阅读说明：本技术 激光清洗方法、装置、计算机可读介质以及激光清洗设备 (Laser cleaning method, device, computer readable medium and laser cleaning equipment ) 是由 谢曦宇 余海龙 李志翔 张兴斌 付敏 于 2021-07-28 设计创作，主要内容包括：本发明提供了一种激光清洗方法,应用于激光清洗设备,所述激光清洗设备包括激光器、x轴振镜和y轴振镜,所述激光器产生的激光光束经过所述x轴振镜和所述y轴振镜以调整激光扫描点的位置,通过调节所述x轴振镜和所述y轴振镜,以使假定扫描点的轨迹为矩形,其中所述假定扫描点是假定光束经过所述x轴振镜和所述y轴振镜投射到平面的点；所述激光清洗方法包括以下步骤：当所述x轴振镜数据和所述y轴振镜数据组合对应的点位于所述矩形轨迹上平行于x轴的边时,控制所述激光器开启以输出激光；当所述x轴振镜数据和所述y轴振镜数据组合对应的点位于所述矩形轨迹上平行于y轴的边时,控制所述激光器关闭以停止输出激光。(The invention provides a laser cleaning method, which is applied to laser cleaning equipment, wherein the laser cleaning equipment comprises a laser, an x-axis galvanometer and a y-axis galvanometer, laser beams generated by the laser pass through the x-axis galvanometer and the y-axis galvanometer to adjust the position of a laser scanning point, and the track of an assumed scanning point is rectangular by adjusting the x-axis galvanometer and the y-axis galvanometer, wherein the assumed scanning point is a point where the assumed scanning beams are projected to a plane through the x-axis galvanometer and the y-axis galvanometer; the laser cleaning method comprises the following steps: when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge parallel to the x axis on the rectangular track, controlling the laser to be started to output laser; and when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side parallel to the y axis on the rectangular track, controlling the laser to be closed to stop outputting laser.)

1. A laser cleaning method is applied to laser cleaning equipment and is characterized in that the laser cleaning equipment comprises a laser, an x-axis galvanometer and a y-axis galvanometer, laser beams generated by the laser pass through the x-axis galvanometer and the y-axis galvanometer to adjust the position of a laser scanning point, and the track of an assumed scanning point is rectangular by adjusting the x-axis galvanometer and the y-axis galvanometer, wherein the assumed scanning point is a point where the assumed scanning beams are projected to a plane through the x-axis galvanometer and the y-axis galvanometer; the laser cleaning method comprises the following steps:

when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge parallel to the x axis on the rectangular track, controlling the laser to be started to output laser;

and when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side parallel to the y axis on the rectangular track, controlling the laser to be closed to stop outputting laser.

2. The laser cleaning method according to claim 1, wherein the laser cleaning method specifically comprises the steps of:

s10: generating rectangular track data, wherein the rectangular track consists of n points, and any point corresponds to x-axis galvanometer position data and y-axis galvanometer position data;

s20: initializing i to 1;

s30: acquiring x-axis galvanometer position data x of ith point of the rectangular track_iY-axis galvanometer position data y_iAnd the on-off state of the laser at the ith point of the rectangular track;

s40: controlling the position of the x-axis galvanometer to be adjusted to x_iThe position of the y-axis galvanometer is adjusted to y_iAnd a switching state of the laser;

s50: increment point number, i ═ i + 1;

s60: judging whether i is larger than n; if the judgment result is no, returning to execute the step S30; when the determination result is yes, the process returns to step S20.

3. The laser cleaning method according to claim 2, wherein the step S10 specifically includes the steps of:

setting the sum of the number of points of the side of the rectangular track parallel to the x axis to be 7n/8, and setting the sum of the number of points of the side of the rectangular track parallel to the y axis to be n/8;

when 0< i < ═ 7n/32), the laser remains on;

when (7n/32) < i < ═ 9n/32), the laser light remains in an off state;

when (9n/32) < i < [ (23n/32), the laser light remains on;

when (23n/32) < i < [ ((25 n/32)), the laser light remains in an off state;

when (25n/32) < i < [ ((32 n/32)), the laser light remains on.

4. The laser cleaning method according to claim 3, wherein the ith point on the rectangular locus corresponds to x-axis galvanometer data x_iAnd y-axis galvanometer data y_iThen the x-axis galvanometer data x_iAnd the y-axis galvanometer data y_iThe specific numerical calculation method of (2) is as follows:

when 0 is present<i<When it is (7n/32), x_i＝a*i，y_i＝b*n/32；

When (7n/32)<i<When it is (9n/32), x_i＝a*7n/32，y_i＝b*n/32-(i-7n/32)*b；

When (9n/32)<i<When it is (23n/32), x_i＝a*7n/32-(i-9n/32)*a，y_i＝-b*n/32；

When (23n/32)<i<When it is (25n/32), x_i＝-a*7n/32，y_i＝-b*n/32+(i-23n/32)*b；

When (25n/32)<i<When it is (32n/32), x_i＝-a*7n/32+(i-25n/32)*a，y_i＝b*n/32；

Wherein, a is 16 width/7n, width is the length of the side of the rectangle parallel to the x axis, and the unit is mm, b is 16 height/n, and height is the length of the side of the rectangle parallel to the y axis.

5. The laser cleaning method according to claim 2, wherein the laser cleaning apparatus further includes an FPGA controller, and the step S40 specifically further includes:

the position of the x-axis galvanometer is simultaneously controlled to be adjusted to x by the FPGA controller_iThe position of the y-axis galvanometer is adjusted to y_iAnd the switching state of the laser.

6. The laser cleaning method according to claim 1, wherein the method comprises:

when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge parallel to the x axis on the rectangular track, the controller of the laser cleaning equipment outputs a 5V high level to the laser so as to control the laser to be started to output laser;

and when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side parallel to the y axis on the rectangular track, the controller of the laser cleaning equipment outputs 0V low level to the laser to control the laser to be closed so as to stop outputting laser.

7. A laser cleaning device is applied to laser cleaning equipment and is characterized in that the laser cleaning equipment comprises a laser, an x-axis galvanometer and a y-axis galvanometer, laser beams generated by the laser pass through the x-axis galvanometer and the y-axis galvanometer to adjust the position of a laser scanning point, and the track of an assumed scanning point is rectangular by adjusting the x-axis galvanometer and the y-axis galvanometer, wherein the assumed scanning point is a point where the assumed scanning beams are projected to a plane through the x-axis galvanometer and the y-axis galvanometer; the laser cleaning device includes:

the first execution module is used for controlling the laser to be started to output laser when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the x axis, of the rectangular track;

and the second execution module is used for controlling the laser to be closed to stop outputting the laser when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the y axis, of the rectangular track.

8. The laser cleaning apparatus of claim 7, further comprising:

the track generation module is used for generating rectangular track data, wherein the rectangular track consists of n points, and any point corresponds to x-axis galvanometer position data and y-axis galvanometer position data;

the initialization module is used for initializing i to 1;

a data acquisition module for acquiring the x-axis galvanometer position data x of the ith point of the rectangular track_iY-axis galvanometer positionData y_iAnd the on-off state of the laser at the ith point of the rectangular track;

a control module for controlling the position of the x-axis galvanometer to be adjusted to x_iThe position of the y-axis galvanometer is adjusted to y_iAnd a switching state of the laser;

a serial number increasing module, configured to increase a point serial number, where i is i + 1;

the judging module is used for judging whether i is larger than n; if the judgment result is negative, returning to the execution data acquisition module; and when the judgment result is yes, returning to execute the initialization module.

9. A computer-readable medium, on which a computer program is stored, which program, when being processed and executed, is adapted to carry out the laser cleaning method according to any one of claims 1-6.

10. A laser cleaning apparatus, comprising:

one or more controllers;

a storage device to store one or more programs that, when executed by the one or more controllers, cause the one or more controllers to implement the laser cleaning method of any of claims 1-6.

Technical Field

The invention relates to the technical field of laser cleaning, in particular to a laser cleaning method, a laser cleaning device, a computer readable medium and laser cleaning equipment.

Background

The traditional industrial metal cleaning method has various modes, and basically adopts chemical agents and mechanical methods for cleaning. With the increasing enhancement of environmental protection and safety awareness of people, the requirement of China on industrial environment protection is higher and higher, and under the condition of meeting the requirement of environmental protection, the types of chemicals used in industrial production and cleaning are less and less. The mechanical cleaning method adopts contact cleaning, has mechanical acting force on the surface of the cleaned object, is easy to damage the surface layer of the cleaned object, is easy to generate secondary pollution, and easily inhales metal dust generated by the contact cleaning to influence the physical health of workers. The laser cleaning has no grinding, non-contact and no heat effect, is suitable for cleaning the surfaces of various materials, and is the most reliable and effective metal cleaning mode.

The laser cleaning is to control the deflection motion of a vibrating mirror to drive the laser beam to move to form a linear track and scan the surface of an object so as to remove substances attached to the surface of the object. The straight line cleaning mode that commonly uses once only can wash a straight line, and when removing the washing to handheld cleaning equipment, the clearance easily produces between washing line and the washing line, causes to wash inhomogeneous, and is high to the operating requirement, if concentrate on a straight line with the laser beam in addition, the energy is too big, causes excessively to wash easily and leads to object surface damage. Therefore, a laser cleaning method with higher cleaning efficiency and better cleaning quality is needed.

Disclosure of Invention

The invention provides a laser cleaning method, a laser cleaning device, a computer readable medium and laser cleaning equipment, and aims to solve the technical problems mentioned in the background technology.

The invention firstly provides a laser cleaning method, which is applied to laser cleaning equipment, wherein the laser cleaning equipment comprises a laser, an x-axis galvanometer and a y-axis galvanometer, laser beams generated by the laser pass through the x-axis galvanometer and the y-axis galvanometer to adjust the position of a laser scanning point, and the track of an assumed scanning point is rectangular by adjusting the x-axis galvanometer and the y-axis galvanometer, wherein the assumed scanning point is a point where the assumed scanning beams are projected to a plane through the x-axis galvanometer and the y-axis galvanometer; the laser cleaning method comprises the following steps:

when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge parallel to the x axis on the rectangular track, controlling the laser to be started to output laser;

and when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side parallel to the y axis on the rectangular track, controlling the laser to be closed to stop outputting laser.

Further, the laser cleaning method specifically comprises the following steps:

s10: generating rectangular track data, wherein the rectangular track consists of n points, and any point corresponds to x-axis galvanometer position data and y-axis galvanometer position data;

s20: initializing i to 1;

s30: acquiring x-axis galvanometer position data x of ith point of the rectangular track_iY-axis galvanometer position data y_iAnd the on-off state of the laser at the ith point of the rectangular track;

s40: controlling the position of the x-axis galvanometer to be adjusted to x_iThe position of the y-axis galvanometer is adjusted to y_iAnd a switching state of the laser;

s50: increment point number, i ═ i + 1;

s60: judging whether i is larger than n; if the judgment result is no, returning to execute the step S30; when the determination result is yes, the process returns to step S20.

Further, the step S10 specifically includes the following steps:

setting the sum of the number of points of the side of the rectangular track parallel to the x axis to be 7n/8, and setting the sum of the number of points of the side of the rectangular track parallel to the y axis to be n/8;

when 0< i < ═ 7n/32), the laser remains on;

when (7n/32) < i < ═ 9n/32), the laser light remains in an off state;

when (9n/32) < i < [ (23n/32), the laser light remains on;

when (23n/32) < i < [ ((25 n/32)), the laser light remains in an off state;

when (25n/32) < i < [ ((32 n/32)), the laser light remains on.

Further, the ith point on the rectangular track corresponds to x-axis galvanometer data x_iAnd y-axis galvanometer data y_iThen the x-axis galvanometer data x_iAnd the y-axis galvanometer data y_iThe specific numerical calculation method of (2) is as follows:

when 0 is present<i<When it is (7n/32), x_i＝a*i，y_i＝b*n/32；

When (7n/32)<i<When it is (9n/32), x_i＝a*7n/32，y_i＝b*n/32-(i-7n/32)*b；

When (9n/32)<i<When it is (23n/32), x_i＝a*7n/32-(i-9n/32)*a，y_i＝-b*n/32；

When (23n/32)<i<When it is (25n/32), x_i＝-a*7n/32，y_i＝-b*n/32+(i-23n/32)*b；

When (25n/32)<i<When it is (32n/32), x_i＝-a*7n/32+(i-25n/32)*a，y_i＝b*n/32；

Wherein, a is 16 width/7n, width is the length of the side of the rectangle parallel to the x axis, and the unit is mm, b is 16 height/n, and height is the length of the side of the rectangle parallel to the y axis.

Further, the laser cleaning device further includes an FPGA controller, and the step S40 specifically further includes:

the position of the x-axis galvanometer is simultaneously controlled to be adjusted to x by the FPGA controller_iThe position of the y-axis galvanometer is adjusted to y_iAnd the switching state of the laser.

Further, the method comprises:

when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge parallel to the x axis on the rectangular track, the controller of the laser cleaning equipment outputs a 5V high level to the laser so as to control the laser to be started to output laser;

and when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side parallel to the y axis on the rectangular track, the controller of the laser cleaning equipment outputs 0V low level to the laser to control the laser to be closed so as to stop outputting laser.

The invention also provides a laser cleaning device, which is applied to laser cleaning equipment, wherein the laser cleaning equipment comprises a laser, an x-axis galvanometer and a y-axis galvanometer, laser beams generated by the laser pass through the x-axis galvanometer and the y-axis galvanometer to adjust the position of a laser scanning point, and the track of an assumed scanning point is rectangular by adjusting the x-axis galvanometer and the y-axis galvanometer, wherein the assumed scanning point is a point where the assumed scanning beams are projected to a plane through the x-axis galvanometer and the y-axis galvanometer; the laser cleaning device includes:

the first execution module is used for controlling the laser to be started to output laser when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the x axis, of the rectangular track;

and the second execution module is used for controlling the laser to be closed to stop outputting the laser when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the y axis, of the rectangular track.

Further, the laser cleaning device further comprises:

the track generation module is used for generating rectangular track data, wherein the rectangular track consists of n points, and any point corresponds to x-axis galvanometer position data and y-axis galvanometer position data;

the initialization module is used for initializing i to 1;

a data acquisition module for acquiring the x-axis galvanometer position data of the ith point of the rectangular trackx_iY-axis galvanometer position data y_iAnd the on-off state of the laser at the ith point of the rectangular track;

a control module for controlling the position of the x-axis galvanometer to be adjusted to x_iThe position of the y-axis galvanometer is adjusted to y_iAnd a switching state of the laser;

a serial number increasing module, configured to increase a point serial number, where i is i + 1;

the judging module is used for judging whether i is larger than n; if the judgment result is negative, returning to the execution data acquisition module; and when the judgment result is yes, returning to execute the initialization module.

The present invention also provides a computer readable medium having stored thereon a computer program which, when processed and executed, implements the laser cleaning method described above.

The invention also provides a laser cleaning device, comprising:

one or more controllers;

a storage device for storing one or more programs that, when executed by the one or more controllers, cause the one or more controllers to implement the laser cleaning method described above.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

(1) the laser scanning is in a parallel line cleaning mode by controlling the x-axis vibrating mirror, the y-axis vibrating mirror and the laser switch, the scanning track is two cleaning straight lines, compared with a single cleaning straight line, the area of a cleanable area in the same time is doubled, the cleaning efficiency is improved, and the energy and the speed of the laser can be fully utilized;

(2) the laser energy is distributed on two straight lines by using a parallel line cleaning mode, the energy in the same time is relatively not too concentrated, the damage to a cleaning object is small, and the heat generated in the same time is smaller;

(3) the parallel line cleaning mode is utilized, the requirement on the operation level of an operator who holds cleaning is low, and when the cleaning head is moved, the same area can be cleaned twice, so that the cleaning is more uniform, and stripes are not easy to generate among cleaning lines.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Fig. 1 is a flowchart illustrating steps of a laser cleaning method according to an embodiment of the present invention.

FIG. 2 is a diagram of the logic steps of one embodiment of the embodiment of FIG. 1.

Fig. 3 is a single scan trace diagram of the laser cleaning method provided by the present invention.

Fig. 4 is a composite view of scanning trajectories in a state of moving in the x-axis direction.

Fig. 5 is a composite view of scanning trajectories in a state of moving in the y-axis direction.

Fig. 6 is a block diagram of a laser cleaning apparatus according to an embodiment of the present invention.

Fig. 7 is an overall schematic diagram of a laser cleaning apparatus according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, or operations, but do not preclude the presence or addition of one or more other features, integers, steps, operations, or groups thereof.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It will be appreciated by those skilled in the art that the terms "application," "application program," "application software," and the like, as used herein, are intended to refer to a computer software product electronically-adapted to be electronically-constructed, from a collection of computer instructions and associated data resources, in accordance with the principles of the present invention. Unless otherwise specified, such nomenclature is not itself limited by the programming language class, level, or operating system or platform upon which it depends. Of course, such concepts are not limited to any type of terminal.

Referring to fig. 1, the present invention first provides a laser cleaning method applied to a laser cleaning device, where the laser cleaning device includes a laser, an x-axis galvanometer and a y-axis galvanometer, a laser beam generated by the laser passes through the x-axis galvanometer and the y-axis galvanometer to adjust a position of a laser scanning point, and a trajectory of an assumed scanning point is a rectangle by adjusting the x-axis galvanometer and the y-axis galvanometer, where the assumed scanning point is a point where the assumed beam is projected onto a plane through the x-axis galvanometer and the y-axis galvanometer.

In the invention, the assumed scanning point is a point where a light beam is assumed to be projected to a plane through the x-axis galvanometer and the y-axis galvanometer, and belongs to a simulated scanning point, which is not an actual laser scanning point, and if the laser keeps an output state all the time, the track of the assumed scanning point is the scanning track of the laser; however, in the embodiments of the present invention, the laser determines whether to turn on the laser according to the assumed position of the scanning point. In this embodiment, it is assumed that the track formed by the scanning points is a rectangle, and the rectangle includes four straight sides, two opposite sides of the rectangle are parallel to the x-axis, and the other two opposite sides are parallel to the y-axis.

The laser cleaning method comprises the following steps:

and when the assumed scanning point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the x axis, of the rectangular track, controlling the laser to be started to output laser.

And when the assumed scanning point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the y axis, of the rectangular track, controlling the laser to be closed to stop outputting laser.

In this embodiment, the laser outputs laser in the x-axis direction to realize scanning by controlling the on and off of the laser, and the laser is turned off in the y-axis direction to form two parallel cleaning line scanning tracks.

The controller of the laser cleaning equipment reads the position data of the X-axis galvanometer and the position data of the Y-axis galvanometer stored in the storage medium, judges the on-off condition of the laser, and simultaneously controls the X-axis galvanometer, the Y-axis galvanometer and the laser so that the scanning track of the galvanometer is rectangular, the laser outputs the laser in the X-axis movement direction of the rectangular track, and the laser is not output in the Y-axis movement direction of the rectangular track to form a parallel line cleaning track.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

(4) the laser scanning is in a parallel line cleaning mode by controlling the x-axis vibrating mirror, the y-axis vibrating mirror and the laser switch, the scanning track is two cleaning straight lines, compared with a single cleaning straight line, the area of a cleanable area in the same time is doubled, the cleaning efficiency is improved, and the energy and the speed of the laser can be fully utilized;

(5) the laser energy is distributed on two straight lines by using a parallel line cleaning mode, the energy in the same time is relatively not too concentrated, the damage to a cleaning object is small, and the heat generated in the same time is smaller;

(6) the parallel line cleaning mode is utilized, the requirement on the operation level of an operator who holds cleaning is low, and when the cleaning head is moved, the same area can be cleaned twice, so that the cleaning is more uniform, and stripes are not easy to generate among cleaning lines.

Referring to fig. 2, in an embodiment of the present invention, the laser cleaning method specifically includes the following steps:

s10: and generating rectangular track data, wherein the rectangular track consists of n points, and any point corresponds to x-axis galvanometer position data and y-axis galvanometer position data.

In this embodiment, the rectangular track data is divided into n points, where each point corresponds to x-axis galvanometer position data x_iAnd y-axis galvanometer position data y_iI is the point location serial number of the graphic data, and the range is 1-n; and stores the rectangular trace data in a storage device after generating the rectangular trace data, so that the controller acquires the data,

s20: the initialization i is 1.

S30: acquiring x-axis galvanometer position data x of ith point of the rectangular track_iY-axis galvanometer position data y_iAnd the switch state of the laser at the ith point of the rectangular track.

In this embodiment, the storage device stores rectangular track data, which includes x-axis galvanometer position data and y-axis galvanometer position data corresponding to any point on a rectangle, and the on-off state of the laser corresponding to the point; acquiring the rectangular track data stored in the storage device by the controller so as to obtain the x-axis galvanometer position data x according to the' i_iY-axis galvanometer position data y_iAnd the switch state of the laser at the ith point of the rectangular track.

S40: controlling the position of the x-axis galvanometer to be adjusted to x_iThe position of the y-axis galvanometer is adjusted to y_iAnd the switching state of the laser.

In this embodiment, the positions of the x-axis galvanometer and the y-axis galvanometer are adjusted to align the assumed scanning point with a preset coordinate/position, and the on-off state of the laser is controlled according to a preset state value to determine whether the laser needs to be turned on at the position.

S50: the increment point number, i ═ i + 1.

S60: judging whether i is larger than n; and when the judgment result is negative, returning to the step S30, and when the judgment result is positive, returning to the step S20.

When i is less than or equal to n, which means that the rectangle is not closed at this time, the x-axis galvanometer position data, the y-axis galvanometer position data and the on-off state of the laser corresponding to the i-th point still need to be executed to complete the scanning track of one period.

When i is larger than n, it represents that the rectangular track is closed at this time, that is, the scanning track of one period is completed, and the scanning track of the next period is performed at this time, so that i is initialized to 1, and the rectangular track is continuously scanned repeatedly.

As shown in fig. 3, in the present embodiment, the laser scanning track of one period is two parallel cleaning lines, and in practical application, the laser cleaning device is driven by manual or mechanical driving (along the x-axis direction or along the y-axis direction) to move, a dotted line portion in fig. 3 is a path of laser beam not opened, and a solid line portion is a path of laser beam opened. When the laser cleaning device moves along the x-axis direction, the cleaning track is as shown in fig. 4, and fig. 4 also shows that the composite track graph is formed by combining 4 independent periods of laser scanning tracks; when the laser cleaning device is moved along the y-axis direction, the cleaning track is as shown in fig. 5, and fig. 5 also shows that the composite track graph is formed by combining 3 independent periods of laser scanning tracks.

It should be noted that the xy axis mentioned in the present invention is to facilitate the visual observation of the scanning trajectory of the parallel line cleaning, and is not to simply define the cleaning directionality, and the xy axis may be subjectively changed according to the change of the viewing angle.

Specifically, in an embodiment of the present invention, the step S10 specifically includes the following steps:

setting the sum of the number of points of the side of the rectangular track parallel to the x axis to be 7n/8, and setting the sum of the number of points of the side of the rectangular track parallel to the y axis to be n/8;

when 0< i < ═ 7n/32), the laser remains on.

When (7n/32) < i < ═ 9n/32), the laser light remains off.

When (9n/32) < i < [ ((23 n/32)), the laser light remains on.

When (23n/32) < i < [ ((25 n/32)), the laser light remains in an off state.

When (25n/32) < i < [ ((32 n/32)), the laser light remains on.

In an embodiment of the present invention, the ith point on the rectangular track corresponds to x-axis galvanometer data x_iAnd y-axis galvanometer data y_iThen the x-axis galvanometer data x_iAnd the y-axis galvanometer data y_iThe specific numerical calculation method of (2) is as follows:

when 0 is present<i<When it is (7n/32), x_i＝a*i，y_i＝b*n/32。

When (7n/32)<i<When it is (9n/32), x_i＝a*7n/32，y_i＝b*n/32-(i-7n/32)*b。

When (9n/32)<i<When it is (23n/32), x_i＝a*7n/32-(i-9n/32)*a，y_i＝-b*n/32。

When (23n/32)<i<When it is (25n/32), x_i＝-a*7n/32，y_i＝-b*n/32+(i-23n/32)*b。

When (25n/32)<i<When it is (32n/32), x_i＝-a*7n/32+(i-25n/32)*a，y_i＝b*n/32。

Wherein, a is 16 width/7n, width is the length of the side of the rectangle parallel to the x axis, and the unit is mm, b is 16 height/n, and height is the length of the side of the rectangle parallel to the y axis.

In this embodiment, the length of the side of the rectangle parallel to the x-axis and the length of the side of the rectangle parallel to the y-axis are set according to actual requirements, so that the x-axis can be adjusted accordingly_iAnd y_iThe numerical value of (c).

Specifically, in an embodiment of the present invention, the laser cleaning device further includes an FPGA controller, and step S40 further includes:

the position of the x-axis galvanometer is simultaneously controlled to be adjusted to x by the FPGA controller_iThe position of the y-axis galvanometer is adjusted to y_iAnd the switching state of the laser.

In this embodiment, a controller based on an FPGA (Field Programmable gate array) has a strong high-speed parallel processing capability, and can simultaneously output a plurality of groups of control signals to control a plurality of devices; according to the invention, the on-off state of the laser is controlled while the x-axis galvanometer and the y-axis galvanometer are adjusted by adopting an FPGA parallel control mode, so that efficient adjustment is realized.

Specifically, in an embodiment of the present invention, the method includes:

when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge parallel to the x axis on the rectangular track, the controller of the laser cleaning equipment outputs a 5V high level to the laser so as to control the laser to be started to output laser.

And when the point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side parallel to the y axis on the rectangular track, the controller of the laser cleaning equipment outputs 0V low level to the laser to control the laser to be closed so as to stop outputting laser.

In this embodiment, the controller is connected to the X-axis galvanometer and the Y-axis galvanometer through digital signal interfaces, and outputs position signals to the X-axis galvanometer and the Y-axis galvanometer to control positions of the X-axis galvanometer and the Y-axis galvanometer. The controller is connected with the laser through a hardware IO (input/output) interface, and when the controller outputs 5V high level to the laser, the laser is switched on; when the controller outputs 0V low level to the laser, the laser is closed.

In one embodiment, the present invention provides a laser cleaning apparatus 100, which is applied to a laser cleaning device, the laser cleaning device includes a laser, an x-axis galvanometer and a y-axis galvanometer, a laser beam generated by the laser passes through the x-axis galvanometer and the y-axis galvanometer to adjust a position of a laser scanning point, and a trajectory of an assumed scanning point is made to be a rectangle by adjusting the x-axis galvanometer and the y-axis galvanometer, where the assumed scanning point is a point where the assumed beam is projected onto a plane through the x-axis galvanometer and the y-axis galvanometer. The apparatus 100 stores a plurality of instructions adapted to be loaded by a controller and to perform a laser cleaning method comprising:

and when the assumed scanning point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the x axis, of the rectangular track, controlling the laser to be started to output laser.

And when the assumed scanning point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the y axis, of the rectangular track, controlling the laser to be closed to stop outputting laser.

For convenience of description, the apparatus 100 is split into a functional module architecture, as shown in fig. 6, including:

and the first execution module 10 is configured to control the laser to be turned on to output laser light when a point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is located on an edge parallel to the x-axis on the rectangular track.

And a second executing module 20, configured to control the laser to turn off to stop outputting laser light when a point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is located on an edge of the rectangular track, the edge being parallel to the y-axis.

Specifically, in an embodiment of the present invention, the laser cleaning apparatus further includes:

and the track generation module is used for generating rectangular track data, wherein the rectangular track consists of n points, and any point corresponds to the position data of the x-axis galvanometer and the position data of the y-axis galvanometer.

And the initialization module is used for initializing i to 1.

A data acquisition module for acquiring the x-axis galvanometer position data x of the ith point of the rectangular track_iY-axis galvanometer position data y_iAnd the switch state of the laser at the ith point of the rectangular track.

A control module for controlling the position of the x-axis galvanometer to be adjusted to x_iThe position of the y-axis galvanometer is adjusted to y_iAnd the switching state of the laser.

And the sequence number increasing module is used for increasing the point sequence number, i is i + 1.

The judging module is used for judging whether i is larger than n; if the judgment result is negative, returning to the execution data acquisition module; and when the judgment result is yes, returning to execute the initialization module.

The present invention also provides a computer readable medium having stored thereon a computer program which, when processed and executed, implements the laser cleaning method described above.

Referring to fig. 7, the present invention further provides a laser cleaning apparatus, including a laser, an x-axis galvanometer and a y-axis galvanometer, where a laser beam generated by the laser passes through the x-axis galvanometer and the y-axis galvanometer to adjust a position of a laser scanning point, and a track of an assumed scanning point is made to be rectangular by adjusting the x-axis galvanometer and the y-axis galvanometer, where the assumed scanning point is a point where the assumed beam is projected onto a plane through the x-axis galvanometer and the y-axis galvanometer; the laser cleaning apparatus further comprises one or more controllers; a storage device for storing one or more programs that, when executed by the one or more controllers, cause the one or more controllers to implement the laser cleaning method described above, the laser cleaning method comprising:

when the assumed scanning point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the edge of the rectangular track parallel to the x axis, controlling the laser to be started to output laser;

and when the assumed scanning point corresponding to the combination of the x-axis galvanometer data and the y-axis galvanometer data is positioned on the side, parallel to the y axis, of the rectangular track, controlling the laser to be closed to stop outputting laser.

In this embodiment, the controller reads the position data of the X-axis galvanometer and the Y-axis galvanometer stored in the storage device, and determines the on-off condition of the laser at the position, and then controls the X-axis galvanometer, the Y-axis galvanometer and the laser at the same time, so that the scanning track of the galvanometer is rectangular, the laser emits light in the rectangular X-axis movement direction, the light does not emit light in the Y-axis movement direction, the laser beam is reflected by the galvanometer, and is focused by the field lens, and finally a parallel line cleaning pattern as shown in fig. 3 is formed.

Throughout the description and claims of this application, the words "comprise/comprises" and the words "have/includes" and variations of these are used to specify the presence of stated features, values, steps or components but do not preclude the presence or addition of one or more other features, values, steps, components or groups thereof.

Some features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, certain features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination in different embodiments.

The above description specifically describes embodiments of the laser cleaning method and apparatus of the present invention. Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.