CN116060383A - Fan blade laser cleaning method and device - Google Patents

Abstract

The present invention relates to a laser cleaning method for fan blades, S01, recording base point coordinate data and robot coordinate data; S02, converting the base point coordinate data into origin data, and determining the relative coordinate data of the real-time working point of the robot; S03, the robot starts cleaning work; S04, judging Whether the point cleaning is completed, if yes, then enter S05, if no, then return to S03; S05, judge whether this point is the last cleaning point, if yes, then enter S10, if no, then enter S06; S06. Determine the coordinate data of the next cleaning point; S07. Calculate the movement direction and distance of the robot; S08. The robot goes to the next cleaning point; S09. Determine whether the robot has reached the next cleaning point. If yes, return to S03; if not , return to S07; S10, end cleaning. The beneficial effect of the invention is that it can avoid staff working at heights and reduce work risks.

Description

Laser cleaning method and device for fan blades

technical field

The invention relates to the field of laser cleaning, in particular to a method and device for laser cleaning of fan blades.

Background technique

With the increasing emphasis on clean energy such as wind energy, more and more wind power equipment has been put into application in the power field, and its use is becoming more and more extensive. However, with the long-term use of wind power equipment, dust and sand will easily adhere to the blades when they are operated outdoors for a long time. This will increase the gravity of the blades, affect the rotation of the blades, and accelerate the aging of wind power equipment and shorten the service life. In this regard, it is very necessary to clean the blades regularly, and the current method of cleaning fan blades is mainly manual cleaning. Due to the large volume of fan blades, the workload of cleaning personnel is also very large, and the work content belongs to high-altitude operations. The technical requirements of the staff are high and there are certain risks.

Contents of the invention

The technical problem to be solved by the present invention is to provide a laser cleaning method and device for fan blades, so as to overcome the above-mentioned deficiencies in the prior art.

The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a laser cleaning method for fan blades, comprising the following steps:

S01. Record the base point coordinate data of the base point unit on the fan blade, and record the robot coordinate data of the wall-climbing laser cleaning robot on the fan blade;

S02. Convert the base point coordinate data into origin data to determine the relative coordinate data of the real-time working point of the robot;

S03. Determine the cleaning parameters, and the robot starts cleaning work;

S04, judging whether the cleaning of this point is completed, if yes, then enter S05, if no, then return to S03;

S05, judge whether this point is the last cleaning point, if yes, then enter S10, if no, then enter S06;

S06. Determine the coordinate data of the next cleaning point;

S07. Calculate the movement orientation and distance of the robot according to the current coordinate data of the robot and the coordinate data of the next cleaning point;

S08. The robot goes to the next designated cleaning point;

S09, judging whether the robot has reached the next designated cleaning point, if yes, then return to S03, if not, then return to S07;

S10. End the cleaning task.

The beneficial effect of the present invention is: adopting the method described in the present invention to clean the fan blades can avoid staff working at heights, reduce work risks, reduce labor costs, and effectively solve the problem of difficult fan blade cleaning operations. In addition, it can also reduce labor costs. The impact of the cleaning fluid used for cleaning on the environment.

On the basis of the above technical solutions, the present invention can also be improved as follows.

Further, the method for determining the relative coordinate data of the real-time working point of the robot is as follows: just make a difference between the coordinate data of the robot and the coordinate data of the base point.

Further, in S03, the method of determining the cleaning parameters is as follows: the optical imaging module on the robot acquires the image data of the cleaning point of the fan blade; the cleaning parameters are determined according to the image data of the cleaning point, and the robot performs a cleaning task based on the cleaning parameters .

The further beneficial effect of adopting the above is that the cleaning precision can be improved by determining the cleaning parameters by acquiring the image data of the cleaning point.

Further, in S04, the method for judging whether the spot cleaning is completed is as follows: the optical imaging module obtains the image data of the fan blade after cleaning at the cleaning spot, and judges whether the spot cleaning is completed according to the cleaned image data.

The further beneficial effect of adopting the above is: by acquiring the image data after cleaning at the cleaning point again to judge whether the cleaning is completed, the cleaning quality can be ensured.

Further, the base point unit is placed on the top of the fan blade.

The further beneficial effect of adopting the above is that the base point unit is placed on the top of the fan blade to facilitate operation and establish a coordinate system.

Based on the above technical solution, the present invention also provides a fan blade laser cleaning device, including: a wall-climbing laser cleaning robot, a base point unit and a ground control module, the ground control module is wirelessly connected to the base point unit, and the base point unit is connected to the wall-climbing laser cleaning robot. The robot is connected wirelessly, the base point unit is equipped with a base point gyroscope module, and the wall-climbing laser cleaning robot is equipped with a gyroscope module.

The further beneficial effects of adopting the above are: the cleaning of the fan blades can be done by means of the machine, which can avoid the staff working at heights, reduce the risk of work, reduce labor costs, effectively solve the problem of difficult cleaning of the fan blades, and also reduce manual cleaning. The impact of the cleaning fluid used on the environment.

Further, the wall-climbing laser cleaning robot is equipped with an optical imaging module.

The further beneficial effect of adopting the above is: the image data of the cleaning point is acquired through the optical imaging module to determine the cleaning parameters, which can improve the cleaning accuracy. Complete, you can ensure the cleaning quality.

Further, the wall-climbing laser cleaning robot includes: a gyroscope module, an optical imaging module, a wall-climbing robot, a signal control module, a laser cleaning module, and a laser focusing module. The gyroscope module, the optical imaging module, the signal control module, and the laser cleaning module are all The wall-climbing robot is fixed, the light outlet of the laser cleaning module is connected to the light inlet of the laser focusing module, and the wall-climbing robot, laser cleaning module, optical imaging module and gyroscope module are respectively electrically connected to the signal control module.

The further beneficial effect of adopting the above is that the functional requirements required for laser cleaning can be met.

Further, the laser cleaning module has a two-dimensional vibrating mirror, and the light exit port of the two-dimensional vibrating mirror faces the light entrance port of the laser focusing module.

The further beneficial effects of adopting the above are: the two-dimensional vibrating mirror enables the laser to achieve planar cleaning, thereby increasing the laser cleaning efficiency, the light outlet of the two-dimensional vibrating mirror faces the light entrance of the laser focusing module, and the laser focusing module controls the two-dimensional vibrating The laser output by the mirror is focused, so that the focal length of each point of the output two-dimensional laser is consistent, so as to ensure that the cleaning effect of each point is the same.

Further, the base point unit includes: a base point gyroscope module, a base point signal processing module, a base point wireless module and a power supply module. The module connects wirelessly.

Further, the ground control module includes: a display module, a ground signal control module and a ground wireless module, the display module and the ground wireless module are respectively electrically connected to the ground control module, and the ground wireless module is wirelessly connected to the base point wireless module.

Description of drawings

Fig. 1 is the flow chart of fan blade laser cleaning method of the present invention;

Fig. 2 is a structural diagram of the fan blade laser cleaning device of the present invention.

In the accompanying drawings, the list of parts represented by each label is as follows:

1. Wall climbing laser cleaning robot, 110, gyroscope module, 120, optical imaging module, 130, wall climbing robot, 140, signal control module, 150, laser cleaning module, 160, laser focusing module, 2, base point unit, 210, base point gyroscope module, 220, base point signal processing module, 230, base point wireless module, 240, power supply module, 3, ground control module, 310, display module, 320, ground signal control module, 330, ground wireless module.

Detailed ways

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

Example 1

As shown in Figure 1, a laser cleaning method for fan blades comprises the following steps:

S01. Record the base point coordinate data of the base point unit 2 on the fan blade, and record the robot coordinate data of the wall-climbing laser cleaning robot 1 on the fan blade;

S02. Convert the base point coordinate data into origin data to determine the relative coordinate data of the real-time working point of the robot;

S03. Determine the cleaning parameters, and the robot starts cleaning work;

S04, judging whether the cleaning of this point is completed, if yes, then enter S05, if no, then return to S03;

S05, judge whether this point is the last cleaning point, if yes, then go to S10, if not, then go to S06;

S06. Determine the coordinate data of the next cleaning point;

S07. Calculate the movement orientation and distance of the robot according to the current coordinate data of the robot and the coordinate data of the next cleaning point;

S08. The robot goes to the next designated cleaning point;

S09, judging whether the robot has reached the next designated cleaning point, if yes, then return to S03, if not, then return to S07;

S10. End the cleaning task.

Example 2

As shown in Figure 1, the present embodiment is a further improvement carried out on the basis of Embodiment 1, which is specifically as follows:

The method for determining the relative coordinate data of the real-time working point of the robot is as follows:

Transform the base point coordinate data into origin data P ₀ (x ₀ , y ₀ , z ₀ ), and then make a difference between the robot coordinate data and the base point coordinate data to obtain the real-time relative coordinates of the robot’s working point P _n (x _n , y _n , z _n ).

Example 3

As shown in Figure 1, the present embodiment is a further improvement carried out on the basis of embodiment 1 or 2, which is specifically as follows:

In S03, the method of determining the cleaning parameters is as follows: the optical imaging module 120 on the robot acquires the image data of the cleaning point of the fan blade; the cleaning parameters are determined according to the image data of the cleaning point, and the robot performs a cleaning task according to the cleaning parameters.

Further: in S04, the method for judging whether the point cleaning is completed is as follows: the optical imaging module 120 obtains the image data of the cleaning point of the fan blade after cleaning, and judges whether the point cleaning is completed according to the image data after cleaning.

Example 4

As shown in Figure 1, this embodiment is a further improvement carried out on the basis of embodiment 1 or 2 or 3, which is specifically as follows:

The base point unit 2 is placed on the top of the fan blade, and the base point unit 2 is placed on the top of the fan blade to facilitate operation and establishment of a coordinate system.

Example 5

As shown in Figure 2, a fan blade laser cleaning device includes: a wall-climbing laser cleaning robot 1, a base point unit 2, and a ground control module 3; the ground control module 3 is wirelessly connected to the base point unit 2, and the base point unit 2 is connected to the climbing wall The base point unit 2 is equipped with a base point gyroscope module 210. The base point gyroscope module 210 on the base point unit 2 records the base point coordinate data. The wall-climbing laser cleaning robot 1 is equipped with a gyroscope module 110. The gyroscope module 110 on the laser cleaning robot 1 records robot coordinate data;

The base point unit 2 sends the base point coordinate data to the wall-climbing laser cleaning robot 1, and the wall-climbing laser cleaning robot 1 calculates the movement orientation and distance based on the base point coordinate data and the robot coordinate data, and then crawls to the designated position according to the movement orientation and distance information , to carry out the laser cleaning task;

In addition, the wall-climbing laser cleaning robot 1 sends the robot coordinate data to the base point unit 2, and then the base point unit 2 sends the base point coordinate data and the robot coordinate data to the ground control module 3. At the same time, the ground control module 3 Coordinate data and robot coordinate data send instruction information to the wall-climbing laser cleaning robot 1 via the base point unit 2 .

Example 6

As shown in Figure 2, the present embodiment is a further improvement carried out on the basis of embodiment 5, which is specifically as follows:

The wall-climbing laser cleaning robot 1 is equipped with an optical imaging module 120. The optical imaging module 120 is used to obtain the image data of the fan blades. The wall-climbing laser cleaning robot 1 determines the cleaning parameters according to the image data, and then performs laser cleaning according to the cleaning parameters. task, and after performing a cleaning task, obtain the image data after cleaning again, and the wall-climbing laser cleaning robot 1 judges according to the image data after cleaning, whether the expected effect of cleaning quality is achieved;

In addition, the wall-climbing laser cleaning robot 1 also sends the image data to the ground control module 3 via the base point unit 2, and the ground control module 3 sends the wall-climbing data via the base point unit 2 according to the received base point coordinate data, robot coordinate data, and image data. Type laser cleaning robot 1 sends instruction information.

Example 7

As shown in Figure 2, the present embodiment is a further improvement carried out on the basis of embodiment 6, which is specifically as follows:

The wall-climbing laser cleaning robot 1 includes: a gyroscope module 110, an optical imaging module 120, a wall-climbing robot 130, a signal control module 140, a laser cleaning module 150 and a laser focusing module 160;

The gyroscope module 110, the optical imaging module 120, the signal control module 140, and the laser cleaning module 150 are all fixed to the wall-climbing robot 130;

The light outlet of the laser cleaning module 150 is connected to the light inlet of the laser focusing module 160; the wall climbing robot 130 is electrically connected to the signal control module 140, the laser cleaning module 150 is electrically connected to the signal control module 140, and the optical imaging module 120 is connected to the signal control module 140 is electrically connected, and the gyroscope module 110 is electrically connected to the signal control module 140;

The gyroscope module 110 is used to record the robot coordinate data of the wall-climbing robot 130, and transmit the robot coordinate data to the signal control module 140;

The optical imaging module 120 is used to acquire the image data of the fan blade, and transmit the image data to the signal control module 140;

The wall-climbing robot 130 is used to crawl on the fan blades;

The laser cleaning module 150 is used for emitting a cleaning laser;

The laser focusing module 160 is used to focus the cleaning laser light emitted by the laser cleaning module 150 to ensure that the cleaning effect of each point is the same. The focal length and depth of each point on the cleaning surface are the same;

The signal control module 140 is used to receive the base point coordinate data and the robot coordinate data, and calculate the motion orientation and distance of the wall-climbing robot 130 according to the base point coordinate data and the robot coordinate data, and then control the wall-climbing robot 130 to crawl to a designated position according to the motion orientation and distance information , so that the laser cleaning module 150 and the laser focusing module 160 are close to the point to be cleaned;

And, the signal control module 140 is used to receive the image data, and determine the cleaning parameters according to the image data, and then control the laser cleaning module 150 and the laser focusing module 160 to implement the laser cleaning task according to the cleaning parameters, and acquire again after performing a cleaning task. For the image data after cleaning, the signal control module 140 then judges whether the expected effect of cleaning quality is achieved according to the image data after cleaning.

In addition, the signal control module 140 also sends the robot coordinate data and image data to the base point unit 2, and then the base point unit 2 sends the base point coordinate data, robot coordinate data, and image data to the ground control module 3, and at the same time, the ground control module 3 according to The received base point coordinate data and robot coordinate data send instruction information to the signal control module 140 via the base point unit 2. After receiving the instruction information, the signal control module 140 can respectively control the optical imaging module 120, the wall climbing robot 130, and the laser cleaning module according to the instruction information. Module 150 and laser focus module 160 act.

Example 8

As shown in Figure 2, the present embodiment is a further improvement carried out on the basis of embodiment 7, which is specifically as follows:

The laser cleaning module 150 has a two-dimensional vibrating mirror. The two-dimensional vibrating mirror enables the laser to realize surface cleaning, thereby increasing the laser cleaning efficiency. The light outlet of the two-dimensional vibrating mirror faces the light entrance of the laser focusing module 160, and the laser focusing module 160 The laser output from the two-dimensional galvanometer is focused so that the focal length of each point of the output two-dimensional laser is consistent, so as to ensure the same cleaning effect at each point.

Example 9

As shown in Figure 2, the present embodiment is a further improvement carried out on the basis of embodiment 7 or 8, which is specifically as follows:

Base point unit 2 comprises: base point gyroscope module 210, base point signal processing module 220, base point wireless module 230 and power supply module 240; Electrically connected, the base point signal processing module 220 is wirelessly connected to the signal control module 140;

The base point gyroscope module 210 is used to record the base point coordinate data of the base point unit 2, and transmit the base point coordinate data to the base point signal processing module 220. Reference coordinates, so that the wall-climbing laser cleaning robot 1 can judge whether to run to the designated position;

The power supply module 240 is electrically connected to the base point signal processing module 220, and the power supply module 240 provides a stable working voltage to the base point gyroscope module 210, the base point signal processing module 220, and the base point wireless module 230 respectively;

The base point signal processing module 220 is used to send the base point coordinate data to the signal control module 140, and receive the robot coordinate data and image data sent by the signal control module 140;

The base point wireless module 230 is used to send the base point coordinate data, robot coordinate data, and image data received by the base point signal processing module 220 to the ground control module 3, and receive the instruction information sent by the ground control module 3, and send the instruction information to The base point signal processing module 220 is then sent to the signal control module 140 by the base point signal processing module 220 .

Example 10

As shown in Figure 2, this embodiment is a further improvement carried out on the basis of Embodiment 9, which is specifically as follows:

Ground control module 3 comprises: display module 310, ground signal control module 320 and ground wireless module 330; Display module 310 is electrically connected with ground control module 3, and ground wireless module 330 is electrically connected with ground control module 3, and ground wireless module 330 is connected with base point wireless module 230 for wireless connection;

The ground wireless module 330 receives the base point coordinate data, robot coordinate data, and image data sent by the base point wireless module 230, and sends the base point coordinate data, robot coordinate data, and image data to the ground signal control module 320;

The ground signal control module 320 sends the base point coordinate data, robot coordinate data, and image data to the display module 310, the display interface of the display module 310 displays the image data collected by the optical imaging module 120, and the display interface displays the wall-climbing laser cleaning robot 1 at the same time. The relative position between the base point unit 2 (converted from the base point coordinate data and the robot coordinate data), and the cleaning work can be issued by touch, the ground signal control module 320 receives the instruction information sent by the display module 310, and The instruction information is sent to the ground wireless module 330, then sent to the base point wireless module 230 by the ground wireless module 330, then sent to the base point signal processing module 220 by the base point wireless module 230, and finally sent to the signal control module 140 by the base point signal processing module 220.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. The fan blade laser cleaning method is characterized by comprising the following steps of:

s01, recording base point coordinate data of a base point unit (2) on the fan blade and recording robot coordinate data of a wall climbing type laser cleaning robot (1) on the fan blade;

s02, converting the base point coordinate data into origin point data to determine relative coordinate data of a real-time working point of the robot;

s03, determining cleaning parameters, and starting cleaning work by the robot;

s04, judging whether the point is cleaned, if yes, entering S05, and if no, returning to S03;

s05, judging whether the point is the last cleaning point, if so, entering S10, and if not, entering S06;

s06, determining coordinate data of a next cleaning point;

s07, calculating the motion azimuth and distance of the robot according to the current coordinate data of the robot and the coordinate data of the next cleaning point;

s08, the robot goes to the next appointed cleaning point;

s09, judging whether the robot reaches the next designated cleaning point, if so, returning to S03, and if not, returning to S07;

s10, finishing the cleaning task.

2. The fan blade laser cleaning method according to claim 1, wherein the method for determining the relative coordinate data of the real-time working point of the robot is as follows: and the robot coordinate data and the base point coordinate data are subjected to difference.

3. A method for cleaning fan blades by laser according to claim 1 or 2, wherein in S03, the method for determining cleaning parameters is as follows: acquiring image data of the cleaning point of the fan blade by an optical imaging module (120) on the robot; and determining a cleaning parameter according to the image data of the cleaning point, and executing a cleaning task by the robot according to the cleaning parameter.

4. A fan blade laser cleaning method according to claim 1, 2 or 3, wherein in S04, the method for judging whether the cleaning of the spot is completed is as follows: and acquiring the image data of the fan blade after cleaning the cleaning point through an optical imaging module (120), and judging whether the cleaning of the point is finished according to the cleaned image data.

5. A fan blade laser cleaning device, characterized by comprising: wall climbing type laser cleaning robot (1), base point unit (2) and ground control module (3), ground control module (3) with base point unit (2) wireless connection, base point unit (2) with wall climbing type laser cleaning robot (1) wireless connection, base point unit (2) possess base point gyroscope module (210), wall climbing type laser cleaning robot (1) is last to possess gyroscope module (110).

6. The fan blade laser cleaning device according to claim 5, wherein the wall-climbing type laser cleaning robot (1) is provided with an optical imaging module (120).

7. A fan blade laser cleaning device according to claim 6, characterized in that the wall climbing laser cleaning robot (1) comprises: the device comprises a gyroscope module (110), an optical imaging module (120), a wall climbing robot (130), a signal control module (140), a laser cleaning module (150) and a laser focusing module (160), wherein the gyroscope module (110), the optical imaging module (120), the signal control module (140) and the laser cleaning module (150) are all fixed with the wall climbing robot (130), a light outlet of the laser cleaning module (150) is connected with a light inlet of the laser focusing module (160), and the wall climbing robot (130), the laser cleaning module (150), the optical imaging module (120) and the gyroscope module (110) are respectively and electrically connected with the signal control module (140).

8. The fan blade laser cleaning device of claim 7, wherein the laser cleaning module (150) has a two-dimensional galvanometer, and a light outlet of the two-dimensional galvanometer faces a light inlet of the laser focusing module (160).

9. A fan blade laser cleaning device according to claim 7, characterized in that the base unit (2) comprises: the base point gyroscope comprises a base point gyroscope module (210), a base point signal processing module (220), a base point wireless module (230) and a power supply module (240), wherein the base point gyroscope module (210), the base point wireless module (230) and the power supply module (240) are respectively and electrically connected with the base point signal processing module (220), and the base point signal processing module (220) is in wireless connection with the signal control module (140).

10. A fan blade laser cleaning device according to claim 9, characterized in that the ground control module (3) comprises: the ground wireless module (330) is connected with the base point wireless module (230) in a wireless mode, and the ground wireless module (330) is connected with the ground control module (3) in a wireless mode.

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