CN109447141A - Away rust by laser method and device based on machine learning - Google Patents
Away rust by laser method and device based on machine learning Download PDFInfo
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- CN109447141A CN109447141A CN201811230383.6A CN201811230383A CN109447141A CN 109447141 A CN109447141 A CN 109447141A CN 201811230383 A CN201811230383 A CN 201811230383A CN 109447141 A CN109447141 A CN 109447141A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/352—Working by laser beam, e.g. welding, cutting or boring for surface treatment
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Abstract
This disclosure relates to the technical field that derusts, and in particular to a kind of away rust by laser method based on machine learning, a kind of laser rust-removing device based on machine learning, a kind of storage medium and a kind of electric terminal.The described method includes: obtaining the first original image；First original image is pre-processed to obtain the first pretreatment image；First pretreatment image is analyzed to obtain laser processing parameter using the parameter computation model trained；Laser is controlled according to the laser processing parameter to derust.The disclosure can be calculated in each image using machine learning model trained in advance corrodes the corresponding laser processing parameter in region, derusts so as to control laser according to the laser control parameters.It is effective to guarantee derusting effect.
Description
Technical field
This disclosure relates to the technical field that derusts, and in particular to a kind of away rust by laser method based on machine learning, Yi Zhongji
In the laser rust-removing device, a kind of storage medium and a kind of electric terminal of machine learning.
Background technique
Laser is able to achieve the Rapid Cleaning of metal surface corrosion layer as a kind of machining tool.Not with traditional diamond-making technique
With laser has many advantages, such as high brightness, high monochromaticity, is able to achieve remote contactless cleaning, therefore can utilize laser
To remote derusting, such as electrification in high voltage device, nuclear device etc..
But the big multipaths of the corresponding laser control method of existing laser rust-removing device is complicated, and controls the essence of away rust by laser
Accuracy is not high.Lead to metal track since ambient conditions is complicated, severe particularly with the equipment under field environment, such as track
Each section corrosion situation differs greatly.And due to derusting result it is more demanding, metal structure cannot be damaged, cause it is existing swash
Light derusting device can not have good derusting result.
It should be noted that information is only used for reinforcing the reason to the background of the disclosure disclosed in above-mentioned background technology part
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
The disclosure is designed to provide a kind of away rust by laser method based on machine learning, is a kind of based on machine learning
Laser rust-removing device, a kind of storage medium and a kind of electric terminal, and then overcome at least to a certain extent due to related skill
One or more problem caused by the limitation and defect of art.
Other characteristics and advantages of the disclosure will be apparent from by the following detailed description, or partially by the disclosure
Practice and acquistion.
According to the disclosure in a first aspect, providing a kind of away rust by laser method based on machine learning, comprising:
Obtain the first original image；
First original image is pre-processed to obtain the first pretreatment image；
First pretreatment image is analyzed using the parameter computation model trained to obtain laser treatment ginseng
Number；
Laser is controlled according to the laser processing parameter to derust.
In a kind of exemplary embodiment of the disclosure, derust controlling laser according to the laser processing parameter
Afterwards, the method also includes:
Obtain the second present image；
Second present image is pre-processed to obtain the second pretreatment image；
First pretreatment image and the second pretreatment image are compared to obtain derusting result.
In a kind of exemplary embodiment of the disclosure, the method also includes:
Judge whether the derusting result meets preset condition；
When judging that the derusting result meets the preset condition, terminate derusting operation；Or
When judging that the derusting result is unsatisfactory for the preset condition, the parameter calculating module pair trained is utilized
Second pretreatment image is analyzed to obtain laser processing parameter, in order to control institute according to the laser processing parameter
Laser is stated to derust.
In a kind of exemplary embodiment of the disclosure, the training parameter computation model, comprising:
Obtain corrosion image collection to be processed；
Using the corrosion image collection to be processed as the original unsupervised model of white silk that enters to participate in training with the computation model that gets parms.
It is described that the image to be processed is pre-processed to obtain first in a kind of exemplary embodiment of the disclosure
Pretreatment image includes:
Gray proces are carried out to obtain the first pretreatment image to first pretreatment image.
According to the second aspect of the disclosure, a kind of laser rust-removing device based on machine learning is provided, comprising:
Image capture module, for obtaining the first original image；
Image processing module, for being pre-processed first original image to obtain the first pretreatment image；
Parameter calculating module, for being analyzed using the parameter computation model trained first pretreatment image
To obtain laser processing parameter；
Operation executing module derusts for controlling laser according to the laser processing parameter.
In a kind of exemplary embodiment of the disclosure, described device further include:
As a result judgment module, for judging whether the derusting result meets preset condition.
In a kind of exemplary embodiment of the disclosure, described device further include:
Model training module, for obtaining corrosion image collection to be processed, and with the corrosion image set cooperation to be processed
To enter to participate in training to practice original unsupervised model with the computation model that gets parms.
According to the third aspect of the disclosure, a kind of storage medium is provided, is stored thereon with computer program, described program quilt
Processor realizes the above-mentioned away rust by laser method based on machine learning when executing.
According to the fourth aspect of the disclosure, a kind of electric terminal is provided, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor be configured to execute via the executable instruction is executed realize it is above-mentioned based on engineering
The away rust by laser method of habit
In away rust by laser method provided by embodiment of the disclosure, by utilizing machine learning model meter trained in advance
It calculates and corrodes the corresponding laser processing parameter in region in each image, so as to control laser according to the laser control parameters
It derusts.It is effective to guarantee derusting effect.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.It should be evident that the accompanying drawings in the following description is only the disclosure
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 schematically shows a kind of away rust by laser method signal based on machine learning in disclosure exemplary embodiment
Figure；
Fig. 2 schematically show in disclosure exemplary embodiment it is a kind of based on machine learning laser rust-removing device composition show
It is intended to；
Fig. 3 schematically shows a kind of the another of the laser rust-removing device based on machine learning in disclosure exemplary embodiment
Kind schematic diagram；
Fig. 4 schematically shows a kind of the another of the laser rust-removing device based on machine learning in disclosure exemplary embodiment
Kind schematic diagram.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
A kind of away rust by laser method based on machine learning is provided firstly in this example embodiment, can be applied to pair
To the derusting under different scenes, particularly with the corrosion trace on rail.It is above-mentioned based on machine learning with reference to shown in Fig. 1
Away rust by laser method may comprise steps of:
Step S1 obtains the first original image；
Step S2 pre-processes to obtain the first pretreatment image first original image；
Step S3 analyzes to obtain laser first pretreatment image using the parameter computation model trained
Processing parameter.
Step S4 controls laser according to the laser processing parameter and derusts.
In the following, accompanying drawings and embodiments will be combined to each in the medical data standardization processing method in this example embodiment
A step is described in detail.
Step S1 obtains the first original image.
In this example embodiment, the equipment for needing to carry out processing of rust removing can be acquired by hardware devices such as cameras
Original image.Wherein, it can be the surface of the device such as track, car body, shield to rust removalling equipment.In addition, above-mentioned
One original image can be color image, and may include at least one corrosion region in image.
Step S2 pre-processes to obtain the first pretreatment image first original image.
In this example embodiment, above-mentioned pretreatment can be with gray proces.It, can after obtaining the first original image
Gray proces are carried out to it, to obtain the first pretreatment image.It can be adopted for carrying out this process of gray proces to image
Use conventional technology.For example, by RGB (R, G, B) value of each pixel of the color image acquired according to weighted average
Algorithm is converted into corresponding gray value.This will not be detailed here for the disclosure, does not also do particular determination.
Step S3 analyzes to obtain laser first pretreatment image using the parameter computation model trained
Processing parameter.
In this example embodiment, it can use the parameter computation model trained and the first pretreatment image divided
Analysis obtains the corrosion region in image, and calculates the corresponding laser processing parameter of corrosion region UI.
Further, it is also possible to advance with corrosion image to train unsupervised model.Unsupervised model after obtaining training,
That is pretreatment image can be input in the parameter computation model by parameter computation model later, to obtain the pretreatment
The laser processing parameter of image.
Specifically, the training process of model may comprise steps of:
Step S31 obtains corrosion image collection to be processed；
Step S32, using the corrosion image collection to be processed as the original unsupervised model of white silk that enters to participate in training to get parms
Computation model.
It may include multiple images that above-mentioned corrosion image to be processed, which combines, and corrosion area is contained at least one in each image
Domain.In addition, respectively the concrete condition in corrosion region may be different, such as corrosion degree, the not phase such as boundary shape of corroding range
Together.It can be input to unsupervised model using above-mentioned corrosion image collection to be processed as input data or sample data,
It is trained unsupervised model according to the input data, obtains image after the corresponding derusting of each corrosion image to be processed, and
Every control parameter in descaling process, to obtain parameter computation model.For example, above-mentioned unsupervised model can be
Laplacian eigenmaps model, KMeans algorithm model etc..
Step S4 controls laser according to the laser processing parameter and derusts.
In this example embodiment, specifically, above-mentioned away rust by laser parameter may include: laser power, laser frequency
Rate, pulsewidth, scanning speed and sweep span.
Specifically, can be according to formula: ρ=Pav/ftvd；Wherein, ρ is energy density, and Pav is laser power, f is sharp
Light frequency, t are pulsewidth, v is scanning speed, and d is sweep span, and wherein pulsewidth t can be considered constant.
After obtaining specific laser processing parameter, and it can start to derust according to the state modulator laser.For specific
Laser structure, for conventional laser structure, the disclosure does not do particular determination to the specific structure of laser.
Based on above content, in the present example embodiment, above-mentioned method can also include:
Step S501 obtains the second present image；
Step S502 pre-processes to obtain the second pretreatment image second present image；
Step S503 compares first pretreatment image and the second pretreatment image to obtain derusting result.
After being derusted according to laser processing parameter to the corresponding region of the first original image, can also to the region into
Row, which is taken pictures, obtains the second present image.Likewise, can also carry out gray proces to second present image obtains corresponding the
Two pretreatment images, the i.e. corresponding gray level image of the second present image.And utilize second pretreatment image and the first pretreatment
Image compares, and obtains corresponding derusting result.It for example, can be to the pixel of the forward and backward gray level image in corrosion region
Value compares, the result after judging processing of rust removing.
Further, above-mentioned method can also include:
Step S601, judges whether the derusting result meets preset condition；
Step S602 terminates derusting operation when judging that the derusting result meets the preset condition；Or
Step S603 utilizes the parameter trained when judging that the derusting result is unsatisfactory for the preset condition
Computing module analyzes to obtain laser processing parameter second pretreatment image, in order to according to the laser treatment
Laser described in state modulator derusts.
It for example, can be according to the gray value to the gray level image after corrosion area image gray proces to derusting result
Different grades is set.After obtaining derusting result, it can judge whether the grade of derusting result meets according to gray level image
Preset condition or requirement.If derusting result meets preset requirement, it can stop and complete derusting operation.If derusting result
Do not meet preset requirement, then can obtain the image in corrosion region again, and carries out pretreatment to it and obtain gray level image.So
First pretreatment image is analyzed to obtain laser processing parameter using parameter computation model afterwards, according to the laser
Processing parameter control laser derusts.It repeats above-mentioned step to derusting result and meets preset requirement or standard.
Each image is calculated by preparatory training parameter computation model, and using the machine learning model of the preparatory training
The corresponding laser processing parameter in middle corrosion region derusts so as to control laser according to the laser control parameters.It is real
Laser processing parameter now is calculated using machine learning, effectively guarantees derusting effect.
It should be noted that above-mentioned attached drawing is only showing for processing included by method according to an exemplary embodiment of the present invention
Meaning property explanation, rather than limit purpose.It can be readily appreciated that it is above-mentioned it is shown in the drawings processing do not indicate or limit these processing when
Between sequence.In addition, be also easy to understand, these processing, which can be, for example either synchronously or asynchronously to be executed in multiple modules.
Further, refering to what is shown in Fig. 2, additionally providing a kind of laser based on machine learning in this exemplary embodiment
Derusting device 20, comprising: image capture module 201, image processing module 202, parameter calculating module 203 and operation execute mould
Block 204.Wherein:
Described image acquisition module 201 can be used for obtaining the first original image.
Described image processing module 202 can be used for pre-processing first original image to obtain first and locate in advance
Manage image.
The parameter calculating module 203 can be used for using the parameter computation model trained to the first pretreatment figure
As being analyzed to obtain laser processing parameter.
The operation executing module 204, which can be used for controlling laser according to the laser processing parameter, to derust.
Further, described device further include: result judgment module (not shown) can be used for judging the derusting result
Whether preset condition is met.
Further, described device further include: model training module (not shown) can be used for obtaining corrosion figure to be processed
Image set closes, and calculates mould using the corrosion image collection to be processed as entering to participate in training the original unsupervised model of white silk to get parms
Type.
The detail of each module is based on machine corresponding in the above-mentioned laser rust-removing device based on machine learning
It is described in detail in the away rust by laser method of device study, therefore details are not described herein again.
It should be noted that although being referred to several modules or list for acting the equipment executed in the above detailed description
Member, but this division is not enforceable.In fact, according to embodiment of the present disclosure, it is above-described two or more
Module or the feature and function of unit can embody in a module or unit.Conversely, an above-described mould
The feature and function of block or unit can be to be embodied by multiple modules or unit with further division.
In an exemplary embodiment of the disclosure, a kind of electronic equipment that can be realized the above method is additionally provided.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
The electronic equipment 600 of this embodiment according to the present invention is described referring to Fig. 3.The electronics that Fig. 3 is shown
Equipment 600 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 3, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can wrap
It includes but is not limited to: at least one above-mentioned processing unit 610, at least one above-mentioned storage unit 620, the different system components of connection
The bus 630 of (including storage unit 620 and processing unit 610).
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 610
Row, so that various according to the present invention described in the execution of the processing unit 610 above-mentioned " illustrative methods " part of this specification
The step of illustrative embodiments.For example, the processing unit 610 can execute S1 as shown in Figure 1: it is original to obtain first
Image；S2: first original image is pre-processed to obtain the first pretreatment image；S3: the parameter trained is utilized
Computation model analyzes to obtain laser processing parameter first pretreatment image；S4: joined according to the laser treatment
Number control laser derusts.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.As shown, network adapter 660 is communicated by bus 630 with other modules of electronic equipment 600.
It should be understood that although not shown in the drawings, other hardware and/or software module can not used in conjunction with electronic equipment 600, including but not
Be limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and
Data backup storage system etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server, terminal installation or network equipment etc.) is executed according to disclosure embodiment
Method.
In an exemplary embodiment of the disclosure, a kind of computer readable storage medium is additionally provided, energy is stored thereon with
Enough realize the program product of this specification above method.In some possible embodiments, various aspects of the invention may be used also
In the form of being embodied as a kind of program product comprising program code, when described program product is run on the terminal device, institute
Program code is stated for executing the terminal device described in above-mentioned " illustrative methods " part of this specification according to this hair
The step of bright various illustrative embodiments.
Refering to what is shown in Fig. 4, describing the program product for realizing the above method of embodiment according to the present invention
800, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable signal medium can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.
The program code for including on readable medium can transmit with any suitable medium, including but not limited to wirelessly, have
Line, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In addition, above-mentioned attached drawing is only the schematic theory of processing included by method according to an exemplary embodiment of the present invention
It is bright, rather than limit purpose.It can be readily appreciated that the time that above-mentioned processing shown in the drawings did not indicated or limited these processing is suitable
Sequence.In addition, be also easy to understand, these processing, which can be, for example either synchronously or asynchronously to be executed in multiple modules.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
His embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Adaptive change follow the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure or
Conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by claim
It points out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the attached claims.
Claims (10)
1. a kind of away rust by laser method based on machine learning characterized by comprising
Obtain the first original image；
First original image is pre-processed to obtain the first pretreatment image；
First pretreatment image is analyzed to obtain laser processing parameter using the parameter computation model trained；
Laser is controlled according to the laser processing parameter to derust.
2. the away rust by laser method according to claim 1 based on machine learning, which is characterized in that according to the laser
After processing parameter control laser is derusted, the method also includes:
Obtain the second present image；
Second present image is pre-processed to obtain the second pretreatment image；
First pretreatment image and the second pretreatment image are compared to obtain derusting result.
3. the away rust by laser method according to claim 2 based on machine learning, which is characterized in that the method is also wrapped
It includes:
Judge whether the derusting result meets preset condition；
When judging that the derusting result meets the preset condition, terminate derusting operation；Or
When judging that the derusting result is unsatisfactory for the preset condition, using the parameter calculating module trained to described
Second pretreatment image is analyzed to obtain laser processing parameter, in order to swash according to laser processing parameter control is described
Light device derusts.
4. the away rust by laser method according to claim 1 based on machine learning, which is characterized in that the training parameter meter
Calculate model, comprising:
Obtain corrosion image collection to be processed；
Using the corrosion image collection to be processed as the original unsupervised model of white silk that enters to participate in training with the computation model that gets parms.
5. the away rust by laser method according to claim 1 based on machine learning, which is characterized in that it is described to described wait locate
Reason image is pre-processed to obtain the first pretreatment image and include:
Gray proces are carried out to obtain the first pretreatment image to first pretreatment image.
6. a kind of laser rust-removing device based on machine learning characterized by comprising
Image capture module, for obtaining the first original image；
Image processing module, for being pre-processed first original image to obtain the first pretreatment image；
Parameter calculating module, for being analyzed first pretreatment image to obtain using the parameter computation model trained
Take laser processing parameter；
Operation executing module derusts for controlling laser according to the laser processing parameter.
7. the laser rust-removing device according to claim 6 based on machine learning, which is characterized in that described device is also wrapped
It includes:
As a result judgment module, for judging whether the derusting result meets preset condition.
8. the laser rust-removing device according to claim 6 based on machine learning, which is characterized in that described device is also wrapped
It includes:
Model training module, for obtaining corrosion image collection to be processed, and using the corrosion image collection to be processed as entering
It participates in training and practices original unsupervised model with the computation model that gets parms.
9. a kind of storage medium is stored thereon with computer program, realizes when described program is executed by processor and wanted according to right
Away rust by laser method described in asking any one of 1 to 7 based on machine learning.
10. a kind of electric terminal characterized by comprising
Processor；And memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to come described in any one of perform claim requirement 1 to 7 via the execution executable instruction
The away rust by laser method based on machine learning.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110038858A (en) * | 2019-04-22 | 2019-07-23 | 北京镭赛卫蓝激光装备有限公司 | A kind of laser cleaning method of adhesive class spot |
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| CN110038858A (en) * | 2019-04-22 | 2019-07-23 | 北京镭赛卫蓝激光装备有限公司 | A kind of laser cleaning method of adhesive class spot |
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| CN110245459A (en) * | 2019-06-28 | 2019-09-17 | 北京师范大学 | Laser cleaning effect preview method and device |
| CN110245459B (en) * | 2019-06-28 | 2021-06-01 | 北京师范大学 | Laser cleaning effect previewing method and device |
| CN114207765A (en) * | 2019-07-26 | 2022-03-18 | 卡尔蔡司Smt有限责任公司 | Automatic operation control of micro-machining device |
| CN110587609A (en) * | 2019-09-20 | 2019-12-20 | 唐山雄炜机器人有限公司 | Robot rust removal control method and system |
| CN110587609B (en) * | 2019-09-20 | 2022-07-22 | 唐山雄炜机器人有限公司 | Robot rust removal control method and system |
| CN110899252A (en) * | 2019-11-29 | 2020-03-24 | 湖北工业大学 | Intelligent control system and method for laser cleaning |
| CN110899252B (en) * | 2019-11-29 | 2021-09-24 | 湖北工业大学 | Intelligent control system and method for laser cleaning |
| CN112756777A (en) * | 2020-12-29 | 2021-05-07 | 华中科技大学 | Laser blackening treatment method for metal surface |
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