CN108789419A - 3D vision intelligent machine hand system - Google Patents
3D vision intelligent machine hand system Download PDFInfo
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- CN108789419A CN108789419A CN201810887744.8A CN201810887744A CN108789419A CN 108789419 A CN108789419 A CN 108789419A CN 201810887744 A CN201810887744 A CN 201810887744A CN 108789419 A CN108789419 A CN 108789419A
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- 230000004888 barrier function Effects 0.000 claims abstract description 14
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 15
- 230000000007 visual effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 3
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- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Evolutionary Computation (AREA)
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Abstract
The invention discloses a kind of 3D vision intelligent machine hand systems,It is related to puma manipulator technical field,Including control room,Barrier shield,Hot cell and three-dimensional image pickup device,The first manipulator is provided in control room,Trigger device for opening and closing the first manipulator,The control system being connected with the first manipulator and the three-dimensional display apparatus for receiving three-dimensional image pickup device data,The side in barrier shield towards hot cell is provided with hagioscope and the holder for placing three-dimensional image pickup device,The second manipulator is provided in hot cell,Second manipulator is connected by control system to realize remote control with the first manipulator,Operator can be made to obtain the indoor three-dimensional image of heat by three-dimensional image pickup device,The effect that visual experience is directly observed close to human eye,Keep execution operation more acurrate,By controlling the first manipulator,The action of first manipulator is transmitted to by control system on the second manipulator,Remote-controlled operation can be achieved,Relieve the restriction of operating position.
Description
Technical field
The present invention relates to puma manipulator technical fields, and in particular to a kind of 3D vision intelligent machine hand system.
Background technology
Due to traditional Purely mechanical master slave manipulator, it need to be mounted on the exterior wall in hot cell, equipment passes through the wall pipe on wall
It realizes to the manipulation from hand in hot cell, therefore the installation site of such equipment and mode of operation limit to, are fixed very much, operator
Member can only be operated in the region close to hot cell, the operative position arrangement of whole production technology, control room be planned, and prominent
Operator's personal safety etc. all produces restriction under hair accident.
And for the power arm product in the high pollutions room such as irradiation, toxic, although remote control can be realized, power
Each turning joint of arm is driven from control room order by receiving, therefore by the motor on arm
The electronic devices such as many electrical category equipment and sensor are had in motivation package arm.Due to the electronic devices such as motor, sensor with
With power arm entirety, will be chronically under the high pollutions environment such as irradiation, corrosion, for the durable of electronic device, radiation resistance, corrosion resistant
Corrosion is proposed the indexs such as device housings protective, leakproofness high requirement.Such part of appliance is of high cost, overhauls
It is difficult with replacing, it needs to improve.
All it is by being mounted on the indoor camera shooting of heat when manipulating the mechanical arm in the high pollutions room such as irradiation, toxic at present
Head picture, or observe and operate by the hagioscope on wall.By the form of hagioscope, operator will be apart from hot cell
It is very close, define operating position, by the form of camera, picture is that two dimension shows form, not three-dimensional spatial perception,
And visual angle manual operation rotates camera, manipulation sense on the spot is insufficient.
Therefore, be badly in need of it is a kind of can remote-controlled operation and with stereo-picture present 3D vision puma manipulator system
System.
Invention content
The embodiment of the present invention is designed to provide a kind of 3D vision intelligent machine hand system, to alleviate the prior art
In operator will be close apart from hot cell, define operating position, picture is that two dimension shows form, not three-dimensional spatial perception,
The problems such as manipulation sense on the spot is insufficient.
To achieve the above object, a kind of 3D vision intelligent machine hand system provided in an embodiment of the present invention, including control
Room, barrier shield, hot cell and three-dimensional image pickup device；
Be provided in the control room the first manipulator, the trigger device for opening and closing first manipulator, with it is described
The control system that first manipulator is connected and the three-dimensional display apparatus for receiving the three-dimensional image pickup device data；
The side in the barrier shield towards the hot cell is provided with hagioscope and for placing the three-dimensional image pickup device
Holder；
The second manipulator is provided in the hot cell；
Second manipulator is connected by the control system to realize remote control with first manipulator.
Further, first manipulator includes the first rotation external member, the first extension sleeve, handle and the first servo electricity
Machine；
The first rotation external member is fixed on holder；
One end of first extension sleeve is connected with the first rotation external member, and the other end is connected with the handle
It connects.
Further, second manipulator includes the second rotation external member, the second extension sleeve, pawl tool and the second servo electricity
Machine；
The second rotation external member is connected with wall pipe；
One end of second extension sleeve is connected with the second rotation external member, and the other end is connected with pawl tool
It connects；
Second servo motor is connected with the first servo motor by the control system.
Further, the three-dimensional display apparatus includes wearable display, display screen and display driving host；
The wearable display is for receiving the three-dimensional image pickup device data；
The display screen is set on the holder, and is connected for receiving and showing with the wearable display
The data of the wearable display；
The reception, transmission and processing that the display driving host is connected with the three-dimensional image pickup device for data.
Further, the trigger device is set to the lower section of first manipulator, including pedal, trigger switch and multiple
Position device；
The trigger switch and the resetting apparatus may be contained within the lower section of the pedal.
Further, the wearable display includes that wearable frame, the first display screen, second display screen, monocular are taken the photograph
As head, gyroscope and microphone；
First display screen and the second display screen are connected with display driving host for receiving respectively
The data of the three-dimensional image pickup device；
The monocular cam is set to gesture of the lower section for capture operation person of the wearable frame；
The gyroscope and the microphone are set on the wearable frame.
Further, the control system includes control panel and the SERVO CONTROL cabinet being connected with the control panel.
Further, it is provided with the torque sensor being connected with the SERVO CONTROL cabinet on the pawl tool.
Further, the SERVO CONTROL cabinet includes power module, surge protection module, filter module, servo control molding
Block, servo-driven module, radiating module and lighting module.
Further, the first servo motor and second servo motor pass through rigid line and the servo-driven module
It is connected with the servo control module.
The embodiment of the present invention has the beneficial effect that：
The device includes control room, barrier shield, hot cell and three-dimensional image pickup device, be provided in control room the first manipulator,
Trigger device, the control system being connected with the first manipulator for opening and closing the first manipulator and for receiving three-dimensional camera shooting dress
The three-dimensional display apparatus of data is set, the side in barrier shield towards hot cell is provided with hagioscope and for placing three-dimensional image pickup device
Holder, the second manipulator is provided in hot cell, and the second manipulator is connected with the first manipulator by control system remote to realize
Distance manipulation, the indoor three-dimensional image of heat is obtained by three-dimensional image pickup device, and image, which is passed to three-dimensional display apparatus, to be supplied
Operator checks that the effect that visual experience is directly observed close to human eye keeps execution operation more acurrate, uses radiation resistance design,
By set-up of control system in control room, it is isolated with hot cell, only the second manipulator is in radiation environment, and centre is also adopted
It is isolated with barrier shield, by controlling the first manipulator, the action of the first manipulator is transmitted to second by control system
It, can be to radwaste by teleoperation, it can be achieved that remote-controlled operation, relieves the restriction of operating position on manipulator
It the operations such as gripped, carried, being cut, reducing the case where staff directly or indirectly contacts radwaste, Ke Yidai
For the artificial processing for carrying out radwaste, the efficiency of nuclear waste disposal is improved, is had actively for the development of nuclear industry
Impetus.
Description of the drawings
Fig. 1 is the dimensional structure diagram of 3D vision intelligent machine hand system provided by the invention；
Fig. 2 is the dimensional structure diagram of the other direction of 3D vision intelligent machine hand system shown in FIG. 1；
Fig. 3 is the dimensional structure diagram of the other direction of 3D vision intelligent machine hand system shown in FIG. 1；
Fig. 4 is the dimensional structure diagram of the first manipulator of 3D vision intelligent machine hand system shown in FIG. 1；
Fig. 5 is the dimensional structure diagram of the second manipulator of 3D vision intelligent machine hand system shown in FIG. 1.
Icon：1- control rooms；2- barrier shields；The hot cells 3-；4- control systems；The first manipulators of 11-；12- trigger devices；
13- shows screen；The second manipulators of 31-；111- first rotates external member；The first extension sleeves of 112-；113- handles；114- branch
Frame；311- second rotates external member；The second extension sleeves of 312-；313- pawls have；The second servo motors of 314-.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
As shown in Figures 1 to 5, a kind of 3D vision intelligent machine hand system provided in this embodiment, including control room 1,
Barrier shield 2, hot cell 3 and three-dimensional image pickup device；
The first manipulator 11, the trigger device 12 for opening and closing the first manipulator 11 and the first machine are provided in control room 1
The control system 4 that tool hand 11 is connected and the three-dimensional display apparatus for receiving three-dimensional image pickup device data；
The side in barrier shield 2 towards hot cell 3 is provided with hagioscope and the holder for placing three-dimensional image pickup device；
The second manipulator 31 is provided in hot cell 3；
Second manipulator 31 is connected by control system 4 to realize remote control with the first manipulator 11.
The three-dimensional image in hot cell 3 is obtained by three-dimensional image pickup device, image, which is passed to three-dimensional display apparatus, to be supplied
Operator checks that the effect that visual experience is directly observed close to human eye keeps execution operation more acurrate, uses radiation resistance design,
Control system 4 is set in control room 1, is isolated with hot cell 3, only the second manipulator 31 is in radiation environment, and in
Between be also isolated using barrier shield 2, by control the first manipulator 11, the action of the first manipulator 11 is passed through into control system
4 are transmitted on the second manipulator 31, it can be achieved that remote-controlled operation, relieves the restriction of operating position, pass through teleoperation energy
It reaches and the operations such as is gripped, carried, cut to radwaste, reduce staff and directly or indirectly contact radwaste
The case where, the artificial processing for carrying out radwaste can be replaced, the efficiency of nuclear waste disposal is improved, for the hair of nuclear industry
Exhibition has positive impetus.
Please continue to refer to Fig. 1 to Fig. 4, wherein the first manipulator 11 includes the first rotation external member 111, the first extension sleeve
112, handle 113 and first servo motor；
First rotation external member 111 is fixed on holder 114；
One end of first extension sleeve 112 is connected with the first rotation external member 111, and the other end is connected with handle 113.
In this embodiment, holder 114 is set to the top of the first manipulator 11, the installation as the first manipulator 11
Point is equipped with potentiometer wherein being equipped with several shafts in every shaft, stretched by the first rotation of potentiometer acquisition external member 111, first
The position data of contracting sleeve 112 and handle 113, and it is sent to control system 4, make control system 4 that the second manipulator 31 be driven to do
Go out identical action, 112 top of the first extension sleeve is connected with the first rotation external member 111, longitudinal lowering, the first extension sleeve
112 axle center that can surround rotary shaft carry out rotary motion, and the first extension sleeve 112 is internally provided with chain and shaft, when
When operator's the first extension sleeve 112 of operation stretches, chain can drive shaft to be rotated, and shaft can pass through gear and drive first
The shaft rotation in external member 111 is rotated, handle 113 is mounted on the lower end of the first extension sleeve 112, and handle 113 can realize office
The precise motion and fetching instruction in portion are sent out, to make the end of the second manipulator 31 follow the handle 113 of the first manipulator 11
Action, handle 113 also carry force feedback function, the moment information of the second manipulator 31 in operation can be received, lead to
Handle 113 is crossed to feed back to operator.
Please continue to refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 5, wherein the second manipulator 31 includes the second rotation external member 311, second
Extension sleeve 312, pawl tool 313 and the second servo motor 314；
Second rotation external member 311 is connected with wall pipe；
One end of second extension sleeve 312 is connected with the second rotation external member 311, and the other end is connected with pawl tool 313；
Second servo motor 314 is connected with first servo motor by control system 4.
Further, it is provided with the torque sensor being connected with SERVO CONTROL cabinet on pawl tool 313.
In this embodiment, the structure of the second manipulator 31 and the structure of the first manipulator 11 are almost the same, herein no longer
It repeats, different from the first manipulator 11 has at 2 points, and the first, second manipulator 31 does not include handle 113, opposite with handle 113
That answers is provided with pawl tool 313, and operator operates the movement that the first manipulator 11 realizes pawl tool 313, and pawl tool 313 can be set as one group
Part is positioned in hot cell 3, including the pawl tool 313 that multiple sizes, function are different, can be corresponded to and be realized different functions, operator can
It selects different pawls to have 313 according to the actual conditions of operation to be replaced, torque sensor is provided on pawl tool 313, can incite somebody to action
The moment information that second manipulator 31 is subject in practical operation is fed back on the handle 113 of the first manipulator 11, the second, second machine
Second rotation external member 311 of tool hand 31 is not attached on holder 114, is to pass through barrier shield 2 to be arranged by wall pipe, it is external and
Multiple second servo motors 314 are connected, and the holder 114 for placing the second servo motor 314 is provided in control room 1,
Each second servo motor 314 receives the signal from control system 4, multiple shafts is provided in wall pipe, second watches
It takes the shaft that motor 314 controls in wall pipe to rotate, to drive the shaft in the first rotation external member 111, and then passes through driving cog
The components such as wheel, make chain and shaft inside the second extension sleeve 312 move, and pawl is made to have 313 generations action.
Please continue to refer to Fig. 1 to Fig. 4, wherein three-dimensional display apparatus includes wearable display, display screen 13 and display
Device drives host；
Wearable display is for receiving three-dimensional image pickup device data；
Display screen 13 is set on holder 114, and it is wearable for receiving and showing to be connected with wearable display
The data of display；
The reception, transmission and processing that display driving host is connected with three-dimensional image pickup device for data.
In this embodiment, display driving host is connected by rigid line with three-dimensional image pickup device, has MODBUS numbers
According to communication interface, by bus cable or cable, it is logical to carry out data with I&C systems such as the process control system 4 in hot cell 3 or DCS
News, and specified data can be integrated and be handled, be then added to according to the gesture or phonetic order that operator sends out
It is checked for operator in the picture of wearable display, display screen 13 is mounted on holder 114, is driven by being connected to display
The data line of dynamic host is received the video data of the three-dimensional image pickup device in hot cell 3, and is shown in the form of three-dimensional or two-dimensional
On display screen 13, drives host to be connected with display by wearable display, receive from three-dimensional camera shooting in hot cell 3
The video stream data of device is superimposed with the production information data for driving host from display, operator is made to generate 3 D stereo
Operation sense.
Please continue to refer to Fig. 1 to Fig. 4, wherein trigger device 12 is set to the lower section of the first manipulator 11, including pedal,
Trigger switch and resetting apparatus；
Trigger switch and resetting apparatus may be contained within the lower section of pedal.
Further, the resetting apparatus is spring.
In this embodiment, pedal protrudes from ground, and trigger switch and reset switch, switching signal pass through line built in pedal
Cable is sent to control system 4, when operator needs to operate the first manipulator 11, it is necessary to step down on pedal, pedal is stepped on, make
Trigger switch in pedal is in triggering state, after control system 4 detects that pedal switch is in triggering state, releases the first machine
Locking device on tool hand 11, operator once leaves operative position or because other reasons unclamps pedal, in the effect of reset switch
Lower pedal bounces, and trigger switch reverts to non-triggering state, and the first manipulator 11 is locked is not available for operating immediately, ensures work
The safety of Cheng Jinhang.
Wherein, wearable display includes wearable frame, the first display screen, second display screen, monocular cam, gyro
Instrument and microphone；
First display screen and second display screen are connected with display driving host for receiving three-dimensional image pickup device respectively
Data；
Monocular cam is set to gesture of the lower section for capture operation person of wearable frame；
Gyroscope and microphone are set on wearable frame.
In this embodiment, the first display screen and second display screen are connected to the data line of display driving host, receive
The binocular video flow data of three-dimensional image pickup device in hot cell 3 is superimposed with the production information number that host is driven from display
According to, distinguish display operation person's left eye on the first display screen and second display screen, the discrepant picture that right eye should be seen that, from
And operator is made to generate 3 D stereo operation sense, monocular cam is towards the front of operator, slightly downward, for capturing behaviour
The certain gestures of work person act, and to be converted into specific operational order, and send an instruction to display by data line and drive
Dynamic host, microphone, for the special sound command information that acquisition operations person sends out, to be converted into specific operational order,
And display is sent an instruction to by data line, host, gyroscope is driven to be capable of the movement on inductive operation person head, including a left side
The rotary head action of dextrad and upward, downward new line and action of bowing, display is transmitted action information to by data line
It drives host, display that host is driven to drive the holder in hot cell 3 by rigid line, carries out left/right rotation, or the action turned up and down,
So that the visual angle captured by three-dimensional image pickup device follows the action synchronizing moving on operator head, operator is set to generate on the spot in person
Feeling.
Wherein, control system 4 includes control panel and the SERVO CONTROL cabinet being connected with control panel.
Further, SERVO CONTROL cabinet includes power module, surge protection module, filter module, servo control module, watches
Take drive module, radiating module and lighting module.
Further, first servo motor and the second servo motor 314 pass through rigid line and servo-driven module and servo control
Molding block is connected.
In this embodiment, SERVO CONTROL cabinet is the control core of the device, and SERVO CONTROL cabinet is located in control room 1, interior
Portion is provided with power module, surge protection module, filter module, servo control module, servo-driven module, radiating module and photograph
Bright module etc..SERVO CONTROL cabinet is by rigid line, as the power supply of first servo motor and the second servo motor 314, and with electricity
Potentiometer, torque sensor on machine etc. are connected, and receive from potentiometric signal in 11 each shaft of the first manipulator, lead to
It crosses and is compared the potentiometer signal on signal axis corresponding with the second manipulator 31 and operation, output Pulse Width Control instruction
To servo-driven module, servo-driven module is connected by rigid line with the second servo motor 314, and the second servo motor is driven
314 rotate specific angle according to the requirement of servo control module with certain speed and torque, so that the first machinery
The position of every group of correspondence shaft is kept identical on hand 11 and the second manipulator 31, and due to the first manipulator 11 and the second manipulator
31 mechanical structure is identical with size, and it is synchronous with position to realize action.
When operator passes through voice or gesture instruction, it is desirable that when system carries out " mode of learning ", wearable display will be grasped
Work person's order is issued to display driving host, and display drives host by rigid line or network, sent out to servo control module
The instruction of " mode of learning ", into " mode of learning ", when 11 hand of the first manipulator carries out any operation, the second manipulator 31 is just
The action of the first manipulator 11 is often followed, but servo control module can the whole position for recording the second manipulator 31 in whole flow process
It sets, the control output signal of the second servo motor 314.After " mode of learning ", operator assigns the finger of " repeat pattern "
It enables, servo control module automatically controls according to the recorded content of preceding primary study the second manipulator 31 and repeat before this
The action for learning and recording, until operator terminates " repeat pattern ".
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (10)
1. a kind of 3D vision intelligent machine hand system, which is characterized in that including control room, barrier shield, hot cell and three-dimensional camera shooting
Device；
The first manipulator, the trigger device for opening and closing first manipulator and described first are provided in the control room
The control system that manipulator is connected and the three-dimensional display apparatus for receiving the three-dimensional image pickup device data；
The side in the barrier shield towards the hot cell is provided with hagioscope and the holder for placing the three-dimensional image pickup device；
The second manipulator is provided in the hot cell；
Second manipulator is connected by the control system to realize remote control with first manipulator.
2. 3D vision intelligent machine hand system according to claim 1, which is characterized in that first manipulator includes
First rotation external member, the first extension sleeve, handle and first servo motor；
The first rotation external member is fixed on holder；
One end of first extension sleeve is connected with the first rotation external member, and the other end is connected with the handle.
3. 3D vision intelligent machine hand system according to claim 2, which is characterized in that second manipulator includes
Second rotation external member, the second extension sleeve, pawl tool and the second servo motor；
The second rotation external member is connected with wall pipe；
One end of second extension sleeve is connected with the second rotation external member, and the other end is connected with pawl tool；
Second servo motor is connected with the first servo motor by the control system.
4. 3D vision intelligent machine hand system according to claim 1, which is characterized in that the three-dimensional display apparatus packet
Include wearable display, display screen and display driving host；
The wearable display is for receiving the three-dimensional image pickup device data；
The display screen is set on the holder, and it is described for receiving and showing to be connected with the wearable display
The data of wearable display；
The reception, transmission and processing that the display driving host is connected with the three-dimensional image pickup device for data.
5. 3D vision intelligent machine hand system according to claim 2, which is characterized in that the trigger device is set to
The lower section of first manipulator, including pedal, trigger switch and resetting apparatus；
The trigger switch and the resetting apparatus may be contained within the lower section of the pedal.
6. 3D vision intelligent machine hand system according to claim 4, which is characterized in that the wearable display packet
Include wearable frame, the first display screen, second display screen, monocular cam, gyroscope and microphone；
First display screen and the second display screen are connected with display driving host described for receiving respectively
The data of three-dimensional image pickup device；
The monocular cam is set to gesture of the lower section for capture operation person of the wearable frame；
The gyroscope and the microphone are set on the wearable frame.
7. 3D vision intelligent machine hand system according to claim 1, which is characterized in that the control system includes control
Panel processed and the SERVO CONTROL cabinet being connected with the control panel.
8. 3D vision intelligent machine hand system according to claim 3, which is characterized in that be provided on pawl tool with
The torque sensor that the SERVO CONTROL cabinet is connected.
9. 3D vision intelligent machine hand system according to claim 7, which is characterized in that the SERVO CONTROL cabinet includes
Power module, surge protection module, filter module, servo control module, servo-driven module, radiating module and lighting module.
10. 3D vision intelligent machine hand system according to claim 7, which is characterized in that the first servo motor
It is connected with the servo-driven module and the servo control module by rigid line with second servo motor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112605068A (en) * | 2020-12-15 | 2021-04-06 | 湖南大学 | Irradiation-resistant variable-focus laser cleaning device and using method |
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| CN208744838U (en) * | 2018-08-06 | 2019-04-16 | 王晋 | 3D vision intelligent machine hand system |
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| CN112605068A (en) * | 2020-12-15 | 2021-04-06 | 湖南大学 | Irradiation-resistant variable-focus laser cleaning device and using method |
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