KR20090088521A - Dryice cleaning apparatus for removing a mark of the road surface and method for removing a mark of the road surface using the same - Google Patents

Abstract

A washing device for removing dry from a road and a method using the same are provided to increase the effectiveness and profitability of a tack by controlling the speed, rate, and time for the blasting the dry ice according to the type and thickness of a lane. A washing device for removing dry from a road comprises a dry ice feed unit(10), a dry ice cleaning unit(20), a moving unit(30), a sensor unit(40) and a controller(50). The dry ice feed unit supplies the dry ice. The dry ice cleaning unit is provided from the dry ice feed unit. The dry ice cleaning unit sprays the dry ice. The moving unit moves the location of the dry ice cleaning unit. The sensor unit senses the indicated road sign on the road. The controller receives a sensing signal from the sensor unit. The controller controls the moving unit so that the dry ice cleaning unit moves to the location of the sensed road.

Description

DRYICE CLEANING APPARATUS FOR REMOVING A MARK OF THE ROAD SURFACE AND METHOD FOR REMOVING A MARK OF THE ROAD SURFACE USING THE SAME}

The present invention relates to an apparatus and a method for removing a road surface cover, and more particularly, to a dry ice cleaning device for removing a road surface mark displayed on a road surface by spraying dry ice and a method for removing a road surface cover using the same. will be.

In general, road signs such as lanes, parking lanes, and the like are displayed on roads and parking lots, and are constantly required to be modified due to factors such as road maintenance, repair, or expansion.

As a method for removing road markings such as lanes displayed on such roads, torch type, grinder, and soda blasting methods are widely used.

The torch type uses a torch to heat the lane and sweeps it out. The grinder method uses a grinder to grind the road markings on the asphalt with asphalt or concrete, and the soda blasting method uses soda as its name suggests. It is a way to remove the cover by blasting.

However, these conventional lane removal methods are difficult to remove the road surface clean, frequent removal of the lane changes the texture and color of the road surface. In particular, the removed lines may be more visible due to the influence of weather conditions and lighting, which may confuse drivers and cause traffic accidents.

In addition, some of the conventional lane removal methods further deteriorate the driving environment because the road surface is damaged while removing the lanes, and may also adversely affect the environment because various dusts are generated after the removal.

In addition, the conventional lane removal method requires a large amount of equipment, so it takes up a lot of space in the middle of the road, which may adversely affect the traffic flow, and also requires a large number of people to work together. It is likely to be exposed.

On the other hand, the dry ice washing method is a method of shrinking and removing contaminants by using dry ice, and is mainly used to remove paint of a ship or rust of various machines.

This dry ice cleaning method is recognized as a safe and eco-friendly technology because it can not only remove the pollutants while preserving them without destroying the original materials in order to remove the pollutants. .

Accordingly, it is an object of the present invention to provide a dry ice cleaning apparatus for removing a road cover that can minimize road damage by using a dry ice cleaning method to remove road markings, and a method for removing road markings using the same. In addition, the present invention provides a dry ice cleaning device for removing road markings and a road marking removing method using the same to improve work efficiency and minimize the number of people required by automatically detecting and removing road markings such as lanes displayed on the road surface. . In addition, by automatically adjusting the amount, speed, and time of dry ice blasting according to the type or thickness of the lane, it is possible to further improve work efficiency and economic efficiency, and dry ice blasting and first suction only when a lane is detected. It is to provide an automated dry ice cleaning device for removing the road surface cover and road surface removal method using the same.

The above object, according to the present invention, in the dry ice cleaning apparatus for removing the road cover, Dry ice supply unit for supplying dry ice; A dry ice cleaning unit spraying the dry ice supplied from the dry ice supply unit; Moving means for moving the dry ice cleaning unit; A sensor unit for detecting a road marking displayed on a road surface; And receiving the detection signal from the sensor unit, and controlling the moving unit to move the dry ice cleaner to the detected position of the road marking, such that the dry ice cleaner sprays the dry ice at the position of the road marking. It can be achieved by a dry ice cleaning device for removing the road surface cover, characterized in that it comprises a control unit to enable.

Thus, by using the dry ice cleaning method to remove road markings, road damage can be minimized, and road markings can be detected and removed automatically, improving work efficiency and minimizing the number of people required for work. have.

Here, the sensor unit is installed in front of the dry ice cleaning unit to detect the road surface and the first sensor unit, the second is installed behind the dry ice cleaning unit for detecting whether the road surface remains on the road surface A sensor unit; The control unit controls the moving unit to move the dry ice cleaning unit to the road surface remaining behind the dry ice cleaning unit when the road surface mark remains on the road surface according to the detection signal of the second sensor unit. The remaining road markings can be removed.

In addition, the sensor unit detects the thickness of the road marking; The controller may control at least one of the injection amount, the injection speed, and the injection time of the dry ice cleaning unit according to the detection result of the thickness, thereby further improving work efficiency and economy.

The sensor unit may include a first sensor unit installed at the front of the dry ice cleaning unit to sense the road marking, and an image sensor unit for capturing a front image of the road surface; The display unit may display an image signal input from the image sensor unit as an image, thereby monitoring whether the image signal is moving along the road surface.

The image sensor may be installed to move left and right.

Here, the moving means may be implemented by any one of a vehicle and a cart for moving by mounting the dry ice cleaning unit.

The moving means may include first moving means mounted on the dry ice supply unit and moving; The dry ice cleaning unit may be configured to include a second moving unit which is connected to the first moving unit and is driven to move forward, backward, left and right. This allows large movements through the vehicle or cart and fine movements through the second means of movement.

The dry ice cleaning unit may include an injection nozzle and an injection cone for injecting the dry ice, and an injection control valve for controlling the supply of the dry ice supplied from the dry ice supply pipe. When the injection cone is located on the road surface according to the detection signal, the opening and closing of the injection control valve may be controlled so that the dry ice may be injected.

In addition, to suck the debris discharged due to the dry ice injection of the dry ice washing unit, further comprising a dust suction portion including a dust suction hose and a suction control valve for controlling the suction of the dust; The controller may control the opening and closing of the suction control valve according to whether the dry ice cleaning unit is operated.

This allows an automated system to implement dry ice blasting and first suction only when lanes are detected.

On the other hand, an object of the present invention, in accordance with the present invention, the road surface removal method using a dry ice cleaning apparatus including a sensor unit and a dry ice cleaning unit, the sensor unit comprising the steps of: detecting the road markings on the road surface; Receiving a detection signal from the sensor unit and moving the dry ice cleaning apparatus to a position of the detected road marking; Spraying dry ice on the road surface cover; And when the road surface cover is detected from the rear side, moving the dry ice washing apparatus to the position of the road surface rear surface, and then spraying dry ice. It may also be achieved by.

As described above, according to the present invention, there is provided a dry ice cleaning apparatus for removing a road cover and a road marking removing method using the same, which can minimize the damage of the road by using the dry ice cleaning method to remove the road marking. In addition, there is provided a dry ice cleaning device for removing the road surface and road surface removal method using the same to improve the work efficiency by minimizing the number of people required to work by automatically detecting and removing road markings such as lanes displayed on the road surface. In addition, by automatically adjusting the amount, speed, and time of dry ice blasting according to the type or thickness of the lane, it is possible to further improve work efficiency and economic efficiency, and dry ice blasting and first suction only when a lane is detected. Provided is an automated dry ice cleaning apparatus for removing road markings and a road marking removing method using the same.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1 is a schematic control block diagram of a dry ice cleaning apparatus for removing a road cover according to an embodiment of the present invention.

As shown in Figure 1, the dry ice cleaning apparatus for removing the road surface cover according to an embodiment of the present invention dry ice supply unit 10, dry ice cleaning unit 20, the moving means 30, the sensor unit 40 , And the controller 50.

The dry ice supply unit 10 is for supplying dry ice pellets (grains) to the dry ice washing unit 20 at high speed. The dry ice supply unit 10 includes various components such as a hopper, a rotating plate, an air supply hose, and an outlet that contain dry ice pellets. It is prepared. The technology related to this is already known and a detailed description thereof will be omitted. Meanwhile, the dry ice supply unit 10 may further include a grinder capable of pelletizing the dry ice mass. Accordingly, agglomerated dry ice may be used instead of pellets.

The dry ice cleaning unit 20 is connected through the dry ice supply unit 10 and the dry ice supply pipe 10a, and sprays the supplied high pressure dry ice pellets to clean the road surface markings. The dry ice cleaning unit 20 sprays ultra-low temperature dry ice pellets onto a road surface painted on the road surface. Road markings are frozen and shrunk instantaneously by heat shock from sprayed dry ice pellets, which are cracked and removed. Here, the road marking is used as a meaning including all kinds of markings displayed on the road surface, such as a traffic sign of a road, a parking mark line displayed on a parking lot, and the like. Road markings may also be displayed on the road surface with all possible materials, including thermoplastics, epoxy resins, paints, and the like. The dry ice cleaning apparatus of the present invention is used to remove all these types of road markings.

The moving means 30 is for moving the position of the dry ice cleaning unit 20, and the vehicle which can move while carrying the components necessary for cleaning, including the dry ice cleaning unit 20 and the dry ice supply unit 10. Or a cart or the like. When the means of transportation 30 is a vehicle, a person can ride. However, when the vehicle is manufactured in a small size, such as a cart, a person does not ride.

At this time, the dry ice cleaning unit 20 may be connected to the vehicle or the cart to be fixed or movable.

In the latter case, the moving means 30 is a module for connecting the dry ice washing unit 20 to the vehicle or the cart, in addition to the first moving means such as the vehicle or the cart, to move the dry ice washing unit 20 to front, rear, left and right. And a second means for moving. For example, the dry ice supply unit 10 or the like is mounted in a vehicle or a cart, and the dry ice cleaning unit 20 has a structure connected to the vehicle or the cart through the secondary moving means.

In the former case, the position of the dry ice cleaner 20 depends entirely on the movement of the vehicle or the cart, but in the latter case, the dry ice cleaner 20 may move alone with the movement of the vehicle or the cart. In the latter case, the main movement of the dry ice cleaning unit 20 is in charge of the moving vehicle or the cart, and the secondary movement means may be in charge of the local movement or fine movement. Through the first moving means and the second moving means, it is possible to move the dry ice cleaning unit 20 to the position of the road marking more precisely.

Here, the movement means 30 may be moved by manual adjustment (driving or remote control by a person) of a person, or may be moved by automatic control of the control part 50 mentioned later. On the other hand, when the moving means 30 is provided with the above-mentioned first moving means and the second moving means, that is, when the dry ice washing unit 20 is provided to be movable in the vehicle or the cart, the vehicle is the first moving means. Alternatively, the cart may be moved by human adjustment, and the second moving means may be moved according to the automatic control of the controller 50. In this case, of course, the first moving means can also move under the automatic control of the controller 50.

The sensor unit 40 is for detecting a road marking displayed on a road surface, and optical sensors such as an infrared sensor, an ultrasonic sensor, and a CCD sensor may be used. Here, the sensor unit 40 may include a plurality of sensors, each installed at a different position.

On the other hand, the sensor unit 40 may be implemented as a sensor capable of detecting the thickness of the road surface cover in addition to the presence of the road surface cover. .

The controller 50 is responsible for the overall control of the dry ice cleaning apparatus for removing the road surface cover of the present invention, and may be implemented by a microcomputer or a microcontroller.

Specifically, the control unit 50 receives the detection signal from the sensor unit 40, and controls the movement means 30 to move to the position of the road surface detected by the dry ice cleaning unit 20. Accordingly, the dry ice cleaning unit 20 may spray dry ice at the position where the road markings are located to remove the road markings.

In addition, the control unit 50 may control the spraying of the dry ice washing unit 20 in addition to the control of the moving unit 30, and the amount and the spraying depending on the state of the road marking according to the detection result of the sensor unit 40. Speed, injection time, etc. can be adjusted. For example, the controller 50 determines the detection result of the thickness of the road marking according to the detection result of the sensor unit 40 as upper, middle, or lower, and the amount, speed, time, etc. of spraying according to the upper, middle, and lower thicknesses. Can be increased or decreased more. Here, the thickness determination value and the injection control value may be determined according to the experimental value, and in addition to the thickness of the road marking, the color of the road marking may be determined to adjust the degree of injection.

 Hereinafter, specific embodiments will be described as an apparatus of the present invention including the above components.

2 is a side view of the dry ice cleaning apparatus for removing the road cover according to the first embodiment of the present invention, Figure 3 is a schematic diagram of the principle of the sensor unit 40 according to the first embodiment of the present invention, Figure 4 Is a detailed front view of the dry ice cleaning unit 20 according to the first embodiment of the present invention.

As shown in FIG. 2, in the dry ice cleaning apparatus for removing the road cover according to the first embodiment of the present invention, a small vehicle and a trailer are used as the moving means 30. The trailer is equipped with a dry ice storage container 11, a vacuum pump 70, and an air compressor 60, and a small ice vehicle is equipped with a dry ice supply unit 10 and a vacuum air filter 71. The vacuum pump 70 is connected to the vacuum air filter 71 through the suction pipe 70a to suck the contaminants removed after washing. In addition, the air compressor 60 is connected to the dry ice supply unit 20 through the compressed air supply pipe 60a to supply compressed air. The dry ice supply unit 20 provides the dry ice pellets to the dry ice spray unit 20 at high speed by using the compressed air supplied.

The front of the vehicle is provided with a sensor unit 40 and a dry ice cleaning unit 20 for automatically removing the route sign. In addition, the control part 50 is provided in the driver's seat side.

The sensor unit 40 according to the first embodiment of the present invention includes an IR sensor unit 41 installed at the front of the dry ice washing unit 20, an IR sensor unit 43 installed at the rear of the dry ice washing unit 20, It includes a CCD sensor unit 45 installed on the dry ice cleaning unit 20.

The IR sensor units 41 and 43 installed at the front and rear of the dry ice cleaner 20 are for detecting a route mark and are the basis for automatic movement control of the dry ice cleaner 20.

The IR sensor parts 41 and 43 are preferably located close to the road surface so as to accurately detect the road markings, and the distance from the road surface is preferably 4 cm to 10 cm. In addition, a plurality of IR sensors can be used in a row in order to easily detect not only a straight line but also a curved road marking. For example, if the general lane width is 15cm, the IR sensor may use a structure in which a large number of IR sensors are arranged in a line so as to cover a width of 15 to 25 cm.

A more detailed principle of the IR sensor units 41 and 43 installed at the front and rear of the dry ice cleaner 20 will be described with reference to FIG. 3. As shown in FIG. 3, in the IR sensor of the present invention, a light emitting sensor and a light receiving sensor are paired, and a plurality of pairs are used. In FIG. 3, an example of using five pairs has been described for convenience of description.

In a state in which five pairs of IR sensors are arranged in a line as shown in FIG. 3, it is assumed that a road surface mark is located under the third and fourth IR sensors.

For example, the 1st, 2nd, and 5th sensors detect a general road surface (asphalt or concrete) and output about 20 millivolts or less, and the 3rd and 4th IR sensors detect lanes. Let's say you want to print a value close to 60 millivolts.

The controller 50 receives the detection signals from these IR sensors and determines whether the values correspond to the road markings through a converter or software. For example, hardware or software is designed to set a threshold value (a determination criterion value of whether a road marking is a road mark) in advance through experimental values, and then output 1 as a corresponding value and 0 as a result value. For example, when 40 millivolts is a threshold value, the determination value of the output values from the first, second and fifth sensors is 0, and the determination value of the output values of the third and fourth IR sensors is 1. Becomes

Through this, the controller 50 can know that there is a lane where the third and fourth IR sensors are located. The controller 50 controls the dry ice cleaner 20 to remove the lane by moving toward the place where the third and fourth IR sensors are located based on the result values.

As described above, the sensor unit 40 may detect the thickness of the road marking and the like, and the controller 50 may determine the thickness and the like based on a preset threshold value of the output value of the sensor unit 40. At this time, the control unit 50 adjusts so that the spraying speed, time and amount of the dry ice cleaning unit 20 increases as the road surface cover becomes thicker.

On the other hand, the IR sensor unit 43 installed at the rear of the dry ice cleaning unit 20 is a sensor for checking whether there is a lane remaining after washing, and the control unit 50 determines the output value of the IR sensor unit installed at the rear side. When the output is 1, the dry ice cleaning unit 20 is moved backward so that the remaining lanes can be removed again.

The CCD sensor unit 45 installed above the dry ice cleaning unit 20 is for displaying and monitoring an image of the front side as an image, and the image captured by the CCD sensor unit 45 is a display window (not shown) installed at the driver's seat side. May be displayed. The image picked up by the CCD sensor unit 45 may be processed by the control unit 50 to be based on automatic control of the moving vehicle. That is, the controller 50 may be washed while turning the vehicle in the direction in which the road marking continues in accordance with the output result of the CCD sensor unit 45.

In addition, the driver sitting in the driver's seat can monitor whether the vehicle is properly following the road sign through the image displayed on the display window, and the driver can manually adjust the vehicle.

As shown in FIG. 4, the dry ice cleaner 20 includes a nozzle 21 for supplying and spraying high pressure dry ice pellets from the dry ice supply pipe 10a and an injection cone connected to the nozzle 21. 23).

The diameter of the injection cone 23 may have a size such as to cover the width of the lane at one time, for example, 10 ~ 15cm, if smaller than this can remove the lane while moving back and forth, left and right. An injection control valve (not shown) for automatically controlling the dry ice injection may be mounted at a portion to which the dry ice supply pipe 10a is connected. A solenoid valve may be used as the injection control valve, and the control unit 50 may receive a detection signal from the sensor unit 40 so that dry ice may be sprayed only when the dry ice cleaning unit 20 is positioned on the road marking. To control the opening and closing of the injection control valve.

As shown in Figures 2 and 4, the vehicle is provided with a track 31, the dry ice cleaning unit 20 may move left and right through the track (31). Specifically, the dry ice cleaning unit 20 includes a housing 25 for protecting the spray nozzle 21 and the spray cone 23, which may move on the track through the support 27. Which is fixed to the cart 33. Next to the cart 33 is provided a drive motor 35 for moving the cart 33 to the left and right. Through this configuration, the dry ice cleaner 20 may move left and right along the track 31.

For example, in the example of the sensor unit 40, if it is determined that only the detected value of the fifth sensor is the road marking, the controller 50 is in the direction in which the dry ice cleaning unit 20 is mounted with the fifth sensor. The driving motor 35 may be controlled to move. In the present embodiment, the fine left and right movement moves the dry ice cleaning unit 20 through the movement of the cart 31, and the large movement moves through the vehicle.

In this embodiment, the dry ice washing unit 20 has been described as an example of moving from side to side, but may be configured to move back and forth.

In addition, as shown in Figure 4, the dust suction portion 73 is installed to the side of the housing 25 to suck the contaminants falling off after the injection, and the brush shade (under the edge of the housing 25) 75) is installed to keep contaminants out. Here, a portion of the dust suction pipe 73 connected to the housing 25 may be equipped with a suction control valve (not shown) for automatically controlling the suction. The controller 50 may control the suction control valve to operate the dust suction unit 73 only when a pollutant is generated, that is, when the dry ice cleaning unit 20 operates.

On the other hand, as shown in Figure 4, the CCD sensor unit 45 is installed on the upper end of the cart, it is possible to capture the image while moving in accordance with the movement of the cart.

Hereinafter, the road surface removal method using the dry ice cleaning apparatus according to the first embodiment of the present invention will be described.

5 is a flowchart of a road marking removing method using a dry ice cleaning apparatus according to a first embodiment of the present invention.

As shown in FIG. 5, the controller 50 receives a detection signal from the sensor unit 40 (S10) to determine the location of the lane. Then, it is determined whether the dry ice cleaner 20 is currently on the lane (S11), and when the dry ice cleaner 20 is currently on the lane, the dry ice cleaner 20 moves along the lane and is dried. Spray the ice, and the dust suction unit 73 to suck the dust (S12).

If the current dry ice cleaning unit 20 is not located in the lane, the control unit 50 sends a control signal to the injection control valve to stop the dry ice injection of the dry ice cleaning unit 20, and also to the suction control valve. Sending a control signal to stop the dust intake (S13).

Then, the control signal is applied to the vehicle and / or the driving motor 35 to move the dry ice cleaning unit 20 to the detected position of the lane (S14).

On the other hand, the controller 50 determines whether there is a lane left behind through the detection signal received from the IR sensor unit 43 installed at the rear of the dry ice cleaning unit 20 (S15). If it is determined that there is a lane left, a control signal is applied to the injection control valve and the suction control valve to stop the dry ice injection and the dust inhalation (S17), and the dry ice cleaning unit 20 at the position of the remaining lane, that is, rearward. The control signal is applied to the vehicle and / or the driving motor 35 so as to move (S17).

In this way, the road surface can be removed without missing the cover.

6 is a schematic diagram of a dry ice washing apparatus according to a second embodiment of the present invention.

As shown in FIG. 6, the dry ice cleaning apparatus according to the second embodiment of the present invention may be mounted in a small work vehicle, and a dry ice supply unit 10, an air compressor 60, and a vacuum pump may be installed in a luggage compartment of the vehicle. 70 and the like are mounted, and the sensor unit 40 and the dry ice cleaning unit 20 are mounted to the front of the vehicle. In FIG. 6, the sensor unit 40 and the dry ice washing unit 20 are mounted to be freely movable back, front, left, and right.

FIG. 6 is a view illustrating the components of the present invention mounted on a conventional work vehicle, and the present invention may be implemented by a simple modification as shown in FIG. 6. In the dry ice washing apparatus according to the second embodiment of the present invention, a person drives a vehicle.

7 is a schematic top view of a dry ice cleaning apparatus according to a third embodiment of the present invention.

As shown in FIG. 7, a dry ice supply unit 10 is mounted on a small moving means 30 having a plurality of wheel tracks, and a dry ice cleaning unit 20 and a sensor unit 40 are mounted. Although the dry ice cleaner 20 and the sensor unit 40 are indicated by solid lines in FIG. Of course, the bottom surface of the body portion on which the dry ice cleaning unit 20 and the sensor unit 40 are mounted is open so that the road is visible, and detects the road marking of the road through the open portion, and detects the dry ice with the road surface cover. To be sprayed. In an embodiment of the present invention, a compressor for supplying compressed air may be installed inside the dry ice supply unit.

Meanwhile, the movement and the change of direction of the movement means 30 of FIG. 7 are made by the motor and the controller 50 embedded therein. In the case of Figure 7, the configuration of the present invention is made of a compact, high utilization value in a place where the work environment where it is difficult for a person to work directly by the vehicle, the person is fully controlled or controlled by a remote control device You may.

Although in the above-described embodiment, only the thickness of the road surface cover is described as the basic data for controlling the spraying degree of the dry ice cleaning unit, various elements such as the material and the color of the road surface cover may be used as the basis of the adjustment. . In this case, various kinds of sensors may be used to detect or determine such various working environments.

Alternatively, it is also possible for a person to manually enter this working environment so that the degree of injection can be automatically adjusted. For example, a button for selecting a color of the road marking from among user manipulation buttons is included, so that when a person manually selects the color of the road marking, the spray can be automatically adjusted accordingly. These adjustments can be set in advance by experimental values.

On the other hand, the dry ice washing apparatus according to the present invention may be equipped with various operation buttons for manual control. According to the selection and manipulation of the operation buttons by the person, the control unit controls the operation of each component.

Although some embodiments of the invention have been shown and described, it will be apparent to those skilled in the art that modifications may be made to the embodiment without departing from the spirit or spirit of the invention. . It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents.

In order to solve the above-mentioned problems, the present invention uses a dry ice cleaning method to remove the road surface markings, thereby minimizing road breakage. In addition, by automatically detecting and removing road markings such as lanes displayed on the road surface, it is possible to improve work efficiency and minimize the number of people required for work. And, by automatically adjusting the amount, speed, time, etc. of the dry ice blasting according to the type or thickness of the lane it can further improve the work efficiency and economics.

1 is a schematic control block diagram of a dry ice cleaning device for removing the road surface cover according to an embodiment of the present invention,

Figure 2 is a side view of the dry ice cleaning device for removing the road surface cover according to a first embodiment of the present invention,

3 is a schematic diagram of the principle of the sensing unit according to the first embodiment of the present invention;

4 is a detailed front view of the dry ice cleaning unit according to the first embodiment of the present invention;

5 is a flowchart of a road marking removing method using a dry ice cleaning apparatus according to a first embodiment of the present invention;

6 is a schematic view of a dry ice washing apparatus according to a second embodiment of the present invention;

7 is a schematic diagram of a dry ice washing apparatus according to a third embodiment of the present invention.

Claims (10)

In the dry ice cleaning device for removing the road cover, Dry ice supply unit for supplying dry ice; A dry ice cleaning unit spraying the dry ice supplied from the dry ice supply unit; Moving means for moving the dry ice cleaning unit; A sensor unit for detecting a road marking displayed on a road surface; And The dry ice cleaner may spray the dry ice at the position of the road marking by receiving the detection signal from the sensor unit and controlling the moving unit to move the dry ice cleaner to the detected position of the road marking. Dry ice cleaning device for removing the road cover, characterized in that it comprises a control unit. The method of claim 1, The sensor unit may be installed in front of the dry ice cleaner to detect the road marking, and a second sensor unit installed at the rear of the dry ice cleaner to detect whether the road marking remains on the road surface. Includes; The control unit controls the moving unit to move the dry ice cleaning unit to the road surface remaining behind the dry ice cleaning unit when the road surface mark remains on the road surface according to the detection signal of the second sensor unit. Dry ice cleaning apparatus for removing the road surface cover characterized in that to remove the remaining road surface cover. The method of claim 1, The sensor unit detects a thickness of the road marking; And the control unit controls at least one of the spray amount, the spraying speed, and the spraying time of the dry ice washing unit according to the detection result of the thickness. The method of claim 1, The sensor unit includes a first sensor unit installed in front of the dry ice cleaning unit for detecting the road marking, and an image sensor unit for capturing the front image of the road surface; And the display unit displays the image signal input from the image sensor unit as an image. The method of claim 4, wherein Dry image cleaning apparatus for removing the road surface cover characterized in that the image sensor is installed to be movable left and right. The method according to any one of claims 1 to 5, The moving means is a dry ice cleaning device for removing the road surface cover, characterized in that implemented by any one of the vehicle and the cart to move by mounting the dry ice cleaning unit. The method according to any one of claims 1 to 5, The moving means may include first moving means mounted on the dry ice supply unit and moving; Dry ice washing apparatus for removing the road surface cover characterized in that the dry ice cleaning unit is connected to the first moving means and the second moving means for driving so as to move forward, backward, left and right. The method of claim 1, The dry ice cleaning unit includes an injection nozzle and an injection cone for injecting the dry ice, and an injection control valve for controlling the supply of the dry ice supplied from the dry ice supply pipe. And the control unit controls the opening and closing of the injection control valve so that the dry ice is injected when the injection cone is located on the road surface cover according to the detection signal of the sensor unit. The method of claim 1, It is for sucking the residue discharged by the dry ice injection of the dry ice cleaning unit, and further comprising a dust suction portion including a dust suction hose and a suction control valve for controlling the suction of the dust; The control unit is a dry ice cleaning device for removing the road surface cover, characterized in that for controlling the opening and closing of the suction control valve according to the operation of the dry ice cleaning unit. In the road surface removal method using a dry ice cleaning device including a sensor unit and a dry ice cleaning unit, Sensing road markings on a road surface by a sensor unit; Receiving a detection signal from the sensor unit and moving the dry ice cleaning apparatus to a position of the detected road marking; Spraying dry ice on the road surface cover; And And when the road surface cover is detected from the rear side, moving the dry ice washing apparatus to a position of the road surface rear surface, and spraying dry ice.

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