CN115672875A - Laser cleaning control method and device and laser cleaning system - Google Patents
Laser cleaning control method and device and laser cleaning system Download PDFInfo
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- CN115672875A CN115672875A CN202110875612.5A CN202110875612A CN115672875A CN 115672875 A CN115672875 A CN 115672875A CN 202110875612 A CN202110875612 A CN 202110875612A CN 115672875 A CN115672875 A CN 115672875A
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Abstract
The embodiment of the invention discloses a control method and device for laser cleaning and a laser cleaning system. The control method of laser cleaning comprises the following steps: acquiring the color of a layer to be cleaned in a target area to be cleaned; and determining the wavelength and the laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned. The technical scheme provided by the embodiment of the invention can improve the absorption rate of the layer to be cleaned on laser energy, improve the cleaning efficiency, improve the removal uniformity and prevent the substrate from being damaged.
Description
Technical Field
The invention relates to the technical field of laser cleaning, in particular to a control method and device for laser cleaning and a laser cleaning system.
Background
The laser cleaning technology is known as the green cleaning technology with the most potential in the 21 st century, and is a technological process that the surface of a material is quickly irradiated by high-energy pulse laser beams, and the instantaneous temperature rise of the surface of the material is caused by the irradiation to cause a series of complex physicochemical changes such as melting, vaporization, ablation, vibration, thermal expansion, stripping and the like of a surface coating, particles, dirt or other cleaning objects, so that the surface coating or other pollutants of the material can be efficiently and high-quality removed, and the surface cleaning effect is achieved.
In the prior art, the laser energy utilization rate is low, and the cleaning efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a control method and device for laser cleaning and a laser cleaning system, which are used for improving the absorption rate of a layer to be cleaned on laser energy, improving the cleaning efficiency, improving the removal uniformity and preventing a base material from being damaged.
In a first aspect, an embodiment of the present invention provides a method for controlling laser cleaning, including:
acquiring the color of a layer to be cleaned in a target area to be cleaned;
and determining the wavelength and the laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
Further, before determining the laser energy density of the layer to be cleaned of the cleaning target area to be cleaned, the method further comprises the following steps:
acquiring the thickness of a layer to be cleaned in a target area to be cleaned;
correspondingly, determining the wavelength and the laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned comprises:
determining the wavelength of laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned;
and determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
Further, determining the laser energy density of the layer to be cleaned of the target area to be cleaned according to the color and thickness of the layer to be cleaned of the target area to be cleaned comprises:
determining the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned, and the wavelength, the pulse width and the pulse frequency of laser for cleaning the layer to be cleaned in the target area to be cleaned;
and determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned and the thickness of the layer to be cleaned in the target area to be cleaned.
Further, determining the laser energy density of the layer to be cleaned in the target area to be cleaned according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned, and the thickness of the layer to be cleaned in the target area to be cleaned includes:
laser energy density E = E required for cleaning a layer to be cleaned of a target region to be cleaned th e αH Wherein E is th And the threshold value of the laser energy density is alpha, the absorptivity of the layer to be cleaned in the target area to be cleaned to the laser is alpha, and the thickness of the layer to be cleaned in the target area to be cleaned is H.
Further, determining the wavelength of the laser for cleaning the layer to be cleaned in the target region to be cleaned according to the color of the layer to be cleaned in the target region to be cleaned includes:
the method comprises the steps of determining the type of a laser according to the color of a layer to be cleaned of a target area to be cleaned, and emitting laser with corresponding wavelength to the layer to be cleaned of the target area to be cleaned through the corresponding type of laser, wherein the laser with different types emits laser with different wavelength.
Further, determining the type of the laser according to the color of the layer to be cleaned of the target area to be cleaned includes:
the color of the layer to be cleaned in the target area to be cleaned includes: adopting argon laser when yellow green, yellow, orange, red or purple red;
the color of the layer to be cleaned in the target area to be cleaned includes: when the color is blue, green blue, blue green or black, a helium-neon laser is adopted;
the color of the layer to be cleaned in the target area to be cleaned includes: in the case of white or gray, a carbon dioxide laser is used.
Further, the acquiring the color of the layer to be cleaned of the target area to be cleaned includes:
acquiring an image of a layer to be cleaned in a target area to be cleaned;
determining the color value of the layer to be cleaned in the target area to be cleaned according to the image of the layer to be cleaned in the target area to be cleaned;
and comparing the color value of the layer to be cleaned in the area to be cleaned with the color values of the multiple standard colors to determine the color of the layer to be cleaned in the area to be cleaned.
Further, after the cleaning of the layer to be cleaned in the target area to be cleaned is completed, the method further comprises the following steps:
if an uncleaned area exists, determining the position of the next uncleaned area, taking the position as a target area to be cleaned, and returning to execute the following operations: and acquiring the color of the layer to be cleaned in the target area to be cleaned.
In a second aspect, an embodiment of the present invention further provides a control device for laser cleaning, including:
the color acquisition module is used for acquiring the color of a layer to be cleaned in a target area to be cleaned;
the wavelength determining module is used for determining the wavelength of laser required by cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned;
and the energy density determining module is used for determining the laser energy density required by cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
Further, the control device for laser cleaning further comprises: the thickness obtaining module is used for obtaining the thickness of a layer to be cleaned in the target area to be cleaned;
the energy density determining module is used for determining the laser energy density required by cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
In a third aspect, an embodiment of the present invention further provides a laser cleaning system, including: the invention provides a laser and a control device for laser cleaning.
The technical scheme of the embodiment of the invention obtains the color of the layer to be cleaned in the target area to be cleaned; according to the color of the to-be-cleaned layer of the target to-be-cleaned area, the wavelength and the laser energy density of the laser of the to-be-cleaned layer of the to-be-cleaned area are determined, so that the absorption rate of the laser energy is improved, the cleaning efficiency is improved, the situation that if the paint coating with multiple colors is cleaned, if the laser with single wavelength and the same laser energy density is adopted, the absorption rate of some color coatings to the laser is low, the paint removing efficiency is reduced, the coating removing effect is not uniform, and the absorption rate of some color coatings to the laser is high, and the base material is damaged is caused to occur.
Drawings
Fig. 1 is a flowchart of a control method for laser cleaning according to an embodiment of the present invention;
FIG. 2 is a flowchart of another control method for laser cleaning according to an embodiment of the present invention;
fig. 3 is a flowchart of another control method for laser cleaning according to an embodiment of the present invention;
FIG. 4 is a flowchart of another control method for laser cleaning according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device for laser cleaning according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another laser cleaning control apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a laser cleaning system according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a scanning path of laser cleaning according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a control method for laser cleaning. Fig. 1 is a flowchart of a control method for laser cleaning according to an embodiment of the present invention. The control method of laser cleaning can be executed by a control device of laser cleaning, the device can be realized by software and/or hardware, and the device can be arranged in a laser cleaning system. The control method for laser cleaning specifically comprises the following steps:
and step 110, acquiring the color of the layer to be cleaned in the target area to be cleaned.
The workpiece to be cleaned can comprise a substrate and a layer to be cleaned, wherein the layer to be cleaned covers the substrate. The color of the layer to be cleaned in the target area to be cleaned can be determined according to the image of the layer to be cleaned in the target area to be cleaned by acquiring the image of the layer to be cleaned in the target area to be cleaned. The layer to be cleaned of the workpiece to be cleaned is not of a single colour. The layer to be cleaned of the workpiece to be cleaned may comprise a plurality of colors. The layer to be cleaned may comprise an organic coating. The layer to be cleaned may comprise a paint coating or the like. The color of the layer to be cleaned may be different for different areas of the surface of the workpiece to be cleaned. The different colored layers to be cleaned may have different absorptions for laser light of the same wavelength. The absorbance of the same color of layer to be cleaned to laser light of different wavelengths may be different.
The method comprises the steps of obtaining the absorptivity of a layer to be cleaned of the color to laser with various wavelengths by means of testing, consulting data and the like in advance aiming at each color, further comparing the absorptivity of the layer to be cleaned of the color to the laser with various wavelengths, further determining the corresponding laser wavelength when the layer to be cleaned of the color has the optimal absorptivity, further establishing a first corresponding relation between the color of the layer to be cleaned and the wavelength of the laser corresponding to the optimal absorptivity based on the purpose of improving the laser absorptivity, and further determining the wavelength of the laser for cleaning the layer to be cleaned of the target area to be cleaned according to the color of the layer to be cleaned of the target area to be cleaned and the first corresponding relation. The laser wavelengths corresponding to the layers to be cleaned of different colors may be different. The laser wavelengths corresponding to the layers to be cleaned of different colors of at least two different regions may be different. The absorptivity of the layer to be cleaned with a specific color to the laser with the corresponding wavelength is higher than the absorptivity of the layer to be cleaned with the specific color to the laser with other wavelengths.
And step 120, determining the wavelength and the laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
Wherein, the cleaning layers with at least two different colors correspond to different laser wavelengths. The method comprises the steps of determining the wavelength of laser for cleaning a to-be-cleaned layer of a target to-be-cleaned area according to the color of the to-be-cleaned layer of the target to-be-cleaned area, wherein the absorption rate of the to-be-cleaned layer of the target to-be-cleaned area to the laser with the wavelength is higher than that of the laser with other wavelengths, namely selecting proper laser wavelength according to the color of the to-be-cleaned layer, so that the absorption rate of laser energy is improved, the cleaning efficiency is improved, and the removal uniformity is improved. Different laser wavelengths can be adopted for the layers to be cleaned with different colors so as to improve the absorption rate of laser energy.
Exemplary, high absorbance absorption wavelengths for different colored paints, see the following table:
wherein, the cleaning layer of different colours can adopt different laser wavelength, corresponds different absorptance. The larger the absorption rate α, the smaller the required laser energy density E, for a given thickness of the layer to be cleaned. The method comprises the steps of determining the wavelength and the laser energy density of laser for cleaning a to-be-cleaned layer of an area to be cleaned of a target according to the color of the to-be-cleaned layer of the area to be cleaned of the target, so that when paint coatings of different colors are cleaned and laser with single wavelength and same laser energy density is adopted, paint residues are caused when the paint coatings with too low absorption rate are cleaned, and when the paint coatings with too high absorption rate are cleaned, the condition that a base material is damaged is caused.
The second corresponding relation between the color of the cleaning layer and the laser energy density can be established in advance through modes of testing, consulting data and the like, so that the laser energy density of the to-be-cleaned layer of the target to-be-cleaned area is determined according to the color of the to-be-cleaned layer of the target to-be-cleaned area and the second corresponding relation. Determining the laser energy density of cleaning the layer to be cleaned of the target area to be cleaned according to the color of the layer to be cleaned of the target area to be cleaned may include: and determining the laser energy density of the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned and the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned. The absorption rate alpha can be determined according to the color of the layer to be cleaned in the target area to be cleaned and the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned, and then the laser energy density E for cleaning the layer to be cleaned in the target area to be cleaned is determined according to the absorption rate alpha.
According to the technical scheme, the color of the layer to be cleaned in the target area to be cleaned is obtained; according to the color of the to-be-cleaned layer of the target to-be-cleaned area, the wavelength and the laser energy density of the laser of the to-be-cleaned layer of the to-be-cleaned area are determined, so that the absorption rate of the laser energy is improved, the cleaning efficiency is improved, the situation that if the paint coating with multiple colors is cleaned, if the laser with single wavelength and the same laser energy density is adopted, the absorption rate of some color coatings to the laser is low, the paint removing efficiency is reduced, the coating removing effect is not uniform, and the absorption rate of some color coatings to the laser is high, and the base material is damaged is caused to occur.
The embodiment of the invention provides a control method for laser cleaning. Fig. 2 is a flowchart of another control method for laser cleaning according to an embodiment of the present invention. On the basis of the above embodiment, the control method of laser cleaning includes:
and step 210, acquiring the color of the layer to be cleaned in the target area to be cleaned.
Step 220, determining the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
And step 230, acquiring the thickness of the layer to be cleaned of the target area to be cleaned.
Wherein the thickness of the layer to be cleaned is not uniform in each region of the workpiece to be cleaned. The thickness of the layer to be cleaned in each region of the workpiece to be cleaned is different. The thickness of the layer to be cleaned may be different for at least two different areas of the workpiece to be cleaned. The layer to be cleaned may be coated on the substrate. If the substrate is a magnetic substrate, a magnetic thickness gauge can be used to measure the thickness of the non-magnetic layer to be cleaned covering the surface by measuring the magnetic path passing through the layer to be cleaned and the substrate. If the base material is a non-magnetic base material, such as aluminum material, an eddy current thickness gauge can be adopted, a probe of the eddy current thickness gauge can generate a high-frequency electromagnetic field, eddy current can be generated when the non-magnetic base material is measured, and then the thickness of the non-conductive layer to be cleaned is calculated by measuring the eddy current and the phase.
And 240, determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
Wherein, according to the color and thickness of the layer to be cleaned in the target area to be cleaned, determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned may include: and determining the laser energy density of the layer to be cleaned of the target area to be cleaned according to the color and the thickness of the layer to be cleaned of the target area to be cleaned and the wavelength of the laser for cleaning the layer to be cleaned of the target area to be cleaned. The laser energy density E of the to-be-cleaned layer of the target to-be-cleaned area is determined according to the absorption rate alpha of the to-be-cleaned layer of the target to-be-cleaned area to laser and the thickness of the to-be-cleaned layer of the target to-be-cleaned area. The greater the absorption rate α, the smaller the required laser energy density E, the same the thickness H of the layer to be cleaned. The smaller the thickness H of the layer to be cleaned, the smaller the required laser energy density E, the same the absorption α. To the cleaning layer of treating of different thickness and different absorptivity, adopt different laser energy to get rid of, can improve the cleaning performance, prevent the substrate damage, solved and in wasing paint coating in-process, because the paint coating surface that needs to get rid of usually has the mar, defects such as drop, its thickness often is inhomogeneous, if to the inhomogeneous coating of thickness, adopt unified laser energy to get rid of, then probably cause the inhomogeneous condition of removal effect, the regional sanitization that probably is the coating is thicker, and the problem that the substrate damage probably takes place in the region that the coating is thinner. The laser cleaning device has the advantages that the color and the thickness of the layer to be cleaned are automatically detected in the cleaning process, the appropriate laser wavelength and energy density are selected according to the color and the thickness of the layer to be cleaned, the absorption rate of the layer to laser to be cleaned is improved, the laser cleaning efficiency is improved, the laser energy is accurately controlled to be input, the risk that the base material is damaged is reduced, the laser energy utilization rate is improved, and the uniform laser paint removing effect is obtained.
The third corresponding relation between the color and the thickness of the cleaning layer and the laser energy density can be established in advance through modes of testing, consulting data and the like, so that the laser energy density of the to-be-cleaned layer of the target to-be-cleaned area is determined according to the color and the thickness of the to-be-cleaned layer of the target to-be-cleaned area and the third corresponding relation.
It is noted that step 210 may be performed before, after, or simultaneously with step 230. The execution sequence of step 210 and step 230 may be set as required, and is not limited in this embodiment of the present invention.
The embodiment of the invention provides another control method for laser cleaning. Fig. 3 is a flowchart of another control method for laser cleaning according to an embodiment of the present invention. On the basis of the above embodiment, the control method of laser cleaning includes:
and 310, acquiring the color of the layer to be cleaned of the target area to be cleaned.
The surface of the workpiece to be cleaned can be divided into a plurality of areas, and the areas can be cleaned by laser one by one or simultaneously. After the colors of all the areas of the workpiece to be cleaned are obtained in advance, laser is emitted to the layers to be cleaned in all the areas one by one or simultaneously, and laser cleaning is carried out. The method can be used for emitting laser to the layer to be cleaned in the current target area to be cleaned and cleaning the laser while acquiring the color of the layer to be cleaned in the next area or areas to be cleaned.
And step 320, determining the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
And step 330, acquiring the thickness of the layer to be cleaned in the target area to be cleaned.
After the thicknesses of all areas of the workpiece to be cleaned are obtained in advance, laser is emitted to the layer to be cleaned in each area one by one or simultaneously, and laser cleaning is carried out. The laser cleaning method can be used for emitting laser to the layer to be cleaned of the current target area to be cleaned and cleaning the laser while obtaining the thickness of the layer to be cleaned of the next area or areas to be cleaned.
And 340, determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
And 350, after the layer to be cleaned of the target area to be cleaned is cleaned, if an uncleaned area exists, determining the position of the next uncleaned area, and taking the next uncleaned area as the target area to be cleaned.
After step 350 is executed, the process returns to step 310 to clean the remaining uncleaned area, and so on until the cleaning of the entire surface of the layer to be cleaned is completed. After the cleaning of the layer to be cleaned in the target area to be cleaned is finished, if no uncleaned area exists, the cleaning of the whole layer to be cleaned is finished. If step 330 is before step 310, after step 350 is performed, step 330 may be performed. If step 330 is after step 310, after step 350 is performed, execution may return to step 310.
The embodiment of the invention provides another control method for laser cleaning. Fig. 4 is a flowchart of another control method for laser cleaning according to an embodiment of the present invention. On the basis of the above embodiment, the control method of laser cleaning includes:
and step 410, acquiring an image of a layer to be cleaned of the target area to be cleaned.
The image of the layer to be cleaned in the target region to be cleaned can be acquired through image acquisition modules such as a Charge Coupled Device (CCD) image sensor.
And step 420, determining the color value of the layer to be cleaned in the target area to be cleaned according to the image of the layer to be cleaned in the target area to be cleaned.
The color value of the layer to be cleaned in the target area to be cleaned can include a color value in an RGB coordinate.
And 430, comparing the color value of the layer to be cleaned in the target area to be cleaned with the color values of the multiple standard colors to determine the color of the layer to be cleaned in the target area to be cleaned.
Wherein, the plurality of standard colors may include: yellow-green, yellow, orange, red, magenta, violet, blue, green-blue, blue-green, black, white, gray, etc. The color value of the to-be-cleaned layer of the target to-be-cleaned area is judged to be closest to the color value of the standard color, and then the standard color with the closest color value is used as the color of the to-be-cleaned layer of the target to-be-cleaned area.
Step 440, determining the type of the laser according to the color of the layer to be cleaned in the target region to be cleaned, so as to emit laser with corresponding wavelength to the layer to be cleaned in the target region to be cleaned through the corresponding type of laser, wherein the wavelengths of the laser emitted by different types of lasers are different.
Among them, the types of the laser may be at least two. The more types of lasers, the larger the range of laser wavelengths, and the more colors of cleaning layers that can be applied. Alternatively, the types of the lasers may be at least three. Optionally, determining the type of the laser according to the color of the layer to be cleaned in the target area to be cleaned includes: the color of the layer to be cleaned in the target area to be cleaned includes: adopting argon laser when yellow green, yellow, orange, red or purple red; the color of the layer to be cleaned in the target area to be cleaned includes: when the color is blue, green blue, blue green or black, a helium-neon laser is adopted; the color of the layer to be cleaned in the target area to be cleaned includes: in the case of white or gray, a carbon dioxide laser is used.
And step 450, acquiring the thickness of the layer to be cleaned of the target area to be cleaned.
And step 460, determining the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned, and the wavelength, the pulse width and the pulse frequency of the laser for cleaning the layer to be cleaned in the target area to be cleaned.
Wherein the laser energy density threshold value E th May be the maximum laser energy density at which the substrate of the workpiece to be cleaned is not damaged by the laser. The laser energy density E can be less than or equal to the laser energy density threshold E th . The color and thickness of the cleaning layer, the wavelength, pulse width and pulse frequency of the laser and the fourth corresponding relation between the absorption rate of the laser and the laser energy density threshold can be established in advance through modes of testing, consulting data and the like, so that the absorption rate of the laser and the laser energy density threshold of the layer to be cleaned in the area to be cleaned in the target area to be cleaned can be determined conveniently according to the color and thickness of the layer to be cleaned in the area to be cleaned in the target area to be cleaned, the wavelength, pulse width and pulse frequency of the laser in the layer to be cleaned in the area to be cleaned in the target area to be cleaned and the fourth corresponding relation (which can be a database).
Parameters such as laser pulse frequency, pulse width and the like can be set according to requirements, for example, the range of the pulse frequency can be 5-20 kHz, and the range of the pulse width can be 10-100 ns. The scan path and scan parameters may be determined according to the shape and size of the workpiece, and the scan parameters may include scan speed, scan pitch, and spot diameter. For example, the scanning path may be in a shape of a Chinese character 'gong', the scanning speed may be 2-4 m/s, the scanning interval may be 0.2-0.5 mm, and the diameter of the light spot may be 0.5-1 mm.
And 470, determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned and the thickness of the layer to be cleaned in the target area to be cleaned.
Optionally, determining the laser energy density of the layer to be cleaned in the region to be cleaned for cleaning the target according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the region to be cleaned for the target, and the thickness of the layer to be cleaned in the region to be cleaned for the target includes: laser energy density E = E required for cleaning a layer to be cleaned of a target region to be cleaned th e αH Wherein, E th And the laser energy density threshold value is defined as alpha, the absorptivity of the layer to be cleaned in the target area to be cleaned to laser is defined as alpha, and H is the thickness of the layer to be cleaned in the target area to be cleaned.
Step 480, after the cleaning of the layer to be cleaned in the target area to be cleaned is completed, if there is an unwashed area, determining the position of the next unwashed area, and taking the next unwashed area as the target area to be cleaned.
After the step 480 is executed, the step 410 may be executed again to clean the remaining uncleaned area, and this process is repeated until the cleaning of the entire surface of the layer to be cleaned is completed. After the cleaning of the layer to be cleaned in the target area to be cleaned is finished, if no uncleaned area exists, the cleaning of the whole layer to be cleaned is finished.
The embodiment of the invention provides a control device for laser cleaning. Fig. 5 is a schematic structural diagram of a control device for laser cleaning according to an embodiment of the present invention. The control device for laser cleaning can be used for executing the control method for laser cleaning provided by any embodiment of the invention. On the basis of the above embodiment, the control device for laser cleaning includes: a color acquisition module 510, a wavelength determination module 520, and an energy density determination module 540.
The color obtaining module 510 is configured to obtain a color of a layer to be cleaned in a target area to be cleaned; the wavelength determining module 520 is configured to determine a wavelength of laser light required for cleaning a layer to be cleaned in a target region to be cleaned according to a color of the layer to be cleaned in the target region to be cleaned; the energy density determining module 540 is configured to determine, according to the color of the layer to be cleaned in the target area to be cleaned, the laser energy density required for cleaning the layer to be cleaned in the target area to be cleaned.
The control device for laser cleaning provided in the embodiment of the present invention may be configured to execute the control method for laser cleaning provided in any embodiment of the present invention, and therefore the control device for laser cleaning provided in the embodiment of the present invention also has the beneficial effects described in the above embodiments, and details are not described herein again.
Optionally, on the basis of the foregoing embodiment, fig. 6 is a schematic structural diagram of another laser cleaning control device provided in an embodiment of the present invention, where the laser cleaning control device further includes: a thickness acquisition module 530.
The thickness obtaining module 530 obtains the thickness of the layer to be cleaned in the target area to be cleaned.
Optionally, the energy density determining module 540 is configured to determine the laser energy density required for cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
Optionally, the energy density determining module 540 is configured to determine the laser energy density required for cleaning the layer to be cleaned in the target region to be cleaned according to the color and thickness of the layer to be cleaned in the target region to be cleaned, and the wavelength of the laser light required for cleaning the layer to be cleaned in the target region to be cleaned.
Optionally, on the basis of the foregoing embodiment, with continuing reference to fig. 6, the energy density determining module 540 includes: an absorption rate and energy density threshold determination unit 541 and an energy density determination unit 542.
The absorption rate and energy density threshold determination unit 541 is configured to determine, according to the color and thickness of the layer to be cleaned in the target area to be cleaned, and the wavelength, pulse width, and pulse frequency of the laser light for cleaning the layer to be cleaned in the target area to be cleaned, an absorption rate and a laser energy density threshold of the layer to be cleaned in the target area to be cleaned for the laser light. The energy density determining unit 542 is configured to determine the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned, and the thickness of the layer to be cleaned in the target area to be cleaned.
Optionally, the absorption rate and energy density threshold determining unit 541 is configured to determine, according to the color of the layer to be cleaned in the target area to be cleaned and the wavelength of the laser light for cleaning the layer to be cleaned in the target area to be cleaned, an absorption rate of the layer to be cleaned in the target area to be cleaned to the laser light.
Optionally, on the basis of the above embodiment, the laser energy density E = E required for cleaning the layer to be cleaned in the target region to be cleaned th e αH Wherein E is th For laser energy densityAnd a threshold value, wherein alpha is the absorptivity of the layer to be cleaned in the target area to be cleaned to the laser, and H is the thickness of the layer to be cleaned in the target area to be cleaned.
Optionally, on the basis of the foregoing embodiment, the wavelength determining module 520 is configured to determine the type of the laser according to the color of the layer to be cleaned in the target region to be cleaned, so as to emit laser with a corresponding wavelength to the layer to be cleaned in the target region to be cleaned by using the laser with a corresponding type, where the wavelengths of the laser emitted by the lasers with different types are different.
Optionally, the color of the layer to be cleaned in the target area to be cleaned by the wavelength determining module 520 includes: adopting argon laser when yellow green, yellow, orange, red or purple red; the color of the layer to be cleaned in the target area to be cleaned includes: when the color is blue, green blue, blue green or black, a helium-neon laser is adopted; the color of the layer to be cleaned in the target area to be cleaned includes: in the case of white or gray, a carbon dioxide laser is used.
Optionally, on the basis of the foregoing embodiment, with continuing reference to fig. 6, the color obtaining module 510 includes: an image acquisition unit 511, a color value determination unit 512, and a color determination unit 513.
The image acquiring unit 511 is configured to acquire an image of a layer to be cleaned in a target region to be cleaned; the color value determining unit 512 is configured to determine a color value of a layer to be cleaned in the target region to be cleaned according to an image of the layer to be cleaned in the target region to be cleaned; the color determining unit 513 is configured to compare the color value of the layer to be cleaned in the target area to be cleaned with the color values of the plurality of standard colors to determine the color of the layer to be cleaned in the target area to be cleaned.
Optionally, on the basis of the above embodiment, the control device for laser cleaning further includes: a replacement position module 550, configured to, after cleaning of the layer to be cleaned in the target region to be cleaned is completed, determine a position of a next region not to be cleaned if there is a region not to be cleaned, take the position as the target region to be cleaned, and return to performing: and acquiring the color of the layer to be cleaned in the target area to be cleaned.
The control device for laser cleaning can execute the control method for laser cleaning provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
The embodiment of the invention provides a laser cleaning system. Fig. 7 is a schematic structural diagram of a laser cleaning system according to an embodiment of the present invention. On the basis of the above embodiment, the laser cleaning system includes: the laser and the control device 4 for laser cleaning provided by any embodiment of the invention.
The laser cleaning system provided in the embodiment of the present invention includes the laser cleaning control device provided in any embodiment of the present invention, and therefore, the laser cleaning system provided in the embodiment of the present invention also has the beneficial effects described in the above embodiments, and details are not described herein.
Optionally, on the basis of the above embodiment, with continuing reference to fig. 7, the laser cleaning system further includes: and the image acquisition module 2 is used for acquiring images of the layer to be cleaned at different positions of the workpiece 9 to be cleaned. The image acquisition module 2 may comprise a CCD sensor. And the auxiliary white light source is used for illuminating in the process of collecting the image. The image of the to-be-cleaned layer of the target to-be-cleaned area can be acquired through the image acquisition module 2, and then the color of the to-be-cleaned layer of the target to-be-cleaned area is determined according to the image of the to-be-cleaned layer of the target to-be-cleaned area.
Optionally, on the basis of the above embodiment, with continuing reference to fig. 7, the laser cleaning system further includes: and the thickness measuring instrument 3 is used for detecting the thickness of the layer to be cleaned at different positions of the workpiece 9 to be cleaned.
The image acquisition module 2 and the thickness measuring instrument 3 move along the scanning path, information acquisition is performed at set intervals (for example, 10-100 mm), the coordinates of a current acquisition point are recorded during each acquisition, the scanning speed during the acquisition can be 1-4 m/min, and the scanning distance and the scanning path are consistent with laser scanning parameters.
Optionally, on the basis of the above embodiment, with continuing reference to fig. 7, the laser cleaning system further includes: a distance measuring module 1 for detecting the distance between the surface of the workpiece 9 to be cleaned and the laser head 5, and a control device 4 for controlling the laser head to perform cleaning according to the distance between the surface of the workpiece 9 to be cleaned and the laser head detected by the distance measuring module 1And adjusting the height of the laser head 5 according to the distance of the optical head 5 to ensure that the distance between the surface of the workpiece 9 to be cleaned and the laser head 5 is the laser focal length. The laser cleaning system can adopt an argon laser 6 with a wavelength of 488nm, a helium-neon laser 7 with a wavelength of 633nm and CO with a wavelength of 10.6 mu m 2 Laser 8, argon laser 6, he-Ne laser 7 and CO 2 The lasers 8 are all connected with the laser head 5. The laser head 5 can be provided with reflectors which are all broadband metal coating reflectors, and can keep the reflectivity of more than 96% in the wavelength of 450nm-20 mu m.
The distance measuring module 1 may comprise a structured light sensor. When cleaning uneven workpiece surfaces, a structured light sensor is needed to be used for monitoring, the structured light sensor uses a laser to emit a light source, projects the light source on the surface of a target object and forms a light spot, obtains the distance between the workpiece surface and a laser head by analyzing a light spot image obtained by a camera, transmits information to a control device 4 (such as a workstation), adjusts the height of the laser head according to the collected information, and keeps the actual working distance as the laser focal length.
Optionally, the laser head 5, the image acquisition module 2, and the thickness measurement instrument 3 move synchronously along a scanning path, the scanning path S of the image acquisition module 2 and the thickness measurement instrument 3 before the laser head 5 may be "bow" shaped, as shown in fig. 8, fig. 8 is a schematic diagram of a scanning path for laser cleaning according to an embodiment of the present invention, fig. 8 exemplarily illustrates a top view of a workpiece to be cleaned, the workpiece to be cleaned may be divided into a plurality of regions arranged in an array, a scanning speed of the laser head 5 may be 2 to 4m/S, and a scanning interval may be 0.2 to 0.5mm. When the laser head 5 emits laser to the current target area to be cleaned and performs laser cleaning, the image acquisition module 2 and the thickness measuring instrument 3 perform image acquisition and thickness detection on the layer to be cleaned in the next area to be cleaned.
The technical scheme of the embodiment of the invention is suitable for the laser cleaning method of the paint coatings with different colors and thicknesses, aims to remove the paint coatings with different colors and thicknesses, improves the laser absorption efficiency of the paint coatings by automatically selecting the laser wavelength and the energy density, improves the laser paint removal efficiency, accurately controls the input of laser energy, reduces the risk of damage to the base material, and improves the laser energy utilization rate.
The CCD sensor is used for acquiring image information of different positions of the surface of the workpiece, inputting the image information into the color detection module to obtain color information of the paint coating at the position, and selecting laser wavelength with the highest absorption rate according to the color of the paint coating at the position. Acquiring the paint thickness of different positions on the surface of a workpiece by a paint thickness meter, and searching the laser absorption rate alpha and the laser cleaning energy density threshold E of the color coating under the selected laser wavelength from a database according to the acquired coating color information th . According to the formula E = E th e αH And calculating the required laser energy density, programming parameters such as the measurement point coordinate, the laser wavelength, the laser energy density and the like obtained in the process in a workstation, and controlling a laser cleaning system to clean the paint coating.
Compared with the technical scheme that a single laser light source is used for carrying out laser cleaning through intelligent programming automatic parameter changing, the laser cleaning method and the device select the laser wavelength according to the coating color, improve the laser absorption rate of paint, and improve the energy utilization rate and the paint removal efficiency. According to the coating thicknesses of different positions, the laser energy density is determined, the energy input can be controlled more accurately, the laser energy utilization efficiency is improved, and the risk that the laser damages the base material is reduced. Compared with the method for removing the coating with uneven thickness by using uniform laser energy density, the method can obtain more uniform paint removing effect and reduce the residual rate of the coating. The whole cleaning process is based on automatic monitoring and programming, and the amount of manual labor is reduced.
The laser cleaning is a green cleaning method, does not need any chemical agent or cleaning fluid, and can well solve the problems of environmental pollution and waste treatment. The laser cleaning method is a cleaning method which has no physical mechanical contact with the surface of the material and can control the damage to the base material. The laser cleaning device has the advantages that good accessibility can be realized, remote automatic operation is convenient to realize, precise selective area cleaning can be realized in a complex area which is difficult for some people to enter or a place with a high danger coefficient, and the safety of workers is ensured. The laser cleaning technology has the advantages of high cleaning thickness and cleaning surface size precision, uniform cleaning quality and good consistency. The laser cleaning removal object has wide application range, and can remove pollutants with various colors, thicknesses and various special physical and chemical properties on the surface. The laser cleaning efficiency is high, and the time and the cost are saved. The laser cleaning usually adopts a polygonal mirror or galvanometer scanning mode to perform linear spot large-area cleaning or swinging laser scanning cleaning, and the aim of efficiently and quickly removing a cleaning object can be fulfilled.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. A method of controlling laser cleaning, comprising:
acquiring the color of a layer to be cleaned in a target area to be cleaned;
and determining the wavelength and the laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
2. The control method of laser cleaning according to claim 1, before determining the laser energy density for cleaning the layer to be cleaned of the target region to be cleaned, further comprising:
obtaining the thickness of a layer to be cleaned in a target area to be cleaned;
correspondingly, determining the wavelength and the laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned comprises:
determining the wavelength of laser for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned;
and determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
3. The control method of laser cleaning according to claim 2, wherein determining the laser energy density for cleaning the layer to be cleaned of the target area to be cleaned according to the color and thickness of the layer to be cleaned of the target area to be cleaned comprises:
determining the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned, and the wavelength, the pulse width and the pulse frequency of the laser for cleaning the layer to be cleaned in the target area to be cleaned;
and determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned and the thickness of the layer to be cleaned in the target area to be cleaned.
4. The control method for laser cleaning according to claim 3, wherein determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the laser absorption rate and the laser energy density threshold of the layer to be cleaned in the target area to be cleaned and the thickness of the layer to be cleaned in the target area to be cleaned comprises:
the laser energy density E = E required for cleaning the layer to be cleaned of the target area to be cleaned th e αH Wherein E is th And the laser energy density threshold value is defined as alpha, the absorptivity of the layer to be cleaned in the target area to be cleaned to laser is defined as alpha, and H is the thickness of the layer to be cleaned in the target area to be cleaned.
5. The control method of laser cleaning according to claim 1, wherein determining the wavelength of the laser for cleaning the layer to be cleaned of the target area to be cleaned according to the color of the layer to be cleaned of the target area to be cleaned comprises:
and determining the type of the laser according to the color of the layer to be cleaned in the target area to be cleaned, so as to emit laser with corresponding wavelength to the layer to be cleaned in the target area to be cleaned through the corresponding type of laser, wherein the wavelengths of the laser emitted by different types of lasers are different.
6. The control method of laser cleaning according to claim 5, wherein determining the type of the laser according to the color of the layer to be cleaned of the target area to be cleaned comprises:
the color of the layer to be cleaned in the target area to be cleaned comprises: adopting argon laser when yellow green, yellow, orange, red or purple red;
the color of the layer to be cleaned in the target area to be cleaned comprises: when the color is blue, green blue, blue-green or black, a helium-neon laser is adopted;
the color of the layer to be cleaned in the target area to be cleaned comprises: in the case of white or gray, a carbon dioxide laser is used.
7. The control method of laser cleaning according to claim 1, wherein the obtaining of the color of the layer to be cleaned of the target area to be cleaned includes:
acquiring an image of a layer to be cleaned in the target area to be cleaned;
determining the color value of the layer to be cleaned in the target area to be cleaned according to the image of the layer to be cleaned in the target area to be cleaned;
and comparing the color value of the layer to be cleaned in the target area to be cleaned with the color values of the multiple standard colors to determine the color of the layer to be cleaned in the target area to be cleaned.
8. The control method of laser cleaning according to claim 1, further comprising, after cleaning of the layer to be cleaned of the target region to be cleaned is completed:
if an unwashed area exists, determining the position of the next unwashed area, taking the next unwashed area as a target area to be cleaned, and returning to execute the following operations: and acquiring the color of the layer to be cleaned in the target area to be cleaned.
9. A control apparatus for laser cleaning, comprising:
the color acquisition module is used for acquiring the color of a layer to be cleaned in a target area to be cleaned;
the wavelength determining module is used for determining the wavelength of laser required for cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned;
and the energy density determining module is used for determining the laser energy density required by cleaning the layer to be cleaned in the target area to be cleaned according to the color of the layer to be cleaned in the target area to be cleaned.
10. The laser cleaning control apparatus of claim 9, further comprising: the thickness obtaining module is used for obtaining the thickness of a layer to be cleaned in the target area to be cleaned;
the energy density determining module is used for determining the laser energy density required by cleaning the layer to be cleaned in the target area to be cleaned according to the color and the thickness of the layer to be cleaned in the target area to be cleaned.
11. A laser cleaning system, comprising: a laser and a control device for laser cleaning as claimed in any one of claims 9 to 10.
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| CN116571489A (en) * | 2023-05-25 | 2023-08-11 | 北京金轮坤天特种机械有限公司 | High-pressure water jet cleaning method for environmental sediment on surface of thermal barrier coating |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116571489A (en) * | 2023-05-25 | 2023-08-11 | 北京金轮坤天特种机械有限公司 | High-pressure water jet cleaning method for environmental sediment on surface of thermal barrier coating |
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