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1. 发明授权

US06331887B1 Outdoor range finder 有权
标题翻译：户外测距仪
公开(公告)号：US06331887B1
公开(公告)日：2001-12-18
申请号：US09355707
申请日：1999-09-23
申请人： Kazunari Shiraishi , Hitoshi Wakisako , Yoshinaga Maruyama , Kyoji Yano , Moriyuki Nakashima
发明人： Kazunari Shiraishi , Hitoshi Wakisako , Yoshinaga Maruyama , Kyoji Yano , Moriyuki Nakashima
IPC分类号： G01C300
CPC分类号： G01B11/026 , G01B11/00 , G01C3/085
摘要： The present invention is a distance measuring device having a low power laser for use outdoors. The distance measuring device of the invention includes a laser emitting means that emits a pulsed laser beam to an object to be measured and an image reader that takes in irradiations images and stop period images of the object synchronously with an irradiation and stop period of the laser beam. A processing device then subtracts the stop image pixel values from the emission image pixel values to produce differential images. A minimum value image of the differential images is processed and binarized using a binary threshold to produce binary data from which a position where the laser beam is received is found. A calculation apparatus then determines a distance between the laser beam receiving position and the object based on the position where the laser beam is received.
摘要翻译：本发明是一种具有用于室外使用的低功率激光的距离测量装置。本发明的距离测量装置包括：激光发射装置，其向待测对象发射脉冲激光束;以及图像读取器，其与激光的照射和停止时段同步地照射对象的图像和停止周期图像光束。处理装置然后从发射图像像素值中减去停止图像像素值以产生差分图像。差分图像的最小值图像被使用二进制阈值进行处理和二进制化，以产生从其接收激光束的位置的二进制数据。然后，计算装置基于接收到激光束的位置来确定激光束接收位置与物体之间的距离。

2. 发明授权

US06540473B2 Robot vehicle for hot-line job 失效
标题翻译：机器人车辆用于热线工作
公开(公告)号：US06540473B2
公开(公告)日：2003-04-01
申请号：US09880317
申请日：2001-06-13
申请人： Hirofumi Inokuchi , Toshihide Tomiyama , Yoshihiro Yurita , Shinji Murai , Yusuke Hirano , Shinji Harada , Kengo Tsuruta , Youichi Motomura , Kazutoshi Imai , Yoshiaki Haga , Yoshikatsu Nakamura , Yukio Hashiguchi , Mitsuhiro Matsuzaki , Hiromichi Yamada , Akihiko Mishima , Yoshinaga Maruyama , Kyoji Yano , Moriyuki Nakashima , Osamu Yamashita
发明人： Hirofumi Inokuchi , Toshihide Tomiyama , Yoshihiro Yurita , Shinji Murai , Yusuke Hirano , Shinji Harada , Kengo Tsuruta , Youichi Motomura , Kazutoshi Imai , Yoshiaki Haga , Yoshikatsu Nakamura , Yukio Hashiguchi , Mitsuhiro Matsuzaki , Hiromichi Yamada , Akihiko Mishima , Yoshinaga Maruyama , Kyoji Yano , Moriyuki Nakashima , Osamu Yamashita
IPC分类号： B65G100
CPC分类号： B25J5/06 , B25J9/0084 , B25J15/04 , B66F11/046 , H02G1/02 , Y10T483/15
摘要： A robot vehicle for hot-line job for transmission and distribution lines which comprises an insulating boom formed of an insulating material at a tip end stage of multiple stage booms, a base end of which is supported on an elevated work vehicle to be capable of swinging, pivoting up and down, and extending and contracting, and a frame provided on the tip end of the insulating boom, the frame mounting thereon double arm manipulators of multishaft construction for performing a distribution work, a slide device for sliding independently these right and left double arm manipulators front to rear, and lifting arms of multishaft construction having a function of lifting a heavy article, so as to allow an operator to perform remote control. An electric actuator is used for driving the double arm manipulators and the slide device, and hydraulic manipulators for driving the lifting arms. Accordingly, a robot vehicle for hot-line job is provided to mount thereon a third arm which enables highly accurate positioning of the manipulators, remote control by an operator and automatic operation through a teaching-playback, has a function of lifting a heavy article, and is small-sized and lightweight.
摘要翻译：一种用于输配电线路的热线工作的机器人车辆，其包括由多级起重臂的末端阶段由绝缘材料形成的绝缘臂，其基端支撑在升高的作业车辆上以能够摆动，上下摆动和伸缩，以及设置在绝缘吊杆末端的框架，框架上安装有用于进行分配工作的多层结构的双臂操纵器，用于独立地左右滑动的滑动装置从前到后的双臂操纵器以及具有抬起重物品的功能的多层结构的提升臂，以允许操作者进行远程控制。电动执行器用于驱动双臂操纵器和滑动装置，以及用于驱动提升臂的液压操纵器。因此，提供了一种用于热线作业的机器人车辆，其上安装有能够高精度地定位操纵器的第三臂，通过操作者的遥控和通过教学重放的自动操作具有提起重物品的功能，并且体积小巧轻便。

3. 发明授权

US06325749B1 Robot vehicle for hot-line job 失效
标题翻译：机器人车辆用于热线工作
公开(公告)号：US06325749B1
公开(公告)日：2001-12-04
申请号：US09284674
申请日：1999-05-17
申请人： Hirofumi Inokuchi , Toshihide Tomiyama , Yoshihiro Yurita , Shinji Murai , Yusuke Hirano , Shinji Harada , Kengo Tsuruta , Youichi Motomura , Kazutoshi Imai , Yoshiaki Haga , Yoshikatsu Nakamura , Yukio Hashiguchi , Mitsuhiro Matsuzaki , Hiromichi Yamada , Akihiko Mishima , Yoshinaga Maruyama , Kyoji Yano , Moriyuki Nakashima , Osamu Yamashita
发明人： Hirofumi Inokuchi , Toshihide Tomiyama , Yoshihiro Yurita , Shinji Murai , Yusuke Hirano , Shinji Harada , Kengo Tsuruta , Youichi Motomura , Kazutoshi Imai , Yoshiaki Haga , Yoshikatsu Nakamura , Yukio Hashiguchi , Mitsuhiro Matsuzaki , Hiromichi Yamada , Akihiko Mishima , Yoshinaga Maruyama , Kyoji Yano , Moriyuki Nakashima , Osamu Yamashita
IPC分类号： B23Q3155
CPC分类号： B25J5/06 , B25J9/0084 , B25J15/04 , B66F11/046 , H02G1/02 , Y10T483/15
摘要： A robot vehicle for hot-line job for transmission and distribution lines which comprises an insulating boom formed of an insulating material at a tip end stage of multiple stage booms, a base end of which is supported on an elevated work vehicle to be capable of swinging, pivoting up and down, and extending and contracting, and a frame provided on the tip end of the insulating boom, the frame mounting thereon double arm manipulators of multishaft construction for performing a distribution work, a slide device for sliding independently these right and left double arm manipulators front to rear, and lifting arms of multishaft construction having a function of lifting a heavy article, so as to allow an operator to perform remote control. An electric actuator is used for driving the double arm manipulators and the slide device, and hydraulic manipulators for driving the lifting arms. Accordingly, a robot vehicle for hot-line job is provided to mount thereon a third arm which enables highly accurate positioning of the manipulators, remote control by an operator and automatic operation through a teaching-playback, has a function of lifting a heavy article, and is small-sized and lightweight.
摘要翻译：一种用于输配电线路的热线工作的机器人车辆，其包括由多级起重臂的末端阶段由绝缘材料形成的绝缘臂，其基端支撑在升高的作业车辆上以能够摆动，上下摆动和伸缩，以及设置在绝缘吊杆末端的框架，框架上安装有用于进行分配工作的多层结构的双臂操纵器，用于独立地左右滑动的滑动装置从前到后的双臂操纵器以及具有抬起重物品的功能的多层结构的提升臂，以允许操作者进行远程控制。电动执行器用于驱动双臂操纵器和滑动装置，以及用于驱动提升臂的液压操纵器。因此，提供了一种用于热线作业的机器人车辆，其上安装有能够高精度地定位操纵器的第三臂，通过操作者的遥控和通过教学重放的自动操作具有提起重物品的功能，并且体积小巧轻便。

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