CN115672875A - Laser cleaning control method and device and laser cleaning system - Google Patents

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

Laser cleaning control method and device, laser cleaning system

technical field

The invention relates to the technical field of laser cleaning, in particular to a laser cleaning control method and device, and a laser cleaning system.

Background technique

Laser cleaning technology is known as "the most potential green cleaning technology in the 21st century". It uses high-energy pulsed laser beams to rapidly irradiate the surface of materials, and the instantaneous temperature rise of the surface of materials through irradiation causes surface coatings, particles, A series of complex physical and chemical changes such as melting, vaporization, ablation, vibration, thermal expansion, and peeling of dirt or other cleaning objects, which can efficiently and high-quality remove material surface coatings or other pollutants to achieve surface cleaning. .

In the prior art, the utilization rate of laser energy is low, and the cleaning efficiency is low.

Contents of the invention

Embodiments of the present invention provide a laser cleaning control method and device, and a laser cleaning system to increase the absorption rate of laser energy by a layer to be cleaned, improve cleaning efficiency, improve removal uniformity, and prevent substrate damage.

In a first aspect, an embodiment of the present invention provides a method for controlling laser cleaning, including:

Obtain the color 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, the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned are determined.

Further, before determining the laser energy density of the layer to be cleaned in the cleaning target area to be cleaned, it also includes:

Obtain the thickness of the layer to be cleaned in the target area to be cleaned;

Correspondingly, according to the color of the layer to be cleaned in the target area to be cleaned, determining the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned includes:

Determine 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;

According to the color and thickness of the layer to be cleaned in the target area to be cleaned, the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned is determined.

Further, 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 includes:

Determine the absorption rate and Laser energy density threshold;

Determine the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned according to the absorption rate of the layer to be cleaned in the target area to be cleaned to laser light and the laser energy density threshold, and the thickness of the layer to be cleaned in the target area to be cleaned.

Further, according to the absorption rate and 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, determining the laser energy density of the layer to be cleaned in the target area to be cleaned includes :

The laser energy density E=E _th e ^αH needed to clean the layer to be cleaned in the target area to be cleaned, wherein, E _th is the laser energy density threshold, α is the absorption rate of the laser in the layer to be cleaned in the target area to be cleaned, and H is The thickness of the layer to be cleaned in the target area to be cleaned.

Further, according to the color of the layer to be cleaned in the target area to be cleaned, determining the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned includes:

According to the color of the layer to be cleaned in the target area to be cleaned, determine the type of laser, so that the laser of the corresponding wavelength is emitted to the layer to be cleaned in the target area to be cleaned by the corresponding type of laser, wherein the wavelength of the laser emitted by different types of lasers different.

Further, according to the color of the layer to be cleaned in the target area to be cleaned, determining the type of the laser includes:

When the color of the layer to be cleaned in the target area to be cleaned includes: yellow-green, yellow, orange, red or purple, an argon laser is used;

When the color of the layer to be cleaned in the target area to be cleaned includes: blue, green-blue, blue-green or black, a helium-neon laser is used;

When the color of the layer to be cleaned in the target area to be cleaned includes: white or gray, a carbon dioxide laser is used.

Further, obtaining the color of the layer to be cleaned in the target area to be cleaned includes:

Obtain an image of the layer to be cleaned in the target area to be cleaned;

Determine 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 to-be-cleaned layer in the target to-be-cleaned area is compared with the color values of multiple standard colors to determine the color of the to-be-cleaned layer in the target to-be-cleaned area.

Further, after the cleaning of the layer to be cleaned in the target area to be cleaned is completed, it also includes:

If there is an uncleaned area, determine the position of the next uncleaned area and use it as the target area to be cleaned, and return to perform the operation: obtain the color of the layer to be cleaned in the target area to be cleaned.

In the second aspect, the embodiment of the present invention also provides a control device for laser cleaning, including:

A color acquisition module, configured to acquire the color of the layer to be cleaned in the target area to be cleaned;

A wavelength determination module, configured to determine the wavelength of the 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;

The energy density determination module 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 of the layer to be cleaned in the target area to be cleaned.

Further, the control device for laser cleaning also includes: a thickness acquisition module, which acquires the thickness of the layer to be cleaned in the target area to be cleaned;

The energy density determination module is used 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 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: a laser and a control device for laser cleaning provided in any embodiment of the present invention.

According to the color of the layer to be cleaned in the target area to be cleaned, the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned are determined , in order to increase the absorption rate of laser energy, improve the cleaning efficiency, and avoid that when cleaning paint coatings with multiple colors, if a laser with a single wavelength and the same laser energy density is used, the absorption rate of some color coatings on the laser will be caused. If it is too low, the paint removal efficiency will be reduced, and the coating removal effect will be uneven, and the laser absorption rate of some color coatings is too high, resulting in damage to the substrate.

Description of drawings

FIG. 1 is a flow chart of a control method for laser cleaning provided by an embodiment of the present invention;

2 is a flow chart of another laser cleaning control method provided by an embodiment of the present invention;

3 is a flow chart of another laser cleaning control method provided by an embodiment of the present invention;

4 is a flow chart of another laser cleaning control method provided by an embodiment of the present invention;

5 is a schematic structural diagram of a control device for laser cleaning provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of another laser cleaning control device provided by an embodiment of the present invention;

7 is a schematic structural diagram of a laser cleaning system provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of a scanning path of laser cleaning provided by an embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

An embodiment of the present invention provides a method for controlling laser cleaning. FIG. 1 is a flowchart of a laser cleaning control method provided by an embodiment of the present invention. The laser cleaning control method can be executed by a laser cleaning control device, which can be realized by software and/or hardware, and which can be set in a laser cleaning system. The control method of the laser cleaning specifically includes the following steps:

Step 110, acquiring the color of the layer to be cleaned in the target area to be cleaned.

Wherein, the workpiece to be cleaned may include a substrate and a layer to be cleaned covering 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 color. The layer to be cleaned of the workpiece to be cleaned may comprise a plurality of colors. The layer to be cleaned may include an organic coating. The layer to be cleaned may include paint coatings and the like. The color of the layer to be cleaned may be different in different areas of the surface of the workpiece to be cleaned. The layers to be cleaned of different colors may have different absorption rates for the same wavelength of laser light. The layers to be cleaned of the same color may have different absorption rates for different wavelengths of laser light.

For each color, the absorptivity of the layer to be cleaned of the color to the laser light of various wavelengths can be obtained in advance through experiments, consulting data, etc., and then the absorptivity of the layer to be cleaned of the color to the laser light of various wavelengths can be compared , and then determine the corresponding laser wavelength when the color of the layer to be cleaned has the best absorption rate, and then based on the purpose of improving the laser absorption rate, establish the first corresponding relationship between the color of the layer to be cleaned and the wavelength of the laser corresponding to the best absorption rate , so as to subsequently determine 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 the first corresponding relationship. The laser wavelengths corresponding to layers to be cleaned of different colors may be different. Laser wavelengths corresponding to layers to be cleaned of different colors in at least two different regions may be different. The absorptivity of the layer to be cleaned of a specific color to the laser light of the corresponding wavelength is higher than the absorptivity of the layer to be cleaned of the specific color to laser light of other wavelengths.

Step 120 , according to the color of the layer to be cleaned in the target area to be cleaned, determine the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned.

Wherein, at least two cleaning layers of different colors correspond to different laser wavelengths. According to the color of the layer to be cleaned in the target area to be cleaned, determine the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned, and the absorption rate of the layer to be cleaned in the target area to be cleaned is higher than that of laser light with other wavelengths Absorption rate, that is, according to the color of the layer to be cleaned, select the appropriate laser wavelength to increase the absorption rate of laser energy, improve cleaning efficiency, and improve the uniformity of removal. For layers to be cleaned of different colors, different laser wavelengths can be used to increase the absorption rate of laser energy.

Exemplarily, different colors of paints correspond to high absorption wavelengths of light absorption, see the table below:

Wherein, cleaning layers of different colors can adopt different laser wavelengths, corresponding to different absorption rates. When the thickness of the layer to be cleaned is constant, the larger the absorption rate α, the smaller the required laser energy density E. According to the color of the layer to be cleaned in the target area to be cleaned, determine the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned, so as to avoid using a single wavelength and the same laser energy when cleaning paint coatings of different colors When using a high-density laser, the paint coating with a low absorption rate will cause paint residue, and the paint coating with a high absorption rate will cause damage to the substrate.

The second corresponding relationship between the color of the cleaning layer and the laser energy density can be established in advance through experiments, consulting data, etc., so that the cleaning target can be determined according to the color of the layer to be cleaned in the target area to be cleaned and the second corresponding relationship. The laser energy density of the layer to be cleaned in the area. According to the color 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: The wavelength of the laser for the layer determines the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned. The absorption rate α 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 according to the absorption rate α, the laser for cleaning the layer to be cleaned in the target area to be cleaned can be determined Energy density E.

The technical solution of this embodiment obtains the color 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, determine the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned, In order to improve the absorption rate of laser energy, improve the cleaning efficiency, and avoid that when cleaning paint coatings with multiple colors, if a laser with a single wavelength and the same laser energy density is used, the absorption rate of some color coatings to the laser is biased. Low, reduce the paint removal efficiency, and lead to uneven coating removal effect, and some color coatings have a high absorption rate of laser light, resulting in damage to the substrate.

An embodiment of the present invention provides yet another method for controlling laser cleaning. FIG. 2 is a flow chart of another laser cleaning control method provided by an embodiment of the present invention. On the basis of the foregoing embodiments, the laser cleaning control method includes:

Step 210, acquiring the color of the layer to be cleaned in the target area to be cleaned.

Step 220 , according to the color of the layer to be cleaned in the target area to be cleaned, determine the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned.

Step 230, acquiring the thickness of the layer to be cleaned in the target area to be cleaned.

Wherein, the thickness of the layer to be cleaned in each area of the workpiece to be cleaned is not uniform. There are differences in the thickness of the layer to be cleaned in each area of the workpiece to be cleaned. The thickness of the layer to be cleaned can be different in at least two different regions of the workpiece to be cleaned. The layer to be cleaned can be covered 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 substrate is a non-magnetic substrate, such as aluminum, an eddy current thickness gauge can be used. The probe of the eddy current thickness gauge can generate a high-frequency electromagnetic field, which will generate an eddy current when measuring a non-magnetic substrate, and then measure the eddy current and Phase, to calculate the thickness of the non-conductive layer to be cleaned.

Step 240 , according to the color and thickness of the layer to be cleaned in the target area to be cleaned, determine the laser energy density for cleaning 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: according to the color and thickness of the layer to be cleaned in the target area to be cleaned, and the cleaning target The laser wavelength of the layer to be cleaned in the area to be cleaned determines the laser energy density 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 wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned, the absorption rate α of the layer to be cleaned in the target area to be cleaned to the laser light can be determined, and then according to the absorption rate α and the target The thickness of the layer to be cleaned in the area to be cleaned determines the laser energy density E for cleaning the layer to be cleaned in the target area to be cleaned. When the thickness H of the layer to be cleaned is the same, the larger the absorption rate α, the smaller the required laser energy density E. When the absorption rate α is the same, the smaller the thickness H of the layer to be cleaned, the smaller the required laser energy density E. For the layers to be cleaned with different thicknesses and different absorption rates, different laser energies are used to remove them, which can improve the cleaning effect and prevent damage to the substrate. Defects such as scratches and peelings often have uneven thickness. If uniform laser energy is used to remove the coating with uneven thickness, the removal effect may be uneven. The area with thicker coating may not be uniform. Clean up, and substrate damage problems may occur in thinly coated areas. During the cleaning process, the color and thickness of the layer to be cleaned are automatically detected, and the appropriate laser wavelength and energy density are selected according to the color and thickness of the layer to be cleaned to increase the absorption rate of the laser to the layer to be cleaned, improve the efficiency of laser cleaning, and accurately Control the input of laser energy, reduce the risk of damage to the substrate, improve the utilization rate of laser energy, and obtain a uniform laser paint removal effect.

The third corresponding relationship between the color and thickness of the cleaning layer and the laser energy density can be established in advance through experiments, consulting data, etc., so that the color and thickness of the layer to be cleaned in the target area to be cleaned and the third corresponding relationship can be determined later. The laser energy density for cleaning the layer to be cleaned in the target area to be cleaned.

It should be noted that step 210 may be performed before, after or simultaneously with step 230 . The execution order of step 210 and step 230 may be set as required, which is not limited in this embodiment of the present invention.

An embodiment of the present invention provides yet another method for controlling laser cleaning. FIG. 3 is a flow chart of another laser cleaning control method provided by an embodiment of the present invention. On the basis of the foregoing embodiments, the laser cleaning control method includes:

Step 310, acquiring the color of the layer to be cleaned in the target area to be cleaned.

Wherein, the surface of the workpiece to be cleaned can be divided into multiple regions, and laser cleaning is performed on each region one by one or simultaneously. After obtaining the colors of all areas of the workpiece to be cleaned in advance, lasers are emitted to the layers to be cleaned in each area one by one or simultaneously for laser cleaning. Laser cleaning can be performed by emitting laser light on the layer to be cleaned in the current target area to be cleaned while acquiring the color of the layer to be cleaned in the next one or more areas to be cleaned.

Step 320 , according to the color of the layer to be cleaned in the target area to be cleaned, determine the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned.

Step 330, acquiring the thickness of the layer to be cleaned in the target area to be cleaned.

Wherein, after obtaining the thicknesses of all areas of the workpiece to be cleaned in advance, lasers are emitted to the layers to be cleaned in each area one by one or simultaneously to perform laser cleaning. Laser cleaning can be performed by emitting laser light on the layer to be cleaned in the current target area to be cleaned while acquiring the thickness of the layer to be cleaned in the next one or more areas to be cleaned.

Step 340 : Determine the laser energy density for cleaning the to-be-cleaned layer in the target to-be-cleaned area according to the color and thickness of the to-be-cleaned layer in the target to-be-cleaned area.

Step 350 , after cleaning the to-be-cleaned layer of the target to-be-cleaned area, if there is an uncleaned area, determine the position of the next un-cleaned area and use it as the target to-be-cleaned area.

Wherein, after step 350 is executed, step 310 may be executed back to clean the remaining uncleaned areas, and this cycle is repeated until the cleaning of the entire layer to be cleaned is completed. After the cleaning of the layer to be cleaned in the target area to be cleaned is completed, if there is no uncleaned area, it means that the cleaning of the layer to be cleaned on the entire surface is completed. If step 330 is before step 310 , after step 350 is executed, step 330 may be executed again. If step 330 is after step 310, after step 350 is performed, the process may return to step 310.

An embodiment of the present invention provides yet another method for controlling laser cleaning. FIG. 4 is a flow chart of another laser cleaning control method provided by an embodiment of the present invention. On the basis of the foregoing embodiments, the laser cleaning control method includes:

Step 410, acquiring an image of the to-be-cleaned layer of the target to-be-cleaned area.

Wherein, the image of the to-be-cleaned layer in the target to-be-cleaned area can be acquired through an image acquisition module such as a charge coupled device image sensor (Charge Coupled Device, CCD).

Step 420 : Determine 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.

Wherein, the color value of the to-be-cleaned layer of the target to-be-cleaned area may include color values under RGB coordinates.

Step 430 , comparing the color value of the layer to be cleaned in the target area to be cleaned with the color values of multiple standard colors to determine the color of the layer to be cleaned in the target area to be cleaned.

Wherein, various standard colors may include: yellow-green, yellow, orange, red, purple-red, purple, blue, green-blue, blue-green, black, white, gray and so on. By judging which standard color the color value of the layer to be cleaned in the target area to be cleaned is closest to, the standard color with the closest color value can be used as the color of the layer to be cleaned in the target area to be cleaned.

Step 440: Determine the type of laser according to the color of the layer to be cleaned in the target area to be cleaned, so that the corresponding type of laser emits laser light with a corresponding wavelength to the layer to be cleaned in the target area to be cleaned, wherein different types of lasers emit Lasers have different wavelengths.

Wherein, there may be at least two types of lasers. The more types of lasers, the larger the range of laser wavelengths, which can be applied to cleaning layers of more colors. Optionally, there may be at least three types of lasers. Optionally, according to the color of the layer to be cleaned in the target area to be cleaned, determining the type of laser includes: when the color of the layer to be cleaned in the target area to be cleaned includes: yellow-green, yellow, orange, red or purple, an argon laser is used ;When the color of the layer to be cleaned in the target area to be cleaned includes: blue, green blue, blue-green or black, a helium-neon laser is used; when the color of the layer to be cleaned in the target area to be cleaned includes: white or gray, carbon dioxide is used laser.

Step 450, acquiring the thickness of the layer to be cleaned in the target area to be cleaned.

Step 460, 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 for cleaning the layer to be cleaned in the target area to be cleaned, determine the effect of the layer to be cleaned in the target area to be cleaned to the laser Absorption rate and laser fluence threshold.

Wherein, the laser energy density threshold 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 may be less than or equal to the laser energy density threshold E _th . The fourth corresponding relationship between the color and thickness of the cleaning layer, as well as the wavelength, pulse width and pulse frequency of the laser, and the absorption rate of the laser and the threshold value of the laser energy density can be established in advance through experiments, consulting data, etc., so as to facilitate cleaning according to the target. The color and thickness of the layer to be cleaned in the cleaning area, the wavelength, pulse width and pulse frequency of the laser for cleaning the layer to be cleaned in the target area to be cleaned, and the fourth correspondence (which can be a database), determine the target area to be cleaned to be cleaned The absorption rate of the layer to the laser light and the laser fluence threshold.

Parameters such as laser pulse frequency and pulse width can be set as required. For example, the range of pulse frequency can be 5-20 kHz, and the range of pulse width can be 10-100 ns. The scanning path and scanning parameters can be determined according to the shape and size of the workpiece, and the scanning parameters can include scanning speed, scanning distance, and spot diameter. For example, the scanning path can be set in a "bow" shape, the scanning speed can be 2-4 m/s, the scanning distance can be 0.2-0.5 mm, and the spot diameter can be 0.5-1 mm.

Step 470: Determine the laser energy density for cleaning the to-be-cleaned layer in the target to-be-cleaned area according to the laser absorption rate of the to-be-cleaned layer in the target to-be-cleaned area and the laser energy density threshold, and the thickness of the to-be-cleaned layer in the target to-be-cleaned area.

Optionally, according to the absorption rate of the layer to be cleaned in the target area to be cleaned to the laser and the laser energy density threshold, and the thickness of the layer to be cleaned in the target area to be cleaned, determine the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned Including: the laser energy density E=E _th e ^αH required for cleaning the layer to be cleaned in the target area to be cleaned, where E _th is the laser energy density threshold, and α is the absorption rate of the laser in the layer to be cleaned in the target area to be cleaned, H is the thickness of the layer to be cleaned in the target area to be cleaned.

Step 480: After cleaning the layer to be cleaned in the target to-be-cleaned area, if there is an uncleaned area, determine the position of the next un-cleaned area, and use it as the target to-be-cleaned area.

Wherein, after step 480 is executed, step 410 may be executed back to clean the rest of the uncleaned area, and so on, until the cleaning of the entire layer to be cleaned is completed. After the cleaning of the layer to be cleaned in the target area to be cleaned is completed, if there is no uncleaned area, it means that the cleaning of the layer to be cleaned on the entire surface is completed.

An embodiment of the present invention provides a control device for laser cleaning. FIG. 5 is a schematic structural diagram of a control device for laser cleaning provided by an embodiment of the present invention. The laser cleaning control device can be used to implement the laser cleaning control method provided in any embodiment of the present invention. Based on the above embodiments, the laser cleaning control device includes: a color acquisition module 510 , a wavelength determination module 520 and an energy density determination module 540 .

Wherein, the color acquisition module 510 is used to obtain the color of the layer to be cleaned in the target area to be cleaned; the wavelength determination module 520 is used to determine the color 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. The wavelength of the laser light; the energy density determination module 540 is used 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 of the layer to be cleaned in the target area to be cleaned.

The laser cleaning control device provided in the embodiment of the present invention can be used to execute the laser cleaning control method provided in any embodiment of the present invention, so the laser cleaning control device provided in the embodiment of the present invention also has the beneficial effects described in the above embodiments , which will not be repeated here.

Optionally, on the basis of the above embodiments, FIG. 6 is a schematic structural diagram of another laser cleaning control device provided by an embodiment of the present invention. The laser cleaning control device further includes: a thickness acquisition module 530 .

Wherein, the thickness acquiring module 530 acquires the thickness of the layer to be cleaned in the target area to be cleaned.

Optionally, the energy density determination 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 thickness of the layer to be cleaned in the target area to be cleaned.

Optionally, the energy density determination module 540 is used to determine the to-be-cleaned layer for cleaning the target to-be-cleaned area according to the color and thickness of the to-be-cleaned layer in the target to-be-cleaned area, and the wavelength of the laser required for cleaning the to-be-cleaned layer in the target to-be-cleaned area. The laser fluence required to clean the layer.

Optionally, on the basis of the above embodiments, continue to refer to FIG. 6 , the energy density determination module 540 includes: an absorption rate and energy density threshold determination unit 541 and an energy density determination unit 542 .

Wherein, the absorption rate and energy density threshold determination unit 541 is used to determine the target 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 for cleaning the layer to be cleaned in the target area to be cleaned. The absorption rate of the layer to be cleaned in the area to be cleaned to the laser and the laser energy density threshold. The energy density determining unit 542 is used to determine the cleaning rate of the layer to be cleaned in the target area to be cleaned according to the absorptivity of the layer to be cleaned in the target area to be cleaned to laser light and the laser energy density threshold, and the thickness of the layer to be cleaned in the target area to be cleaned. Laser energy density.

Optionally, the absorption rate and energy density threshold determination unit 541 is used to determine 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 of the layer to the laser light.

Optionally, on the basis of the above embodiments, the laser energy density E=E _th e ^αH required for cleaning the layer to be cleaned in the target area to be cleaned, where E _th is the laser energy density threshold, and α is the target area to be cleaned The absorptivity of the layer to be cleaned to the laser, H is the thickness of the layer to be cleaned in the target area to be cleaned.

Optionally, on the basis of the above-mentioned embodiments, the wavelength determination module 520 is used to determine the type of laser according to the color of the layer to be cleaned in the target area to be cleaned, so that the corresponding type of laser can send the laser to the layer to be cleaned in the target area to be cleaned. Lasers of corresponding wavelengths are emitted, wherein different types of lasers emit lasers with different wavelengths.

Optionally, the wavelength determination module 520 is used to use an argon laser when the color of the layer to be cleaned in the target area to be cleaned includes: yellow-green, yellow, orange, red or purple; the color of the layer to be cleaned in the target area to be cleaned Including: blue, green blue, blue-green or black, use helium-neon laser; the color of the layer to be cleaned in the target area to be cleaned includes: white or gray, use carbon dioxide laser.

Optionally, on the basis of the above embodiments, continue to refer to FIG. 6 , the color acquisition module 510 includes: an image acquisition unit 511 , a color value determination unit 512 and a color determination unit 513 .

Wherein, the image acquisition unit 511 is used to acquire the image of the layer to be cleaned in the target area to be cleaned; the color value determination unit 512 is used to determine the color 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 value; the color determination unit 513 is used to compare the color value of the layer to be cleaned in the target area to be cleaned with the color values of multiple 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-mentioned embodiments, the laser cleaning control device further includes: a replacement position module 550, which is used to determine if there is an uncleaned area after the cleaning of the layer to be cleaned in the target area to be cleaned is completed. The location of an uncleaned area, and use it as the target area to be cleaned, and return to execute the operation: obtain the color of the layer to be cleaned in the target area to be cleaned.

The above laser cleaning control device can execute the laser cleaning control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

An embodiment of the present invention provides a laser cleaning system. FIG. 7 is a schematic structural diagram of a laser cleaning system provided by an embodiment of the present invention. Based on the above embodiments, the laser cleaning system includes: a laser and a laser cleaning control device 4 provided in any embodiment of the present invention.

The laser cleaning system provided by the embodiment of the present invention includes the laser cleaning control device provided by any embodiment of the present invention, so the laser cleaning system provided by the embodiment of the present invention also has the beneficial effects described in the above embodiments, and will not be repeated here .

Optionally, on the basis of the above embodiments, continue to refer to FIG. 7 , the laser cleaning system further includes: an image acquisition module 2 , configured to acquire images of layers to be cleaned at different positions of the workpiece 9 to be cleaned. The image acquisition module 2 may include a CCD sensor. During image acquisition, an auxiliary white light source was used for illumination. The image of the layer to be cleaned in the target area to be cleaned can be collected by the image acquisition module 2, and then 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.

Optionally, on the basis of the above embodiment, referring to FIG. 7 , the laser cleaning system further includes: a thickness measuring instrument 3 , which is used to detect 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, and carry out an information acquisition every set distance (for example, 10-100 mm), record the coordinates of the current acquisition point during each acquisition, and the scanning speed during acquisition can be 1~4m/min, the scanning distance and scanning path are consistent with the laser scanning parameters.

Optionally, on the basis of the above-mentioned embodiment, continue to refer to FIG. 7, the laser cleaning system also includes: a distance measurement module 1, which is used to detect the distance between the surface of the workpiece 9 to be cleaned and the laser head 5, and the control device 4 is also used for According to the distance between the surface of the workpiece 9 to be cleaned and the laser head 5 detected by the distance measurement module 1, the height of the laser head 5 is adjusted 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 use argon laser 6 with a wavelength of 488nm, helium-neon laser 7 with a wavelength of 633nm, _CO2 laser 8 with a wavelength of 10.6μm, etc. Argon laser 6, helium-neon laser 7 and _CO2 laser 8 are all compatible with laser Head 5 connections. Reflectors can be arranged in the laser head 5, all of which are broadband metal-coated reflectors, which can maintain a reflectivity of more than 96% in the wavelength of 450nm-20μm.

The distance measurement module 1 may include a structured light sensor. When cleaning the uneven workpiece surface, it is necessary to use a structured light sensor for monitoring. The structured light sensor uses a laser to emit a light source, which is projected onto the surface of the target object and forms a light spot. By analyzing the light spot image obtained by the camera, the workpiece surface and the laser head are obtained. transmit the information to the control device 4 (for example, a workstation), adjust the height of the laser head according to the collected information, and keep the actual working distance as the laser focal length.

Optionally, the laser head 5, the image acquisition module 2, and the thickness measuring instrument 3 move synchronously along the scanning path, and the image acquisition module 2 and the thickness measuring instrument 3 are in front of the laser head 5, and the scanning path S can be in the shape of a "bow", as shown in the figure As shown in Fig. 8, Fig. 8 is a schematic diagram of a scanning path of laser cleaning provided by an embodiment of the present invention. Fig. 8 schematically shows a top view of the workpiece to be cleaned, and the workpiece to be cleaned can be divided into multiple areas arranged in an array , the scanning speed of the laser head 5 can be 2-4 m/s, and the scanning distance can be 0.2-0.5 mm. When the laser head 5 emits laser light to the current target area to be cleaned for 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 solution of the embodiment of the present invention is applicable to the laser cleaning method of paint coatings of different colors and thicknesses, aiming at removing paint coatings of different colors and thicknesses, and improving the absorption of laser light by the paint coatings by automatically selecting the laser wavelength and energy density Efficiency, improve the efficiency of laser paint removal, precisely control the input of laser energy, reduce the risk of damage to the substrate, and improve the utilization rate of laser energy.

The image information of different positions on the surface of the workpiece is collected by the CCD sensor, and the image information is input into the color detection module to obtain the color information of the paint coating at the position, and the laser wavelength with the highest absorption rate is selected according to the color of the paint coating at the position. The paint thickness at different positions on the surface of the workpiece is collected by the paint thickness meter, and the laser absorption rate α and the laser cleaning energy density threshold E _th of the color coating at the selected laser wavelength are searched from the database according to the collected coating color information. Calculate the required laser energy density according to the formula E=E _th e ^αH , and program the coordinates of the measurement point, laser wavelength, laser energy density and other parameters obtained in the above process in the workstation to control the laser cleaning system to clean the paint coating Clean up.

In the technical solution of the embodiment of the present invention, compared with using a single laser light source to automatically change parameters through intelligent programming for laser cleaning, the present invention selects the laser wavelength according to the coating color, improves the absorption rate of the paint to the laser, and improves the energy utilization rate and removal rate. paint efficiency. Determine the laser energy density according to the coating thickness at different positions, which can control the energy input more accurately, improve the efficiency of laser energy utilization, and reduce the risk of laser damage to the substrate. For coatings with uneven thickness, compared with the removal with uniform laser energy density, a more uniform paint removal effect can be obtained and the residual rate of the coating can be reduced. The entire cleaning process is based on automatic monitoring and programming, reducing the amount of manual labor.

Laser cleaning is a green cleaning method that does not need to use any chemicals and cleaning fluids, and can well solve the problems of environmental pollution and waste disposal. Laser cleaning is a cleaning method that has no physical and mechanical contact with the surface of the material and can control the damage to the substrate. Laser cleaning can achieve good accessibility, which is convenient for remote automatic operation. In complex areas that are difficult for some people to enter or places with high risk factors, it can realize precise cleaning of selected areas and ensure the safety of workers. Laser cleaning technology has high precision in cleaning thickness and cleaning surface size, and the cleaning quality is uniform and consistent. Laser cleaning removes a wide range of objects, and can remove pollutants of various colors, thicknesses, and various special physical and chemical properties on the surface. Laser cleaning is efficient, saving time and cost. Laser cleaning usually adopts multi-faceted mirror or galvanometer scanning mode for large-area linear spot cleaning or oscillating laser scanning cleaning, which can achieve the purpose of removing cleaning objects efficiently and quickly.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here, and various obvious changes, readjustments, mutual combinations and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims (11)

1. A control method for laser cleaning, characterized in that, comprising: Obtain the color 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, the wavelength and laser energy density of the laser used to clean the layer to be cleaned in the target area to be cleaned are determined. 2. The control method of laser cleaning according to claim 1, is characterized in that, before determining the laser energy density of cleaning the layer to be cleaned of the target area to be cleaned, it also includes: Obtain the thickness of the layer to be cleaned in the target area to be cleaned; Correspondingly, according to the color of the layer to be cleaned in the target area to be cleaned, determining the wavelength and laser energy density of the laser for cleaning the layer to be cleaned in the target area to be cleaned includes: 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; The laser energy density for cleaning the layer to be cleaned in the target area to be cleaned is determined according to the color and 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, is characterized in that, according to the color and the thickness of the layer to be cleaned in the target area to be cleaned, determine the laser energy for cleaning the layer to be cleaned in the target area to be cleaned Densities include: Determine the layer to be cleaned in the target area to be cleaned 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 for cleaning the layer to be cleaned in the target area to be cleaned Absorption rate of laser and laser energy density threshold; According to the absorption rate of the layer to be cleaned in the target area to be cleaned to the laser light and the laser energy density threshold, and the thickness of the layer to be cleaned in the target area to be cleaned, determine the laser for cleaning the layer to be cleaned in the target area to be cleaned Energy Density. 4. The control method of laser cleaning according to claim 3, characterized in that, according to the absorptivity and laser energy density threshold value of the layer to be cleaned in the target area to be cleaned, and the target area to be cleaned The thickness of the cleaning layer, determining the laser energy density for cleaning the layer to be cleaned in the target area to be cleaned includes: The laser energy density E=E _th e ^αH required for cleaning the layer to be cleaned in the target area to be cleaned, wherein, E _th is the laser energy density threshold, and α is the absorption of the laser light by the layer to be cleaned in the target area to be cleaned rate, 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, according to the color of the layer to be cleaned in the target area to be cleaned, determining the wavelength of the laser for cleaning the layer to be cleaned in the target area to be cleaned includes : According to the color of the layer to be cleaned in the target area to be cleaned, the type of the laser is determined, so that the corresponding type of laser emits laser light with a corresponding wavelength to the layer to be cleaned in the target area to be cleaned, wherein different types of Lasers emit laser light at different wavelengths. 6. The control method of laser cleaning according to claim 5, wherein, according to the color of the layer to be cleaned in the target area to be cleaned, determining the type of the laser comprises: When the color of the layer to be cleaned in the target area to be cleaned includes: yellow-green, yellow, orange, red or purple, an argon laser is used; When the color of the layer to be cleaned in the target area to be cleaned includes: blue, green-blue, blue-green or black, a helium-neon laser is used; When the color of the layer to be cleaned in the target area to be cleaned includes: white or gray, a carbon dioxide laser is used. 7. The control method of laser cleaning according to claim 1, wherein obtaining the color of the layer to be cleaned in the target area to be cleaned comprises: acquiring an image of the to-be-cleaned layer of the target to-be-cleaned area; 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 is compared with the color values of 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, characterized in that, after the cleaning of the layer to be cleaned in the target area to be cleaned is completed, further comprising: If there is an uncleaned area, determine the position of the next uncleaned area and use it as the target area to be cleaned, and return to perform the operation: obtain the color of the layer to be cleaned in the target area to be cleaned. 9. A control device for laser cleaning, characterized in that it comprises: A color acquisition module, configured to acquire the color of the layer to be cleaned in the target area to be cleaned; a wavelength determination module, configured to determine the wavelength of the laser light 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; The energy density determining module 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 of the layer to be cleaned in the target area to be cleaned. 10. The control device for laser cleaning according to claim 9, characterized in that, the control device for laser cleaning further comprises: a thickness acquisition module, configured to obtain the thickness of the layer to be cleaned in the target area to be cleaned; The energy density determination module is used 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 thickness of the layer to be cleaned in the target area to be cleaned. 11. A laser cleaning system, characterized by comprising: a laser and a control device for laser cleaning according to any one of claims 9-10.

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