CN105030168B - Indoor cleaning outer glass robot and method based on femtosecond laser - Google Patents
Indoor cleaning outer glass robot and method based on femtosecond laser Download PDFInfo
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- CN105030168B CN105030168B CN201510359799.8A CN201510359799A CN105030168B CN 105030168 B CN105030168 B CN 105030168B CN 201510359799 A CN201510359799 A CN 201510359799A CN 105030168 B CN105030168 B CN 105030168B
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Abstract
The invention discloses a kind of glass surface indoor cleaning machine people based on femtosecond laser technology and method, including femto second optical fiber laser, real-time monitoring system and control centre, femto second optical fiber laser, real-time monitoring system to be connected with control centre, wherein：Femto second optical fiber laser is used for removing the dust and dirt of glass surface；Real-time monitoring system includes location instrument, thickness of glass detecting instrument, glass number of plies detecting instrument and glass transmission rate detecting instrument, and location instrument is used for positioning dust and dirt on glass.The robot of the present invention dedusting disposed within that glass curtain wall or glass window outer surface can be achieved, avoid the danger of outdoor cleaning, convenient and efficient, it is high and the service life caused by outside long-term exposure chamber is short the problems such as to solve the dangerous big, task difficulty of existing outdoor clean robot.
Description
Technical field
The present invention relates to glass curtain wall cleaning technique field, and in particular to outside a kind of indoor cleaning based on femtosecond laser
Glass robot and method.
Background technology
Contemporary mansion is mostly skyscraper, and wall face is mostly glass curtain wall., should to keep the cleaning of mansion appearance, attractive in appearance
Periodically externally metope is cleaned.High building glass curtain wall and the easy adhesive dust of windowpane are, it is necessary to often wipe, to keep
Become clear the U.S. clean and interior in mansion.The particularly deterioration of environment in recent years, cleaning frequency need to improve.Tradition cleaning is needed in outdoor
With high aerial manual work, the delivery vehicles such as high-altitude hanging basket, boatswain chair, lifting platform are used, task difficulty is big, dangerous big.Closely
Although occurring various robots year replaces artificial cleaning, its dangerous and difficulty is still present.
In recent years, short-pulse laser（Such as nanosecond laser, picosecond laser and femtosecond laser）Because heat affecting is small, machining accuracy
Height, thus received much concern in Precision Machining field.The pulse width of nanosecond laser is nanosecond（10-9Second）Level, its repetition rate one
As be hundreds of kHz, reach as high as 10MHz, therefore very high processing efficiency can be reached.Psec（10-12Second）Laser is enough to avoid
Energy occurs thermal diffusion and reaches the peak energy denisty required for these ablation critical process, can provide higher average work(
Rate (10 W) and good beam quality（M2 < 1.5）, can be in effective working distance inner focusing into one 10 μm or smaller
Luminous point.Femtosecond laser（10-15Second）Within the duration of each laser pulse and matter interaction, thermal diffusion is avoided
In the presence of fundamentally eliminating similar to a variety of effects pair such as the melting zone in long pulse process, heat affected area, shock wave
Influence and fire damage, the spatial dimension involved by process is substantially reduced caused by adjacent material, accurate so as to improve
Degree, its beam diameter can be focused within 1 μm, and within its precision is up to 100nm, highest can reach 0.1nm.
Femtosecond laser mechanism includes following three kinds：1）Material melts based on high-temperature plasma；2）Based on gasification；3）Storehouse
Logical sequence electric charge explosion mechanism.It is reported that femtosecond laser can be accurately separated each layer graphene, interfacial separation and control are carried out.
Therefore, femtosecond laser can utilize the interface of the outer glass surface of above-mentioned speciality focusing and dust, to remove dust.
The content of the invention
Lacked for task difficulty existing for cleaning robot outside glass surface room is high, dangerous big and cleannes are not high
Fall into, the present invention proposes a kind of indoor cleaning outer glass robot and method based on femtosecond laser, suitable for high building
The cleaning of glass curtain wall and glass window outer surface.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
First, the indoor cleaning outer glass robot based on femtosecond laser, including：
Femto second optical fiber laser, real-time monitoring system and control centre, femto second optical fiber laser, real-time monitoring system with
Control centre is connected, wherein：Femto second optical fiber laser is used for removing the dust and dirt of glass surface；Real-time monitoring system includes
Location instrument, thickness of glass and number of plies detecting instrument and glass transmission rate detecting instrument, location instrument are used for positioning grey on glass
Dirt and dirt.
Above-mentioned control centre is moved by movement mechanism with multiple degrees of freedom control machine people.
Above-mentioned location instrument is the femtosecond laser position indicator based on CCD auxiliary.
Above-mentioned thickness of glass and number of plies detecting instrument are thermal camera and tera-hertz spectra imager.
Above-mentioned real-time monitoring system also includes Image-forming instrument, is imaged for the dirt to glass surface and dust.Described
Image-forming instrument is tera-hertz spectra imager.
2nd, a kind of indoor cleaning outer glass method based on femtosecond laser, including step：
Step 1, location instrument positions to dust on glass surface and dirt, thickness of glass and the inspection of number of plies detecting instrument
Survey thickness of glass and the glass number of plies, glass transmission rate detecting instrument measurement glass transmission rate；
Step 2, according to thickness of glass and the glass number of plies, femtosecond laser energy is selected using manual intervention mode；
Step 3, the location data that femto second optical fiber laser obtains according to location instrument, glass table is removed using femtosecond laser
The oriented dirt in face and dust, realize cleaning glass；
Step 4, the front and rear glass transmission rate of this cleaning is measured using glass transmission rate detecting instrument, if before this cleaning
The changing value of glass transmission rate is less than preset value afterwards, then terminates to clean, and above-mentioned preset value rule of thumb obtains with verification experimental verification；It is no
Then, repeat step 1 ~ 3.
The present invention is positioned using location instrument to glass surface dirt and dust, and glass table is removed using femtosecond laser
The oriented dirt in face and dust.
Compared to the prior art, the invention has the advantages that and beneficial effect：
The robot dedusting disposed within that glass curtain wall or glass window outer surface can be achieved, avoid the danger of outdoor cleaning
It is dangerous, convenient and efficient, solve dangerous big, the task difficulty height of existing outdoor clean robot and by institute outside long-term exposure chamber
The problems such as caused service life is short.
Brief description of the drawings
In order to illustrate more clearly of the present invention, the required accompanying drawing used is simply situated between in being described below to embodiment
Continue, it should be apparent that, drawings in the following description are only the embodiment of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is robot architecture's schematic diagram of the present invention, in figure, 101- femto second optical fiber lasers, and 102- femtosecond laser beams,
103- glass, 104- dusts, 105- dirts；
Fig. 2 is cleaning flow chart of the present invention.
Embodiment
See Fig. 1, robot is placed in glass（103）Inner surface, glass can be close to（103）Inner surface, can also be with glass
（103）Inner surface keeps certain distance.In use, movement mechanism with multiple degrees of freedom can be passed through with mobile robot, i.e. control centre
Control machine people moves；Femto second optical fiber laser can also only be rotated（101）Probe.
Real-time monitoring system includes location instrument, Image-forming instrument, thickness of glass and number of plies detecting instrument and glass transmission rate
Detecting instrument.Location instrument is used for glass（103）The dirt of outer surface（105）And dust（104）Positioned, concretely
Femtosecond laser position indicator based on CCD auxiliary.Image-forming instrument is used for glass（103）The dirt of outer surface（105）And dust
（104）Imaging, and the display unit for being shown in and being connected with control centre will be imaged, Image-forming instrument is the preferred of real-time monitoring system
Scheme, available for the positioning of secondary dust and dirt, it can specifically use tera-hertz spectra imager.Thickness of glass and number of plies detection
Instrument is used for detecting glass（103）Thickness and the number of plies, can specifically use infrared semiconductor laser and tera-hertz spectra to be imaged
Instrument detects glass（103）The thickness and the number of plies of sum.
Red laser diode and the reflection based on laser and the thickness and the number of plies of transmission principle detection glass, specifically
For：Sampled in multiple cycles such as 20us, 50us, 100us, 500us, 1000us, and the number returned according to laser reflection
The glass number of plies is obtained, the time returned according to laser reflection obtains thickness of glass.
Tera-hertz spectra imager carries out dirt and dust imaging using Terahertz, and Terahertz frequency is high, wavelength is short, has
Very high time-domain spectral signal to noise ratio, transmission loss is seldom during through dirt and dust, can penetrate wall and every layer of glass outer is entered
Row scanning, obtains the imaging of dirt and dust.Terahertz light spectrometer can also be based on Terahertz reflection and transmission principle, accurately
The thickness and the number of plies of glass are measured, and is not influenceed by dirt.
Femtosecond laser position indicator based on CCD auxiliary passes through glass（103）Detect and position glass（103）The dirt of outer surface
Dirt（105）And dust（104）, positioning result is obtained, and positioning result is transmitted to control centre.Control centre passes positioning result
To femto second optical fiber laser（101）, femto second optical fiber laser（101）Femtosecond laser beam is provided according to positioning result（102）Remove
Dirt（105）And dust（104）, so as to realize high-efficiency cleaning.
See Fig. 2, specific workflow of the invention is as follows：
（1）Obtained using real-time monitoring system（a）The position data of glass outer surface dirt and dust,（b）Thickness of glass
With the glass number of plies,（c）Glass transmission rate.
（2）Femtosecond laser energy, femto second optical fiber laser are selected by manual intervention according to thickness of glass and the glass number of plies
（101）According to position data, the oriented dirt of glass outer surface and dust are removed using femtosecond laser.
（3）Using the light transmittance of glass after real-time monitoring system measurement cleaning, compare the front and rear glass transmission of this cleaning
Whether rate changes, if the changing value of glass transmission rate is less than preset value before and after this cleaning, shows glass before and after this cleaning
Light transmittance does not change, then glass has cleaned totally, terminates cleaning, and above-mentioned preset value rule of thumb obtains with verification experimental verification；It is no
Then, repeat step（1）~（2）.
Claims (3)
1. the indoor cleaning outer glass method based on femtosecond laser, it is characterized in that,
Using the indoor cleaning outer glass robot based on femtosecond laser, the indoor cleaning outer glass robot includes flying
Second optical fiber laser, real-time monitoring system and control centre, femto second optical fiber laser, real-time monitoring system with control centre's phase
Connect, wherein：Femto second optical fiber laser is used for removing the dust and dirt of glass surface；Real-time monitoring system include location instrument,
Thickness of glass and number of plies detecting instrument and glass transmission rate detecting instrument, location instrument are used for positioning dust and dirt on glass；
Including step：
Step 1, location instrument positions to dust on glass surface and dirt, thickness of glass and number of plies detecting instrument detection glass
Glass thickness and the glass number of plies, glass transmission rate detecting instrument measurement glass transmission rate；
Step 2, according to thickness of glass and the glass number of plies, femtosecond laser energy is selected using manual intervention mode；
Step 3, the location data that femto second optical fiber laser obtains according to location instrument, glass surface has been removed using femtosecond laser
The dirt and dust of positioning, realize cleaning glass；
Step 4, the front and rear glass transmission rate of this cleaning is measured using glass transmission rate detecting instrument, if glass before and after this cleaning
The changing value of glass light transmittance is less than preset value, then terminates to clean, and above-mentioned preset value rule of thumb obtains with verification experimental verification；Otherwise,
Repeat step 1~3；
Described location instrument is the femtosecond laser position indicator based on CCD auxiliary；
Described thickness of glass and number of plies detecting instrument are thermal camera and tera-hertz spectra imager.
2. the indoor cleaning outer glass method based on femtosecond laser as claimed in claim 1, it is characterized in that：
Control centre is moved by movement mechanism with multiple degrees of freedom control machine people.
3. the indoor cleaning outer glass method based on femtosecond laser as claimed in claim 1, it is characterized in that：
Described real-time monitoring system also includes Image-forming instrument, is imaged for the dirt to glass surface and dust.
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| CN201510359799.8A CN105030168B (en) | 2015-06-25 | 2015-06-25 | Indoor cleaning outer glass robot and method based on femtosecond laser |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725073A (en) * | 2016-11-23 | 2017-05-31 | 河池学院 | A kind of method that cleans the windows based on intelligent robot |
| CN107616759A (en) * | 2017-08-31 | 2018-01-23 | 维沃移动通信有限公司 | The method for cleaning and system of a kind of object |
| CN107669219A (en) * | 2017-08-31 | 2018-02-09 | 维沃移动通信有限公司 | The method for cleaning and system of a kind of stain |
| CN107638136A (en) * | 2017-08-31 | 2018-01-30 | 维沃移动通信有限公司 | The method for cleaning and system of a kind of object |
| CN109590288B (en) * | 2018-11-28 | 2021-06-04 | 四川大学 | Method for cleaning impurities on transmission surface of light-transmitting medium by laser |
| CN111026132B (en) * | 2019-12-30 | 2021-06-01 | 同济大学 | Intelligent laser positioning guiding device |
| CN114451830B (en) * | 2022-03-17 | 2023-06-16 | 上海飞博激光科技股份有限公司 | Device for cleaning glass curtain wall by laser and cleaning method thereof |
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| WO2003103861A2 (en) * | 2002-06-05 | 2003-12-18 | Matsushita Electric Industrial Co., Ltd. | Low cost material recycling apparatus using laser stripping of coatings such as paint and glue |
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|---|---|---|---|---|
| US5986234A (en) * | 1997-03-28 | 1999-11-16 | The Regents Of The University Of California | High removal rate laser-based coating removal system |
| DE60112053T2 (en) * | 2000-01-20 | 2006-04-27 | Wallonia Space Logistics Société Anonyme | METHOD FOR THE LOCAL REMOVAL OF A COATING ON A TRANSLUCENT OR TRANSPARENT SUBSTRATE |
| CN1817549A (en) * | 2006-03-23 | 2006-08-16 | 北京工业大学 | Portable laser cleaning system |
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