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1. 发明授权

US5032775A Control apparatus for plane working robot 失效
标题翻译：平面加工机器人控制装置
公开(公告)号：US5032775A
公开(公告)日：1991-07-16
申请号：US533456
申请日：1990-06-05
申请人： Sueyoshi Mizuno , Yuuji Takiguchi , Tetsushi Koshiyama
发明人： Sueyoshi Mizuno , Yuuji Takiguchi , Tetsushi Koshiyama
IPC分类号： E01H1/00 , A47L11/24 , A47L11/40 , B08B3/02 , G05D1/02
CPC分类号： G05D1/024 , B08B3/024 , G05D1/0219 , A47L2201/04 , G05D1/0244 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： A control apparatus for controlling a plane working robot comprise a running unit for running on a plane surface, a steering unit for steering the running unit in a predetermined direction, a working unit for performing predetermined plane working such as cleaning, and a detecting unit for detecting information about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot to take an optimum running path while avoiding an obstacle on the basis of sensor outputs from the detecting unit. This control apparatus comprises a working information setting element for setting a working area where the plane working is conducted, and for setting an optimum working running path within the set working area in accordance with a predetermined algorithm, and a working control element for controlling the running unit and the steering unit so that the running unit allows the robot to run along the working running path set by the working information setting element, and for controlling the working unit so that the robot conducts a predetermined work during running.

2. 发明授权

US6044769A In-pipe work apparatus 失效
标题翻译：管内作业装置
公开(公告)号：US6044769A
公开(公告)日：2000-04-04
申请号：US937768
申请日：1997-09-25
申请人： Kiyoshi Oka , Eisuke Tada , Tadashi Ogawa , Kouichi Tuji , Yuuji Takiguchi , Seiichiro Kimura , Akiko Sakurai , Nami Sasaki , Yasunori Ozaki , Tetsuro Nishimura
发明人： Kiyoshi Oka , Eisuke Tada , Tadashi Ogawa , Kouichi Tuji , Yuuji Takiguchi , Seiichiro Kimura , Akiko Sakurai , Nami Sasaki , Yasunori Ozaki , Tetsuro Nishimura
IPC分类号： F16L55/179 , F16L55/34 , B61B13/00
CPC分类号： F16L55/179 , F16L55/34
摘要： An in-pipe work device comprising at least two movement mechanisms connected with each other in a longitudinal direction of a pipe by a flexible tube, and a control device for controlling the movement mechanisms, the movement mechanisms including a body connected to the flexible tube, a guide member installed on the body such that the guide member is slidable in an axial direction, a support leg drive mechanism provided on the guide member and having a support leg movable in a radial direction of the pipe, for pressing the support leg against an inner wall of the pipe, thereby to hold the guide member kept unmovable in an axis direction of the pipe, a slide mechanism for relatively sliding the guide member and the body, with the support leg pressed against the inner wall of the pipe, thereby to slide the body in the axis direction of the pipe, wherein the control device controls the in-pipe movement device so as to move in a pipe by itself, by sequentially operating the plurality of movement mechanism in a predetermined order.
摘要翻译：一种管内作业装置，包括通过柔性管沿管子的纵向方向彼此连接的至少两个运动机构，以及用于控制运动机构的控制装置，所述运动机构包括连接到柔性管的主体，引导构件，其安装在所述主体上，使得所述引导构件能够沿轴向滑动;支撑腿驱动机构，设置在所述引导构件上，并具有可在所述管的径向方向上移动的支撑腿，用于将所述支撑腿压靠在所述导向构件上从而保持引导构件在管的轴线方向上保持不动的滑动机构，用于使引导构件和主体相对滑动的滑动机构，其中支撑腿压靠在管的内壁上，从而在管道的轴线方向滑动主体，其中控制装置控制管内移动装置，以便通过依次操作多个mo 预定的顺序。

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