CN109365417A - The laser cleaner of sports field markings - Google Patents
The laser cleaner of sports field markings Download PDFInfo
- Publication number
- CN109365417A CN109365417A CN201811539315.8A CN201811539315A CN109365417A CN 109365417 A CN109365417 A CN 109365417A CN 201811539315 A CN201811539315 A CN 201811539315A CN 109365417 A CN109365417 A CN 109365417A
- Authority
- CN
- China
- Prior art keywords
- laser
- chassis
- photoelectric sensor
- markings
- sports field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
Abstract
The invention discloses a kind of laser cleaners of sports field markings, comprising: chassis；The main body of laser, the laser is mounted on chassis, and the laser head of laser is fixedly mounted on the first pilot hole on chassis, keeps laser head downward；The dust storage tank of dust catcher, the dust catcher is mounted on chassis, and suction inlet is by the second pilot hole row on chassis in support plate bottom；Photoelectric sensor group, row is in chassis front end, based on reflection to markings tracking；Piggyback pod is mounted on support plate, and piggyback pod is equipped with controller, controller connection photoelectric sensor group and the driving mechanism for exporting connecting base plate, drives chassis tracking according to photoelectric sensor group mark line boundary based on determined by reflection.Laser cleaner the degree of automation according to the present invention is relatively high, so as to continuous wash sports field.
Description
Technical field
The present invention relates to a kind of laser cleaners of sports field markings, belong to laser cleaning technique field.
Background technique
Sports field markings application is very wide, such as stadium of track and field runway marking line, basketball, pitch markings, passes through
The impact wear in prolonged exercise person vola, markings will certainly generate abrasion or spontaneous corrosion, surface reflection ability and color
Damp degree can all decline, to influence its visibility.Therefore, in order to ensure spectators preferably come to matches and sportsman is apparent
Markings will be cleaned and be reset at regular intervals by ground identification.
Traditional markings minimizing technology mainly has polishing removing method and high-pressure water jet to remove method.Wherein, polishing is removed
Method is to carry out coming into full contact with polishing to markings to achieve the purpose that remove markings using blade, and efficiency is lower, cleans
Cheng Zhonghui generates biggish noise and numerous and disorderly dust, and certain damage is also had to place.
It is using pressurized water jets impact markings surface, to realize to markings that high-pressure water jet, which removes method,
Remove, have the characteristics that it is high-efficient, to place without damage, environmentally friendly.But it needs to waste a large amount of water to keep cleaning effect, this
Very big noise can be generated in outer cleaning process, generated markings material clast is covered on stadium with water flow after cleaning,
It is difficult to clear up.
Laser cleaning technique has without grinding, non-contact, and is suitable for the cleaning characteristics such as object of various materials, is considered
It is most reliable, most effective solution.Using the interaction of laser and markings, so that markings coating is shelled from place
From to realize the effect of cleaning.
Typically, Chinese patent literature CN208023375U discloses a kind of roadmarking removing equipment, in a base
Laser cleaner, engine, air-jet device, air-breathing deslagging device and slag ladle are installed, in use, laser is clear in plinth rack
Cleaning device cleans graticule, and air-jet device blows graticule waste residue open, and then is located at the air-breathing slagging-off dress on rear side of air-jet device
The waste residue that will be blown afloat is set to suck and be stored in slag ladle.Roadmarking is relatively easy, mainly straight line, requires tracking opposite
It is lower.It is furnished with independent handrail, and to facilitate manual feed or control foundation framework to advance, staff is apart from cleaning positions
It is relatively close, it is easy to suck more dust.In turn, in the patent document, rough giving adjusts laser by control panel
The aiming lamp of brilliance degree and position, so-called aiming are exactly the focal length and angle that laser head is adjusted by aiming at lamp.It is understood that
Be, laser head on marking width direction if there is certain angle, then the work on marking width direction to graticule everywhere
With difference, it is based on short plank law, influences whole efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of the degree of automation is relatively high, so as to continuous wash stadium terrestrial reference
The laser cleaner of will line.
Embodiment according to the present invention provides a kind of laser cleaner of sports field markings, basic structure packet
It includes:
Chassis, the chassis have support plate as carrier, which is equipped with the first pilot hole, and middle part is equipped with the second assembly
Hole；
The main body of laser, the laser is mounted on chassis, and the laser head of laser is fixedly mounted on the first pilot hole, makes
Laser head is downward；
The dust storage tank of dust catcher, the dust catcher is mounted on chassis, and suction inlet is by the second pilot hole row at support plate bottom
Portion；
Photoelectric sensor group, row is in chassis front end, based on reflection to markings tracking；
Piggyback pod is mounted on support plate, and piggyback pod is equipped with controller, and controller connection photoelectric sensor group simultaneously exports connection bottom
The driving mechanism of disk drives chassis tracking according to photoelectric sensor group mark line boundary based on determined by reflection.
The laser cleaner of above-mentioned sports field markings, optionally, the row width of photoelectric sensor group are greater than mesh
Mark the width of markings；
Correspondingly, photoelectric sensor group has photoelectric sensor to be located at outside blip line at the both ends in row direction, and is denoted as
Border sensor, to drive chassis to deflect to corresponding side when border sensor samples blip line.
Optionally, the quantity of photoelectric sensor is the odd number more than or equal to five in photoelectric sensor group, is located at row two
Each photoelectric sensor at end is used for the identification of markings itself as the border sensor, remaining photoelectric sensor,
And remaining photoelectric sensor is when having a most photoelectric sensors to be identified as true, then it represents that chassis is run along blip line.
Optionally, border sensor relative to remaining photoelectric sensor position rearward.
Optionally, piggyback pod is located at the middle part of support plate, and dust storage tank is biased on rear side of support plate.
Optionally, suction inlet has multiple lines and multiple rows.
Optionally, the suction inlet be two rows, and no less than five column and not more than nine column.
It is understood that sports field markings and intersite discrimination with higher, thus can meet compared with
High mark action.Especially, markings are mostly white paint lines, there is relatively high reflectivity to light, and place is generally cold
Tone, it is relatively low to the reflectivity of light, therefore, markings are sampled by photoelectric sensor group, to drive chassis
Tracking is carried out to markings, so as to automatically carry out laser cleaning to sports field markings.Furthermore, it will be appreciated that
Sports field markings are different from other kinds of markings, and sports field markings are generally blockade line, to have automatic
Be adapted to technical conditions are cleaned, the tracking work continuity based on photoelectric sensor is relatively good.
Detailed description of the invention
Fig. 1 is the structural schematic diagram in one direction of laser cleaner of sports field markings in an embodiment.
Fig. 2 is the structural schematic diagram corresponding to another direction of Fig. 1.
Fig. 3 is the laser cleaner present invention looks up structural representation of sports field markings in an embodiment.
Fig. 4 is laser structure schematic diagram in an embodiment.
In figure: 1. directional wheels, 2. support plates, 3. dust storage tanks, 4. piggyback pods, 5. control panels, 6. deflecting rollers, 7. instrument rooms,
8. positioning plate, 9. photoelectric sensors, 10. suction inlets, 11. laser heads, 12.YAG laser generator, 13. laser coupled lens,
14. collimation lens, 15. exit lens, 16. field lenses, 16. galvanometers.
Specific embodiment
In machinery field, it is to be understood that before chassis is based on the direction that its normal direction of travel is rushed, opposite
After direction is.It is longitudinal with the consistent direction of front-rear direction, is in the horizontal plane laterally or left with longitudinal perpendicular direction
Right direction.
It about the used laser of laser cleaning, does not relate to, passes through in Chinese patent literature CN208023375U
More experiment determines, best using pulse Nd-YAG laser effect, and the wavelength of the laser institute shoot laser is 1064nm,
Belong near infrared band.Correspondingly, the laser of other wavelength of near infrared band also has preferable relative to other wave band of laser
Effect.
The principle of laser cleaning is emitted due to acoustooptical effect to surrounding when paint film absorbs laser and heated by alternation
Sound wave, photic acoustic wave energy are a part of laser energy.In the photic sound wave that surface of the paint film generates, it is equivalent to a sound wave
Source launches outward sound wave.Sound wave into paint film reflects again after reaching the body surface under paint film, the sound so generated
Wave has biggish amplitude and good coherence, so reflected acoustic wave and incident acoustic wave will interfere, thus makes
The vibration in place exponentially increases, and like producing the explosion of micro- power in paint film, paint is become extremely small dust and clear
It removes.
In the structure shown in Fig. 1 ~ 3, the laser cleaner of sports field markings needs to configure a carrier, base
In the principle of the present invention, which reduces the factor of manpower intervention, can realize automatic control as far as possible.
The preferred wheel undercarriage in chassis is that sports field operating condition is relatively good, and wheel undercarriage control is more flexible, and energy consumption
It is relatively low.Also it is not excluded for the use on other types chassis, such as caterpillar chassis, caterpillar chassis is relatively steady, braking
Can be relatively good, but speed is relatively slow.
In contrast, in an embodiment of the present invention, the required precision that chassis is advanced is not high, and has not also required opposite
Reliable at the uniform velocity performance, especially sports field is generally relatively flat, and for chassis, direction controlling is even more important.
The markings of sports field are generally closed line, such as track line, include straightway and arcuate line segment group on the whole
It is made into an annular, suitable for working continuously.
Part of the chassis for bearing article is commonly referred to as support plate 2, such as flatcar, trolley, straddle carrier, bearing part are
Table top, table top are provided by the plate being located on running gear, and plate is referred to here as support plate 2.
Since the output par, c for the component being loaded on support plate 2 is mounted on the lower surface of support plate 2 more, such as vacuum part and swash
Light device part, to reduce assembly difficulty, 2 front of support plate is equipped with the first pilot hole, and middle part is equipped with the second pilot hole, thus, such as
Vacuum part, main part are located on the table top of support plate 2, and its suction inlet 10 is then located at the lower surface of support plate 2.
Accordingly for laser, the main body of the laser is mounted on chassis, and the fixed peace of laser head 11 of laser
Mounted in the first pilot hole, making laser head 11, laser head 11 is mainly including exit lens 15 and for installing exit lens 15 downwards
Mechanical part.
In use, chassis is across on blip line, the lower surface of the support plate 2 on chassis is substantially parallel with blip line,
The axis of exit lens 15 is accordingly vertical with ground or blip line.
About dust catcher, as previously mentioned, its main part is mounted on chassis, it is specifically mounted in the support plate 2 on chassis
On table top, suction inlet 10 is by the second pilot hole row in 2 bottom of support plate, it is to be understood that before suction inlet 10 is for drawing
11 the formed crushed material of clear flag line of side laser head, suction inlet 10 should be greater than being equal to target in the lateral array-width of support plate 2
The width of markings.
It is understood that the array-width of suction inlet 10 is also not easy excessive, unnecessary waste otherwise can be generated.
For the tracking of markings, photoelectric sensor group is provided, 9 row of multiple photoelectric sensors being adapted to is before chassis
End, specifically, can be the front underside of support plate 2, is also possible to the front end face of support plate 2.
About photoelectric sensor 9, active photoelectric sensor can also be, be also possible to passive type photoelectric sensor, it is main
Dynamic formula photoelectric sensor is sampled by being transmitted to the light of standing wave section based on the reflected light projected on object.For passive
Formula photoelectric sensor then depends on the natural light under external light source, such as daylight condition.
It is understood that not only body color reflectivity is high for markings, but also its surface is opposed flattened, diffusing reflection effect
It is weaker, and for runway face, it is that such as color asphalt concrete paves and is formed by surface, rough surface, diffusing reflection effect is non-
Chang Qiang, the two have very big difference to the reflecting effect of light.In contrast, either active photoelectric sensor or quilt
Dynamic formula photoelectric sensor, can effective diacritics line and original runway face.
In view of markings may be stained, single photoelectric sensor 9 may generate erroneous judgement, when multiple photoelectric sensors
When 9 row, it will be able to effectively reduce False Rate.
About piggyback pod 4, driving equipment is mainly installed, control equipment can also be installed, control equipment is based on automatically controlling
Intelligent device, such as controller should be protected, since the forms of motion on chassis is fairly simple, the algorithm being adapted to is also fairly simple,
For multiple photoelectric sensors 9, then mainly very with false judgement, institute's adaptation algorithm is also very simple, such as multiple for examining
Survey the photoelectric sensor 9 of blip line be it is true or most when being true, illustrate that chassis does not yaw.If the left side is so many,
The right is very few, then chassis can be determined further there may be yaw or carry out yaw steering based on probability, that is, drive
When moving such as deflecting roller 6 and do low-angle adjustment, such as being judged as yaw, 1 degree is adjusted, avoids adjustment excessive.
If photoelectric sensor 9 is completely used for the judgement of markings itself, the probability for generating erroneous judgement is bigger than normal, misses to reduce
Sentence probability, in a preferred embodiment, the row width of photoelectric sensor group is greater than the width of blip line, thus relative to
The part that mark line width goes out can carry out yaw judgement.
Specifically, photoelectric sensor group has photoelectric sensor 9 to be located at outside blip line at the both ends in row direction, and
It is denoted as border sensor, to drive chassis to deflect to corresponding side when border sensor samples blip line, such as positioned at
The border sensor in left side samples blip line, then it represents that chassis yaws to the right relative to blip line, in this situation
Under, controller control deflecting roller 6 is turned left, as previously mentioned, the angle changing rate for correcting yaw is small, is normally controlled in 1 ~ 5 degree, is avoided
Correction is excessive in short time.
Further, since there are the lateral marker lines on cross section, such as endless track for markings, if to ring marker
When line cleans, in markings infall, the border sensor positioned at both sides has maximum probability that may sample markings simultaneously,
Under this condition, it should be judged as that chassis does not yaw, i.e., when the border sensor on both sides all samples markings, should be judged as chassis
Do not yaw.
To avoid generation, there are interference when lateral marker line, can set a threshold value, i.e. side border sensor is adopted
It does not rectify a deviation at once after sample to markings, a time threshold is given, if other side border sensor in the time threshold
Detect markings, then it is assumed that chassis does not yaw, if other side border sensor does not detect in the time threshold
Markings, then it is assumed that yaw is produced, to carry out correction processing.
Preferably, the quantity of photoelectric sensor 9 is the odd number more than or equal to five in photoelectric sensor group, is located at row two
Each photoelectric sensor 9 at end is used as the border sensor, remaining photoelectric sensor 9 is used for the knowledge of markings itself
Not, when and remaining photoelectric sensor 9 has a most photoelectric sensors 9 to be identified as true, then it represents that transported along blip line on chassis
Row.
Stopping and unlatching for chassis, then controlled by manually, such as a markings be closed or open are completed
Afterwards, it by manually stopping laser or chassis, is then moved to chassis position and carries out the cleaning of next markings or stop operation.
In a preferred embodiment, border sensor relative to remaining 9 position of photoelectric sensor rearward, can be more efficient
Control chassis yaw.
In order to improve the running stability of cleaning device, piggyback pod 4 is located at the middle part of support plate 2, and dust storage tank 3 is biased in support plate
2 rear sides.
In turn, suction inlet 10 has multiple lines and multiple rows, to improve cleaning rate.
The suction inlet 10 be two rows, and no less than five column and not more than nine column.
About laser, as shown in figure 4, belonging to conventional structure, details are not described herein.
It is the exit lens 15 for exporting rectangular light spot for exit lens 15 therein, in laser technology field, based on whole
The laser of shape, final output rectangular light spot belongs to the common knowledge of laser technology field, and details are not described herein.
Claims (7)
1. a kind of laser cleaner of sports field markings characterized by comprising
Chassis, the chassis have support plate as carrier, which is equipped with the first pilot hole, and middle part is equipped with the second assembly
Hole；
The main body of laser, the laser is mounted on chassis, and the laser head of laser is fixedly mounted on the first pilot hole, makes
Laser head is downward；
The dust storage tank of dust catcher, the dust catcher is mounted on chassis, and suction inlet is by the second pilot hole row at support plate bottom
Portion；
Photoelectric sensor group, row is in chassis front end, based on reflection to markings tracking；
Piggyback pod is mounted on support plate, and piggyback pod is equipped with controller, and controller connection photoelectric sensor group simultaneously exports connection bottom
The driving mechanism of disk drives chassis tracking according to photoelectric sensor group mark line boundary based on determined by reflection.
2. the laser cleaner of sports field markings according to claim 1, which is characterized in that photoelectric sensor group
Row width be greater than blip line width；
Correspondingly, photoelectric sensor group has photoelectric sensor to be located at outside blip line at the both ends in row direction, and is denoted as
Border sensor, to drive chassis to deflect to corresponding side when border sensor samples blip line.
3. the laser cleaner of sports field markings according to claim 2, which is characterized in that photoelectric sensor group
The quantity of middle photoelectric sensor is the odd number more than or equal to five, described in each photoelectric sensor conduct positioned at row both ends
Border sensor, remaining photoelectric sensor is used for the identification of markings itself, and remaining photoelectric sensor has most light
When electric transducer is identified as true, then it represents that chassis is run along blip line.
4. the laser cleaner of sports field markings according to claim 2 or 3, which is characterized in that boundary sensing
Device relative to remaining photoelectric sensor position rearward.
5. the laser cleaner of sports field markings according to claim 1, which is characterized in that piggyback pod, which is located at, to be carried
The middle part of plate, dust storage tank are biased on rear side of support plate.
6. the laser cleaner of sports field markings according to claim 1, which is characterized in that suction inlet has more
Row multiple row.
7. the laser cleaner of sports field markings according to claim 6, which is characterized in that the suction inlet is
Two rows, and no less than five column and not more than nine column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811539315.8A CN109365417B (en) | 2018-12-17 | 2018-12-17 | Laser belt cleaning device of stadium sign line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811539315.8A CN109365417B (en) | 2018-12-17 | 2018-12-17 | Laser belt cleaning device of stadium sign line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109365417A true CN109365417A (en) | 2019-02-22 |
| CN109365417B CN109365417B (en) | 2023-09-12 |
Family
ID=65374159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811539315.8A Active CN109365417B (en) | 2018-12-17 | 2018-12-17 | Laser belt cleaning device of stadium sign line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109365417B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570417A (en) * | 2020-05-29 | 2020-08-25 | 济南大学 | Laser cleaning device for lichen on rock surface |
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| US20050279453A1 (en) * | 2004-06-17 | 2005-12-22 | Uvtech Systems, Inc. | System and methods for surface cleaning |
| DE102012212319A1 (en) * | 2012-07-13 | 2014-01-16 | Krones Ag | Device for removing container fittings, particularly labels of containers, has laser for cutting container fittings and unit for removing cut container fittings, where unit for removing of cut container fittings comprises unit for flushing |
| CN104941961A (en) * | 2015-07-01 | 2015-09-30 | 中国工程物理研究院激光聚变研究中心 | Robot for cleaning metal pipeline by laser light |
| CN108296230A (en) * | 2018-02-09 | 2018-07-20 | 中国科学院西安光学精密机械研究所 | A kind of Larger Dynamic range laser cleaning method |
| CN208023375U (en) * | 2017-12-15 | 2018-10-30 | 新疆大学 | A kind of roadmarking removing equipment |
| CN108889727A (en) * | 2018-06-12 | 2018-11-27 | 华南理工大学 | A kind of novel portable laser cleaning equipment |
-
2018
- 2018-12-17 CN CN201811539315.8A patent/CN109365417B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050279453A1 (en) * | 2004-06-17 | 2005-12-22 | Uvtech Systems, Inc. | System and methods for surface cleaning |
| DE102012212319A1 (en) * | 2012-07-13 | 2014-01-16 | Krones Ag | Device for removing container fittings, particularly labels of containers, has laser for cutting container fittings and unit for removing cut container fittings, where unit for removing of cut container fittings comprises unit for flushing |
| CN104941961A (en) * | 2015-07-01 | 2015-09-30 | 中国工程物理研究院激光聚变研究中心 | Robot for cleaning metal pipeline by laser light |
| CN208023375U (en) * | 2017-12-15 | 2018-10-30 | 新疆大学 | A kind of roadmarking removing equipment |
| CN108296230A (en) * | 2018-02-09 | 2018-07-20 | 中国科学院西安光学精密机械研究所 | A kind of Larger Dynamic range laser cleaning method |
| CN108889727A (en) * | 2018-06-12 | 2018-11-27 | 华南理工大学 | A kind of novel portable laser cleaning equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570417A (en) * | 2020-05-29 | 2020-08-25 | 济南大学 | Laser cleaning device for lichen on rock surface |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109365417B (en) | 2023-09-12 |
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