公开(公告)号：US08325872B2

公开(公告)日：2012-12-04

申请号：US12752783

申请日：2010-04-01

申请人： Mitsuaki Shimamura ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

发明人： Mitsuaki Shimamura ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

IPC分类号： G21C17/00

CPC分类号： G21C17/003 ,  B63C11/52 ,  G21C19/207 ,  G21Y2002/304 ,  G21Y2002/40 ,  G21Y2004/501 ,  G21Y2004/504

摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.

摘要翻译： 工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

公开(公告)号：US20070253518A1

公开(公告)日：2007-11-01

申请号：US11270823

申请日：2005-11-10

申请人： Mitsuaki Shimamura ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

发明人： Mitsuaki Shimamura ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

IPC分类号： G21C19/00

CPC分类号： G21C17/003 ,  B63C11/52 ,  G21C19/207 ,  G21Y2002/304 ,  G21Y2002/40 ,  G21Y2004/501 ,  G21Y2004/504

摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.

摘要翻译： 工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

公开(公告)号：US20100232562A1

公开(公告)日：2010-09-16

申请号：US12752783

申请日：2010-04-01

申请人： Mitsuaki SHIMAMURA ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

发明人： Mitsuaki SHIMAMURA ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

IPC分类号： G21C17/00

CPC分类号： G21C17/003 ,  B63C11/52 ,  G21C19/207 ,  G21Y2002/304 ,  G21Y2002/40 ,  G21Y2004/501 ,  G21Y2004/504

摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.

摘要翻译： 工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

公开(公告)号：US07720190B2

公开(公告)日：2010-05-18

申请号：US11270823

申请日：2005-11-10

申请人： Mitsuaki Shimamura ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

发明人： Mitsuaki Shimamura ,  Takeshi Maehara ,  Ikuko Kameyama ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Toru Taguchi

IPC分类号： G21C17/00

CPC分类号： G21C17/003 ,  B63C11/52 ,  G21C19/207 ,  G21Y2002/304 ,  G21Y2002/40 ,  G21Y2004/501 ,  G21Y2004/504

摘要： A working apparatus has: a working equipment for doing works on a structure; a folding/unfolding mechanism for conveying the working equipment to the working position in a folded state; a conveyance mechanism (such as a horizontal thruster) for conveying the working equipment and the folding/unfolding mechanism to the working position; a pressing mechanism (such as a ballast tank) for pressing the working equipment against the lower surface of the structure; and a traveling mechanism including a wheel for traveling along the lower surface of the structure and positioning the apparatus.

摘要翻译： 工作设备有：在结构上进行工作的工作设备; 用于将工作设备以折叠状态传送到工作位置的折叠/展开机构; 用于将工作设备和折叠/展开机构输送到工作位置的输送机构（例如水平推进器）; 用于将工作设备压靠在结构的下表面上的按压机构（例如压载舱）; 以及行走机构，其包括用于沿着所述结构的下表面行进并定位所述装置的车轮。

公开(公告)号：US08085296B2

公开(公告)日：2011-12-27

申请号：US11470108

申请日：2006-09-05

申请人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

发明人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

IPC分类号： H04N7/18

CPC分类号： G01B11/002 ,  G01S5/163

摘要： A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

摘要翻译： 预先获得基于监视器和移动体之间的相对距离计算操作位置的方法，以确定图像拍摄对象的表面上的相对距离和尺寸之间的一对一相关性。 在拍摄对象和监视器之间测量相对角度。 使用监视器的照相机拍摄移动体。 将图像上的参考点之间的距离和尺寸与与测量的相对角度一致的相关数据进行比较。

公开(公告)号：US20110292205A1

公开(公告)日：2011-12-01

申请号：US11470108

申请日：2006-09-05

申请人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

发明人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

IPC分类号： H04N7/18

CPC分类号： G01B11/002 ,  G01S5/163

摘要： A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

摘要翻译： 预先获得基于监视器和移动体之间的相对距离计算操作位置的方法，以确定图像拍摄对象的表面上的相对距离和尺寸之间的一对一相关性。 在拍摄对象和监视器之间测量相对角度。 使用监视器的照相机拍摄移动体。 将图像上的参考点之间的距离和尺寸与与测量的相对角度一致的相关数据进行比较。

公开(公告)号：US20080264451A1

公开(公告)日：2008-10-30

申请号：US12053061

申请日：2008-03-21

申请人： Mitsuaki SHIMAMURA ,  Yutaka Togasawa ,  Takeshi Maehara ,  Yasuhiro Yuguchi

发明人： Mitsuaki SHIMAMURA ,  Yutaka Togasawa ,  Takeshi Maehara ,  Yasuhiro Yuguchi

IPC分类号： B08B9/045 ,  B08B13/00 ,  B23K28/00 ,  B24B7/00 ,  B23K9/00 ,  B23K26/00

CPC分类号： B24B5/40 ,  B23K37/02 ,  B23K2101/06 ,  B24B39/02 ,  G21C15/25 ,  G21C17/017 ,  G21Y2002/304 ,  G21Y2004/501 ,  G21Y2004/504

摘要： An apparatus for processing an inside of a pipe which performs various works from an inside of a pipe, includes traveling drive units, a working device, rotation support mechanisms, a coupling mechanism, and suspension devices. The traveling drive units are inserted into the inside of the pipe, and the working device is moved in a circumferential direction along the inside of the pipe by the traveling drive units.

摘要翻译： 一种用于处理管道内部的装置，其从管道内部进行各种工作，包括行驶驱动单元，作业装置，旋转支撑机构，联接机构和悬挂装置。 行进驱动单元插入到管的内部，并且通过行驶驱动单元沿着管的内部沿着圆周方向移动作业装置。

公开(公告)号：US08157922B2

公开(公告)日：2012-04-17

申请号：US12053061

申请日：2008-03-21

申请人： Mitsuaki Shimamura ,  Yutaka Togasawa ,  Takeshi Maehara ,  Yasuhiro Yuguchi

发明人： Mitsuaki Shimamura ,  Yutaka Togasawa ,  Takeshi Maehara ,  Yasuhiro Yuguchi

IPC分类号： B08B9/045 ,  B08B13/00 ,  B23K28/00 ,  B23K9/00 ,  B23K26/00 ,  B24B7/00

CPC分类号： B24B5/40 ,  B23K37/02 ,  B23K2101/06 ,  B24B39/02 ,  G21C15/25 ,  G21C17/017 ,  G21Y2002/304 ,  G21Y2004/501 ,  G21Y2004/504

摘要： An apparatus for processing an inside of a pipe which performs various works from an inside of a pipe, includes traveling drive units, a working device, rotation support mechanisms, a coupling mechanism, and suspension devices. The traveling drive units are inserted into the inside of the pipe, and the working device is moved in a circumferential direction along the inside of the pipe by the traveling drive units.

摘要翻译： 一种用于处理管道内部的装置，其从管道内部进行各种工作，包括行驶驱动单元，作业装置，旋转支撑机构，联接机构和悬挂装置。 行进驱动单元插入到管的内部，并且通过行驶驱动单元沿着管的内部沿着圆周方向移动作业装置。

公开(公告)号：US20060222138A1

公开(公告)日：2006-10-05

申请号：US11270832

申请日：2005-11-10

申请人： Mitsuaki Shimamura ,  Motohiko Kimura ,  Tomoyuki Ito ,  Yasuhiro Yuguchi ,  Toru Taguchi

发明人： Mitsuaki Shimamura ,  Motohiko Kimura ,  Tomoyuki Ito ,  Yasuhiro Yuguchi ,  Toru Taguchi

IPC分类号： G21C19/00

CPC分类号： G21C17/01 ,  G21C19/00 ,  G21Y2002/201 ,  G21Y2002/204 ,  G21Y2002/304 ,  G21Y2002/401 ,  G21Y2004/40 ,  G21Y2004/501 ,  G21Y2004/504

摘要： A working apparatus has: a working equipment for doing works on a structure; an operation mechanism adapted to actively move the working equipment relative to the structure; and an adhering/traveling module coupled to the operation mechanism and adapted to adhere to the structure so as to have the weight of the working apparatus borne by the structure and travel/move on the structure for positioning. With this arrangement, the working apparatus can perform accurate positioning operations in a narrow environment and complex scanning operations by means of various pieces of the working equipment such as inspection sensors, and can secure a large working area within a short period of time and reduce the overall working hours.

摘要翻译： 工作设备有：在结构上进行工作的工作设备; 适于主动地移动工作设备相对于结构的操作机构; 以及粘接/移动模块，其联接到所述操作机构并且适于粘附到所述结构，以使得所述工作装置的重量由所述结构承载并且在所述结构上行进/移动以进行定位。 通过这种布置，工作装置可以通过诸如检查传感器的各种工作设备在狭窄的环境中执行精确的定位操作和复杂的扫描操作，并且可以在短时间内确保大的工作区域并且减少 整体工作时间

公开(公告)号：US07270021B2

公开(公告)日：2007-09-18

申请号：US11270832

申请日：2005-11-10

申请人： Mitsuaki Shimamura ,  Motohiko Kimura ,  Tomoyuki Ito ,  Yasuhiro Yuguchi ,  Toru Taguchi

发明人： Mitsuaki Shimamura ,  Motohiko Kimura ,  Tomoyuki Ito ,  Yasuhiro Yuguchi ,  Toru Taguchi

IPC分类号： G21C17/01 ,  G21C17/013

CPC分类号： G21C17/01 ,  G21C19/00 ,  G21Y2002/201 ,  G21Y2002/204 ,  G21Y2002/304 ,  G21Y2002/401 ,  G21Y2004/40 ,  G21Y2004/501 ,  G21Y2004/504

摘要： A working apparatus has: a working equipment for doing works on a structure; an operation mechanism adapted to actively move the working equipment relative to the structure; and an adhering/traveling module coupled to the operation mechanism and adapted to adhere to the structure so as to have the weight of the working apparatus borne by the structure and travel/move on the structure for positioning. With this arrangement, the working apparatus can perform accurate positioning operations in a narrow environment and complex scanning operations by means of various pieces of the working equipment such as inspection sensors, and can secure a large working area within a short period of time and reduce the overall working hours.

摘要翻译： 工作设备有：在结构上进行工作的工作设备; 适于主动地移动工作设备相对于结构的操作机构; 以及粘接/移动模块，其联接到所述操作机构并且适于粘附到所述结构，以使得所述工作装置的重量由所述结构承载并且在所述结构上行进/移动以进行定位。 通过这种布置，工作装置可以通过诸如检查传感器的各种工作设备在狭窄的环境中执行精确的定位操作和复杂的扫描操作，并且可以在短时间内确保大的工作区域并且减少 整体工作时间