Fig. 1. Laser intelligent rust removal equipment

Fig. 2. Structural diagram of laser intelligent rust removal equipment

Fig. 3. Logic diagram of control system

Fig. 4. Logic diagram of control system. (a) Original rust pattern; (b) image after extracting corresponding color area

Fig. 5. Dilation and corrosion of image

Fig. 6. Outline filling

Fig. 7. Diagram of two-dimensional galvanometer

Fig. 8. Microscopic image of surface rust and mass fraction of main elements. (a) Microscopic image of surface rust; (b) mass fraction of main elements

Fig. 9. Surface patterns of sample to be cleaned

Fig. 10. Processing graph processed by cleaning software

Fig. 11. Derusted steel plates

Fig. 12. Surface morphologies and mass fractions of samples after rust removal. (a) Sample 1;(b) sample 2; (c) sample 3; (d) sample 4