KR102439408B1 - Remote control type paint removing apparatus by using water jet of road - Google Patents

Abstract

The present invention provides an apparatus for removing paint from a road surface, comprising: a body (100) to which a driving means (110) is rotatably coupled to a lower side so as to be able to travel on the road surface; The body is coupled to the body 100 and connected to the waterjet tank 210 and the waterjet tank in which the abrasives and high-pressure water are stored to remove the paint by spraying high-pressure water containing abrasive particles in the form of particles on the road surface. a water jet module (200) coupled to the lower front of the and provided with a spray nozzle (220) inclined downwardly to the front; a guide part 300 installed on the body so that the spray nozzle 220 of the waterjet module 200 is movable in two XY-axis directions; a water level sensor 400 coupled to the water jet tank 210 to detect the amount of abrasive and high-pressure water supplied to the water jet tank 210; Doedoe installed on the body, a driving photographing unit 510 installed in front of the body to photograph the front of the body in a traveling direction, and a pan-tilt while installed below the body to photograph the road surface under the paint removal operation - A photographing unit 500 having a road surface photographing unit 520 capable of controlling a zoom (pan-tilt-zoom), respectively; a laser pointer 600 installed in the spray nozzle 220 to irradiate a laser beam on a road surface requiring paint removal; a sludge removal unit 700 installed under the body to collect the paint sludge removed through the waterjet module 200; It is installed on the body, receives the detection value of the water level sensor 400 and controls the operation of the waterjet module 200 according to a preset program, and the driving means 110 , the guide unit 300 , and the photographing unit Arduino (Arduino) equipped with a wireless communication unit 805 including Bluetooth (Bluetooth) to be electrically connected to each of the 500, the laser pointer 600 and the sludge rejection unit 700, and to enable wireless communication with the portable terminal. , 800) and; To enable manipulation and display of the driving means 110 , the water jet module 200 , the guide unit 300 , the water level sensor 400 , the photographing unit 500 , the laser pointer 600 and the sludge removal unit 700 . It relates to a remote-controlled road surface paint removal device using a waterjet, characterized in that it includes a portable terminal 900 that wirelessly communicates with the Arduino 800.

Description

REMOTE CONTROL TYPE PAINT REMOVING APPARATUS BY USING WATER JET OF ROAD

The present invention relates to an apparatus for removing paint from a road surface, and more particularly, to remove paint from a road surface by using a water jet module that sprays abrasives and high-pressure water, and uses an Arduino and a portable terminal. It is possible to remotely control the driving of the driving wheel and the operation of the waterjet module through the it's about

In general, in the road, marking lines painted with various lanes or division lines are displayed on the road surface for the purpose of boundary or guidance on traffic, so that vehicles or people can pass according to a set rule.

That is, in the case of a lane, it is displayed in the center of the road, and a center line to separate driving directions, a driving line to separate driving lanes, and a shoulder, a crosswalk line, a parking line, etc. are displayed. Although marking equipment was used to directly paint on the road, various equipments that can automatically paint have been proposed because it causes a prolonged construction period due to the lack of speed in the progress of the work.

Various marking lines are usually applied to the road by paint, and water-soluble room temperature type is used as it is, or melt type paint using a heating method is used. Of course, if necessary, fine particles such as glass grains or sand grains are included, or a fluorescent material for night light is contained and used.

In addition, in recent years, the number of cases of applying lane tape that can produce various shapes and colors on paved roads such as school zones, bicycle paths, parks, and plazas, that is, the Street Print method, is also increasing. .

On the other hand, in the case of the road marking line as described above, after a certain period of time has elapsed, it is naturally erased due to wear, etc., and the clarity is lowered.

As an example, as shown in FIG. 1 , a technology for removing such a mark line, that is, paint from a road surface has been proposed, and as an example, an aging paint remover for road markings disclosed in Korean Patent Application Laid-Open No. 10-2020-0111951 (October 05, 2020) It is a road marking old paint remover configured to melt the old paint painted on the road surface and scrape the surface at the same time. and a scraping unit for scraping the surface of molten old paint disposed at the rear of the bottom plate for Wheels freely running and rotating in a straight line are mounted on all four corners, and the heating unit is configured to be heated by supplying gas from a gas storage tank mounted on a fixed plate on one side of the frame into the casing through a pipe to ignite, and the scraping The unit is configured to scrape the surface of the old paint during the running process of the transport cart by the sludge collecting bin and the scraper mounted at an angle to the lower end of the sludge collecting bin.

However, in the proposed technique, when heat is applied to the display line by using a heating unit and then the sludge is scraped and recovered through the scraping unit, when heat is applied to the road surface and the paint, an odor is generated when the paint is burned, and the paint is In the process of combustion, substances harmful to the human body are generated, as well as scattering into the atmosphere to pollute the environment, and when the road is asphalt, there is a problem in that it is thermally deformed and shortens the life of the road.

In addition, since the scraping unit has a limitation in properly performing the function of scraping off the sludge due to the adhesion of the molten paint by heat, there is the inconvenience of frequently removing the attached paint, and the operator directly holds the old paint remover for the road marking while driving. Since it has to be operated manually, the fatigue of the worker increases during long-time work, and the work efficiency decreases, and the work precision as the worker performs the work by relying on the sense that it is difficult for the operator to visually observe the state in which the paint is removed through the heating unit and the scraping unit. There is a problem of falling.

In addition, as shown in FIG. 2 , the lane paint removal device of Laid-Open Patent Publication No. 10-2016-0057113 (May 23, 2016) was induced to remove the paint through a grinding means, but the road surface was damaged due to the grinding means. There is a problem in that it is broken and the paint is only partially removed.

The purpose of the present invention, which was devised to solve the above problems, is to solve the problems of the heating method and the grinding method by removing the paint from the road surface using a water jet module that sprays abrasives and high-pressure water. And, it is possible to remotely control the driving of the driving wheel and the operation of the waterjet module through an Arduino and a portable terminal, and the real-time image of the shooting unit that records the driving direction and the paint removal state, respectively, is displayed on the portable terminal. An object of the present invention is to provide a remote-controlled road surface paint removal device.

According to a feature of the present invention for achieving the above object, in the apparatus for removing paint from a road surface, a body 100 to which a driving means 110 is rotatably coupled to a lower side so as to be able to travel on the road surface; ; The body is coupled to the body 100 and connected to the waterjet tank 210 and the waterjet tank in which the abrasives and high-pressure water are stored to remove the paint by spraying high-pressure water containing abrasive particles in the form of particles on the road surface. a water jet module (200) coupled to the lower front of the and provided with a spray nozzle (220) inclined downward to the front; a guide part 300 installed on the body so that the spray nozzle 220 of the waterjet module 200 is movable in two XY-axis directions; a water level sensor 400 coupled to the water jet tank 210 to detect the amount of abrasive and high-pressure water supplied to the water jet tank 210; Doedoe installed on the body, a driving photographing unit 510 installed in front of the body to photograph the front of the body in a traveling direction, and a pan-tilt while installed below the body to photograph the road surface under the paint removal operation - A photographing unit 500 having a road surface photographing unit 520 capable of controlling a zoom (pan-tilt-zoom), respectively; a laser pointer 600 installed in the spray nozzle 220 to irradiate a laser beam on a road surface requiring paint removal; a sludge removal unit 700 installed under the body to collect the paint sludge removed through the waterjet module 200; It is installed on the body, receives the detection value of the water level sensor 400 and controls the operation of the waterjet module 200 according to a preset program, and the driving means 110 , the guide unit 300 , and the photographing unit Arduino (Arduino) equipped with a wireless communication unit 805 including Bluetooth (Bluetooth) to be electrically connected to each of the 500, the laser pointer 600 and the sludge rejection unit 700, and to enable wireless communication with the portable terminal. , 800) and; To enable manipulation and display of the driving means 110 , the water jet module 200 , the guide unit 300 , the water level sensor 400 , the photographing unit 500 , the laser pointer 600 and the sludge removal unit 700 . It provides a remote-controlled road surface paint removal device using a water jet, characterized in that it includes a portable terminal 900 that wirelessly communicates with the Arduino 800.

In addition, the body 100 is a soft material release preventing film ( 120), and a warning unit 130 in which a red warning light blinks according to the control of the Arduino 800, and the waterjet module 200 is coupled to the lower portion to provide lighting to the road surface during the paint removal operation. It is characterized in that it further comprises a lighting means (140).

In addition, the driving means 110 of the body includes a plurality of driving wheels 111 coupled to the lower side of the body, and a plurality of wheel motors that transmit rotational force to each of the driving wheels so that the body can travel in the front-rear direction. and (112) and a switching motor 113 in which the output shaft is coupled to each of the wheel motors while being coupled to the lower side of the body so that the body can travel in the left and right directions by rotating each of the driving wheels in the left and right directions do it with

In addition, the guide part 300 is coupled to the lower side of the body 100 and moves in the front-rear direction according to the rotation of the motor so that the injection nozzle 220 can linearly move along the Y-axis, the first movable body 311 . ) to the first linear actuator (1st linear actuator, 310) coupled to the injection nozzle, and the first linear actuator 310 together with the injection nozzle in the left and right direction according to the rotation of the motor so that the linear movement in the X-axis is possible. It characterized in that it includes a second linear actuator (2nd linear actuator, 320) to which the first linear actuator is coupled to the second moving body 321 moving to the .

In addition, the sludge removal unit 700 includes a front suction unit 710 coupled to the front of the spray nozzle 220 located in the lower portion of the body to suck the paint sludge from the front side of the lower portion of the body, and suction to the front suction unit. While positioned at the rear of the first linear actuator 310 and the second linear actuator 320 to sweep away the remaining paint sludge that has not been made in the lower center direction of the body, coupled to the lower part of the body, respectively, the inner side of the body a plurality of brushes 720 rotating in the direction, a rear suction unit 730 positioned at the rear of the brush 720 to suck the remaining paint sludge and coupled to the lower rear of the body, coupled to the body, and the It is characterized in that it includes a sludge container 740 in which the paint sludge sucked into each of the front suction unit 710 and the rear suction unit 730 is stored.

In addition, in the sludge container 740, a sludge detection sensor 745 installed by selecting any one of a load cell and an ultrasonic sensor to detect the weight or height of the stored paint sludge is coupled. do.

In addition, the Arduino (Arduino, 800), the forward and backward driving mode 810 for controlling the driving of each of the wheel motors 112 so that the body travels in the forward and backward directions according to the operation signal of the portable terminal 900 and , by controlling the driving of each of the switching motors 113 so that the body travels in the left and right direction according to the operation signal of the portable terminal 900 so that the direction of the driving wheel 111 is from the front-rear direction to the left-right direction, and then The first linear actuator ( The nozzle forward/reverse mode 830 for controlling the operation of the 1st linear actuator 310, and the second linear actuator ( A nozzle left and right mode 840 for controlling the operation of the 2nd linear actuator 320, and a spraying mode 850 for operating the abrasive and high-pressure water to be sprayed from the spray nozzle 220 according to an operation signal of the portable terminal 900 And, when the water level of the waterjet tank 210 is below a preset water level according to the detection value of the water level sensor 400, the spraying mode 850 is forcibly stopped, and the warning unit 130 installed in the body 100 ), a warning light is output, and a supply induction mode 860 in which a warning sound and a warning light are respectively output to the portable terminal 900, and the sludge detection sensor 745 according to the detection value stored in the sludge container 740. When the amount of paint sludge is greater than a preset reference amount, the spraying mode 850 is forcibly stopped, a warning light is output to the warning unit 130 installed in the body 100, and a warning sound and It is characterized in that it includes a collection induction mode 870 in which each warning light is output.

In addition, the mobile terminal 900 is configured to operate the respective operation of the wheel motor 112 and the switching motor 113 of the driving means 110 in the forward/backward driving mode 810 and left/right driving mode 820, respectively. The nozzle forward/backward mode 830 and the nozzle left/right mode 840, respectively, to operate the wheel operation unit 910 that transmits the operation signal, and the operation of the first linear actuator 310 and the second linear actuator 320, respectively. A guide operation unit 920 for transmitting an operation signal to the injection nozzle 220, the injection operation unit 930 for transmitting operation signals to the injection mode 850 so that the abrasive and high-pressure water are injected from the injection nozzle 220, and the photographing unit 500 ), a photographing operation unit 940 that operates each of the pan-tilt-zoom operations of the road surface photographing unit 520, and an ON/OFF operation of the laser pointer 600 a pointer operation unit 950, a display unit 960 for displaying real-time images of each of the driving photographing unit 510 and the road surface photographing unit 520 of the photographing unit 500, and the forward/backward driving mode 810, left and right When each of the driving mode 820, the nozzle forward/reverse mode 830, the nozzle left/right mode 840, and the injection mode 850 is executed, a guide sound is output, and the supply induction mode 860 and the collection induction mode ( 870) is characterized in that it includes an output unit 970 that outputs a warning sound and a warning light when each is executed.

In addition, the mobile terminal 900 is characterized in that it further includes a docking terminal unit 980 docked to the body 100 so as to communicate with each other while being electrically connected to the body 100.

In addition, the body 100 is electrically connected to the portable terminal 900 and communicates with each other through the docking terminal unit 980 of the portable terminal 900 , the docking unit 150 to which the portable terminal is docked. ) and when the portable terminal 900 is docked, the wheel control unit 910, the guide control unit 920, the spray control unit 930, the photographing control unit 940, the pointer control unit 950 and the display unit 960 are enlarged, respectively. It is displayed and characterized in that it further includes a touch screen 160 that can be operated according to the user's screen touch, and a handle 170 coupled to the rear so that the user can hold and drive.

A remote control type road surface paint removal device using a water jet according to the present invention,

First, by removing the paint from the road surface by using a water jet module that sprays abrasives and high-pressure water, the problems of environmental pollution and shortening of road life due to the conventional heating method, road damage and There is an effect that can solve the problem of the irregular removal surface, and can easily remove the paint from the road surface.

Second, it is possible to remotely control the driving of the driving wheel and the operation of the waterjet module through an Arduino and a portable terminal, and the real-time image of the photographing unit that records the driving direction and the paint removal state, respectively, is displayed on the portable terminal, so that the operator Solves the problems of increased worker fatigue, reduced work efficiency and work precision caused by directly holding the paint removal device on the road surface and removing the paint while driving. It has the effect of removing it.

Third, remote operation of the paint removal device on the road surface is easy through the Arduino's forward and backward running mode, left and right running mode, nozzle forward and backward mode, nozzle left and right mode, spray mode, supply induction mode, collection induction mode, and a mobile terminal. It has the effect of being able to easily grasp the current state of

1 and 2 are views each showing an apparatus for removing paint from a road surface according to the prior art;
3 is a view schematically showing the overall configuration of an embodiment of a remote-controlled road surface paint removal device using a water jet according to the present invention in a lateral direction;
Figure 4 is a view showing the bottom surface of the body based on the embodiment of Figure 3;
5 is a view showing an enlarged driving means in the embodiments of FIGS. 3 and 4 and showing the direction of rotation with arrows;
FIG. 6 is a view showing an enlarged guide part in the embodiment of FIG. 4 and indicating a linear movement direction with an arrow; FIG.
7 is a block diagram showing in detail the Arduino and the related configuration of the remote control type road surface paint removal device using a water jet according to the present invention according to the present invention.
8 is a view schematically showing the overall configuration of another embodiment of a remote-controlled road surface paint removal device using a water jet according to the present invention in a lateral direction;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same components are given the same numerals as much as possible even though they are displayed on different drawings, and even if the same numerals as in the prior art are displayed. The prior art should be interpreted as such. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

An embodiment of a remote-controlled road surface paint removal apparatus using a water jet according to the present invention is as shown in FIGS. 3 to 7 , a body 100 , a water jet module 200 , and a guide unit 300 . ), a water level sensor 400 , a photographing unit 500 , a laser pointer 600 , a sludge rejection unit 700 , an Arduino 800 , and a portable terminal 900 .

The body 100 is a means in which the driving means 110 is rotatably coupled to the lower side so as to be able to travel on the road surface as shown in Figs. It is driven by remote operation through the terminal 900 , and further includes a release prevention film 120 , a warning unit 130 , and a lighting means 140 .

Here, the driving means 110 includes a plurality of driving wheels 111 coupled to the lower side of the body, and a plurality of wheel motors 112 for transmitting rotational force to each of the driving wheels so that the body can travel in the front-rear direction. and a switching motor 113 having an output shaft coupled to each of the wheel motors while being coupled to the lower side of the body so that the body can travel in the left and right directions by rotating each of the driving wheels in the left and right directions.

Each of the wheel motor 112 and the switching motor 113 may be a servo motor or a stepping motor having excellent rotation control (speed, position) precision, and may be mounted on an output shaft to enable low-speed driving. A reduction gear may be engaged.

In addition, the release prevention film 120 is a soft material that is coupled to the front and left and right edges of the lower portion so that the paint sludge is not discharged to the outside of the body and is collected through a sludge removal unit 700 to be described later and is in contact with the road surface. Here, the reason for using the soft material is to prevent damage to the release prevention film and increase the contact surface by being deformed according to the road surface condition according to the contact with the road surface. have. On the other hand, the release prevention film 120 prevents the paint sludge from being discharged to the outside of the body and also has the effect of fundamentally preventing foreign substances such as gravel, sand, and debris from entering the lower part of the body and interfering with the paint removal operation. .

In addition, the warning unit 130 may be coupled to the side or upper side of the body as a means for flickering a red warning light according to the control of the Arduino 800 to be described later.

In addition, the lighting means 140 is a means coupled to the lower portion to provide lighting to the road surface during the paint removal operation through the waterjet module 200. As lighting is provided to the lower part of the body, a photographing unit 500 to be described later ), the user can easily check the paint removal operation state through the road surface photographing unit 520, and a light emitting diode (LED) can be used.

In addition, the body 100 has a nozzle moving through hole ( 105) is formed.

A water jet module 200 is coupled to the body 100 as shown in FIGS. 3, 4, 6 and 7, and sprays high-pressure water containing abrasive particles in the form of particles on the road surface to paint. A waterjet tank 210 in which the abrasive and high-pressure water are stored and a spray nozzle 220 that is coupled to the lower front of the body while connected to the waterjet tank to remove the abrasive and inclined downwardly to the front is provided.

Here, the reason why the spray nozzle 220 is coupled to the front inclined downward is to spray the abrasive and high-pressure water obliquely during the paint removal operation to widen the spraying area to widen the paint removal area and to prevent damage to the road surface.

In addition, the waterjet module 200 includes a transfer pipe 230 connecting the waterjet tank 210 and the spray nozzle 220 .

As shown in FIGS. 3, 4, 6 and 7, the guide part 300 is installed on the body so that the jet nozzle 220 of the waterjet module 200 is movable in two XY directions. Here, the X-axis in the two directions of the XY-axis is the horizontal or left-right direction of the body, and the Y-axis represents the longitudinal direction or the front-back direction of the body.

Specifically, the guide part 300 is coupled to the lower side of the body 100 and the first movable body 311 moves in the front-rear direction according to the rotation of the motor so that the injection nozzle 220 can linearly move in the Y-axis. ) to the first linear actuator (1st linear actuator, 310) coupled to the injection nozzle, and the first linear actuator 310 together with the injection nozzle in the left and right direction according to the rotation of the motor so that the linear movement in the X-axis is possible. and a second linear actuator 320 in which the first linear actuator is coupled to a second moving body 321 that moves to . Here, the first linear actuator 310 may be an electric cylinder type in which the moving body moves in and out, and the second linear actuator 320 is a ball screw type in which the moving body moves linearly along the screw. can be used

As shown in FIGS. 3 and 7 , the water level sensor 400 is coupled to the waterjet tank 210 to detect the amount of abrasive and high-pressure water supplied to the waterjet tank 210 .

Here, the water level sensor is a sensor that detects the level of the liquid. It is checked by attaching an electrode to the end, and the water level is measured by using a semiconductor-type water level sensor and water pressure. There are various types of sensors such as a sensor and a capacitive sensor, and in the present invention, it is used to detect the level of water mixed with the abrasive in the waterjet tank 210 .

The photographing unit 500 is installed on the body as shown in FIGS. 3, 4 and 7, and a driving photographing unit 510 installed in front of the body so as to photograph the front in the direction in which the body travels, and the paint removal As a photographing means each provided with a road surface photographing unit 520 that is installed below the body and capable of pan-tilt-zoom control to photograph the road surface under work, a portable terminal 900 to be described later. Through the display unit 960 and the photographing operation unit 940 of the operator, it is possible to drive while checking the photographed image of the driving photographing unit 510 from a remote location, and the pan-tilt-zoom (pan-tilt) of the road surface photographing unit 520 is performed. -zoom) while viewing the captured image, it is possible to easily manipulate the waterjet module 200 and the guide unit 300, and remotely operate the paint removal operation.

Here, pan-tilt-zoom is a function of pan rotating in the left and right directions, tilt is a function of rotating up and down, and zoom is As a function of reducing, it is possible to selectively photograph a road surface that requires a paint removal operation located below the body through pan-tilt-zoom control.

The laser pointer 600 is a means installed in the spray nozzle 220 to irradiate a laser beam on the road surface requiring paint removal as shown in FIGS. By irradiating and displaying on the road drawing, the operator follows the laser beam in the form of a line while checking the photographed image of the road surface photographing unit 520 on which the laser beam is displayed through the display unit 960 of the portable terminal 900, which will be described later. The paint removal operation can be easily operated remotely.

The sludge removal unit 700 is installed below the body to collect the paint sludge removed through the waterjet module 200 as shown in FIGS. 3, 4 and 7, and for this purpose, a front suction unit 710, a brush 720 , a rear suction unit 730 and a sludge container 740 .

Specifically, the front suction unit 710 is a means coupled to the front of the spray nozzle 220 located in the lower part of the body to suck the paint sludge from the front of the lower part of the body. Dogs can be placed and engaged.

In addition, the brush 720 is positioned at the rear of the first linear actuator 310 and the second linear actuator 320 so as to sweep away the remaining paint sludge that is not sucked into the front inhaler toward the lower center of the body. Doedoe coupled to the lower portion of the body, each rotating in the inner direction of the body is composed of a plurality. Here, the lower center direction of the body refers to the center of the body in the left and right directions, and each brush is rotated by a brush driving motor 725 .

In addition, the rear suction unit 730 is a means coupled to the lower rear of the body while being located at the rear of the brush 720 to suck the remaining paint sludge, and is directed toward the lower center of the body through the brush 720 . The residual paint sludge that has been collected may be sucked, and a plurality of pieces may be arranged and combined in the left and right directions according to the size of the body.

In addition, the sludge container 740 is coupled to the body and is a means for storing the paint sludge sucked into the front suction unit 710 and the rear suction unit 730, respectively. Here, the sludge container 740 is coupled to a sludge detection sensor 745 installed by selecting either a load cell or an ultrasonic sensor to detect the weight or height of the stored paint sludge.

An Arduino (Arduino, 800) is installed on the body as shown in FIGS. 3 to 7, receives the detection value of the water level sensor 400, and controls the operation of the waterjet module 200 according to a preset program. and is electrically connected to each of the driving means 110, the guide unit 300, the photographing unit 500, the laser pointer 600, and the sludge removal unit 700, and is connected to the Bluetooth ( A wireless communication unit 805 including Bluetooth) is provided.

Specifically, the Arduino (Arduino, 800) is a forward and backward running mode 810, a left and right running mode 820, a nozzle forward and backward mode 830, a nozzle left and right mode 840, an injection mode 850, a supply induction mode ( 860) and the collection induction mode 870 are programmed in advance.

The forward/backward driving mode 810 is a mode for controlling the driving of each of the wheel motors 112 so that the body travels in the forward and backward directions according to a manipulation signal of the portable terminal 900, and the body travels forward or backward. The control is performed by receiving a manipulation signal from the wheel manipulation unit 910 of the portable terminal 900, which will be described later.

The left and right driving mode 820 controls the driving of each of the switching motors 113 so that the body travels in the left and right directions according to the operation signal of the portable terminal 900 so that the direction of the driving wheel 111 is in the front-rear direction. As a mode for controlling the driving of each of the wheel motors 112 after turning in the left and right direction, the body rotates the direction of the driving wheel so that it travels in the left or right direction, and then controls the driving wheel to be rotationally driven, The operation is performed by receiving an operation signal from the wheel operation unit 910 of the portable terminal 900 to be described later.

The nozzle forward/reverse mode 830 controls the operation of the first linear actuator 310 so that the spray nozzle 220 moves linearly in the Y-axis according to the operation signal of the portable terminal 900. This is performed by receiving a manipulation signal from the guide manipulation unit 920 of the portable terminal 900 to be described later.

The nozzle left and right mode 840 is a mode for controlling the operation of the second linear actuator 320 so that the spray nozzle 220 is linearly moved along the X-axis according to the operation signal of the portable terminal 900 . This is performed by receiving a manipulation signal from the guide manipulation unit 920 of the portable terminal 900 to be described later.

The spraying mode 850 is a mode in which the abrasive and high-pressure water are sprayed from the spraying nozzle 220 according to the operation signal of the portable terminal 900. It is performed by receiving the operation signal.

The supply induction mode 860 forcibly stops the injection mode 850 when the water level of the water jet tank 210 is below a preset water level according to the detection value of the water level sensor 400, and the body 100 A warning light is output to the warning unit 130 installed in the portable terminal 900, and a warning sound and a warning light are respectively outputted to the portable terminal 900, and the waterjet tank 210 is induced to be supplied by recognizing the lack of abrasives and water to the user. is a mode to

The collection induction mode 870 forcibly stops the injection mode 850 when the amount of paint sludge stored in the sludge container 740 is greater than or equal to a preset reference amount according to the detection value of the sludge detection sensor 745 . A warning light is output to the warning unit 130 installed in the body 100, and a warning sound and a warning light are output to the portable terminal 900, respectively, indicating that the sludge container 740 is full of paint sludge. It is a mode that induces users to recognize and collect.

On the other hand, Arduino refers to a board completed with a single-board microcontroller based on open source and related development tools and environment. Arduino can accept values from multiple switches or sensors and control external electronic devices such as LEDs and motors to create objects that can interact with the environment. The device can be controlled using an environment that can be easily developed as one of the embedded systems. In addition, it provides Arduino integrated development environment (IDE), software development and execution code upload, and can be linked with software such as Adobe Flash, Processing, Max/MSP. The biggest advantage of Arduino is that it is easy to operate a microcontroller. In addition, the Arduino can easily upload the compiled firmware through USB, and it is relatively inexpensive compared to other modules and supports Windows, Mac OS X, and various operating systems such as Linux. In the present invention, the water level sensor 400 and the sludge detection sensor 745 output a warning sound and a warning light according to the respective detection values to induce the supply of the water jet tank 210 and the collection of the sludge container 740, which will be described later. In wireless communication with the mobile terminal 900, the operation signal is received and the driving means 110, the water jet module 200, the guide unit 300, the photographing unit 500, the laser pointer 600 and the sludge water are received. They are pre-programmed to control each of the rejects 700 .

In addition, the driving means installed in the body 100, the water jet module 200, the guide unit 300, the water level sensor 400, the photographing unit 500, the laser pointer 600, the sludge water Although the power supply of the rejection 700 and the Arduino 800 is not shown in the drawing, it can be supplied by placing a battery that can be replaced and charged in the body, or electrically connected to a generator or commercial power supply. .

As shown in FIGS. 3 and 7 , the mobile terminal 900 includes the driving means 110 , the waterjet module 200 , the guide unit 300 , the water level sensor 400 , the photographing unit 500 , and the laser pointer 600 . ) and a means for wirelessly communicating with the Arduino 800 to enable manipulation and display of the sludge removal unit 700, the body 100 and a user located in a remote place spaced apart from the body 100 It is a terminal that remotely operates and displays installed means. Basically, the driving means 110 , the warning part 130 , the lighting means 140 , the water jet module 200 , the guide part 300 , the water level sensor 400 , the photographing part 500 , the laser Pointer 600, sludge rejection unit 700, and Arduino (Arduino, 800) has an operation function to turn on/off each operation, in addition to the wheel operation unit 910, guide operation unit 920, injection It includes a manipulation unit 930 , a photographing manipulation unit 940 , a pointer manipulation unit 950 , a display unit 960 , and an output unit 970 .

Specifically, the wheel operation unit 910 is in each of the forward/backward driving mode 810 and left/right driving mode 820 to operate the respective operations of the wheel motor 112 and the switching motor 113 of the driving means 110 . It is an operation means that transmits an operation signal.

The guide manipulation unit 920 transmits a manipulation signal to each of the nozzle forward/reverse mode 830 and the nozzle left/right mode 840 to manipulate the respective operations of the first linear actuator 310 and the second linear actuator 320 . is a means of operation. Here, the wheel control unit 910 and the guide control unit 920 may be configured as a joystick capable of moving up, down, left, and right from the center.

The spraying operation unit 930 is an operation means for transmitting an operation signal to the spraying mode 850 so that the abrasive and high-pressure water are sprayed from the spraying nozzle 220 .

The photographing operation unit 940 is an operation means for operating each of the pan-tilt-zoom operations of the road surface photographing unit 520 of the photographing unit 500, and selects a pan-tilt function. It may consist of a joystick and a button to select a zoom function.

The pointer manipulation unit 950 is a manipulation means for manipulating ON/OFF of the laser pointer 600 .

The display unit 960 is a means for displaying a real-time image of each of the driving photographing unit 510 and the road surface photographing unit 520 of the photographing unit 500 . Through the display unit 960, it is possible to monitor the running state of the body and the paint removal operation, and more easily remote control it.

The output unit 970 provides a guide sound when each of the forward/backward driving mode 810, the left/right driving mode 820, the nozzle forward/reverse mode 830, the nozzle left/right mode 840, and the injection mode 850 is executed. This is output, and when each of the supply induction mode 860 and the collection induction mode 870 is executed, a warning sound and a warning light are outputted, respectively, and may be composed of a speaker for outputting a warning sound and an LED for outputting a warning light.

Meanwhile, FIG. 8 is a view schematically showing the overall configuration of another embodiment of a remote control type road surface paint removal device using a water jet according to the present invention in a lateral direction, wherein the portable terminal 900 includes a docking terminal unit 980 . ) is further included.

The docking terminal unit 980 is a means for docking with the body 100 so as to communicate with each other while being electrically connected to the body 100, and without remote operation through the portable terminal 900, the user can hold the body. It is configured to dock the portable terminal 900 to the body when holding and driving.

In addition, the body 100 includes a docking unit 150 to which the portable terminal 900 is docked so as to communicate with each other while being electrically connected to the portable terminal 900 , and the portable terminal 900 is docked. When the wheel control unit 910, the guide control unit 920, the spray control unit 930, the shooting control unit 940, the pointer control unit 950 and the display unit 960 are respectively enlarged and displayed, the operation according to the user's screen touch Possible touch screen (touch screen, 160), and the user is configured to further include a handle 170 coupled to the rear so as to be able to drive.

In other words, another embodiment of the remote-controlled road surface paint removal apparatus using a water jet according to the present invention shown in FIG. 8 separates the portable terminal 900 from the body according to the work environment and the difficulty of the work, so that the user can use it at a remote location. The component coupled to the body is remotely operated or docked to the body so that the user can directly hold the body and perform work while driving.

Therefore, the remote control type road surface paint removal device using a water jet according to the present invention is first, by using a water jet module that sprays abrasives and high-pressure water to remove the paint from the road surface, using a conventional heating method. There is an effect of solving the problems of environmental pollution and shortening of the road life caused by the conventional grinding method and the problem of road damage and irregularity of the removal surface of the conventional grinding method, and it is possible to easily remove the paint from the road surface.

Second, it is possible to remotely control the driving of the driving wheel and the operation of the waterjet module through an Arduino and a portable terminal, and the real-time image of the photographing unit that records the driving direction and the paint removal state, respectively, is displayed on the portable terminal, so that the operator Solves the problems of increased worker fatigue, reduced work efficiency and work precision caused by directly holding the paint removal device on the road surface and removing the paint while driving. It has the effect of removing it.

Third, remote operation of the paint removal device on the road surface is easy through the Arduino's forward and backward running mode, left and right running mode, nozzle forward and backward mode, nozzle left and right mode, spray mode, supply induction mode, collection induction mode, and a mobile terminal. It has the effect of being able to easily grasp the current state of

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Therefore, the embodiments disclosed in the present invention are for explanation rather than limiting the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: body (body) 110: driving means
120: emission barrier 130: warning part
140: lighting means 150: docking unit
160: touch screen 170: handle
200: water jet module (water jet module)
210: water jet tank 220: spray nozzle
230: transfer pipe
300: guide part
310: first linear actuator (1st linear actuator)
320: second linear actuator (2nd linear actuator)
400: water level sensor
500: photographing unit 510: driving photographing unit
520: road surface photographing unit
600: laser pointer
700: sludge rejection 710: front suction device
720: brush 730: rear inhaler
740: sludge container
800: Arduino (Arduino)
810: forward/backward driving mode 820: left/right driving mode
830: nozzle forward and backward mode 840: nozzle left and right mode
850: injection mode 860: supply induction mode
870: collection induction mode
900: mobile terminal
910: wheel control unit 920: guide control unit
930: injection control unit 940: shooting control unit
950: pointer operation unit 960: display unit
970: output unit 980: docking terminal unit

Claims (10)

In the paint removal device of the road surface,
a body 100 to which the driving means 110 is rotatably coupled to the lower side so as to be able to travel on the road surface;
The body is coupled to the body 100 and connected to the waterjet tank 210 and the waterjet tank in which the abrasives and high-pressure water are stored to remove the paint by spraying high-pressure water containing abrasive particles in the form of particles on the road surface. a water jet module (200) coupled to the lower front of the and provided with a spray nozzle (220) inclined downwardly to the front;
a guide part 300 installed on the body so that the spray nozzle 220 of the waterjet module 200 is movable in two XY-axis directions;
a water level sensor 400 coupled to the water jet tank 210 to detect the amount of abrasive and high-pressure water supplied to the water jet tank 210;
Doedoe installed on the body, a driving photographing unit 510 installed in front of the body to photograph the front of the body in a traveling direction, and a pan-tilt while installed below the body to photograph the road surface under the paint removal operation - A photographing unit 500 having a road surface photographing unit 520 capable of controlling a zoom (pan-tilt-zoom), respectively;
a laser pointer 600 installed in the spray nozzle 220 to irradiate a laser beam on a road surface requiring paint removal;
a sludge removal unit 700 installed under the body to collect the paint sludge removed through the waterjet module 200;
It is installed on the body, receives the detection value of the water level sensor 400 and controls the operation of the waterjet module 200 according to a preset program, and the driving means 110 , the guide unit 300 , and the photographing unit Arduino (Arduino) equipped with a wireless communication unit 805 including Bluetooth (Bluetooth) to be electrically connected to each of the 500, the laser pointer 600 and the sludge rejection unit 700, and to enable wireless communication with the portable terminal. , 800) and;
To enable manipulation and display of the driving means 110 , the water jet module 200 , the guide unit 300 , the water level sensor 400 , the photographing unit 500 , the laser pointer 600 and the sludge removal unit 700 . and a portable terminal 900 that wirelessly communicates with the Arduino 800,
The traveling means 110 of the body,
A plurality of driving wheels 111 coupled to the lower side of the body,
A plurality of wheel motors 112 for transmitting rotational force to each of the driving wheels so that the body can travel in the front-rear direction;
and a switching motor 113 in which the output shaft is coupled to each of the wheel motors while being coupled to the lower side of the body so that the body can travel in the left and right directions by rotating each of the driving wheels in the left and right directions,
The guide unit 300,
The spray nozzle is coupled to the first movable body 311 coupled to the lower side of the body 100 and moved in the front and rear direction according to the rotation of the motor so that the spray nozzle 220 can linearly move in the Y-axis. A linear actuator (1st linear actuator, 310) and,
A second linear in which the first linear actuator is coupled to a second movable body 321 that moves in the left and right direction according to the rotation of the motor so that the first linear actuator 310 can move linearly along the X-axis together with the injection nozzle. Including an actuator (2nd linear actuator, 320),
The sludge rejection unit 700,
A front suction unit 710 coupled to the front of the spray nozzle 220 located at the lower portion of the body to suck the paint sludge from the front lower portion of the body;
The first linear actuator 310 and the second linear actuator 320 are positioned at the rear of the body to sweep up the remaining paint sludge that is not sucked into the front inhaler in the lower center direction of the body and coupled to the lower part of the body, A plurality of brushes 720 each rotating in the inner direction of the body,
a rear suction unit 730 coupled to the lower rear of the body while being located at the rear of the brush 720 to suck the remaining paint sludge;
A remote control type road surface paint removal device using a waterjet, characterized in that it is coupled to the body and includes a sludge container 740 in which the paint sludge sucked by the front suction unit 710 and the rear suction unit 730 is stored. .
According to claim 1,
The body 100,
A release preventing film 120 made of a soft material that is coupled to the front and left and right edges of the lower portion so that the paint sludge is not discharged to the outside of the body and is collected through the sludge removal unit 700 and is in contact with the road surface;
A warning unit 130 in which a red warning light blinks according to the control of the Arduino 800, and
The remote-controlled road surface paint removal device using a waterjet, characterized in that it further comprises a lighting means (140) coupled to the lower portion to provide illumination to the road surface during the paint removal operation through the waterjet module (200).
delete delete delete According to claim 1,
The sludge container 740 is,
A remote control type road surface paint using a waterjet, characterized in that a sludge detection sensor 745 installed by selecting any one of a load cell or an ultrasonic sensor to detect the weight or height of the stored paint sludge is coupled removal device.
7. The method of claim 6,
The Arduino (Arduino, 800) is,
a forward/backward driving mode 810 for controlling the driving of each of the wheel motors 112 so that the body travels in the forward and backward directions according to the operation signal of the portable terminal 900;
In accordance with the operation signal of the mobile terminal 900, each of the switching motors 113 is controlled so that the body travels in the left and right directions so that the driving wheel 111 is directed from the front-rear direction to the left-right direction, and then A left and right driving mode 820 for controlling the respective driving of the wheel motor 112,
Nozzle forward/backward mode 830 for controlling the operation of the first linear actuator 310 so that the injection nozzle 220 is linearly moved in the Y-axis according to the operation signal of the portable terminal 900;
Nozzle left and right mode 840 for controlling the operation of the second linear actuator 320 so that the spray nozzle 220 moves linearly along the X-axis according to the operation signal of the portable terminal 900;
a spraying mode 850 in which the abrasive and high-pressure water are sprayed from the spray nozzle 220 according to the operation signal of the portable terminal 900;
According to the detection value of the water level sensor 400, when the water level of the water jet tank 210 is below a preset water level, the injection mode 850 is forcibly stopped, and the warning unit 130 installed in the body 100 has A warning light is output, and a supply induction mode 860 in which a warning sound and a warning light are respectively output to the portable terminal 900;
When the amount of paint sludge stored in the sludge container 740 is greater than or equal to a preset reference amount according to the detection value of the sludge detection sensor 745, the injection mode 850 is forcibly stopped, and the body 100 A warning light is output to the installed warning unit 130, and the portable terminal 900 includes a collection induction mode 870 in which a warning sound and a warning light are output, respectively. .
8. The method of claim 7,
The mobile terminal 900,
A wheel control unit 910 that transmits operation signals to each of the forward/backward driving mode 810 and the left/right driving mode 820 to operate the respective operations of the wheel motor 112 and the switching motor 113 of the driving means 110 . Wow,
A guide operation unit 920 for transmitting operation signals to each of the nozzle forward/reverse mode 830 and the nozzle left/right mode 840 to operate the respective operations of the first linear actuator 310 and the second linear actuator 320, and ,
a spraying operation unit 930 for transmitting an operation signal to the spraying mode 850 so that the abrasive and high-pressure water are sprayed from the spraying nozzle 220;
a photographing operation unit 940 for operating each of the pan-tilt-zoom operations of the road surface photographing unit 520 of the photographing unit 500;
a pointer operation unit 950 for operating ON/OFF of the laser pointer 600;
a display unit 960 for displaying a real-time image of each of the driving photographing unit 510 and the road surface photographing unit 520 of the photographing unit 500;
When each of the forward/backward driving mode 810, the left/right driving mode 820, the nozzle forward/reverse mode 830, the nozzle left/right mode 840, and the injection mode 850 is executed, a guide sound is output, and the supply guidance A remote-controlled road surface paint removal device using a water jet, characterized in that it includes an output unit 970 for outputting a warning sound and a warning light when each of the mode 860 and the collection induction mode 870 is executed.
9. The method of claim 8,
The mobile terminal 900,
The remote-controlled road surface paint removal device using a waterjet, characterized in that it further comprises a docking terminal part (980) docked to the body (100) to communicate with each other while being electrically connected to the body (100).
10. The method of claim 9,
The body 100,
A docking unit 150 to which the portable terminal is docked through the docking terminal unit 980 of the portable terminal 900 to communicate with each other while being electrically connected to the portable terminal 900;
When the portable terminal 900 is docked, the wheel control unit 910, the guide control unit 920, the spray control unit 930, the photographing control unit 940, the pointer control unit 950, and the display unit 960 are respectively enlarged and displayed. A touch screen that can be operated according to the user's screen touch (touch screen, 160);
A remote-controlled road surface paint removal device using a water jet, characterized in that it further comprises a handle 170 coupled to the rear so that the user can hold and drive.

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