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1. 发明授权

US4922752A Flatness integrating/recording apparatus 失效
标题翻译：平整度积分/记录装置
公开(公告)号：US4922752A
公开(公告)日：1990-05-08
申请号：US239652
申请日：1988-09-02
申请人： Masahiro Kitazume , Makoto Aoki , Hiroshi Nogi , Kazuya Homma , Shigemi Matsuzawa
发明人： Masahiro Kitazume , Makoto Aoki , Hiroshi Nogi , Kazuya Homma , Shigemi Matsuzawa
IPC分类号： G01C7/04 , G01B11/30 , G01S17/88
CPC分类号： G01B11/306
摘要： A flatness integrating/recording apparatus of the present invention includes a car than can travel on a road surface, a device associated with the wheel of the car for calculating the travelled distance of the car, and an optical road surface irregularities measuring device provided on the car. The data obtained from these devices is processed by first and second signal processing portions so as to calculate the travelled distance and the irregularities of the road surface. The data output from the first and second signal processing portions is supplied to a display device and to a data storage portion. A set value inputting device for setting measuring conditions is provided in the tractor portion of the car. The output of the set value inputting device is supplied to the second signal processing portion.
摘要翻译：本发明的平坦度积分/记录装置包括一个汽车，比在路面上行驶的车辆，与汽车车轮相关联的装置，用于计算轿厢的行进距离;以及光学路面不规则测量装置，汽车。从这些装置获得的数据由第一和第二信号处理部分处理，以便计算行驶距离和路面的不规则性。从第一和第二信号处理部分输出的数据被提供给显示装置和数据存储部分。在轿厢的拖拉机部分设置有用于设定测量条件的设定值输入装置。设定值输入装置的输出被提供给第二信号处理部。

2. 发明授权

US4878754A Method of and apparatus for measuring irregularities of road surface 失效
标题翻译：测量路面不规则的方法和装置
公开(公告)号：US4878754A
公开(公告)日：1989-11-07
申请号：US107992
申请日：1987-10-14
申请人： Kazuya Homma , Hiroshi Nogi , Koichi Yamada , Masahiro Kitazume , Masamitsu Uzawa , Makoto Aoki
发明人： Kazuya Homma , Hiroshi Nogi , Koichi Yamada , Masahiro Kitazume , Masamitsu Uzawa , Makoto Aoki
IPC分类号： G01B11/30
CPC分类号： G01B11/306
摘要： A method of and apparatus for measuring any irregularity on a road surface by applying a beam onto a measuring point on the road surface and detecting any change in the vertical position of the center of the beam spot formed on the road surface thereby obtaining data concerning the irregularity on the road surface. The beam spot on the road surface is detected by a unidimensional CCD sensor and the position of the center of the beam spot is determined from the output of the unidimensional CCD sensor. The thus obtained data concerning the position of the center of the spot is suitably processed so that data concerning the irregularity on the road surface is obtained.
摘要翻译：一种用于通过将光束施加到路面上的测量点上并且检测在路面上形成的束斑的中心的垂直位置的任何变化来测量路面上的任何不规则性的方法和装置，从而获得关于路面不规则。通过一维CCD传感器检测路面上的光束点，并从一维CCD传感器的输出确定光束点的中心位置。适当地处理由此得到的关于点的中心的位置的数据，从而获得关于路面上的不规则性的数据。

3. 发明授权

US4896964A System for measuring irregularities of road surface 失效
标题翻译：测量路面不规则的系统
公开(公告)号：US4896964A
公开(公告)日：1990-01-30
申请号：US103286
申请日：1987-10-01
申请人： Masahiro Kitazume
发明人： Masahiro Kitazume
IPC分类号： E01C23/01 , G01B11/30 , G01C7/02
CPC分类号： G01B11/306
摘要： A system for measuring irregularities of a road surface, wherein laser rays irradiated on the road surface are received and processed in a predetermined manner. This system includes a body frame mounted on the road surface, a movable frame movably supported by this body frame, and a laser ray transmitting-receiving section connected to this movable frame. The laser ray transmitting-receiving section is additionally provided thereon with a signal process circuit, by which received signals are processed in a predetermined manner, whereby the irregularities of the road surface are measured. Processing performed in the signal process circuit is controlled in timing in accordance with a moving speed of the laser ray transmitting-receiving section.
摘要翻译：一种用于测量路面不规则性的系统，其中照射在路面上的激光以预定的方式被接收和处理。该系统包括安装在路面上的主体框架，由该主体框架可移动地支撑的可移动框架和连接到该可动框架的激光射线收发部件。激光射线发射接收部分附加地设置有信号处理电路，通过该信号处理电路以预定的方式处理接收的信号，由此测量路面的不规则性。根据激光射线发送接收部的移动速度，在时序上控制在信号处理电路中进行的处理。

4. 发明授权

US5023788A Control apparatus of working robot to flatten and finish the concreted floor 失效
标题翻译：工作机器人的控制装置，以平整和完成混凝土地板
公开(公告)号：US5023788A
公开(公告)日：1991-06-11
申请号：US502285
申请日：1990-03-30
申请人： Masahiro Kitazume , Kazuya Honma
发明人： Masahiro Kitazume , Kazuya Honma
IPC分类号： E04F21/24 , B25J5/00 , B25J9/18 , B25J9/22 , B25J13/00 , E04G21/10 , G05D1/02
CPC分类号： G05D1/027 , B60L1/003 , B60L15/20 , B60L2200/40 , B60L2220/46 , B60L2240/12 , B60L2240/421 , B60L2250/16 , B60L2260/32 , G05D1/0227 , G05D2201/0203 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A rotary trowel is provided for a working robot which can freely run and the concreted floor is flattened and finished by the rotary trowel while the robot runs on the concreted floor. The working robot is automatically operated in accordance with a zigzag running pattern which was set in a desired working range which is determined by a width and a depth. When the teaching mode is set, the first straight running and the first turning operation of a zigzag running pattern which will be set are executed by the manual operation. Thus, a straight running distance and turning direction which were detected by the manual operation are set as initial values and the zigzag running pattern is automatically set. Subsequently, the automatic operation is performed in accordance with the zigzag running pattern which was automatically set.
摘要翻译：为机器人在混凝土地板上运行时，为可自由运行的工作机器人提供旋转t刀，混凝土地板由旋转t刀平整并完成。工作机器人根据被设置在由宽度和深度确定的期望工作范围内的之字形运行模式自动操作。当设置教学模式时，将通过手动操作执行要设置的之字形运行模式的第一次直线运行和第一次旋转操作。因此，通过手动操作检测到的直线行驶距离和转向方向被设定为初始值，并且自动设置Z形行驶模式。随后，根据自动设置的Z字形运行模式执行自动操作。

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