AGV through the main control module (host computer or control system), including the coordinates of the cleaning station and the requirements for cleaning the workpiece surface.

[0064] 3. Autonomous Movement: After receiving the task instruction, the AGV activates its navigation and positioning system and autonomously plans its path based on the coordinates of the cleaning station. During its journey, the AGV uses LiDAR or vision sensors to detect the surrounding environment in real time, avoiding obstacles and ensuring safe and accurate location at the designated cleaning station.

[0065] 4. Automatic Calibration: After the AGV arrives at the cleaning station, the robotic arm extends to the appropriate position and starts the image acquisition device to acquire images of the workpiece. The image processing module acquires and analyzes the images of the workpiece to be cleaned, identifies the feature information of the workpiece, calculates the position and posture deviation of the workpiece to be cleaned, and the robotic arm performs automatic calibration and fine-tuning based on the deviation information to align the laser cleaning module with the area of ​​the workpiece to be cleaned.

[0066] 5. Laser Cleaning: After calibration, the robotic arm moves according to the preset cleaning trajectory, adjusts the posture of the laser cleaning module, and starts the laser cleaning module to clean the surface of the workpiece. During the cleaning process, the control system monitors parameters such as laser power and cleaning speed in real time, and adjusts the laser parameters and the robotic arm's movement trajectory according to the cleaning effect to ensure cleaning quality.

[0067] 6. Task Completion and Transfer: After the cleaning task is completed, the AGV receives a new work instruction, restarts its autonomous movement function, and moves to the next workstation to repeat the above automatic calibration and laser cleaning process, realizing multi-station, continuous automated surface treatment of workpieces until the workpiece cleaning tasks of all workstations are completed.

[0068] The robotic arm's motion trajectory, laser cleaning parameters, and image processing algorithms can be flexibly adjusted and optimized according to the type, size, and cleaning requirements of the workpiece to be cleaned, in order to adapt to different cleaning needs.

[0069] In another exemplary embodiment, an automated workpiece cleaning method is provided, comprising the following steps 1 to 4.

[0070] Step 1: Obtain the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the area to be cleaned on the workpiece.

[0071] Step 2: Collect the current coordinates of the cleaning system in real time, perform path planning based on the current coordinates of the cleaning system and the coordinates of the cleaning station, and move to the cleaning station corresponding to the workpiece to be cleaned according to the path planning result.

[0072] Step 3: Acquire on-site images of the workpiece to be cleaned from multiple different perspectives. Determine the actual pose of the workpiece based on all the on-site images. Calculate the cleaning motion parameters based on the actual pose and the relative position coordinates of the area to be cleaned. The cleaning motion parameters include the cleaning path and the cleaning angle.

[0073] Step 4: Perform a cleaning operation on the area to be cleaned on the workpiece according to the cleaning motion parameters.

[0074] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 6 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media to run. The database contains the coordinates of the cleaning station corresponding to the workpiece to be cleaned, the relative position coordinates of the areas to be cleaned on the workpiece, and the current coordinates of the cleaning system. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements an automated workpiece cleaning method.

[0075] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer equipment to which the present application is applied. Specific computer equipment may include, for example, [the following is a list of possible additional structures]. Figure 6 The diagram shows more or fewer components, or combinations of certain components, or different component arrangements.

[0076] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0077] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0078] The beneficial effects of this application are as follows.

[0079] 1. High degree of automation and flexibility: This application organically combines the autonomous movement capability of AGV vehicles with robotic laser cleaning technology, realizing the automated transfer and surface treatment of workpieces to be cleaned. The working position can be flexibly adjusted according to production needs, adapting to multi-station and multi-scenario production operations, and greatly improving production efficiency and flexibility.

[0080] 2. Precise positioning and calibration: The image processing function on the robotic arm enables automatic calibration of the workpiece to be cleaned, ensuring that the laser cleaning module can accurately align with the area to be cleaned, thereby improving cleaning accuracy and quality and reducing errors and time costs associated with manual calibration.

[0081] 3. Reasonable power supply configuration: The AGV is powered by a separate battery, while the laser cleaning and robot parts use external power. This not only meets the flexibility requirements of the AGV, but also ensures the stable operation of the high-power laser cleaning equipment, thus improving the reliability and stability of the system.

[0082] 4. Reduced costs and increased efficiency: The system automates the surface treatment of workpieces to be cleaned, reducing manual intervention and lowering labor costs and intensity. At the same time, the efficient automated process improves production efficiency, shortens the production cycle, and helps enterprises enhance their market competitiveness.

[0083] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0084] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0085] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An automated workpiece cleaning system, characterized in that, The system includes: The main control module is used to obtain the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the area to be cleaned on the workpiece to be cleaned. The autonomous movement module is used to collect the current coordinates of the cleaning system in real time, perform path planning based on the current coordinates of the cleaning system and the coordinates of the cleaning station, and move to the cleaning station corresponding to the workpiece to be cleaned based on the path planning result. A parameter calibration module, mounted on the autonomous movement module, is used to acquire on-site images of the workpiece to be cleaned from multiple different perspectives, determine the actual pose of the workpiece to be cleaned based on all on-site images, and calculate the cleaning motion parameters based on the actual pose and the relative position coordinates of the area to be cleaned; the cleaning motion parameters include the cleaning path and the cleaning angle. The workpiece cleaning module is placed on the autonomous moving module and is used to perform cleaning operations on the area to be cleaned on the workpiece according to the cleaning motion parameters. The first power supply module is used to supply power to the autonomous mobile module; The second power supply module is used to supply power to the parameter calibration module and the workpiece cleaning module; The first power supply module and the second power supply module are also used to monitor the power status of the autonomous movement module, the parameter calibration module and the workpiece cleaning module in real time, and issue an alarm message when the power is insufficient.

2. The automated workpiece cleaning system according to claim 1, characterized in that, The autonomous mobility module includes: A positioning sensor is used to collect the current coordinates of the cleaning system in real time; The path planning unit is used to obtain the path planning result by taking the current coordinates of the cleaning system as the starting point and the coordinates of the cleaning station as the ending point, using the path planning method. The drive wheel assembly is used to move to the cleaning station corresponding to the workpiece to be cleaned according to the path planning result.

3. The automated workpiece cleaning system according to claim 2, characterized in that, The autonomous mobility module also includes: An obstacle recognition unit is used to collect environmental perception data in real time during the movement of the drive wheel assembly, calculate the coordinates and dimensions of obstacles on the movement path based on the environmental perception data, and generate obstacle avoidance commands based on the path planning results, the obstacle coordinates and the obstacle dimensions. The drive wheel assembly is also used to adjust the direction of movement according to the obstacle avoidance command to achieve obstacle avoidance.

4. The automated workpiece cleaning system according to claim 1, characterized in that, The parameter calibration module includes: An image acquisition unit is used to acquire on-site images of the workpiece to be cleaned from multiple different perspectives; The image processing unit is used to perform pose calculation based on all on-site images to determine the actual pose of the workpiece to be cleaned. The motion parameter calibration unit is used to calculate the cleaning motion parameters based on the actual pose and the relative position coordinates of the area to be cleaned.

5. The automated workpiece cleaning system according to claim 1, characterized in that, The workpiece cleaning module includes: A motion control unit is used to move according to the cleaning path and the cleaning angle; A cleaning unit, placed on the motion control unit, is used to perform cleaning operations on the area to be cleaned on the workpiece during the movement of the motion control unit.

6. The automated workpiece cleaning system according to claim 5, characterized in that, The cleaning unit is a laser cleaning unit; The workpiece cleaning module also includes: The laser control unit is used to control the laser parameters output by the laser cleaning unit; the laser parameters include laser intensity, laser power and laser frequency.

7. An automated workpiece cleaning method, using the automated workpiece cleaning system according to any one of claims 1-6, characterized in that, The method includes: Obtain the coordinates of the cleaning station corresponding to the workpiece to be cleaned and the relative position coordinates of the area to be cleaned on the workpiece to be cleaned. The current coordinates of the cleaning system are collected in real time. Based on the current coordinates of the cleaning system and the coordinates of the cleaning station, path planning is performed, and the system moves to the cleaning station corresponding to the workpiece to be cleaned according to the path planning results. Multiple on-site images of the workpiece to be cleaned are acquired from different perspectives. The actual pose of the workpiece to be cleaned is determined based on all the on-site images. The cleaning motion parameters are calculated based on the actual pose and the relative position coordinates of the area to be cleaned. The cleaning motion parameters include the cleaning path and the cleaning angle. Based on the cleaning motion parameters, a cleaning operation is performed on the area to be cleaned on the workpiece. The autonomous mobile module is powered by a first power supply module; A second power supply module is used to supply power to the parameter calibration module and the workpiece cleaning module. The first power supply module and the second power supply module are used to monitor the power status of the autonomous movement module, the parameter calibration module and the workpiece cleaning module in real time, and issue an alarm message when the power is insufficient.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the automated workpiece cleaning method of claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the automated workpiece cleaning method as described in claim 7.

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