公开(公告)号：US20070037484A1

公开(公告)日：2007-02-15

申请号：US10573630

申请日：2004-08-05

申请人： Naoyuki Ohishi ,  Hisaaki Kawaguchi

发明人： Naoyuki Ohishi ,  Hisaaki Kawaguchi

IPC分类号： B24B51/00 ,  B24B49/00

CPC分类号： B08B7/02 ,  B08B3/02 ,  E01H1/005

摘要： A method and a system for cleaning the glass surface of an object, such as a surface light, a run way guide light, or a reflector, installed on various pavements or roads, by propelling a cleaning agent from a blast nozzle to the glass surface. The blast nozzle is installed on the front end of an arm of a working robot mounted on a truck. A truck mounted with a cleaning agent blaster and a working robot (21) provided with a blast nozzle (23) and a CCD camera (24) at the forward end of a manipulator is stopped at a specified position in the vicinity of an object to be cleaned, i.e. surface light or a reflection mirror (30). Based on an image of the object taken by the CCD camera (24), dimensions are recognized from distance information through processing by a vehicle-mounted computer, the image shape of the object is collated with a stored shape and recognized, and then positional information of the recognized object is searched. Cleaning agent is propelled from the blast nozzle (23) at the forward end of the manipulator (22) toward the object while measuring the extent of cleaning, brightness or light intensity of the cleaned object is determined by the CCD camera, and automatic cleaning is performed.

摘要翻译： 一种用于通过将清洁剂从喷嘴喷射到玻璃表面来清洁安装在各种路面或道路上的物体​​的诸如表面光，跑道导向灯或反射器的玻璃表面的方法和系统 。 喷射喷嘴安装在安装在卡车上的作业机器人的臂的前端。 安装有清洁剂喷射器的卡车和在机械手的前端设置有喷嘴（23）和CCD相机（24）的作业机器人（21）停在对象附近的指定位置 被清洁，即表面光或反射镜（30）。 基于CCD摄像机（24）拍摄的物体的图像，通过车载计算机的处理从距离信息识别尺寸，将物体的图像形状与存储的形状进行对照并识别，然后位置信息 的被识别对象被搜索。 清洁剂从机械手（22）前端的喷嘴（23）朝向物体推进，同时测量清洁物体的程度，清洁物体的亮度或光强由CCD照相机确定，自动清洗 执行。

公开(公告)号：US07291056B2

公开(公告)日：2007-11-06

申请号：US10573630

申请日：2004-08-05

申请人： Naoyuki Ohishi ,  Hisaaki Kawaguchi

发明人： Naoyuki Ohishi ,  Hisaaki Kawaguchi

IPC分类号： B24B49/00

CPC分类号： B08B7/02 ,  B08B3/02 ,  E01H1/005

摘要： A method and a system for cleaning the glass surface of an object, such as a surface light, a run way guide light, or a reflector, installed on various pavements or roads, by propelling a cleaning agent from a blast nozzle to the glass surface. The blast nozzle is installed on the front end of an arm of a working robot mounted on a truck. A truck mounted with a cleaning agent blaster and a working robot (21) provided with a blast nozzle (23) and a CCD camera (24) at the forward end of a manipulator is stopped at a specified position in the vicinity of an object to be cleaned, i.e. surface light or a reflection mirror (30). Based on an image of the object taken by the CCD camera (24), dimensions are recognized from distance information through processing by a vehicle-mounted computer, the image shape of the object is collated with a stored shape and recognized, and then positional information of the recognized object is searched. Cleaning agent is propelled from the blast nozzle (23) at the forward end of the manipulator (22) toward the object while measuring the extent of cleaning, brightness or light intensity of the cleaned object is determined by the CCD camera, and automatic cleaning is performed.

摘要翻译： 一种用于通过将清洁剂从喷嘴喷射到玻璃表面来清洁安装在各种路面或道路上的物体​​的诸如表面光，跑道导向灯或反射器的玻璃表面的方法和系统 。 喷射喷嘴安装在安装在卡车上的作业机器人的臂的前端。 安装有清洁剂喷射器的卡车和在机械手的前端设置有喷嘴（23）和CCD相机（24）的作业机器人（21）停在对象附近的指定位置 被清洁，即表面光或反射镜（30）。 基于CCD摄像机（24）拍摄的物体的图像，通过车载计算机的处理从距离信息识别尺寸，将物体的图像形状与存储的形状进行对照并识别，然后位置信息 的被识别对象被搜索。 清洁剂从机械手（22）前端的喷嘴（23）朝向物体推进，同时测量清洁物体的程度，清洁物体的亮度或光强由CCD照相机确定，自动清洗 执行。