CN107752898A - A kind of laser cleaning unmanned plane - Google Patents
A kind of laser cleaning unmanned plane Download PDFInfo
- Publication number
- CN107752898A CN107752898A CN201711146095.8A CN201711146095A CN107752898A CN 107752898 A CN107752898 A CN 107752898A CN 201711146095 A CN201711146095 A CN 201711146095A CN 107752898 A CN107752898 A CN 107752898A
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- China
- Prior art keywords
- laser
- unmanned plane
- cleaning
- scanning galvanometers
- scanning
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000004140 cleaning Methods 0.000 title claims abstract description 65
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 230000003287 optical effect Effects 0.000 claims abstract description 30
- 239000000463 material Substances 0.000 claims abstract description 17
- 239000003344 environmental pollutant Substances 0.000 claims abstract description 16
- 231100000719 pollutant Toxicity 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000011521 glass Substances 0.000 abstract description 15
- 239000004575 stone Substances 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 5
- 206010027146 Melanoderma Diseases 0.000 abstract description 4
- 239000002184 metal Substances 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 4
- 230000009545 invasion Effects 0.000 description 4
- 230000003595 spectral effect Effects 0.000 description 4
- 238000000411 transmission spectrum Methods 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 239000013043 chemical agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000005340 laminated glass Substances 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of laser cleaning unmanned plane, belong to unmanned air vehicle technique field, including unmanned plane and control device, control device includes control system, laser, 3D scanning galvanometers, optical transmission system and focuses on field lens, control system is respectively intended to control unmanned plane, laser and 3D scanning galvanometers, 3D scanning galvanometers are entered by optical transmission system laser beam, 3D scanning galvanometers control laser beam is moved and focused on by focusing field lens, complete scanning to article-cleaning with focusing field lens and 3D scanning galvanometers, laser is by the laser after focusing by pollutant removal.Laser cleaning of the present invention can effectively be cleaned to the various pollutants on various stone materials, metal, glass, and more many times higher than conventional cleaning efficiency, and the blackspot on the various stone materials of building, color spot can also be purged；Replaced manually with unmanned plane, it is not only safer, while also substantially increase the efficiency of cleaning.
Description
Technical field
The present invention relates to a kind of unmanned plane, more particularly to a kind of laser cleaning unmanned plane, belongs to unmanned air vehicle technique field.
Background technology
At present, for many skyscrapers also by the way of manually cleaning, such form of construction work neither security effectiveness is again low,
We can carry laser cleaner using unmanned plane and be cleaned come the alien invasion to skyscraper and window, while the device
The field that the conventional methods such as cleaning solar energy cell plate, electric locomotive, steamer, aircraft are not easily accomplished, laser can also be used for
Cleaning is commonly used in industrial production, is a kind of excellent cleaning way of pollution-free cleaning quality, and laser cleaning is a kind of green
The cleaning method of environmental protection, without the use of any chemical agent and cleaning fluid, the waste material washed down is essentially all solid powder,
Small volume, it is easily stored, it is recyclable, can solve the problem of environmental pollution that Chemical cleaning is brought, traditional cleaning method easily
Often contact is cleaned, and has mechanicals efforts to cleaning of objects surface, damages the surface of object or the medium attachment of cleaning
It in the surface of cleaned object, can not remove, produce secondary pollution, laser cleaning makes these problems without grinding with untouchable
It is readily solved, laser can be transmitted by optical fiber, conveniently realize remote-controlled operation, can clean the not readily accessible portion of conventional method
Position, greatly reduce work danger.
The content of the invention
The main object of the present invention is to provide for a kind of laser cleaning unmanned plane, and carrying laser using unmanned plane produces dress
Put and cleaned come the alien invasion to skyscraper and window, the blackspot on the various stone materials of building, color spot can also be entered
Row is removed.
The purpose of the present invention can reach by using following technical scheme：
A kind of laser cleaning unmanned plane, including unmanned plane and the control device that is arranged in the unmanned plane, the control
Device includes control system, laser, optical transmission system, 3D scanning galvanometers and focuses on field lens；The control system swashs with described
Light device electrically connects, and the laser beam that the laser is sent enters the 3D scanning galvanometers by the optical transmission system, and through institute
State and focus on field lens focusing；The optical transmission system is arranged on the 3D scanning galvanometers front end, and the control system is respectively intended to control
The unmanned plane, the laser and the 3D scanning galvanometers are made, the optical transmission system is arranged on the laser, described
Optical transmission system transmission laser beam enters the 3D scanning galvanometers, and the 3D scanning galvanometers control laser beam motion is simultaneously gathered by described
Burnt field lens focuses on, and the unmanned plane moves to the position for needing to clean, with the focusing field lens and the 3D scanning galvanometers
Complete scanning to article-cleaning, the laser is by the laser after focusing by pollutant removal.
Preferable scheme is that the optical transmission system is arranged on the rear end of the laser, and the optical transmission system is used for
Receive laser caused by the laser.
In any of the above-described scheme preferably, the 3D scanning galvanometers are placed on the light-emitting window of the optical transmission system
Place, the laser transmit laser to the 3D scanning galvanometers.
In any of the above-described scheme preferably, the 3D scanning galvanometers are connected with the control system, sharp for controlling
The movement locus of light beam and the position of focus.
In any of the above-described scheme preferably, the 3D scanning galvanometers control laser beam motion, the focusing field lens pair
The cleaned part of standard, the laser that the 3D scanning galvanometers reflect is focused, when cleaned part surface is attached in laser spot
When near, the pollutant on surface can be removed.
In any of the above-described scheme preferably, the laser is used to produce laser, described in the control system control
The energy of laser output, laser beam is set in certain limit in the energy density of material surface, laser beam output energy is close
Degree is more than the damage threshold of pollutant, and less than the damage threshold of cleaned part base material.
In any of the above-described scheme preferably, the control system controls the distance of the unmanned plane and cleaned part.
In any of the above-described scheme preferably, the wave-length coverage that the laser produces laser is 150nm-3000nm.
In any of the above-described scheme preferably, the focusing of laser beam caused by the laser can also be used and commonly shaken
Mirror carries out laser beam motion control.
The advantageous effects of the present invention：According to the laser cleaning unmanned plane of the present invention, laser cleaning provided by the invention
Unmanned plane, laser generator is carried using unmanned plane and cleaned come the alien invasion to skyscraper and window, than ever people
Work cleaning has advantages below：Laser cleaning can carry out effectively clear to the various pollutants on various stone materials, metal, glass
Wash, and it is more many times higher than conventional cleaning efficiency, the blackspot on the various stone materials of building, color spot can also be purged；With
Unmanned plane replaces manually, not only safer, while also substantially increases the efficiency of cleaning.
Brief description of the drawings
Fig. 1 is the overall structure diagram according to a preferred embodiment of the laser cleaning unmanned plane of the present invention；
Fig. 2 is to exist according to the conventional commercial building glass of a preferred embodiment of the laser cleaning unmanned plane of the present invention
Transmission spectrum in 300-500nm spectral regions, the embodiment can be with Fig. 1 identicals embodiment or with Fig. 1 not
Same embodiment；
Fig. 3 is to exist according to the conventional commercial building glass of a preferred embodiment of the laser cleaning unmanned plane of the present invention
Transmission spectrum in 300-550nm spectral regions, the embodiment can be with Fig. 1 or Fig. 2 identicals embodiment or with
Embodiments different Fig. 1 or Fig. 2；
Fig. 4 is to exist according to the conventional folk building glass of a preferred embodiment of the laser cleaning unmanned plane of the present invention
Transmission spectrum in 300-2500nm spectral regions, the embodiment can be with Fig. 1 or Fig. 2 or Fig. 3 identical embodiments, also may be used
To be the embodiments different from Fig. 1 or Fig. 2 or Fig. 3；
Fig. 5 is to exist according to the conventional folk building glass of a preferred embodiment of the laser cleaning unmanned plane of the present invention
Transmission spectrum in 300-550nm spectral regions, the embodiment can be with Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 identical embodiments,
Can also be the embodiments different from Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4.
In figure：1- control systems, 2- unmanned planes, 3- lasers, 4- optical transmission systems, 6-3D scanning galvanometers, 7- focousing fields
Mirror, 8- are cleaned part.
Embodiment
To make those skilled in the art more clear and clear and definite technical scheme, with reference to embodiment and accompanying drawing
The present invention is described in further detail, but the implementation of the present invention is not limited to this.
As shown in figure 1, a kind of laser cleaning unmanned plane that the present embodiment provides, including unmanned plane 2 and it is arranged on the nothing
Control device in man-machine 2, the control device include control system 1, laser 3, optical transmission system 4, the and of 3D scanning galvanometers 6
Focus on field lens 7；The control system 1 electrically connects with the laser 3, and the laser beam that the laser 3 is sent passes through the light
Transmission system 4 enters the 3D scanning galvanometers 6, and is focused on through the focusing field lens 7；The optical transmission system 4 is arranged on described
The front end of 3D scanning galvanometers 6, the control system 1 are respectively intended to control the unmanned plane 2, the laser 3 and 3D scannings
Galvanometer 6, the optical transmission system 4 are arranged on the laser 3, and the optical transmission system 4 transmits laser beam and enters the 3D
Scanning galvanometer 6, the 3D scanning galvanometers 6 control laser beam motion and focused on by the focusing field lens 7, and the unmanned plane 2 moves
The position cleaned to needs, the scanning to article-cleaning, institute are completed with the focusing field lens 7 and the 3D scanning galvanometers 6
Laser 3 is stated by the laser after focusing by pollutant removal.
Further, in the present embodiment, as shown in figure 1, after the optical transmission system 4 is arranged on the laser 3
End, the optical transmission system 4 are used for receiving laser caused by the laser 3；The 3D scanning galvanometers 6 are placed on the light
At the light-emitting window of Transmission system 4, the laser 3 transmits laser to the 3D scanning galvanometers 6.
Further, in the present embodiment, as shown in figure 1, the 3D scanning galvanometers 6 are connected with the control system 1, use
To control the position of the movement locus of laser beam and focus；The 3D scanning galvanometers 6 control laser beam motion, the focusing field lens
The cleaned part 8 of 7 alignments, the laser that the 3D scanning galvanometers 6 reflect is focused, when the cleaned surface of part 8 is in laser
During near focal point, the pollutant on surface can be removed.
Further, in the present embodiment, as shown in figure 1, the laser 3 is used to produce laser, the control system 1
The energy for controlling the laser 3 to export, is set in certain limit, laser beam is defeated by laser beam in the energy density of material surface
Go out the damage threshold that energy density is more than pollutant, and less than the damage threshold of the cleaned base material of part 8.
Further, in the present embodiment, as shown in figure 1, the control system 1 controls the unmanned plane 2 with being cleaned
The distance of part 8；The wave-length coverage that the laser 3 produces laser is 150nm-3000nm.The optical transmission system can be selected
Kinds of schemes；When laser beam wavelength, preferred photo-coupler adds the mode of optical fiber to form optical transport system between 850nm-1550nm
System；The focusing of laser beam caused by the laser 3 can also use common galvanometer to carry out laser beam motion control.
Further, the scanning range of 3D scanning galvanometers is smaller, and unmanned plane needs constantly motion during cleaning, to do large area
Cleaning；Unmanned plane will control whole mechanism and the distance by cleaning device, be by cleaning device near laser beam foucing, can be only achieved
Cleaning effect.
In the present embodiment, laser type need to be selected according to by cleaning device material, such as when cleaning skyscraper window
When, the available infrared and laser of ultraviolet wavelength, glass is very low to the laser transmissivity of such a wavelength, and such transmitted light is not
People can be damaged.
In the present embodiment, laser is preferentially from the small industrial laser of volume mass.
In the present embodiment, scanning galvanometer is preferentially from the scope that exposes thoroughly, fast movement velocity.
In the present embodiment, focus on field lens and preferentially select wide working range, long reach.
In the present embodiment, the motion mode of laser beam is not limited to 3D scanning galvanometers, can use common galvanometer, or other
The laser beam telecontrol equipment of laser Surface scan can be realized.
In the present embodiment, Laser Focusing hot spot can be changed and becomes strip hot spot.Unmanned aerial vehicle (UAV) control beam motion.
Further, in the present embodiment, as shown in figure 1, by the carrying package of unmanned plane 2 containing control system 1, laser 3, light
The whole laser cleaner of Transmission system 4,3D scanning galvanometers 6 and focusing field lens 7 cleans to the window of high building, leads to
Laser after over-focusing is by pollutant removal.
Further, in the present embodiment, as shown in figure 1, the control system 1 controls unmanned plane 2, laser 3,3D
Scanning galvanometer 6, unmanned plane 2 move to the position to be cleaned, are completed with laser 3 and 3D scanning galvanometers 6 to article-cleaning
Cleaning.
Further, in the present embodiment, as shown in figure 1, the optical transmission system 4 is placed on the front end of laser 3, it is used for
Receive laser caused by laser 3.
Further, in the present embodiment, as shown in figure 1, the 3D scanning galvanometers 6 are placed on the light-emitting window of laser 3
Place, the optical transmission system 4 are used for controlling the motion rail of laser beam for transmitting laser to 3D scanning galvanometers 6,3D scanning galvanometers 6
The position of mark and focus.
Further, in the present embodiment, as shown in figure 1, the focusing field lens 7 is connected with scanning galvanometer 6, scanning is shaken
The laser that mirror 6 reflects is focused.When the cleaned surface of part 8 is near laser spot, the pollutant on surface can be gone
Remove.
Further, in the present embodiment, it is as shown in figure 1, described by controlling laser 3 to export energy, by laser beam
Certain limit is set in the energy density of material surface.The preferential damage threshold for being more than pollutant from output energy, and it is small
In the damage threshold of the cleaned base material of part 8.Reach optimal cleaning performance, and do not damage the cleaned base material of part 8.
Further, in the present embodiment, as shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the selection of laser beam wavelength, for
In the cleaning of building glass, the selection of optical source wavelength is a key factor, should meet cleaning effect, while to avoid laser
Enter building interior transmitted through glass, the light that Fig. 2-5 lists currently used building glass (containing commercial building also house) is saturating
Spectrum is penetrated, it can be seen that, in the range of 400-800nm, the transmissivity of these glass is that comparison is high from spectrogram, that is to say, that
When selecting optical source wavelength, the infrared light supply of ultraviolet source of the wavelength less than 400nm and wavelength more than 800nm can due to it
Absorbed well by glass, so as to the effective cleaning glass surface under relatively low power, while will not transmitted through glass,
For the higher laminated glass of spectral-transmission favtor, the light source that wavelength should be selected to be more than 2300nm.
In summary, in the present embodiment, the laser provided according to the laser cleaning unmanned plane of the present embodiment, the present embodiment
Clean unmanned plane, using unmanned plane carry laser generator cleaned come the alien invasion to skyscraper and window, than with
There is advantages below toward what is manually cleaned：Laser cleaning can have to the various pollutants on various stone materials, metal, glass
Effect cleaning, and it is more many times higher than conventional cleaning efficiency, the blackspot on the various stone materials of building, color spot can also be carried out clear
Remove；Replaced manually with unmanned plane, it is not only safer, while also substantially increase the efficiency of cleaning.
It is described above, further embodiment only of the present invention, but protection scope of the present invention is not limited thereto, and it is any
In scope disclosed in this invention, technique according to the invention scheme and its design add those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (9)
1. a kind of laser cleaning unmanned plane, including unmanned plane (2) and the control device that is arranged in the unmanned plane (2), it is special
Sign is：The control device includes control system (1), laser (3), optical transmission system (4), 3D scanning galvanometers (6) and gathered
Burnt field lens (7)；The control system (1) electrically connects with the laser (3), and the laser beam that the laser (3) sends passes through
The optical transmission system (4) enters the 3D scanning galvanometers (6), and is focused on through the focusing field lens (7)；The optical transmission system
(4) it is arranged on 3D scanning galvanometers (6) front end, the control system (1) is respectively intended to control the unmanned plane (2), described
Laser (3) and the 3D scanning galvanometers (6), the optical transmission system (4) are arranged on the laser (3), and the light passes
Defeated system (4) transmission laser beam enters the 3D scanning galvanometers (6), 3D scanning galvanometers (6) the control laser beam move and by
The focusing field lens (7) focuses on, and the unmanned plane (2), which moves to, needs the position cleaned, by the focusing field lens (7) and described
3D scanning galvanometers (6) coordinate the scanning completed to article-cleaning, and the laser (3) is removed pollutant by the laser after focusing
Remove.
A kind of 2. laser cleaning unmanned plane according to claim 1, it is characterised in that：The optical transmission system (4) is set
In the rear end of the laser (3), the optical transmission system (4) is used for receiving laser caused by the laser (3).
A kind of 3. laser cleaning unmanned plane according to claim 1, it is characterised in that：The 3D scanning galvanometers (6) are placed
At the light-emitting window of the optical transmission system (4), the laser (3) transmits laser to the 3D scanning galvanometers (6).
A kind of 4. laser cleaning unmanned plane according to claim 1, it is characterised in that：The 3D scanning galvanometers (6) and institute
Control system (1) connection is stated, for controlling the position of the movement locus of laser beam and focus.
A kind of 5. laser cleaning unmanned plane according to claim 1, it is characterised in that：3D scanning galvanometers (6) control
Laser beam moves, and the cleaned part (8) of focusing field lens (7) alignment, the laser that the 3D scanning galvanometers (6) reflect is entered
Line focusing, when cleaned part (8) surface is near laser spot, the pollutant on surface can be removed.
A kind of 6. laser cleaning unmanned plane according to claim 1, it is characterised in that：The laser (3) is used to produce
Laser, the control system (1) control the energy of laser (3) output, by laser beam material surface energy density
Certain limit is set in, laser beam output energy density is more than the damage threshold of pollutant, and less than cleaned part (8) base material
Damage threshold.
A kind of 7. laser cleaning unmanned plane according to claim 1, it is characterised in that：The control system (1) controls institute
State the distance of unmanned plane (2) and cleaned part (8).
A kind of 8. laser cleaning unmanned plane according to claim 1, it is characterised in that：The laser (3) produces laser
Wave-length coverage be 150nm-3000nm.
A kind of 9. laser cleaning unmanned plane according to claim 1, it is characterised in that：Swash caused by the laser (3)
The focusing of light beam can also use common galvanometer to carry out laser beam motion control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711146095.8A CN107752898A (en) | 2017-11-17 | 2017-11-17 | A kind of laser cleaning unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711146095.8A CN107752898A (en) | 2017-11-17 | 2017-11-17 | A kind of laser cleaning unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107752898A true CN107752898A (en) | 2018-03-06 |
Family
ID=61278806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711146095.8A Pending CN107752898A (en) | 2017-11-17 | 2017-11-17 | A kind of laser cleaning unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107752898A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109433745A (en) * | 2019-01-07 | 2019-03-08 | 哈尔滨工业大学 | Large-scale component Diode laser linear light spot laser cleaning method |
| CN114451830A (en) * | 2022-03-17 | 2022-05-10 | 上海飞博激光科技有限公司 | Device and method for cleaning glass curtain wall by laser |
| CN115281567A (en) * | 2022-09-01 | 2022-11-04 | 圣同智能机械设备（上海）有限公司 | Wall body surface cleaning uses laser clean-up equipment |
| CN115349788A (en) * | 2022-08-18 | 2022-11-18 | 圣同智能机械设备（上海）有限公司 | Intelligent distance laser cleaning equipment |
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| CN1817549A (en) * | 2006-03-23 | 2006-08-16 | 北京工业大学 | Portable laser cleaning system |
| CN202951677U (en) * | 2012-12-18 | 2013-05-29 | 李玉瑶 | Portable urban adlet removing and glass curtain wall cleaning device |
| CN105855245A (en) * | 2016-06-23 | 2016-08-17 | 济南高能清扬激光清洗有限公司 | Large-breadth laser washing machine |
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| WO2017028293A1 (en) * | 2015-08-20 | 2017-02-23 | 韩性峰 | Laser-guided exterior wall cleaner |
| CN206415390U (en) * | 2017-01-05 | 2017-08-18 | 武汉光谷航天三江激光产业技术研究院有限公司 | A kind of laser cleaner |
| CN211883591U (en) * | 2017-11-17 | 2020-11-10 | 江苏微纳激光应用技术研究院有限公司 | Laser cleaning unmanned aerial vehicle |
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| CN1817549A (en) * | 2006-03-23 | 2006-08-16 | 北京工业大学 | Portable laser cleaning system |
| CN202951677U (en) * | 2012-12-18 | 2013-05-29 | 李玉瑶 | Portable urban adlet removing and glass curtain wall cleaning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109433745A (en) * | 2019-01-07 | 2019-03-08 | 哈尔滨工业大学 | Large-scale component Diode laser linear light spot laser cleaning method |
| CN114451830A (en) * | 2022-03-17 | 2022-05-10 | 上海飞博激光科技有限公司 | Device and method for cleaning glass curtain wall by laser |
| CN115349788A (en) * | 2022-08-18 | 2022-11-18 | 圣同智能机械设备（上海）有限公司 | Intelligent distance laser cleaning equipment |
| CN115281567A (en) * | 2022-09-01 | 2022-11-04 | 圣同智能机械设备（上海）有限公司 | Wall body surface cleaning uses laser clean-up equipment |
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Application publication date: 20180306 |