CN111570417A - Laser cleaning device for lichen on rock surface - Google Patents
Laser cleaning device for lichen on rock surface Download PDFInfo
- Publication number
- CN111570417A CN111570417A CN202010474360.0A CN202010474360A CN111570417A CN 111570417 A CN111570417 A CN 111570417A CN 202010474360 A CN202010474360 A CN 202010474360A CN 111570417 A CN111570417 A CN 111570417A
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- China
- Prior art keywords
- laser
- lichen
- rock
- walking chassis
- cleaning device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H11/00—Control of undesirable vegetation on roads or similar surfaces or permanent ways of railways, e.g. devices for scorching weeds or for applying herbicides; Applying liquids, e.g. water, weed-killer bitumen, to permanent ways
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a laser cleaning device for lichen on the surface of a rock, which is suitable for cleaning the surface of the rock in a park scenic spot with the gradient less than 40 degrees, and comprises: a walking chassis; the laser device is loaded on the walking chassis and comprises a first laser head arranged on the lower surface of the front part of the frame of the walking chassis; and the vehicle-mounted controller is arranged on the walking chassis to control the laser and the walking chassis. Based on the invention, the lichen on the rock surface of the scenic spot can be effectively removed.
Description
Technical Field
The invention relates to a laser cleaning device for cleaning lichen on the surface of a rock.
Background
Lichen is a symbiotic complex of algae and fungi, which symbiotic with algae and is morphologically distinct from monogenic algae or fungi and is therefore defined solely by the plant community as lichen.
The earth is a rock ring planet, and the earth does not have soil in the early stage, and as known from "botanicals" (Yanyangwen, Zhongnong, university of Huazhongke publishers), lichen plays a certain role in the formation process of soil, and various lichen acids growing on the surface of rock can corrode the rock surface, so that the rock surface is gradually cracked and broken, and in addition, a soil layer is gradually formed on the surface of rock through natural weathering, thereby creating conditions for the growth of other higher plants. Thus, lichens are often referred to as "plant topographers" or pioneers.
When the rock or stone becomes landscape, building or other structures, the positive effect of lichenic acid becomes negative, for example landscape in parks, flooring stone etc., although lichen does not flourish, it is sufficient to have a large impact on the stone, in addition to affecting the surface quality of the stone, possibly causing cracking of the stone.
Current methods of moss removal are limited, particularly in parks where more time is spent not treating moss as a pest, and park managers even prefer moss to be present, but rather allow it to cover rocks, resulting in better decorative effects. However, the harmfulness of lichen is substantially beyond the recognition of most people, and some park landscapes produce more severe efflorescence in less than 10 years, which is directly related to the harmful effects of lichen.
More intuitive, in some buildings, such as residential areas, lichen grows on the outer wall decoration surface, if the outer wall decoration surface is not cleaned, the outer wall decoration is mottled, and most of the originally new buildings are old in appearance within a few years.
The laser cleaning device based on the embodiment of the invention is not suitable for cleaning lichen on common buildings, but is suitable for scenes which are relatively short or need to clean the surface with the gradient less than 40 degrees, taking residential areas as an example, and is only used for the recognition of lichen harm by a person skilled in the art, and has no limiting effect on the invention.
It is to be understood that there is no specific moss removing apparatus, and even if the exterior wall of a building is used, only the moss is removed by scraping or brushing, and then the exterior wall is decorated, and the inventor believes that there is a need for developing a specific moss removing apparatus.
Disclosure of Invention
The invention aims to provide a laser cleaning device for removing lichen on the rock surface of a scenic spot.
The embodiment of the invention provides a laser cleaning device for cleaning lichen on a rock surface, which is suitable for cleaning the rock surface in a park scenic spot with a gradient of less than 40 degrees, and comprises:
a walking chassis;
the laser device is loaded on the walking chassis and comprises a first laser head arranged on the lower surface of the front part of the frame of the walking chassis;
and the vehicle-mounted controller is arranged on the walking chassis to control the laser and the walking chassis.
Optionally, the laser device further comprises a second laser head mounted on the lower surface of the rear part of the chassis frame.
Optionally, an air outlet is formed in the lower surface of the middle of the walking chassis frame to blow away materials cleaned by the first laser head;
correspondingly, a compressed air pump is provided to output and connect the air outlet.
Optionally, the walking chassis has an instrument cabin, and the body of the laser and the onboard controller are mounted in the instrument cabin;
the compressed air pump is used for cooling the vehicle-mounted instrument in the instrument cabin;
correspondingly, the air outlet constitutes a cooling air outlet.
Optionally, a dust suction port is arranged on the lower surface of the middle part or the rear part of the walking chassis frame;
correspondingly, a dust collector matched and connected with the dust collection port is arranged on the walking chassis.
Optionally, the walking chassis has an instrument cabin, and the body of the laser and the onboard controller are mounted in the instrument cabin;
and providing a cooling device for cooling instruments in the instrument chamber, wherein an air outlet of the cooling device is positioned at the lower side of the rear part of the walking chassis frame.
Optionally, the dust suction port is located at a front side of the air outlet, and the fan of the cooling device constitutes a dust suction fan of the vacuum cleaner.
Optionally, a wireless communication module connected with the vehicle-mounted controller is mounted on the walking chassis;
and providing a remote controller for remotely controlling the vehicle-mounted chassis through the wireless communication module.
Optionally, a CCD camera is provided on the walking chassis.
Optionally, the walking wheels of the walking chassis are walking wheels with pointed teeth distributed in the circumferential direction.
Compared with the field where lichens are flourishing, more lichens in the scenic spot of the park are in a nascent state or a relatively short state, so that the lichens can be effectively cleaned by the laser cleaning device. The laser cleaning device for the lichen on the surface of the rock is suitable for the new field, and the laser head of the laser is arranged on the lower surface of a frame of a movable chassis by loading the laser on the movable chassis so as to clean the lichen on the surface of the rock. The washed lichen is more dead and can be rotten and absorbed by other plants without causing additional pollution.
Drawings
Fig. 1 is a schematic perspective view of a laser cleaning device for cleaning rock surface lichen in one embodiment.
FIG. 2 is a schematic view of the laser cleaning device for cleaning the lichen on the surface of the rock according to an embodiment.
In the figure: 1. the device comprises a laser head, 2 parts of front wheels, 3 parts of front wheel frames, 4 parts of lasers, 5 parts of infrared spectrometers, 6 parts of frames, 7 parts of rear wheels, 8 parts of rear wheel frames, 9 parts of CCD cameras, 10 parts of dust suction ports and 11 parts of heat dissipation air ports.
Detailed Description
In the implementation of the invention, the laser cleaning device for the moss on the rock surface is suitable for the nascent state moss which is attached to the rock surface, has small adhesive force and small individual and has weak resistance to laser cleaning.
In the embodiment of the present invention, the laser 4 uses Er: YAG erbium laser can generate 2940nm infrared laser with strong heat effect, and can rapidly heat lichen and dust shell on the surface of rock to make the dust shell and lichen burst.
In addition, the infrared laser with the wavelength of 2940nm can damage the cell walls of plants, so that the activity of fungi and moss is greatly reduced or the moss is directly killed, and even if the cleaned materials are still left in place, the materials can also become organic fertilizers without influencing the surrounding ecology. And the separation between the water-based paint and the rock can be carried away by external media such as wind and the like, so that the surface of the rock is kept relatively clean.
Limited by the climbing capacity of the walking chassis, the laser cleaning device for the rock surface lichen is suitable for cleaning the rock surface in a park scenic spot with the gradient of less than 40 degrees in the embodiment of the invention, and a toothed wheel is adopted in figures 1 and 2, so that the laser cleaning device for the rock surface lichen can be improved.
For the walking chassis, an automatic control mode can be adopted, the walking chassis is constructed into a walking robot, general attributes of the robot are matched, and sensors such as an obstacle avoidance device and a distance measurement device can be configured for the walking chassis, so that autonomous movement and cleaning of the walking chassis are facilitated, and the walking chassis is mature in a sweeping robot.
The walking chassis adopts a wheel type chassis in figures 1 and 2, and the wheel type chassis is relatively flexible and convenient to control independently relative to a crawler type chassis.
In some embodiments, the walking of the walking chassis may be manually operated by a manual remote control mode, for this reason, components required for remotely controlling the walking chassis, such as a remote controller and a receiving end installed on the walking chassis, are configured, and such remote control belongs to general knowledge in the field of machinery and is not described herein again.
In the configuration shown in fig. 1, the laser 4 is schematically mounted on a carriage 6 of the walking chassis, the laser 4 itself having a housing in general, and in an embodiment of the invention a separate compartment is provided on the carriage 6 for mounting relatively fragile equipment, such as the body of the laser. This compartment is called the instrument compartment.
In fig. 2, the laser head 1 is installed at the lower side of the front part of the carriage 6, fig. 2 is a related structure of an embodiment, in other embodiments, the laser head 1 can be arranged at a plurality of positions, and in order to distinguish the laser heads 1 arranged at different positions, the laser head 1 positioned at the lower surface of the front part of the carriage 6 is called a first laser head.
Regarding the laser head 1, preferably the laser head 1 capable of outputting rectangular light spots, in the figure, the laser head 1 is arranged transversely to the vehicle frame, and is approximately equal to the width of the vehicle frame 6, in some embodiments, there may be a plurality of laser heads 1 at each position, so as to reduce the burden of laser shaping.
In general, the laser spot output by the laser 1 is a circular spot, and a rectangular spot can be obtained by shaping, if the aspect ratio of the rectangular spot is relatively large, the load of the laser shaping device is inevitably increased, and therefore, in order to reduce the load of the laser shaping device, the laser head 1 shown in fig. 2 can be formed by transversely arraying a plurality of rectangular laser heads capable of independently outputting laser on the vehicle frame 6.
For the vehicle-mounted controller, if the vehicle-mounted controller is simply walked and the laser is started, the number of control points is very small, and the requirement on the vehicle-mounted controller is low. If the vehicle-mounted controller is required to automatically control the walking chassis to walk, the control requirement on the vehicle-mounted controller is relatively high. In contrast, the control of the single walking chassis still belongs to a simpler control in the mechanical field, and the control is very mature and is not described in detail herein.
The onboard controller and the adapted circuit board are also mounted in the aforementioned instrument pod in embodiments of the invention.
In contrast to the embodiment shown in fig. 2, in which the laser heads 1 are arranged only at the front of the carriage 6, it is also possible, in some embodiments, to assign one or a group of laser heads 1 to the rear of the carriage 6, the laser head 1 located at the lower surface of the rear of the carriage 6 being referred to as the second laser head.
In laser cleaning, the principle is that the photophysical reaction is utilized to make the pollutants absorb larger energy, part of materials are changed into plasma, and stronger shock waves are generated, so that the pollutants are broken. In the case of the present invention, as mentioned above, the work object is to provide a dust crust on the rock in addition to the moss itself, which is broken to facilitate removal of the moss which is also destroyed by heat build-up.
The destructive power of a single or single group of laser heads 1 is relatively limited, and lichens are relatively abundant in some places, so that after the first laser head is cleaned once, the second laser head is used for continuous cleaning, and a better cleaning effect can be obtained.
Further, an air outlet, such as a heat dissipation air port 11 shown in fig. 2, is formed in the lower surface of the middle of the chassis frame, so as to blow away the material cleaned by the first laser head. Although part of dirt and lichen are directly destroyed and cleaned away, part of cleaned materials are left in situ, and the materials are blown away by the air blown out from the air outlet, so that the cleaning by the second laser head for continuous cleaning is facilitated.
Correspondingly, a compressed air pump is provided to output and connect the air outlet.
In a preferred embodiment, the walking chassis has an instrument bay, as previously described, and the body of the laser and the onboard controller are mounted within the instrument bay.
Further, the compressed air pump is used for cooling the on-board instrument in the instrument cabin;
correspondingly, the air outlet constitutes a cooling air outlet.
Based on above-mentioned structure, multiplexing compressed air pumping in other words, both being used for the cooling of on-vehicle instrument, also being used for blowing away the material that laser head 1 cleared up. And after the air flows through the cooling object, the temperature of the air can be increased, which is more beneficial to removing the dirt.
In some embodiments, as shown in figure 2, the underside of the middle or rear part of the chassis is provided with a suction opening 10 to allow moss, dust etc to be removed to avoid further survival of any remaining viable moss on its fall.
Correspondingly, a dust collector matched and connected with the dust collection port is arranged on the walking chassis.
Further preferably, the walking chassis is provided with an instrument cabin, and the body of the laser 4 and the vehicle-mounted controller are installed in the instrument cabin;
and providing a cooling device for cooling instruments in the instrument chamber, wherein an air outlet of the cooling device is positioned at the lower side of the rear part of the walking chassis frame.
In addition, the dust suction port 10 is located at the front side of the air outlet, and the fan of the cooling device forms a dust suction fan of the dust collector. In general, the equipment configuration amount can be reduced by multiplexing the cooling fan or the dust suction fan.
In addition, the material sucked by the dust suction fan is still clean gas after being blocked by the dust bag of the dust collector, and can be used for cooling equipment.
The dust bag can be cleaned regularly.
In some embodiments, a ccd (charge Coupled device), ccd image sensor) camera 9 is provided on the walking chassis to facilitate monitoring of field conditions by remote end personnel to control, for example, the speed of the walking chassis.
In the foregoing, it is pointed out that the road wheels can be configured as road wheels with a pointed tooth-shaped structure to improve the climbing ability, and in fig. 1, both the front wheels 2 and the rear wheels 7 can be configured as driving wheels, wherein the front wheels 2 are steering wheels. In some embodiments, the rear wheels may also be configured as steerable wheels, configured as a four-wheel dual steering chassis as a whole.
Claims (10)
1. A rock surface lichen laser cleaning device suitable for cleaning of rock surfaces in park sceneries with a gradient of less than 40 degrees, the device comprising:
a walking chassis;
the laser device is loaded on the walking chassis and comprises a first laser head arranged on the lower surface of the front part of the frame of the walking chassis;
and the vehicle-mounted controller is arranged on the walking chassis to control the laser and the walking chassis.
2. A laser cleaning device for cleaning lichen on the surface of rock as claimed in claim 1, wherein the laser further comprises a second laser head mounted on the lower surface of the rear part of the chassis frame.
3. A laser cleaning device for lichen on the surface of rock according to claim 2, wherein the lower surface of the middle part of the travelling chassis frame is provided with an air outlet for blowing away the material cleaned by the first laser head;
correspondingly, a compressed air pump is provided to output and connect the air outlet.
4. The laser cleaning device for cleaning rock surface lichen according to claim 3, wherein the walking chassis has an instrument chamber, the body of the laser and the onboard controller are mounted in the instrument chamber;
the compressed air pump is used for cooling the vehicle-mounted instrument in the instrument cabin;
correspondingly, the air outlet constitutes a cooling air outlet.
5. The laser cleaning device for the rock surface lichen according to claim 1, wherein a dust suction port is arranged on the lower surface of the middle part or the rear part of the walking chassis frame;
correspondingly, a dust collector matched and connected with the dust collection port is arranged on the walking chassis.
6. The laser cleaning device for cleaning rock surface lichen according to claim 5, wherein the walking chassis has an instrument chamber, the body of the laser and the onboard controller are mounted in the instrument chamber;
and providing a cooling device for cooling instruments in the instrument chamber, wherein an air outlet of the cooling device is positioned at the lower side of the rear part of the walking chassis frame.
7. A laser cleaning device for lichen on the surface of rock as claimed in claim 6, wherein the suction opening is located at the front side of the air outlet, and the fan of the cooling device constitutes a suction fan of a vacuum cleaner.
8. The laser cleaning device for the lichen on the surface of the rock of claim 1, wherein a wireless communication module connected with the vehicle-mounted controller is mounted on the walking chassis;
and providing a remote controller for remotely controlling the vehicle-mounted chassis through the wireless communication module.
9. A laser cleaning device for lichen on the surface of rock as claimed in claim 8, wherein a CCD camera is provided on the walking chassis.
10. The laser cleaning device for the lichen on the surface of the rock of claim 1, wherein the walking wheels of the walking chassis are walking wheels with sharp teeth distributed circumferentially.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474360.0A CN111570417A (en) | 2020-05-29 | 2020-05-29 | Laser cleaning device for lichen on rock surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474360.0A CN111570417A (en) | 2020-05-29 | 2020-05-29 | Laser cleaning device for lichen on rock surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111570417A true CN111570417A (en) | 2020-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010474360.0A Pending CN111570417A (en) | 2020-05-29 | 2020-05-29 | Laser cleaning device for lichen on rock surface |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004011462A1 (en) * | 2004-03-09 | 2005-09-29 | Michael Schmutzenhofer | Equipment is for eliminating snow, ice and weeds from pavements and highways and incorporates laser moved over surface to be treated, melting ice and snow and carbonizing weeds |
| CN200959744Y (en) * | 2006-10-23 | 2007-10-17 | 李长海 | Running gear for rice and wheat combine-harvester |
| CN101589705A (en) * | 2009-06-26 | 2009-12-02 | 江苏大学 | A kind of laser weeding robot |
| CN203087363U (en) * | 2013-01-23 | 2013-07-31 | 昆明理工大学 | Laser weeding robot |
| CN107690280A (en) * | 2015-05-29 | 2018-02-13 | 罗伯特·博世有限公司 | Weeder |
| CN208023375U (en) * | 2017-12-15 | 2018-10-30 | 新疆大学 | A kind of roadmarking removing equipment |
| CN109365417A (en) * | 2018-12-17 | 2019-02-22 | 济南大学 | The laser cleaner of sports field markings |
| CN110612242A (en) * | 2017-05-17 | 2019-12-24 | 拜耳股份公司 | Weeding at high speed |
-
2020
- 2020-05-29 CN CN202010474360.0A patent/CN111570417A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004011462A1 (en) * | 2004-03-09 | 2005-09-29 | Michael Schmutzenhofer | Equipment is for eliminating snow, ice and weeds from pavements and highways and incorporates laser moved over surface to be treated, melting ice and snow and carbonizing weeds |
| CN200959744Y (en) * | 2006-10-23 | 2007-10-17 | 李长海 | Running gear for rice and wheat combine-harvester |
| CN101589705A (en) * | 2009-06-26 | 2009-12-02 | 江苏大学 | A kind of laser weeding robot |
| CN203087363U (en) * | 2013-01-23 | 2013-07-31 | 昆明理工大学 | Laser weeding robot |
| CN107690280A (en) * | 2015-05-29 | 2018-02-13 | 罗伯特·博世有限公司 | Weeder |
| CN110612242A (en) * | 2017-05-17 | 2019-12-24 | 拜耳股份公司 | Weeding at high speed |
| CN208023375U (en) * | 2017-12-15 | 2018-10-30 | 新疆大学 | A kind of roadmarking removing equipment |
| CN109365417A (en) * | 2018-12-17 | 2019-02-22 | 济南大学 | The laser cleaner of sports field markings |
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