CN110038859A - A kind of cleaning path automatic monitoring method of laser cleaning equipment - Google Patents
A kind of cleaning path automatic monitoring method of laser cleaning equipment Download PDFInfo
- Publication number
- CN110038859A CN110038859A CN201910437542.8A CN201910437542A CN110038859A CN 110038859 A CN110038859 A CN 110038859A CN 201910437542 A CN201910437542 A CN 201910437542A CN 110038859 A CN110038859 A CN 110038859A
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- laser
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- cleaning equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D25/00—Control of light, e.g. intensity, colour or phase
- G05D25/02—Control of light, e.g. intensity, colour or phase characterised by the use of electric means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of cleaning path automatic monitoring methods of laser cleaning equipment, wherein by being taken pictures processing to placing workpiece to be processed on the table, then the image for acquisition of taking pictures is handled, automatic identification simultaneously extracts region of wherein getting rusty, then the profile traces in the region of getting rusty are drawn, the work of laser work head is controlled according to the profile traces information by control system again, laser beam can be projected according to certain track to region of getting rusty and carry out derusting processing, realize the automatic rust-removing working process to workpiece to be processed, significantly improve derusting processing efficiency.
Description
Technical field
The present invention relates to a kind of cleaning path automatic monitoring methods of laser cleaning equipment.
Background technique
Laser cleaning has without the cleaning characteristics such as grinding, non-contact, without fuel factor and suitable for various materials object, quilt
Be considered most reliable, most effective solution, efficiently avoid chemical agent and mechanical means is cleaned and caused by
Damage and pollution.
Laser cleaning technique is radiated at workpiece surface using high energy laser beam, and dirt, rust staining of workpiece surface etc. occurs
Flash evapn or removing, to reach purifying technical process.However, in actually derusting process, since rust staining exists
Not regular the saying of workpiece surface distribution, can not be accurately clear according to the region setting laser of rust staining distribution when laser cleaning
Path is washed, and even if knowing the rust staining distributed areas of certain single workpiece, it is also desirable to artificially set in laser cleaning equipment
Laser cleaning path, process operation are more inconvenient.
Summary of the invention
The object of the present invention is to provide a kind of cleaning path automatic monitoring methods of laser cleaning equipment, to realize to be added
The automatic rust-removing of work workpiece is handled, and improves processing efficiency.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of cleaning path of laser cleaning equipment is automatic
Monitoring method includes the following steps:
(1) using the surface image of CCD camera acquisition workpiece to be processed；
(2) format of the described image of acquisition is converted into hsv color model；
(3) according to the corresponding HSV chromatic value in rust staining region on the workpiece to be processed, region of getting rusty is extracted；
(4) by described image gray processing, grayscale image is converted to；
(5) by the grayscale image binaryzation, and white is set by the region of getting rusty, remaining region is converted to black；
(6) image noise reduction obtained will be handled through step (5) to handle；
(7) it gets rusty described in drawing the profile traces in region；
The laser cleaning equipment has laser work head, and sweeps on the workbench for controlling the laser work head
The control system in path is retouched, the control system controls the laser work according to the profile traces that the step (7) obtains
Make head and cleaning is scanned to the surface of the workpiece to be processed.
Preferably, in the step (2), the format for the image that step (1) obtains first is converted into BGR mould by RGB mode
Then formula is converted to hsv color model by BGR mode.
Preferably, region of getting rusty described in obtaining is extracted according to HSV [11,43,46] to HSV [25,255,255].
Preferably, in the step (5), the region by H value after binaryzation greater than 10 is set as white, labeled as described
It gets rusty region.
Preferably, in the step (6), the noise in Gaussian filter removal image is utilized.
Preferably, further include step (6 ') before the step (7) after the step (6), filled using small cavity
Algorithm fills zonule, and zonule is made to be filled to form a biggish entirety.
Preferably, in the step (6 '), expansion and corrosion treatment is carried out to image using 5 × 5 convolution, fill image
In small cavity.
Preferably, in the step (7), the profile in region of getting rusty is identified using Candy algorithm, and is used
DrawContours draws the information of the profile.
Preferably, the laser cleaning equipment has for putting the workbench of the workpiece to be processed, for what is taken pictures
The CCD camera, and at least with the computer of image processing system, the control system integration is in the computer.
Further, the laser cleaning equipment further includes for driving the first of the workbench horizontal movement to drive dress
Set, and change the second driving device of light-emitting angle for driving the laser work head to rotate, the control system with
Signal connects between the first driving device and the second driving device.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages: to work to be processed
When part gives processing of rust removing, it is only necessary to put on the table workpiece to be processed, start the power supply of laser cleaning equipment, CCD
Camera then is handled to obtain by image processing system i.e. to the workpiece to be processed automatic camera on workbench to image
It gets rusty on workpiece to be processed the profile traces information in region, laser is then controlled according to the profile traces information by control system
Work head work, can project laser beam according to certain track to region of getting rusty and carry out derusting processing, realize and treat
The automatic rust-removing working process of workpieces processing, significantly improves derusting processing efficiency.
Detailed description of the invention
Attached drawing 1 is the schematic diagram for the laser cleaning equipment that the present invention uses；
Attached drawing 2 is the flow chart of cleaning path automatic monitoring method of the invention；
Attached drawing 3 is to convert the image into the schematic diagram after grayscale image in image processing process in the present embodiment；
Attached drawing 4 is that will get rusty region in image processing process in the present embodiment with the schematic diagram of white marking；
Attached drawing 5 is the schematic diagram for drawing the profile traces in region of getting rusty in the present embodiment in image processing process；
Wherein: 1, workbench；2, first driving device；3, laser work head；4, the second driving device；5, computer；6, CCD phase
Machine.
Specific embodiment
Technical solution of the present invention is further elaborated with specific embodiment with reference to the accompanying drawing.
Laser cleaning equipment shown in Figure 1, including for putting workpiece to be processed workbench 1, for driving work
The make platform horizontal movement first driving device 2 to be moved in XOY plane, the laser work head 3 for issuing laser, for driving
It rotates laser work head 3 and changes the second driving device 4 of light-emitting angle, and the CCD camera 6 for taking pictures, internal collection
At the computer 5 for having image processing system, it is also integrated with control system in computer 5, the control system is for controlling laser work
Make first 3 scan path in work head 2, which connect with first driving device 2 and 4 signal of the second driving device,
So that first driving device 2 acts synergistically with the second driving device 4 and makes laser work head 3 on workbench 1 according to pre-
If track projection laser beam and derusted processing to the workpiece to be processed on workbench 1.
The laser cleaning equipment uses following cleaning path automatic monitoring method:
(1) surface image of workpiece to be processed is acquired by CCD camera 6；
Herein CCD camera 6 be mounted on laser work head 3 side and be located at workbench 2 top, by workpiece to be processed put to
On workbench 2, after the power supply for starting laser cleaning equipment, CCD camera can start to acquire image.
(2) format of the image of acquisition is converted into hsv color model；
In this step, the format of the image obtained in step (1) is first converted into BGR format by RGB mode, then again by
BGR format is converted to hsv color model.
(3) according to the corresponding HSV chromatic value in rust staining region on workpiece to be processed, region of getting rusty is extracted；
In this step, the corresponding region in hsv color model is extracted according to HSV [11,43,46] to HSV [25,255,255],
Region as where rust staining, as region of getting rusty.
(4) by image gray processing, grayscale image is converted to, as shown in Figure 3；
(5) the grayscale image binary conversion treatment for obtaining step (4), and white is set by the region of getting rusty that step (4) obtain, it will
Remaining region is converted to black；
In this step, specifically, the region by H value after binaryzation greater than 10 is set as white, which is region of getting rusty；
Region of the H value less than or equal to 10 is then set as black, is distinguished with this region that will get rusty with remaining region, as shown in Figure 4.
(6) image obtained through step (5) processing is given into noise reduction process；
In noise reduction process, the noise in Gaussian filter removal image is utilized in the present embodiment.
(6 ') zonule is filled using small empty filling algorithm, zonule is made to be filled to form a biggish entirety；
In this step, expansion and corrosion treatment are carried out to image using 5 × 5 convolution in the present embodiment, filled in image
Small cavity.
(7) profile traces in region of getting rusty are drawn；
In this step, the profile in region of getting rusty is identified in the present embodiment using Candy algorithm, and is drawn using drawContours
The information of the profile is made, the information of the profile refers to corresponding location information, as shown in Figure 5.
After obtaining above-mentioned profile information, control system can control laser work head 3 to be added according to the profile traces
Cleaning is scanned on the surface of work workpiece, removes the rust staining on workpiece to be processed surface.
To sum up, the cleaning path automatic monitoring method of a kind of laser cleaning equipment of the invention, gives to workpiece to be processed
When with processing of rust removing, it is only necessary to workpiece to be processed is seated on workbench 1, start the power supply of laser cleaning equipment, CCD camera
I.e. to the workpiece to be processed automatic camera on workbench 1, the image processing system for being then passed to computer 5 is handled, from
And obtain get rusty region profile traces and corresponding location information, the profile traces information is then received by control system and is controlled
First driving device 2 processed and the second driving device 4 cooperate, so that laser work head 3 is projected to the surface of workpiece to be processed
Laser beam and carry out derusting processing, realize the automatic rust-removing working process to workpiece to be processed, significantly improve derusting plus
Work efficiency rate.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand the contents of the present invention and be implemented, and it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of cleaning path automatic monitoring method of laser cleaning equipment, characterized by the following steps:
(1) using the surface image of CCD camera acquisition workpiece to be processed；
(2) format of the described image of acquisition is converted into hsv color model；
(3) according to the corresponding HSV chromatic value in rust staining region on the workpiece to be processed, region of getting rusty is extracted；
(4) by described image gray processing, grayscale image is converted to；
(5) by the grayscale image binaryzation, and white is set by the region of getting rusty, remaining region is converted to black；
(6) image noise reduction obtained will be handled through step (5) to handle；
(7) it gets rusty described in drawing the profile traces in region；
The laser cleaning equipment has laser work head, and sweeps on the workbench for controlling the laser work head
The control system in path is retouched, the control system controls the laser work according to the profile traces that the step (7) obtains
Make head and cleaning is scanned to the surface of the workpiece to be processed.
2. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: the step
Suddenly in (2), the format for the image that step (1) obtains first is converted into BGR mode by RGB mode, is then converted to by BGR mode
Hsv color model.
3. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: according to
HSV [11,43,46] to HSV [25,255,255] extracts region of getting rusty described in acquisition.
4. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: the step
Suddenly in (5), the region by H value after binaryzation greater than 10 is set as white, labeled as the region of getting rusty.
5. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: the step
Suddenly in (6), the noise in Gaussian filter removal image is utilized.
6. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: the step
Suddenly further include step (6 ') before the step (7) after (6), fill zonule using small empty filling algorithm, make cell
Domain is filled to form a biggish entirety.
7. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 6, it is characterised in that: the step
Suddenly in (6 '), expansion and corrosion treatment is carried out to image using 5 × 5 convolution, fill the small cavity in image.
8. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: the step
Suddenly in (7), the profile in region of getting rusty is identified using Candy algorithm, and the information of the profile is drawn using drawContours.
9. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 1, it is characterised in that: described to swash
Light cleaning equipment has the workbench for putting the workpiece to be processed, the CCD camera for taking pictures, and at least has
There is the computer of image processing system, the control system integration is in the computer.
10. the cleaning path automatic monitoring method of laser cleaning equipment according to claim 9, it is characterised in that: described
Laser cleaning equipment further includes the first driving device for driving the workbench horizontal movement, and described sharp for driving
Light work head rotates and changes the second driving device of light-emitting angle, the control system and the first driving device and second
Signal connects between driving device.
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| CN201910437542.8A CN110038859A (en) | 2019-05-24 | 2019-05-24 | A kind of cleaning path automatic monitoring method of laser cleaning equipment |
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| CN201910437542.8A CN110038859A (en) | 2019-05-24 | 2019-05-24 | A kind of cleaning path automatic monitoring method of laser cleaning equipment |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111871964A (en) * | 2020-06-10 | 2020-11-03 | 中国电力科学研究院有限公司 | Laser cleaning device and method for cleaning surface of workpiece with axisymmetric structure |
| CN112620253A (en) * | 2020-11-30 | 2021-04-09 | 杭州中车数字科技有限公司 | Rust removal equipment |
| CN112620949A (en) * | 2020-12-11 | 2021-04-09 | 郑州铁路职业技术学院 | Laser rust removal steel member surface roughness control method |
| CN113083804A (en) * | 2021-04-25 | 2021-07-09 | 中国铁建重工集团股份有限公司 | Laser intelligent derusting method and system and readable medium |
| CN113118142A (en) * | 2021-05-12 | 2021-07-16 | 上海航翼高新技术发展研究院有限公司 | System and method for intelligently removing residual glue on coating surface of airplane flap through laser |
| CN113385486A (en) * | 2020-03-11 | 2021-09-14 | 山东省科学院激光研究所 | Automatic laser cleaning path generation system and method based on line structured light |
| WO2021217992A1 (en) * | 2020-04-28 | 2021-11-04 | 株洲国创轨道科技有限公司 | Multi-laser-head intelligent laser cleaning method and device |
| CN113962994A (en) * | 2021-12-21 | 2022-01-21 | 武汉智能兴运铁路配件有限公司 | Method for detecting cleanliness of lock pin on three-connecting-rod based on image processing |
| CN114049354A (en) * | 2022-01-12 | 2022-02-15 | 山东仲良格环保技术有限公司 | Rust remover optimized proportioning method and system based on metal corrosion degree |
| CN114160507A (en) * | 2021-11-24 | 2022-03-11 | 上海航翼高新技术发展研究院有限公司 | Automatic planning method for laser cleaning path based on multiple sensing detection |
| CN114260259A (en) * | 2021-12-22 | 2022-04-01 | 深圳泰德激光技术股份有限公司 | Method and device for cleaning battery by laser and computer readable storage medium |
| CN114345841A (en) * | 2021-12-31 | 2022-04-15 | 苏州德威尔卡光电技术有限公司 | Control method in laser cleaning process and laser cleaning control system |
| CN115383410A (en) * | 2022-09-16 | 2022-11-25 | 达力普石油专用管有限公司 | Steel pipe external thread machining method, steel pipe machining system and workshop for steel pipe machining |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385486B (en) * | 2020-03-11 | 2022-09-02 | 山东省科学院激光研究所 | Automatic laser cleaning path generation system and method based on line structured light |
| CN113385486A (en) * | 2020-03-11 | 2021-09-14 | 山东省科学院激光研究所 | Automatic laser cleaning path generation system and method based on line structured light |
| WO2021217992A1 (en) * | 2020-04-28 | 2021-11-04 | 株洲国创轨道科技有限公司 | Multi-laser-head intelligent laser cleaning method and device |
| CN111871964A (en) * | 2020-06-10 | 2020-11-03 | 中国电力科学研究院有限公司 | Laser cleaning device and method for cleaning surface of workpiece with axisymmetric structure |
| CN112620253A (en) * | 2020-11-30 | 2021-04-09 | 杭州中车数字科技有限公司 | Rust removal equipment |
| CN112620949A (en) * | 2020-12-11 | 2021-04-09 | 郑州铁路职业技术学院 | Laser rust removal steel member surface roughness control method |
| CN113083804A (en) * | 2021-04-25 | 2021-07-09 | 中国铁建重工集团股份有限公司 | Laser intelligent derusting method and system and readable medium |
| CN113118142A (en) * | 2021-05-12 | 2021-07-16 | 上海航翼高新技术发展研究院有限公司 | System and method for intelligently removing residual glue on coating surface of airplane flap through laser |
| CN114160507A (en) * | 2021-11-24 | 2022-03-11 | 上海航翼高新技术发展研究院有限公司 | Automatic planning method for laser cleaning path based on multiple sensing detection |
| CN113962994A (en) * | 2021-12-21 | 2022-01-21 | 武汉智能兴运铁路配件有限公司 | Method for detecting cleanliness of lock pin on three-connecting-rod based on image processing |
| CN114260259A (en) * | 2021-12-22 | 2022-04-01 | 深圳泰德激光技术股份有限公司 | Method and device for cleaning battery by laser and computer readable storage medium |
| CN114345841A (en) * | 2021-12-31 | 2022-04-15 | 苏州德威尔卡光电技术有限公司 | Control method in laser cleaning process and laser cleaning control system |
| CN114345841B (en) * | 2021-12-31 | 2022-10-04 | 苏州德威尔卡光电技术有限公司 | Control method in laser cleaning process and laser cleaning control system |
| CN114049354A (en) * | 2022-01-12 | 2022-02-15 | 山东仲良格环保技术有限公司 | Rust remover optimized proportioning method and system based on metal corrosion degree |
| CN115383410A (en) * | 2022-09-16 | 2022-11-25 | 达力普石油专用管有限公司 | Steel pipe external thread machining method, steel pipe machining system and workshop for steel pipe machining |
| CN115383410B (en) * | 2022-09-16 | 2023-12-15 | 达力普石油专用管有限公司 | Steel pipe external thread machining method, steel pipe machining system and workshop for steel pipe machining |
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