WO2021217992A1

WO2021217992A1 - Multi-laser-head intelligent laser cleaning method and device

Info

Publication number: WO2021217992A1
Application number: PCT/CN2020/114199
Authority: WO
Inventors: 马明明; 彭凯; 杨颖�; 李林; 陈勇; 张月来; 杨帆; 李泽之; 林敏�
Original assignee: 株洲国创轨道科技有限公司
Priority date: 2020-04-28
Filing date: 2020-09-09
Publication date: 2021-11-04
Also published as: CN111420938B; CN111420938A

Abstract

Disclosed is a multi-laser-head intelligent laser cleaning method, comprising steps: S1, obtain a three-dimensional shape of a workpiece to be cleaned and determine an area to be cleaned; S2, determine motion trajectories and scanning modes of laser heads according to the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned; S3, select technological parameters of the laser heads, the laser heads move along the motion trajectories and emit laser to clean the surface of the workpiece; and S4, acquire an image of the surface of the cleaned workpiece in real time, detect a cleaning condition of the surface of the workpiece by using an image processing algorithm, and if a preset requirement is not satisfied, return to step S3 till the detection result satisfies the preset requirement. The present invention can achieve cleaning dirt on the surface of the workpiece by means of coordination of multiple laser heads, is particularly suitable for a surface to be cleaned which has a large breadth and a complex shape and structure, and has advantages of high cleaning efficiency, good cleaning quality, etc..

Description

Intelligent laser cleaning method and device for multiple laser heads

【Technical Field】

The invention relates to the technical field of laser cleaning, in particular to an intelligent laser cleaning method and device for multiple laser heads.

【Background technique】

Laser cleaning is a new type of green cleaning technology developed in the last two decades. This technology uses high-frequency pulsed lasers to act on the surface of the workpiece to be cleaned, so that the dirt can be separated from the surface of the workpiece by means of gasification, combustion, peeling, etc., and finally achieve Purpose of cleaning. In the laser cleaning process, there is no chemical pollution, no noise pollution, and no air pollution, which is a typical green manufacturing technology. Laser cleaning equipment uses high-frequency pulsed fiber laser as the light source, so the equipment is maintenance-free and has no consumables. In terms of the full life cycle of the product, it has high economic benefits. This technology has been used in industrial rust removal, paint removal, and oil removal. application.

At present, the laser cleaning device mainly uses a single laser head to focus the laser beam on the surface of the workpiece to be cleaned through an optical system, and then move the laser head to achieve the purpose of cleaning the surface of the workpiece. However, due to the limitation of the power of the single laser head and the scanning speed of the single laser head, the cleaning efficiency of the single laser head will become a bottleneck. For example, when a 1000W pulsed laser cleans paint with a thickness of 160 microns, the cleaning efficiency is only about 1.5 to 2.0 m ² /h. Therefore, when cleaning large-format or complex-shaped cleaning surfaces, the cleaning efficiency of a single laser head is low and the cleaning quality is poor, which cannot reach the level of industrial production applications. In addition, a single laser head is difficult to remove a thick rust layer with a thickness greater than 0.2mm. It requires repeated and multiple scanning of the laser to clean the surface completely, and the cleaning efficiency is greatly reduced.

At present, the use of multiple laser heads is an important method to improve the efficiency of laser cleaning. For example, the patent "A large-format laser cleaning device (application number: 201811655475.9)" proposes a four-laser head cleaning device, which improves the efficiency of laser cleaning, but lacks intelligence. To manage each laser head, it is difficult to maximize the effect of multiple laser heads. Therefore, how to rationally use multiple laser heads for efficient cleaning, realize intelligent division of cleaning areas, intelligently allocate multiple laser head movement tracks and scanning methods, non-destructive cleaning, and guarantee cleaning quality are currently urgent problems to be solved.

[Summary of the invention]

In view of the technical problems existing in the prior art, the present invention provides an intelligent laser cleaning method and device with multiple laser heads. The multiple laser heads can cooperate with each other to clean the dirt on the surface of the workpiece, which is especially suitable for large-format and complex shapes and structures. The surface of the workpiece can effectively improve the efficiency and quality of laser cleaning.

In order to solve the above technical problems, the present invention provides an intelligent laser cleaning method for multiple laser heads, the steps include:

S1: Obtain the three-dimensional shape of the workpiece to be cleaned and determine the area to be cleaned;

S2: Determine the movement track and scanning mode of each laser head according to the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned;

S3: Select the process parameters of each laser head, and each laser head moves along the motion track and emits laser to clean the surface of the workpiece;

S4: Collect images of the surface of the workpiece after cleaning in real time, and use image processing algorithms to detect the surface cleaning of the workpiece. If the preset requirements are not met, return to step S3 until the detection results meet the preset requirements.

As a further improvement of the present invention, the specific steps of step S1 are: before laser cleaning, the surface of the workpiece to be cleaned is scanned by a three-dimensional scanning mechanism to obtain the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned.

As a further improvement of the present invention: the specific steps of the step S2 are: the main control computer receives the three-dimensional shape of the workpiece to be cleaned and the information of the area to be cleaned fed back by the three-dimensional scanning mechanism, and determines the movement trajectory of each laser head, the scanning mode and the cleaning process The deflection angle.

As a further improvement of the present invention: the scanning mode of each laser head is cooperative scanning and cleaning.

As a further improvement of the present invention, the light beams of the multiple laser heads converge into any one or more of a linear shape, a triangle shape, a "8" shape, and a rectangle shape.

As a further improvement of the present invention: the scanning mode of each laser head is independent scanning and cleaning.

As a further improvement of the present invention: the specific steps of step S4 are:

S41: Collect the color and shape of the surface of the workpiece and the size and position of the residual dirt area through the image monitoring mechanism in real time, analyze it with the image processing algorithm, and determine whether the surface of the workpiece is burnt, if so, adjust the process parameters of the laser, Reduce the power of the laser head and speed up the movement;

S42: Determine whether the surface of the workpiece is clean, if not, adjust the process parameters of the laser, increase the power of the laser head and slow down the movement speed, until the detection result meets the preset requirements.

The invention also provides an intelligent laser cleaning device with multiple laser heads, and the technical scheme is as follows:

It includes a main control computer and multiple laser heads, lasers, optical systems, image monitoring mechanisms, three-dimensional scanning mechanisms, and transfer mechanisms connected to it; each of the laser heads is connected to a separate laser, optical system, and transfer mechanism; The image monitoring mechanism and the three-dimensional scanning mechanism are set on any laser head. The optical system is used to transmit laser light and move the laser spot driven by the transfer mechanism; the image monitoring mechanism is used to collect image information on the surface of the workpiece and send it to The main control computer; the three-dimensional scanning mechanism is driven by the transfer mechanism to scan the three-dimensional shape of the workpiece to be cleaned and the information of the area to be cleaned and send to the main control computer, the main control computer is used to calculate the position information of the cleaning area and trigger the laser The laser head emits laser light to the surface of the workpiece to be cleaned, and the transfer mechanism is controlled to drive the laser head to move along the set movement track.

As a further improvement of the present invention, it also includes a gyroscope, the gyroscope is arranged on the laser head, and the gyroscope is connected to the main control computer for recording and feeding back the deflection angle information of the laser head to the main control computer.

As a further improvement of the present invention: the number of the laser heads is 2-10.

Compared with the prior art, the advantages of the present invention are:

1. The multi-laser head intelligent laser cleaning method of the present invention first confirms the three-dimensional shape of the workpiece to be cleaned and the required area to be cleaned, and uses multiple laser heads to clean the surface of the workpiece at the same time, automatically planning the movement path and scanning of each laser head In this way, each laser beam can irradiate the entire cleaning area, which realizes the simultaneous cleaning of dirt on any position of the cleaning area, and can remove the dirt on the surface of the workpiece at one time, which simplifies the cleaning process and greatly improves the cleaning efficiency and cleaning quality.

2. The multi-laser head intelligent laser cleaning method of the present invention detects the cleaning quality of the surface of the workpiece to be cleaned in real time, feedbacks in real time, and automatically adjusts the cleaning parameters to achieve cyclic cleaning until the preset requirements are reached, ensuring no damage to the surface of the workpiece, and at the same time saving Cleaning time improves cleaning efficiency.

3. The multi-laser head intelligent laser cleaning device of the present invention is provided with multiple laser heads, and each laser head is independently equipped with a laser, an optical system and a transfer mechanism, and any laser head is also provided with an image monitoring mechanism and Three-dimensional scanning mechanism, driven by the transfer mechanism, multiple laser heads can move above the surface of the workpiece and use the three-dimensional scanning mechanism to scan the shape of the workpiece and the area to be cleaned. The scanning information is received through the main control computer and the data is processed for automatic planning. The movement path and scanning method of multiple laser heads, and the image monitoring mechanism is used to monitor the surface cleaning of the workpiece in real time and feedback information to the main control computer. The main control computer adjusts the process parameters of the laser and adjusts the power of the laser head according to the monitoring results. And the movement speed, realize the cycle cleaning until reaching the preset requirement.

【Explanation of the drawings】

Fig. 1 is a schematic diagram of the process of implementing the intelligent laser cleaning method for multiple laser heads of the present invention.

2 is a schematic diagram of the structure of the intelligent laser cleaning method device with multiple laser heads of the present invention.

Fig. 3 is a schematic diagram of a plurality of laser heads of the present invention forming a rectangular light spot.

Fig. 4 is a schematic diagram of a "figure-eight" spot formed by multiple laser heads of the present invention.

Fig. 5 is a schematic diagram of independent cleaning of multiple laser heads of the present invention.

Fig. 6 is a schematic diagram of another rectangular spot formed by multiple laser heads of the present invention.

illustration:

1. Main control computer; 2. Laser; 3. Optical system; 4. Image monitoring mechanism; 5. Three-dimensional scanning mechanism; 6. Transfer mechanism; 7. Gyroscope.

【Detailed ways】

Hereinafter, the present invention will be further described in detail with reference to the drawings and specific embodiments of the specification.

As shown in Figure 1, the present invention discloses an intelligent laser cleaning method for multiple laser heads, the steps include:

The multi-laser head intelligent laser cleaning method of the present invention first confirms the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned, uses multiple laser heads to clean the surface of the workpiece to be cleaned at the same time, and automatically plans the movement path and scanning mode of each laser head, so that Each laser beam can irradiate the entire cleaning area, achieving simultaneous cleaning of multiple laser heads of dirt at any position in the cleaning area, which can remove dirt on the surface of the workpiece at one time, simplifying the cleaning process, and greatly improving the cleaning efficiency and Cleaning quality: by real-time detection of the cleaning quality of the surface of the workpiece to be cleaned, real-time feedback and automatic adjustment of the process parameters of the laser 2 to achieve cyclic cleaning until the preset requirements are reached, ensuring no damage to the surface of the workpiece, while saving cleaning time and improving cleaning efficiency.

In this embodiment, the specific steps of step S1 are: before laser cleaning, the surface of the workpiece to be cleaned is scanned by the three-dimensional scanning mechanism 5 to obtain the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned. By using the three-dimensional scanning mechanism 5 to scan the surface of the workpiece to be cleaned before cleaning, the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned can be obtained, which is especially suitable for cleaning the surface of the workpiece with complex shape and structure. The cleaning area is not limited, and the cleaning efficiency is High and good cleaning quality.

In this embodiment, the specific steps of step S2 are: the main control computer 1 receives the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned fed back by the three-dimensional scanning mechanism 5, and determines the movement trajectory, scanning mode, and deflection of each laser head during the cleaning process. angle. Further, in a preferred embodiment, the scanning modes of multiple laser heads can be divided into two types. One is the coordinated scanning and cleaning of multiple laser heads, that is, the spots of multiple laser beams converge into a line, triangle, "8" shape, rectangle, or Other arbitrary shapes, and the light spot array moves in a certain direction for cleaning, which is mainly used in large-format laser cleaning; the other is independent scanning and cleaning of each laser head, that is, each laser head is responsible for a region, which is mainly used for complex shapes. Laser cleaning.

Because the present invention uses multiple laser heads to work at the same time, it can meet the cleaning needs of different shapes of workpiece surfaces, and the scanning mode of multiple laser heads can be adjusted according to actual needs, and different methods such as collaborative cleaning or separate cleaning can be selected. The diversity of scanning methods makes the scope of application wider. Compared with a single laser head, its cleaning efficiency is higher, and there are more types of workpieces that can be cleaned.

In this embodiment, the specific steps of step S4 are:

S41: Collect the color and shape of the surface of the workpiece and the size and position of the residual dirt area through the image monitoring mechanism 4 in real time, analyze it with the image processing algorithm, and determine whether the workpiece surface is burnt, if so, adjust the laser 2 process Parameters, reduce the power of the laser head and speed up the movement;

S42: Determine whether the surface of the workpiece is clean, if not, adjust the process parameters of the laser 2, increase the power of the laser head and slow down the movement speed, until the detection result meets the preset requirements.

Through the image monitoring mechanism 4, the cleaning quality of the surface of the workpiece to be cleaned can be detected in real time, and the process parameters of the laser 2 can be fed back and automatically adjusted to achieve cyclic cleaning until the preset requirements are met. At the same time, it can also detect whether the surface of the workpiece is burnt and automatically Adjust the process parameters of the laser 2 to ensure no damage to the surface of the workpiece, while saving cleaning time and improving cleaning efficiency.

As shown in Figure 2, the present invention also provides an intelligent laser cleaning device with multiple laser heads, including a main control computer 1 and multiple laser heads connected to it, a laser 2, an optical system 3, an image monitoring mechanism 4, and three-dimensional scanning. Mechanism 5, transfer mechanism 6; each laser head is connected to a separate laser 2, optical system 3, and transfer mechanism 6; image monitoring mechanism 4 and three-dimensional scanning mechanism 5 are set on any laser head, and optical system 3 is used for transmission The laser is driven by the transfer mechanism 6 to move the laser spot; the image monitoring mechanism 4 is used to collect image information on the surface of the workpiece and send it to the main control computer 1; the three-dimensional scanning mechanism 5 is driven by the transfer mechanism 6 to scan the three-dimensional image of the workpiece to be cleaned The information of the shape and the area to be cleaned is sent to the main control computer 1. The main control computer 1 is used to calculate the position information of the cleaning area and trigger the laser 2 to make the laser head emit laser to the surface of the workpiece to be cleaned, and control the transfer mechanism 6 to drive the laser head edge The set motion track moves.

The multi-laser head intelligent laser cleaning method device of the present invention is provided with multiple laser heads, and each laser head is independently equipped with a laser 2, an optical system 3, and a transfer mechanism 6, and any laser head is also provided with image monitoring Mechanism 4 and 3D scanning mechanism 5. Driven by the transfer mechanism 6, multiple laser heads can move above the surface of the workpiece and use the 3D scanning mechanism 5 to scan the shape of the workpiece and the area to be cleaned, and receive scanning information through the main control computer 1. And carry out data processing, automatically plan the movement path and scanning method of multiple laser heads, and use the image monitoring mechanism 4 to monitor the surface cleaning of the workpiece in real time and feed back information to the main control computer 1, which is adjusted in time according to the monitoring results The cleaning parameters of the laser 2, adjust the power and movement speed of the laser head, and realize cyclic cleaning until the preset requirements are reached.

In this embodiment, the number of laser heads is 2 or more, preferably 2-10. The specific number can be selected according to the area of the cleaning area and the shape of the workpiece to be cleaned.

In this embodiment, the transfer mechanism 6 adopts a mechanical arm structure. In other embodiments, the transfer mechanism 6 may be a gantry structure or other similar mechanisms.

In this embodiment, a gyroscope 7 is also included. The gyroscope 7 is arranged on the laser head, and the gyroscope 7 is connected to the main control computer 1 for recording and feeding back the deflection angle of the laser head. By setting the gyroscope 7, the angle of the laser head can be fed back in real time, and the deflection angle of the laser head can be recorded and fed back to the main control computer 1. The main control computer 1 adjusts the deflection angle of the laser head to ensure that the laser head is always perpendicular to the cleaning surface. Irradiating on the cleaning surface can maintain the high efficiency of laser cleaning.

The present invention also provides four specific application scenarios of the intelligent laser cleaning method for multiple laser heads, which are specifically as follows:

Taking the laser cleaning of ship steel plate paint as an example, the dirt is mainly the aging paint layer, the cleaning area is 40-50m ² , and the surface to be cleaned is an irregular and complex shape, which is difficult to clean by conventional laser cleaning methods; laser head The number is set to 4, and each laser head is moved by the transfer mechanism 6. The specific steps of the cleaning method are as follows:

Step 1: Before laser cleaning, control the movement of the laser head equipped with the three-dimensional scanning mechanism 5 to scan the cleaning surface of the workpiece to obtain the three-dimensional shape of the ship's steel plate and the information of the area to be cleaned;

Step 2: The laser head forms the spot shape to a rectangle (as shown in Figure 3), the laser 2 parameters are set as follows: frequency is 10KHZ, average power is 850w, scanning speed is 1900mm/s, main control computer 1 performs data on the area to be cleaned Processing, and then plan the scanning mode and movement path of the laser head to ensure that the laser head is always vertically irradiated on the cleaning surface during the cleaning process;

Step 3: Multiple laser heads clean the area to be cleaned on the surface of the workpiece;

Step 4: During the cleaning process, the image monitoring mechanism 4 monitors the cleaning process in real time. According to the appearance of the cleaning surface, the main control computer 1 determines whether the cleaning surface is damaged and whether the dirt is cleaned, and adjusts the output of the laser 2 in real time according to the judgment result The size of the average power and the movement speed of the laser head until the cleaning is completed.

Using the above method to perform laser cleaning on the paint of ship steel plates, the total cleaning time is 8 hours.

Taking the laser cleaning of the paint on the axle of a locomotive as an example, the object to be cleaned is mainly paint, the cleaning area is 0.68m ² , and the surface to be cleaned is the regular shape of the shaft. It is difficult to meet the high cleaning efficiency and high cleaning efficiency in the conventional laser cleaning scheme. The technical requirements of not damaging the substrate, the number of laser heads is set to 5, each laser head is driven by the transfer mechanism 6 to move, the specific steps of the cleaning method are:

Step 1: Because of the special shape of shaft parts, before laser cleaning, the workpiece is rotated by tool clamping and motor without moving the laser head. The three-dimensional scanning mechanism 5 scans the rotating workpiece to obtain the three-dimensional image of the locomotive axle. Information about the shape and area to be cleaned;

Step 2: Set the laser head to form the spot shape as "8" (as shown in Figure 4), and set the laser 2 parameters as: frequency 11kHZ, average power 950W, scanning speed 2200mm/s; main control computer 1 is to be cleaned Perform data processing in the area, and then plan the scanning mode and movement path of the laser head to ensure that the laser head is always vertically irradiated on the cleaning surface during the cleaning process;

Using the above method to laser clean the paint on the axles of the locomotive, the total cleaning time is 6 minutes.

Take laser cleaning of locomotive bogies as an example. The dirt is mainly oil stains and rust. The cleaning area is about 3～5m ² , and the surface to be cleaned is irregular and complicated. It is difficult to clean by conventional laser cleaning methods. The number of laser heads is set to 3, and each laser head is moved by the transfer mechanism 6. The specific steps of the cleaning method are:

Step 1: Before laser cleaning, control the movement of the laser head equipped with the three-dimensional scanning mechanism 5 to scan the surface of the locomotive bogie to be cleaned to obtain the three-dimensional shape of the locomotive bogie and the information of the area to be cleaned;

Step 2: Each laser head cleans one of the areas, that is, each area is cleaned with a single laser spot (as shown in Figure 5). The laser 2 parameters are set as follows: frequency is 15kHZ, average power is 900W, and scanning speed is 2000mm/ s, the main control computer 1 performs data processing on the area to be cleaned, and then plans the scanning mode and movement path of the laser head to ensure that the laser head is always irradiated vertically on the cleaning surface during the cleaning process;

Using the above method to laser clean the oil stains and rust marks of the locomotive bogie, the total cleaning time is about 30 minutes.

Take the laser cleaning of the mid-section skin of an aircraft as an example. The dirt is mainly paint. The cleaning area is about 50-80m ^{2. The} cleaning area is relatively large. It is difficult to use conventional laser cleaning methods. The number of laser heads is set to 6. The laser head is driven by the transfer mechanism 6 to move, and the specific steps of the cleaning method are as follows.

Step 1: Before laser cleaning, control the movement of the laser head equipped with the three-dimensional scanning mechanism 5 to scan the surface to be cleaned of the middle section of the aircraft to obtain the three-dimensional shape of the middle section of the aircraft and the information of the area to be cleaned;

Step 2: Set the laser head to form the spot shape as a rectangle (as shown in Figure 6), the laser 2 parameters are set as: frequency is 10kHz, average power is 850W, scanning speed is 2000mm/s, main control computer 1 performs data on the surface to be cleaned Processing, and then plan the scanning mode and movement path of the laser head to ensure that the laser head is always vertically irradiated on the cleaning surface during the cleaning process;

The above-mentioned method is used to carry out laser cleaning of the dirt on the mid-section of the fuselage skin of the aircraft, and the cleaning time is about 7 hours.

The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments. All technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

An intelligent laser cleaning method for multiple laser heads, which is characterized in that the steps include:

S1: Obtain the three-dimensional shape of the workpiece to be cleaned and determine the area to be cleaned;

S2: Determine the movement track and scanning mode of each laser head according to the three-dimensional shape of the workpiece to be cleaned and the area to be cleaned;

S3: Select the process parameters of each laser head, and each laser head moves along the motion track and emits laser to clean the surface of the workpiece;

S4: Collect images of the surface of the workpiece after cleaning in real time, and use image processing algorithms to detect the surface cleaning of the workpiece. If the preset requirements are not met, return to step S3 until the detection results meet the preset requirements.
The intelligent laser cleaning method with multiple laser heads according to claim 1, wherein the specific steps of step S1 are: before laser cleaning, scan the surface of the workpiece to be cleaned by a three-dimensional scanning mechanism to obtain the information of the workpiece to be cleaned. Three-dimensional shape and area to be cleaned.
The intelligent laser cleaning method with multiple laser heads according to claim 2, wherein the specific steps of step S2 are: the main control computer (1) receives the three-dimensional shape of the workpiece to be cleaned fed back by the three-dimensional scanning mechanism (5) And the area information to be cleaned, determine the movement trajectory of each laser head, scanning mode and deflection angle in the cleaning process.
The intelligent laser cleaning method for multiple laser heads according to any one of claims 1 to 3, wherein the scanning mode of the respective laser heads is cooperative scanning cleaning.
The intelligent laser cleaning method for multiple laser heads according to claim 4, characterized in that the light beams of the multiple laser heads converge into any one or more of a linear shape, a triangle, an "8" shape, and a rectangle.
The intelligent laser cleaning method for multiple laser heads according to any one of claims 1 to 3, wherein the scanning mode of each laser head is independent scanning and cleaning.
The intelligent laser cleaning method for multiple laser heads according to any one of claims 1 to 3, wherein the specific steps of step S4 are:

S41: Collect the color and shape of the surface of the workpiece and the size and position of the residual dirt area through the image monitoring mechanism (4) in real time, and analyze it with the image processing algorithm to determine whether the surface of the workpiece is burnt. If so, adjust the laser ( 2) Process parameters, reduce the power of the laser head and speed up the movement;

S42: Determine whether the surface of the workpiece is clean, if not, adjust the process parameters of the laser (2), increase the power of the laser head and slow down the movement speed, until the detection result meets the preset requirements.
An intelligent laser cleaning device with multiple laser heads, which is characterized in that it comprises a main control computer (1) and multiple laser heads, lasers (2), optical systems (3), image monitoring mechanisms (4), three-dimensional Scanning mechanism (5), transfer mechanism (6); each of the laser heads is respectively connected with a separate laser (2), optical system (3) and transfer mechanism (6); the image monitoring mechanism (4) and three-dimensional The scanning mechanism (5) is arranged on any laser head, and the optical system (3) is used to transmit laser light and move the laser spot under the drive of the transfer mechanism (6); the image monitoring mechanism (4) is used to collect workpieces The image information of the surface is sent to the main control computer (1); the three-dimensional scanning mechanism (5) is driven by the transfer mechanism (6) to scan the three-dimensional shape of the workpiece to be cleaned and the area information to be cleaned and send it to the main control computer ( 1) The main control computer (1) is used to calculate the position information of the cleaning area and trigger the laser (2) to cause the laser head to emit laser light to the surface of the workpiece to be cleaned, and control the transfer mechanism (6) to drive the laser head along the set Movement trajectory moves.
The intelligent laser cleaning device with multiple laser heads according to claim 8, characterized in that it further comprises a gyroscope (7), the gyroscope (7) is arranged on the laser head, and the gyroscope (7) It is connected with the main control computer (1) for recording and feeding back the deflection angle information of the laser head to the main control computer (1).
The intelligent laser cleaning device with multiple laser heads according to claim 9, wherein the number of the laser heads is 2-10.