CN115307559B - Target positioning method, remote laser cleaning method and system - Google Patents
Target positioning method, remote laser cleaning method and system Download PDFInfo
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- CN115307559B CN115307559B CN202210801326.9A CN202210801326A CN115307559B CN 115307559 B CN115307559 B CN 115307559B CN 202210801326 A CN202210801326 A CN 202210801326A CN 115307559 B CN115307559 B CN 115307559B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000003287 optical effect Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 14
- 230000009286 beneficial effect Effects 0.000 abstract description 8
- 239000003086 colorant Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000007493 shaping process Methods 0.000 description 1
- 238000009834 vaporization Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B11/00—Filters or other obturators specially adapted for photographic purposes
- G03B11/04—Hoods or caps for eliminating unwanted light from lenses, viewfinders or focusing aids
Abstract
The invention relates to a target positioning method, which is characterized in that a first beam of ring laser and a second beam of ring laser are respectively emitted to a target object so as to form a first laser ring and a second laser ring on the target object respectively; shooting a first image of a first laser ring and a second image of a second laser ring by a first image acquisition device and a second image acquisition device respectively; identifying a first laser ring in a first image, acquiring the diameter and the circle center position of the ring, and identifying a second laser ring in a second image, and acquiring the diameter and the circle center position of the ring; if the diameters of the first laser ring and the second laser ring are the same and the concentricity meets the preset range, the target positioning is successful, otherwise, the emitting directions of the first beam of ring laser and the second beam of ring laser are readjusted, and the steps are repeated. The beneficial effects are as follows: according to the diameter positioning distance of the circular rings and the concentricity of the double circular rings, the target position is positioned, and the accurate positioning of the target is realized, so that the follow-up laser cleaning is facilitated.
Description
Technical Field
The invention relates to the field of laser cleaning, in particular to a target positioning method, a remote laser cleaning method and a remote laser cleaning system.
Background
The laser cleaning technology has the characteristics of simple and convenient operation, high efficiency, green, safety and the like, and is a cleaning technology for removing surface wastes in a physical way through chemical reaction on the premise of not damaging a base member. The laser emits laser beam with continuous pulse to irradiate the workpiece surface, and the surface waste is removed through burning, vaporization and other modes by controlling the threshold value and the movement speed of the laser, so that the aim of cleaning the workpiece surface can be achieved.
For example: the power plant equipment usually has high-voltage characteristic when electrified, and the operation outside the safe distance needs to be guaranteed when cleaning electrified equipment, and the safe distance is generally beyond 5 meters, so that the positioning of a cleaning target is very inconvenient, and particularly, an operator is difficult to judge the accuracy of the cleaning target, and other non-cleaning equipment which is easy to damage is not found at the cleaning position.
Disclosure of Invention
The invention aims to solve the technical problem of providing a target positioning method, a remote laser cleaning method and a remote laser cleaning system, so as to overcome the defects in the prior art.
The technical scheme for solving the technical problems is as follows: a target positioning method comprising the steps of:
s11, respectively emitting a first beam of ring laser and a second beam of ring laser to a target object to respectively form a first laser ring and a second laser ring on the target object;
s12, respectively shooting a first image of a first laser ring and a second image of a second laser ring on a target object by a first image acquisition device and a second image acquisition device;
s13, based on a circle detection algorithm, identifying a first laser ring in a first image, acquiring the diameter and the circle center position of the ring, and identifying a second laser ring in a second image, and acquiring the diameter and the circle center position of the ring;
s14, if the diameters of the first laser ring and the second laser ring are the same, concentricity meets a preset range, target positioning is successful, otherwise, the emitting directions of the first laser ring and the second laser ring are readjusted, and S11-S13 are repeated.
The beneficial effects of the invention are as follows: two circular ring lasers are emitted, a first laser circular ring and a second laser circular ring are formed on a target object respectively, then image shooting is carried out on the first laser circular ring and the second laser circular ring respectively, visual recognition is carried out on the basis of the shot images so as to judge whether the diameters of the first laser circular ring and the second laser circular ring are identical and whether concentricity meets a preset range, and according to the circular ring diameter positioning distance (a certain divergence angle is usually provided when a laser source emits laser, the farther the distance is, the larger the circular ring diameter is, and the change is in a linear increasing relation, so that the target position can be positioned according to the circular ring diameter one-to-one distance) and according to the double circular ring concentricity, the accurate positioning of the target is realized, so that the subsequent laser cleaning is facilitated, and the damage to other non-cleaning equipment caused by the fact that the cleaning position is not found is avoided.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the first and second ring lasers have different wavelengths.
The adoption of the method has the further beneficial effects that: the accuracy of ring identification can be improved.
Further, the wavelength of the first beam of ring laser light is 532nm, and the wavelength of the second beam of ring laser light is 650nm.
Further, the first and second ring lasers are different in color.
The adoption of the method has the further beneficial effects that: the method is beneficial to follow-up identification, and the accuracy of ring identification can be improved.
Further, the first beam of ring laser light is green in color, and the second beam of ring laser light is red in color.
Further, the circle detection algorithm is Hough circle detection.
Based on the technical scheme, the invention also provides a remote laser cleaning method, which is used for positioning the object to be cleaned by adopting the object positioning method and comprises the following steps:
s21, positioning a target object to be cleaned based on a target positioning method;
s22, starting the laser cleaning assembly to perform cleaning operation according to the positioning result of the target object.
The adoption of the method has the further beneficial effects that:
the machine is adopted to accurately position the distance and the position, and then the laser cleaning assembly is started to perform cleaning operation according to the positioning result, so that the precision is higher compared with manual naked eye positioning, and the cleaning machine is particularly suitable for remote cleaning.
Based on the technical scheme, the invention also provides a remote laser cleaning system, which comprises: the device comprises a first laser transmitter, a second laser transmitter, a first image acquisition device, a second image acquisition device, a laser cleaning component and a data processor; the first laser transmitter, the second laser transmitter, the first image acquisition equipment and the second image acquisition equipment are all arranged on the laser cleaning component, and the first laser transmitter, the second laser transmitter, the first image acquisition equipment, the second image acquisition equipment and the laser cleaning component are respectively and electrically connected with the data processor.
The adoption of the method has the further beneficial effects that: the device has a simple structure, and can ensure positioning accuracy.
Further, the first laser emitter is a green laser lamp and emits green laser with the wavelength of 532 nm; the second laser emitter is a red laser lamp and emits red laser light with a wavelength of 650nm.
Further, the first image capturing apparatus includes: a first camera and a first optical narrowband filter arranged in front of the first camera lens, the bandpass width of the first optical narrowband filter being matched with the wavelength of the emitted laser light of the first laser emitter; the second image acquisition apparatus includes: the second camera and the second optical narrow-band filter arranged in front of the second camera lens, the bandpass width of the second optical narrow-band filter is matched with the wavelength of the emitted laser light of the second laser emitter.
The adoption of the method has the further beneficial effects that:
an optical narrow-band filter is arranged in front of a camera lens, so that the influence of external stray light can be effectively filtered;
the bandpass width of the optical narrowband filter is matched with the wavelength of the laser emitted by the laser emitter, so that incidence of light with other wavelengths can be effectively inhibited, and the circle detection accuracy is improved.
Drawings
FIG. 1 is a flow chart of a target positioning method according to the present invention;
FIG. 2 is a flow chart of a remote laser cleaning method according to the present invention;
fig. 3 is a block diagram of a remote laser cleaning system according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. the device comprises a first laser emitter, a second laser emitter, a first image acquisition device, a second image acquisition device, a laser cleaning component and a laser cleaning component, wherein the first laser emitter, the second laser emitter, the first image acquisition device, the second image acquisition device and the laser cleaning component are arranged in sequence.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Example 1
As shown in fig. 1, a target positioning method includes the following steps:
s11, emitting a first beam of ring laser to a target object so as to enable the first beam of ring laser to irradiate the target object and form a first laser ring on the target object;
emitting a second beam of ring laser to the target object so as to irradiate the second beam of ring laser on the target object and form a second laser ring on the target object;
s12, a first image of a first laser ring on the target object is shot by the first image acquisition device 3, and a second image of a second laser ring on the target object is shot by the second image acquisition device 4;
s13, based on a circle detection algorithm, identifying a first laser ring in the first image, and acquiring the diameter of the ring and the circle center position;
based on a circle detection algorithm, identifying a second laser ring in the second image, and acquiring the diameter of the ring and the position of the circle center;
and S14, if the diameters of the first laser ring and the second laser ring are the same, concentricity meets the preset range, then the target positioning is successful, and if the circle center position of the first laser ring is required to be overlapped with the circle center position of the second laser ring under normal conditions, then the target positioning is judged to be successful, and the positioning accuracy is highest, and if the laser focusing has a certain focal depth, the result is not influenced in a certain range, otherwise, the emitting directions of the first laser beam and the second laser beam are readjusted, and S11-S13 are repeated.
Example 2
This example is a further improvement over example 1, and is specifically as follows:
the wavelength of the first beam of ring laser light is different from the wavelength of the second beam of ring laser light.
In general, the wavelength of the first ring laser beam is preferably 532nm, and the wavelength of the second ring laser beam is preferably 650nm.
Example 3
This example is a further improvement over examples 1 or 2, and is specifically as follows:
the color of the first beam of ring laser light is different from the color of the second beam of ring laser light.
Under the normal condition, the color of the first beam of ring laser is green, and the color of the second beam of ring laser is red, so that the subsequent visual identification is facilitated, and the positioning precision is further improved;
of course, other colors may be used, and the identification and distinction may be easily performed.
Example 4
This example is a further improvement over examples 1 or 2 or 3, and is specifically as follows:
the circle detection algorithm is Hough circle detection.
Example 5
As shown in fig. 2, a remote laser cleaning method, which adopts the above target positioning method to position a target to be cleaned, includes the following steps:
s21, positioning a target object to be cleaned based on a target positioning method;
s22, starting the laser cleaning assembly 5 to perform cleaning operation according to the positioning result of the target object.
Example 6
As shown in fig. 3, a remote laser cleaning system includes:
a first laser transmitter 1, a second laser transmitter 2, a first image acquisition device 3, a second image acquisition device 4, a laser cleaning component 5 and a data processor;
the first laser transmitter 1, the second laser transmitter 2, the first image acquisition device 3 and the second image acquisition device 4 are all arranged on the laser cleaning component 5;
in general, this may be:
the first laser transmitter 1 and the second laser transmitter 2 are respectively arranged at two sides of a light outlet of the laser cleaning component 5, and the first image acquisition device 3 and the second image acquisition device 4 are respectively arranged at the same side as the first laser transmitter 1 and the second laser transmitter 2;
the signal input end of the first laser transmitter 1 is electrically connected with the signal output end of the data processor, the signal input end of the second laser transmitter 2 is electrically connected with the signal output end of the data processor, the signal output end of the first image acquisition device 3 is electrically connected with the signal input end of the data processor, the signal output end of the second image acquisition device 4 is electrically connected with the signal input end of the data processor, and the signal input end of the laser cleaning component 5 is electrically connected with the signal output end of the data processor;
the data processor can control the first laser transmitter 1 and the second laser transmitter 2 to be turned on and off;
the first image acquisition device 3 and the second image acquisition device 4 can upload the photographed first image and second image to the data processor, and the data processor identifies a first laser ring in the first image based on a circle detection algorithm, and acquires the diameter and the circle center position of the ring, and identifies a second laser ring in the second image, and acquires the diameter and the circle center position of the ring;
then, the following judgment is carried out:
if the diameters of the first laser ring and the second laser ring are the same and the concentricity meets the preset range, the target positioning is successful, the target positioning is judged to be successful, otherwise, the emitting directions of the first laser beam and the second laser beam are readjusted, and the positioning is repeated;
according to the positioning result, the data processor can control the laser cleaning component 5 to emit laser towards the positioned target object so as to realize remote laser cleaning;
in this embodiment, the laser cleaning assembly 5 is a prior art, which may include a laser, a laser output head, an optical shaping device, etc., and can achieve the cleaning goal under a safe distance.
Example 7
This example is a further improvement over example 6, and is specifically as follows:
the first laser transmitter 1 is a green laser lamp, and the first laser transmitter 1 transmits green laser with the wavelength of 532 nm;
the second laser transmitter 2 is a red laser lamp, and the second laser transmitter 2 transmits red laser with the wavelength of 650 nm;
of course, other colors can be adopted, and the identification and distinction can be realized easily;
the laser lamp has a certain divergence angle, the farther the distance is, the larger the diameter of the circular ring is, and the change is in a linear increasing relation, so that the distance can be in one-to-one correspondence according to the diameter of the circular ring.
Example 8
This example is a further improvement over examples 6 or 7, and is specifically as follows:
the first image acquisition apparatus 3 includes: the first camera is provided with a first optical narrow-band filter in front of a first camera lens for effectively filtering the influence of external stray light, the bandpass width of the first optical narrow-band filter is matched with the wavelength of laser emitted by the first laser emitter 1, and the measure can effectively inhibit the incidence of light with other wavelengths and improve the circle detection accuracy;
the second image acquisition device 4 includes: the second camera is provided with a second optical narrow-band filter in front of a second camera lens in order to effectively filter the influence of external stray light;
the band-pass width of the second optical narrowband filter is matched with the wavelength of the laser emitted by the second laser emitter 2, so that incidence of light with other wavelengths can be effectively restrained, and the circle detection accuracy is improved.
In the present invention: the laser wavelength is different, the color is also different, the accuracy of ring identification can be improved by matching the camera with the corresponding optical narrowband filter, and the camera corresponding to the optical narrowband filter can only shoot the ring corresponding to the wavelength.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. A method of locating a target, comprising the steps of:
s11, respectively emitting a first beam of ring laser and a second beam of ring laser to a target object to respectively form a first laser ring and a second laser ring on the target object;
s12, respectively shooting a first image of a first laser ring and a second image of a second laser ring on a target object by a first image acquisition device and a second image acquisition device;
s13, based on a circle detection algorithm, identifying a first laser ring in a first image, acquiring the diameter and the circle center position of the ring, and identifying a second laser ring in a second image, and acquiring the diameter and the circle center position of the ring;
s14, if the diameters of the first laser ring and the second laser ring are the same, concentricity meets a preset range, target positioning is successful, otherwise, the emitting directions of the first laser ring and the second laser ring are readjusted, and S11-S13 are repeated.
2. A method of target positioning according to claim 1, wherein: the first and second ring lasers have different wavelengths.
3. A method of target positioning according to claim 2, wherein: the wavelength of the first beam of ring laser is 532nm, and the wavelength of the second beam of ring laser is 650nm.
4. A method of target positioning according to claim 1, wherein: the first beam of ring laser light and the second beam of ring laser light are different in color.
5. The method for locating a target according to claim 4, wherein: the color of the first beam of ring laser is green, and the color of the second beam of ring laser is red.
6. A method of locating an object according to any one of claims 1 to 5, wherein: the circle detection algorithm is Hough circle detection.
7. A remote laser cleaning method is characterized in that: positioning the object to be cleaned by the object positioning method according to any one of claims 1 to 6, comprising the steps of:
s21, positioning a target object to be cleaned based on the target positioning method;
s22, starting the laser cleaning assembly to perform cleaning operation according to the positioning result of the target object.
8. A remote laser cleaning system, characterized in that it is based on the remote laser cleaning method of claim 7, comprising: the device comprises a first laser transmitter, a second laser transmitter, a first image acquisition device, a second image acquisition device, a laser cleaning component and a data processor; the first laser transmitter, the second laser transmitter, the first image acquisition device and the second image acquisition device are all arranged on the laser cleaning component, and the first laser transmitter, the second laser transmitter, the first image acquisition device, the second image acquisition device and the laser cleaning component are respectively and electrically connected with the data processor.
9. A remote laser cleaning system according to claim 8, wherein: the first laser emitter is a green laser lamp and emits green laser with the wavelength of 532 nm; the second laser emitter is a red laser lamp and emits red laser with the wavelength of 650nm.
10. A remote laser cleaning system according to claim 8 or 9, wherein: the first image acquisition apparatus includes: a first camera and a first optical narrowband filter arranged in front of a first camera lens, the bandpass width of the first optical narrowband filter being matched with the wavelength of the emitted laser light of the first laser emitter; the second image acquisition apparatus includes: the second camera and the second optical narrow-band filter arranged in front of the second camera lens, wherein the bandpass width of the second optical narrow-band filter is matched with the wavelength of the emitted laser light of the second laser emitter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210801326.9A CN115307559B (en) | 2022-07-08 | 2022-07-08 | Target positioning method, remote laser cleaning method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210801326.9A CN115307559B (en) | 2022-07-08 | 2022-07-08 | Target positioning method, remote laser cleaning method and system |
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| CN115307559A CN115307559A (en) | 2022-11-08 |
| CN115307559B true CN115307559B (en) | 2023-10-24 |
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| CN104794704A (en) * | 2015-03-27 | 2015-07-22 | 华为技术有限公司 | Calibration template and template detection method, device and terminal |
| CN104950800A (en) * | 2015-06-12 | 2015-09-30 | 广东省自动化研究所 | Tracking and positioning processing system and positioning method |
| CN106780617A (en) * | 2016-11-24 | 2017-05-31 | 北京小鸟看看科技有限公司 | A kind of virtual reality system and its localization method |
| CN108572734A (en) * | 2018-04-23 | 2018-09-25 | 哈尔滨拓博科技有限公司 | A kind of gestural control system based on infrared laser associated image |
| CN113075692A (en) * | 2021-03-08 | 2021-07-06 | 北京石头世纪科技股份有限公司 | Target detection and control method, system, device and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6032182B2 (en) * | 2013-11-18 | 2016-11-24 | トヨタ自動車株式会社 | Laser processing method and laser processing apparatus |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104794704A (en) * | 2015-03-27 | 2015-07-22 | 华为技术有限公司 | Calibration template and template detection method, device and terminal |
| CN104950800A (en) * | 2015-06-12 | 2015-09-30 | 广东省自动化研究所 | Tracking and positioning processing system and positioning method |
| CN106780617A (en) * | 2016-11-24 | 2017-05-31 | 北京小鸟看看科技有限公司 | A kind of virtual reality system and its localization method |
| CN108572734A (en) * | 2018-04-23 | 2018-09-25 | 哈尔滨拓博科技有限公司 | A kind of gestural control system based on infrared laser associated image |
| CN113075692A (en) * | 2021-03-08 | 2021-07-06 | 北京石头世纪科技股份有限公司 | Target detection and control method, system, device and storage medium |
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