JPH0726525A - Maintenance device for lighting apparatus - Google Patents

Abstract

PURPOSE:To dispense with a person's help, improve a working environment therefrom, and improve working efficiency, by moving a lighting apparatus maintenance device to a decided position, and unmannedly letting it to perform maintenance works such as washing of an emission window on the position. CONSTITUTION:Arrangement relation of lighting apparatus 20 for aeronautical safety buried on a road is detected for example, by means of a CCD camera sensor and the like in a rough positioning device 100. A main body 1 is moved so as to be in a decided position relation against these lighting apparatus 20. Further, the positioning is precisely performed. Next, the exit window of the lighting apparatus 20 is unmannedly washed by the use of an actual washing part vibrating at high frequency, high pressure air, a working robot and arm, and the like. After completing washing of one exit window, the main body 1 is moved to a lighting apparatus 20 of succeeding working object, and washing of the exit window of the lighting apparatus 20 is repeated. If necessary, confirming works such as tightening of bolts of the lighting apparatus, degree of washing, etc., are carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lamp maintenance device for maintaining a plurality of lamps arranged in a road so that an emission window for emitting a light beam for lighting appears on the road. In particular, the present invention relates to a lamp maintenance device for maintaining a lamp for aerial lighting embedded on a runway.

[0002]

2. Description of the Related Art FIGS. 39 to 41 show a schematic structure of a lamp 20 which is embedded in a road or the like and emits a light beam for lighting so that a driver or the like can recognize a position as a mark. Lamp 20
Is provided with a light source 5 for emitting a light ray for lighting, and a prism surface 24 for emitting a light ray emitted from the light source 5. The lamp 20 is embedded in the airway 6 so that the prism surface 24 appears on the airway 6, and is fixed by the bolt 7.

The aviation security lighting facility is a facility that visually assists the takeoff / landing / running of an aircraft and plays an important role in aviation safety. A lighting device 20 for maintaining / managing the aviation security lighting facility. Maintenance is an extremely important task.

The maintenance work environment of the lamps, especially on the runway, is to clean several hundreds of lamps with a rag and a spatula by kneeling several hundreds of lamps within a set time from late night when there is little flight operation to early morning. It is a hard work to tighten the bolts of one to four lamps one by one with a torque wrench.

Further, with the expansion of airports, the number of lamps to be worked on has greatly increased, and it is inevitable to increase the number of workers or improve work efficiency.

An example of a conventional work flow is shown below. First, a work plan is prepared. Carry out according to the plan that is classified into daily inspection, periodic inspection and precision inspection. Daily inspections include, for example, prism cleaning and light distribution measurement with a light distribution measurement vehicle every week, regular inspections to check the tightening of lamps every few months, and detailed inspections to replace lamps for several months. What to do for each.

Next, the work is prepared. According to the work plan, the work schedule will be decided by confirmation of the meeting, equipment will be installed and the setup will be prepared.

When the actual work starts, there is a movement. Move while communicating with the control tower, and move to the work position while carrying out patrol inspections in sequence.

The actual work mainly includes prism cleaning, bolt tightening, and light distribution measurement. To clean the prism surface,
First, divide into a group of about several people and clean with a cleaning solution (glaster), waste cloth, and a spatula. It takes a few minutes for one lamp including moving. For tightening bolts, tighten each part with a torque wrench. This also takes a few minutes per lamp including moving. Light distribution measurement includes moving measurement and stationary measurement, both of which are carried out by a dedicated light distribution measurement vehicle. In moving measurement, it takes tens of minutes including data processing time for the entire central tower of one runway. Stationary measurements take several minutes per lamp. This work will be canceled in fog or rain.

[0010]

As described above, in the conventional work, the work environment is poor due to the work while kneeling, and all the individual work is performed directly depending on the human hand.
There was a problem that it was not efficient.

Further, since it is expected that it will be difficult to secure human resources in the future, there has been a demand for an efficient work system that does not rely entirely on human resources.

[0012] Therefore, an object of the present invention is to provide a lamp maintenance device which has an improved working environment and which can save labor in manual work and improve work efficiency.

In addition to (1) the cleaning function of the prism surface which is the exit window of the lighting device, the above-mentioned lighting device maintenance device has (2) the bolt tightening function of the lighting device and (3) the cleaning of the prism of the lighting device. With the effect confirmation function, (4) it is possible to perform unattended operation, improve the work environment, improve the work efficiency, and assist / substitute for humans.

[0014]

In order to achieve the above object, a lamp maintenance device according to the present invention is arranged so that an emission window for emitting a light beam for a lamp is embedded in a road so as to appear on the road. A lamp maintenance device for maintaining a plurality of lamps for lighting, which detects an arrangement relationship of the lamps for lighting and moves so as to be in a predetermined positional relationship with respect to the lamp. A moving body and a cleaning means mounted on the moving body for cleaning the exit window are provided.

Further, the lamp maintenance device includes a coarse positioning device for recognizing and positioning the approximate position of the lamp, a precision positioning device for recognizing and positioning the exact position of the lamp, and a cleaning for cleaning the prism surface of the lamp. It is possible to include the device, a bolt tightening device that tightens the bolts that fix the lamp, and a lamp inspection device that confirms the performance of the lamp.

Further, the coarse positioning device has a device for measuring by measuring and recognizing the light of the light emitted from the lamp, or it stores the arrangement map of a plurality of lamps in advance and communicates with the geostationary satellite. It is characterized by having a device that complements data by communication and calculates the position.

Further, the precision positioning device has a device for measuring by recognizing and processing the centers of a plurality of bolts arranged on substantially the same circle of the lamp, or a portion peculiar to the lamp. It is characterized by having a device for aligning and measuring the guide.

Further, the prism cleaning device has a cleaning liquid tank, a high-pressure water supply device, a high-pressure air tank, and a nozzle, or has a rotating brush that rotates around a certain axis, or has a plurality of flexible needle-shaped parts. Bristles have a vibrating brush that vibrates back and forth, or a spatula made of a flexible material having a thin plate-like spatula with a notch in the shape of a prism or a blind-like cut, or a tape -Like cloth material and a holding part that holds most of it inside, a convex part that exposes only part of it to the outer surface, and a cartridge that conveys the tape, or each is made of elastic material independently. Having a cleaning work section in which a plurality of held straight needles are arranged in parallel, or a rubber-like flexible material with a liquid or gas sealed inside It is characterized by having a cleaning operation unit configured a balloon shape. Further, the bolt tightening device is characterized in that it has a bolt tightening working part composed of one nut / runner, or has a bolt tightening working part composed of a plurality of nut / runners.

Further, it is characterized in that the lamp inspection device judges the state by comparing the image data of the lamp with the image information in the normal state.

[0020]

The plurality of lighting lamps embedded and arranged in the road emit light for light from the emission windows appearing on the road, and the moving body emits light for light emitted from each emission window. Detecting the arrangement relationship of multiple lighting lamps through an arrangement, etc., moving so that they are in a predetermined positional relationship with respect to these lamps, and moving the moving body to a predetermined positional relationship with the lamp. In a certain state, the injection window is washed by the washing means. When the cleaning of one cleaning window is completed, the moving body moves to the position of the next target lamp device, and the cleaning of the emission window of the lamp device is repeated.

Further, in addition to the cleaning means, a bolt re-tightening function means for the lamp, an effect confirmation function means for cleaning the prism, and the like are mounted on the moving body to re-tighten the bolt for the lamp and clean the prism surface. It will also be possible to perform confirmation work such as the degree.

[0022]

【Example】

(0) Overall Configuration of Lamp Maintenance Device An overall schematic configuration of an embodiment of the lamp maintenance device according to the present invention is shown in FIG. A block diagram of the entire apparatus is shown in FIG. 2, and a flowchart of the overall operation of the apparatus is shown in FIG.

As shown in FIGS. 1 to 3, the lamp maintenance device includes a main body 1 which is a moving body such as a vehicle, and a main body 1 which is a lamp 20.
And a precision positioning device for positioning the working robot arm and the like with respect to the lamp 20 while the vehicle is positioned by the rough positioning device 100. 20
0, a prism surface cleaning device 300 for cleaning the prism surface 24 as the exit window of the lamp 20, a bolt tightening device 400 for tightening the bolt head 21 of the bolt 7 of the lamp 20, and a prism. Each of the lamp inspection device 500 for inspecting whether or not the surface 24 has been cleaned to a necessary degree, each of the rough positioning device 100, the fine positioning device 200, the prism surface cleaning device 300, the bolt tightening device 400 and the lamp inspection device 500. And a centralized control device 600 for controlling the computer.

As shown in FIGS. 4 to 11, the coarse positioning device 100 mainly comprises a CCD camera / sensor 102, an omnidirectional drive mechanism 106 and a control computer 107.
The precision positioning device 200 is mainly a CCD camera / sensor 2.
01, cloud table 202 and control computer 205, the prism surface cleaning device 300 is mainly composed of a cleaning work unit 301.
And the work robot arm 302 and the control computer 309, the bolt tightening device 400 mainly includes the bolt tightening work unit 401, the work robot arm 402 and the control computer 406, and the lamp inspection device 500 mainly includes the CCD camera. A sensor 501, a work robot arm 502, and a control computer 503. The integrated control device 600 includes a control computer 107 and a control computer 20.
5, the control computer 309, the control computer 406 and the control computer 503 are monitored and the whole is controlled.

<1> Details of coarse positioning device 100 (<
1.0> Use of Image Recognition) Details of the coarse positioning device 100 in the embodiment will be described with reference to FIGS. 4 and 5.

As a specific example, the main body 1 at an arbitrary position
However, the procedure for discovering and roughly positioning the central lamp 20 from the runway surface will be described in detail.

As shown in FIG. 4 (1), a CCD camera 102 for detecting a lamp is provided on the front upper portion of the main body 1 via a cloud base 101 having two degrees of freedom of turning and bending.
It is known in advance that the central lights 20 of the runway are arranged in a straight line in the center of the runway at equal intervals and the intervals are 30 [m].

However, the radiated light of the central lamp 20 has a strong directivity, and the radiated light can be seen when viewed from the longitudinal direction of the runway, but the band of the light cannot be seen from the side. So you need to avoid looking from the side.

By rotating the cloud table 101 in a horizontal plane or further bending it in the vertical direction, a plurality of at least three light spots aligned in a straight line on the image plane obtained by the CCD camera 102 can be obtained. Repeat the scan.

When at least three light spots are obtained, the CCD for the longitudinal direction of the runway is obtained from the angle of this light train with respect to the horizontal plane and the distance between each of these three continuous light spots.
The control computer 13 can calculate the direction of the camera 102, the distance to the row of the central lamps 20, and the position of the closest central lamp 20 relative to the main body 1.

The main body 1 is supported by four sets of omnidirectional drive mechanisms 103. In this omnidirectional drive mechanism 103, one wheel 104 is serially connected to the traveling drive mechanism 105 and the steering drive mechanism 106, and the position and direction can be controlled independently by driving each separately, By controlling the four sets of omnidirectional driving mechanisms in combination, the position and direction of the main body 1 can be freely moved.

Based on the information on the position and direction of the closest central lamp 20 calculated from the image of the row of lamps 20,
The control computer 107 makes a trajectory plan and moves the main body 1 to the position above the nearest central lamp 20.

At this time, the above-described light train discovery and calculation are appropriately repeated to ensure that the light train is moved to the position above the nearest central lamp unit 20.

Further, under the abdomen of the main body 1, as shown in FIG. 4C, the line sensors 108, 10 for coarse positioning are provided.
9 is provided. This is a set in which a large number of LED sensors are arranged in a row and two sets 108 and 109 are installed in a direction orthogonal to each other.

Each LED sensor monitors the illuminance in the vertically downward direction and responds to the illuminance above a certain value.

Depending on the number and position of the reacted LED sensors,
The desired two-dimensional position of the radiated light of the central lamp 20
The control computer 107 can calculate.

Based on the calculation result, the control computer 107 controls the omnidirectional drive mechanism 103 to position the main body 1 with respect to the intended position of the central lamp 20, as shown in FIG. 4 (2). You can

After the movement by the omnidirectional drive mechanism 103 is completed, the out rigger 10a is projected downward to make the main body 1
Is floated above the ground to fix the relative positional relationship between the main body 1 and the lamp 20.

<2> Details of Precision Positioning Device 200 (<2.0> Image Processing) FIG. 6 shows details of the precision positioning device 200 in the embodiment.
Will be explained.

There is an opening for working in the center of the floor of the main body 1, and a CCD for precision positioning is provided on the ceiling above it through a cloud table 202 having two degrees of freedom, a swivel 203 and a bend 204. A camera 201 is arranged.

The CCD camera 201 is in a state in which the lamp 20 is viewed from above vertically. The control computer 205 is a CCD
The image information captured by the camera 201 is processed by the feature extraction method.

Specifically, first, four bolt heads 21 of M10 are found as characteristic points. Next, the distance and angle between the four points on the screen can be measured to calculate the relative angular relationship between the main body 1 and the lamp 20.

By operating the two degrees of freedom of the swivel 203 and the bending 204 of the cloudy base 202 so that the distances between the four points on the image match, the image viewed from the main body 1 becomes parallel to the lamp 20. To After these operations, the center of the four points is set as the central position of the lamp 20.

Further, since the cutout portion 22 as the exit of the emitted light has a completely different brightness from the upper surface portion 23 of the main body of the lamp 20, the cutout portion due to the change in brightness on the screen by the CCD camera 201. 22 position,
The position of the prism 24 can be calculated with high accuracy.

<3> Details of Prism Surface Cleaning Device 300 (<3.0> Vibration Type) Details of the prism surface cleaning device 300 in the embodiment will be described with reference to FIGS. 7 and 8. As shown in FIG. 7A, the prism surface cleaning apparatus 300 includes a cleaning work unit 301 and a work robot arm 302.

In the cleaning work unit 301, a plurality of flexible needle-shaped contacts 303 are bundled into a substantially rectangular shape, and further, the end face thereof is cut so as to have a shape of the prism face 24, and the piezoelectric actuator 304 and the displacement enlargement. Mechanism 3
The actual cleaning unit 306 that vibrates back and forth at a high frequency due to 05,
A finishing work unit 309 including a nozzle 308 to which high-pressure air is supplied from a compressor mounted on the main body 1 via a hose 307.

The working robot arm 302 has a vertical multi-joint type of basic 3 degrees of freedom and a wrist of 3 degrees of freedom, and the washing working section 301 is attached to the tip thereof via the 6-axis force sensor 30a. is doing. FIG. 7 (2) shows the cleaning unit 3
01 is enlarged and shown.

After the main body 1 is positioned on the lamp 20 and the precise position measurement is completed by the procedure described above, the prism surface cleaning operation shown in FIG. 8 is started.

When the main body 1 is moved, the work robot arm 302 is in a folded state and is housed in a form that is less susceptible to vibration during movement.

The work robot arm 302 having the cleaning work unit 301 attached to the tip thereof is unfolded, and the actual cleaning unit 306 is passed from the notch 22 on the lamp 20 to the prism through the opening on the floor of the main body 1. Approach surface 24.

The operation of the work robot arm 302 is controlled by the control device 309. The direction of the cleaning work unit 301 is adjusted based on the result of the precise position measurement, and the direction of the pressing force measured by the 6-axis force sensor 30a is set. Cleaning section 3
The direction of 01 is finely adjusted, and the work robot arm 302 is operated so that the pressing force becomes a predetermined force (for example, 2 [kgf]). When the work robot arm 302 can be positioned so that a predetermined pressing force can be obtained in a predetermined direction with respect to the prism surface 24, the work robot
The arm 302 is fixed in that position (by servo lock or braking in each degree of freedom).

In this state, the piezoelectric actuator 304 of the cleaning work unit 301 is energized, and a plurality of contacts 303 are attached.
Is vibrated to a high frequency to scrape off the deposits on the prism surface 24 due to the rubber and tires of the aircraft.

The scraped off waste is transferred from the compressor to the hose 307 and the nozzle 3 by switching the check valve.
A flow path to No. 08 is created and blown away by the high pressure air ejected from the nozzle 308.

<4> Details of the bolt tightening device 400 (<
4.0> one by one) Details of the bolt tightening device 400 in the embodiment will be described with reference to FIGS. 9 and 10. Bolt tightening device 400
Includes a bolt tightening work unit 401 and a work robot arm 402.

The bolt tightening work section 401 comprises a single nut runner 403. Working robot arm 4
Reference numeral 02 denotes a horizontal multi-joint type (scalar type) having three basic degrees of freedom and three degrees of freedom of a wrist portion, and a bolting work portion 401 is attached to a tip end thereof via a six-axis force sensor 404. .

When the main body 1 is moved, the work robot arm 402 is stored in a folded state so as not to be susceptible to vibration during movement.

After the main body 1 is positioned on the target lamp 20 by the above-mentioned procedure and the precise position measurement is completed, the bolt tightening process shown in FIG. 10 is started.

The work robot arm 402 having the bolt tightening work portion 401 attached to the tip thereof is unfolded, passed through the opening on the floor of the main body 1, and the nut runner 403 is attached to the lamp 20.
Approach one of the bolt heads 21 from above.

At this time, the working robot arm 402
Is controlled by the controller 406.
Align the nut runner 401 with the lamp 20 vertically based on the precise position measurement result
Slowly lower 1 so that 1 fits into bolt head 21.

Since the connection part of the nut runner 401 is composed of the flexible joint 405, it is possible to fit the bolt head 21 even with some deviation, but the pressing force measured from the 6-axis force sensor 404 is required. Direction of the bolt tightening work portion 401 is finely adjusted, and the work robot arm 402 is operated until the pressing force reaches a predetermined force (for example, 0.5 [kgf]).

Whether or not the work of fitting the bolt head 21 is successful can be determined by rotating the nut runner 403 at a low speed and increasing or decreasing the reaction force. It can also be confirmed by moving the work robot arm 402 subtly in a horizontal plane and examining its reaction force. After confirming that the fitting is successful, the nut runner 403 is operated to re-tighten the bolt. By repeating this four times, all bolt tightening work can be performed.

In this embodiment, since the nut runner 403 is composed of only one set, the positioning operation must be performed 4 times in order to perform the four bolt tightening work, but the plurality of bolt heads must be attached. While checking multiple sets of nut runners at the same time complicates the control, the number of degrees of freedom of movement makes the control easier. It also has the advantage of not having to prepare multiple expensive nuts and runners. It is also possible to provide a plurality of sets of nut runners on a plurality of bolt heads at the same time.

<5> Details of the lamp inspection device 50 (<5.
0> Image processing <1> + External) The details of the lamp inspection device 500 in the embodiment will be described with reference to FIG. 11. The lamp inspection device 500 mainly includes the main body 1
A robot arm 502 for work for positioning the center of the lamp fixed on the top, a CCD camera connected to its tip
The prism surface 2 of the lamp 20 includes a sensor 501 and a control computer 503 that processes the obtained image information.
It is for judging the contamination state of No. 4 or the deterioration state of the light source.

Based on the position information from the above-mentioned precision positioning device, the robot arm 502 is arranged so that the light source center is located at the center of the CCD camera sensor 501 and at a position 30 cm away from the light source center. To move.

In advance, the control computer 503 has a gradation change pattern from the center toward the image edge as a data base.

The captured image information is compared with this clean prism pattern, and if it is within a certain range using the evaluation function, it can be confirmed that the work effect is improved.

When the lighting 25 (filament of electric lamp) of the lamp 20 is deteriorated, the degree of deterioration can be quantitatively judged by distorting this pattern compared to a clean pattern, and the position thereof can be stored in the memory. By doing so, the operator can be notified later.

<6> Details of Overall Control Device 60 Details of the operation algorithm in the embodiment will be described with reference to FIG. Main body 1 that has finished work on one lamp
Will continue to operate with the following algorithm for the other lamps.

In the case of working only with the central lights 26 arranged on the central road of the runway, it is possible to work with respect to all the central lights 26 of one runway simply by moving the main body 1 forward or backward.

When working also from the central lamp 26 to the ground strip lamp 27 arranged like a rib, the central lamp 2
Since the relative arrangement from 6 is known in advance,
By taking the route as shown in FIG. 12 (1), work can be efficiently performed in a short time. The main body 1 can drive, for example, four wheels independently as shown in FIG. 12 (2). Further, as shown in FIG. 12 (3), the main body 1 may have the shape of an ordinary passenger car.

Next, a modification of the above-mentioned apparatus will be described below.

(1) Modification of Coarse Positioning Device A modification of the rough positioning device 100 shown in the embodiment will be described.

<1.1> First Modification (Use of Car Navigation System) A rough positioning device 110, which is a first modification of the rough positioning device 100, is schematically shown in FIG. In addition, a communication antenna 111 and a control computer 112 are mainly provided.

The radio wave output from the communication satellite 113 is caught to recognize its own position, and at the same time, the moving route to the target lamp is calculated.

There is an advantage that the absolute position can be recognized.

Further, if another communication antenna is installed at a predetermined position on the road, the positional accuracy is further improved.

<1.2> Second Modification (Use of Map and Gyro) A coarse positioning device 120, which is a first and second modification of the rough positioning device 100, has its outline as shown in FIG. It mainly comprises a three-dimensional gyro 121 and a control computer 122.

When the main body 1 is placed at the reference position and started, it moves while referring to the internal map on the memory in the control computer 122.

The position accuracy can be improved by the position correcting reflective ball 123 or the metal tape 124 installed on the runway surface.

There is an advantage that the structure can be relatively inexpensive.

<1.3> Third Modification (Use of Metal Detection Sensor) The coarse positioning device 130, which is the first and third modification of the rough positioning device 100, has its outline as shown in FIG. A metal sensor 131 mainly composed of an eddy current type proximity sensor and arranged in a row below the floor surface of the main body 1, and a control computer 13
2 and.

Since it is known that the central light exists on a straight line, it is an easy method to work while moving one after another.

<1.4> Fourth Modification (Control Type = Control Device + Monitor Screen) A rough positioning device 140, which is a first and fourth modification of the rough positioning device 100, is schematically shown in FIG. As described above, the control device 141 and the control computer 142 are mainly provided.

The maneuvering device 1 is visually checked by a human.
Since the main body is moved by 41, there is an advantage that there is no error.

(2) Modification of Precision Positioning Device A modification of the precision positioning device 200 shown in the embodiment will be described. <2.1> First Modification (Mechanical Guide Pin Method) A precision positioning device 210 which is a second modification of the precision positioning device 200 is shown in FIGS. 17 and 18. As shown in FIG. 17 (1), the precision positioning device 210 is
Mainly used for precision positioning jigs 211 and measuring robots.
It has an arm 212 and a control computer 213.

Further, the precision positioning jig 211 is shown in FIG.
As shown in 7 (2), two cylindrical guide pins 213 and 214 with a diameter of 5 [mm] and these are vertically held in a parallel state, and the distance between them is 80 [mm] to 30 [mm]. ], And a parallel slide portion 215 that can be adjusted appropriately.

The two guide pins 213 and 214 are connected to the parallel slide portion 215 by linear guides 216 and 217 which can move up and down, and the upper ends thereof are supported by elastic springs 218 and 219 at a neutral point, respectively. The casters 21a and 21b are connected to the lower side, respectively.

This precision positioning jig 211 is equipped with a measuring robot arm 212 via a 6-axis force sensor 21c.
Is attached to the tip of.

With the rough positioning device described above, FIG.
As shown in (3), the rough position of the prism surface 24 of the lamp 20 is measured.

Therefore, according to the process shown in FIG. 17, the interval between the guide pins 213 and 214 is set to 80 [mm], and the measuring robot arm 212 is operated on the runway surface in the vicinity of the exit of the radiated light to guide it. Lower the pins 213 and 214.
After that, the measuring robot arm 212 has the guide pin 21.
The downward pressing force of 3,214 is controlled based on the detection value from the 6-axis force sensor 21c so that it has a constant value, for example, 1 [kgf].

While keeping the distance between the guide pins 213 and 214 in the precision positioning jig 2a1 at 80 [mm], the measuring robot arm 212 is moved along the axis of the radiated light toward the lamp 20. Operate at a constant speed.

Casters 2 on the bottom of the guide pins 213 and 214
1a and 21b slide on the road surface and start moving smoothly in the horizontal direction.

When the operation continues for a while and rides on the notch 22 of the lamp 20, the guide pins 213 and 214 hit the guide walls 26 on both sides of the optical path of the lamp 2, and the 6-axis force sensor 21c moves in the horizontal direction. Detect reaction force.

The spacing between the guide pins 213 and 214 is set so that the reaction force of the work becomes 0 [kgf].
Continue to move in the horizontal plane while adjusting with.

The orientation of the precision positioning jig 211 is controlled so that the reaction force moment detected by the 6-axis force sensor 21c becomes zero.

The movement direction of the precision positioning jig 211 in the horizontal plane is only two guide pins 213, 21.
It is a direction perpendicular to 4.

By repeating these controls, even if the distance between the two guide pins 213 and 214 is narrowed, the translational force in the horizontal direction detected by the 6-axis force sensor 21c does not become small. It is in a state of hitting the surface 24.

Measuring robot arm 212 at this time
The internal position of the sensor (such as the potentiometer of each joint) allows the accurate position of the prism surface 214 with respect to the main body 1 to be known. Next, if you want to clean the prism surface,
The cleaning work unit may be positioned so as to be located between the two guide pins 213 and 214.

Incidentally, this measuring robot arm 212
May also be used as another work robot arm.

<2 · 2> Second Modification (Mechanical Guide Plate [1] System) A precision positioning device 220, which is a second and second modification of the precision positioning device 200, is schematically shown in FIG. As described above, the precision positioning jig 221, the measurement robot arm 222, and the control computer 223 are mainly provided.

The precision positioning jig 221 is mainly composed of two side plates 224 and 225.
4, 225 are installed at the same angle as both guide walls 215 of the optical path of the lamp 2.

The precision positioning jig 221 is connected to the tip of the measuring robot arm 222 via a 6-axis force sensor 226.

Similar to the second and first modified examples of the precision positioning device 200, the measuring robot arm 222 is operated at a constant speed in the direction approaching the lamp 20 along the axis of the emitted light.

The direction is appropriately changed so that the two side plates 224, 225 hit the guide walls 215 on both side surfaces of the optical path of the lamp 20 and the 6-axis force sensor 226 has a horizontal reaction force moment of zero. Controlled as.

When these controls are repeated, the reaction force does not become small even if the direction is changed, and it is judged that this is the state where the prism surface 24 is hit.

Measuring robot arm 222 at this time
The internal position of the sensor (such as the potentiometer of each joint) allows the accurate position of the prism surface 24 with respect to the main body 1 to be known. Next, when the prism surface cleaning operation is performed, the cleaning operation unit may be positioned so as to be located between the two side plates 224 and 225.

Precision positioning jig 221 in this modification
Mainly consisted of two side plates 224, 225,
An integral structure 227 such as dust collector may be used.

Incidentally, this measuring robot arm 222
May also be used as another work robot arm.

<2.3> Third Modified Example (Mechanical Guide Plate [2] System) A precise positioning device 230 which is a second and third modified example of the precision positioning device 200 is schematically shown in FIG. As described above, the precision positioning jig 231, the measurement robot arm 232, and the control computer 233 are mainly provided.

The precision positioning jig 231 is mainly composed of two projecting plates 234 and 235 which are curved so that their tips are at the same angle as both guide walls 26 of the optical path of the lamp 20.

The two veneer plates 234 and 235 are normally in a state where their tips are in contact with each other, but have parallel slide portions 236 capable of appropriately widening the distance to 50 [mm].

This precision positioning jig 231 is equipped with a measuring robot arm 232 via a 6-axis force sensor 237.
Is attached to the tip of.

The rough position of the prism surface 24 of the lamp 20 is measured by the rough positioning device described above.

Then, the two veneer plates 234 and 235, which are closed together like the palms of the hands, are placed on the runway surface near the exit of the emitted light by operating the measuring robot arm 232. From there, along the axis of the reflected light, the lamp 2
The measuring robot arm 232 is operated at a constant speed in a direction approaching.

As shown in FIG. 20 (2), the two veneer plates 234 and 235 slide on the road surface and start moving smoothly in the horizontal direction. After continuing operation for a while, 6-axis force sensor 2
The translational force in the horizontal direction detected by 37 abruptly rises, so that the tip portions of the thrust plates 234 and 235 move toward the lamp unit 2.
It can be seen that the prism surface 24 of 0 hits the upper part 23 eaves.

At this point, the translational movement of the measuring robot arm 232 is completed, and the parallel slide portion 236 is operated,
Open the two veneers 234 and 235.

The orientation of the precision positioning jig 231 is controlled so as to be appropriately changed to a direction in which the reaction force moment detected by the 6-axis force sensor 237 becomes zero.

By repeating these controls, the reaction force moment detected by the 6-axis force sensor 237 does not become small even if the orientation of the precision positioning jig 231 is changed. Veneer 234,235
Is stuck in the prism optical path.

Measuring robot arm 232 at this time
The internal position of the sensor (for example, the potentiometer of each joint) allows the accurate position of the prism surface 24 with respect to the main body 1 to be known. Next, when the prism surface cleaning operation is performed, the cleaning operation portion may be positioned so as to be located between the two projecting plates 234 and 235.

The measuring robot arm 232
May also be used as another work robot arm.

<2.4> Fourth Modified Example (Three-Dimensional Sensor System) A precise positioning device 240, which is a second and fourth modified example of the precision positioning device 200, has a main structure as shown in FIG. In addition, a laser range finder 241, a cloud base 242, and a control computer 243 are provided.

The laser range finder 241 is provided, and the driving system 244, 245 provided on the cloud base 242 and corresponding to the bending degrees of freedom in two directions orthogonal to each other enables the scanning operation in the plane.

Information (distance) obtained by this scanning operation
Are processed by the control computer 243. For example, the positional relationship of the bolt head 21 and the shape of the depression (cutout portion 24) as the optical path of the radiated light, which are features of the lamp, are made into a data base and are associated with the obtained information. The direction of the lamp 20, the relative distance to the main body 1, the tilt angle, and the like are calculated.

<2.5> Fifth Modification (Image Recognition (Outside Tip) + Orthogonal Arm) Precision Positioning Device 200 A precision positioning device 250 which is a modification of the second and fifth precision positioning devices 200 is shown in FIG. As outlined,
Mainly, a CCD camera / sensor 251, a housing 252 supporting the same, and four axes (X,
Orthogonal robot device 253 (Y, Z, θ axes), image processing device 254 that processes information obtained from CCD camera / sensor 251, and control device 255 that controls all of them.
It is composed of

The image information of the bolt head 21 serving as a reference is first obtained from the CCD camera / sensor 251 by the image processing device 254.
Take in. CCD camera from the captured image information
The distance from the center of the sensor 251 is calculated by the control device 255, and the X, Y, and X of the orthogonal robot device 253 are set so that the CCD camera sensor 251 is at the center.
Move the θ axis. Next, the Z-axis is lowered, but the Z-axis does not always exactly coincide with the vertical axis of the bolt head 21 that serves as the reference. Therefore, the CCD camera / sensor 25 described above is used.
While the center position of 1 is constantly corrected by the image processing device 254 and the control device 255 based on the image position information, the Z axis is lowered to perform precise positioning.

In the thus constructed apparatus, the reference position is detected with an accuracy (about ± 0.2 mm) which is higher than the positioning accuracy of the apparatus proposed in the representative embodiment of the present invention, and the representative of the present invention. Precise positioning is possible regardless of the levelness of the device proposed in the embodiment.

(3) Modified Example of Cleaning Device A modified example of the prism surface cleaning device 300 shown in the embodiment will be described. <3.1> First Modification (Use of High-Pressure Water Cleaning Technology) A prism surface cleaning device 310, which is a third modification of the prism surface cleaning device 300, has a schematic structure as shown in FIG. The cleaning work unit 311 is mainly provided with a work robot arm 312 and a control computer 313.

As shown in FIG. 23 (2), the cleaning work unit 3
Reference numeral 11 denotes an outer shell 314 having a cylindrical shape protruding from the ceiling that completely covers the lighting device 20, a link structure 315 that is rotatably supported at the ceiling center of the outer shell 314 and rotates about an axis, and a power unit that gives the link structure 315 a rotational operation. 316, a nozzle part 317 attached to the tip of the link structure part 315, a high pressure water generator 318 with a steam device for supplying high temperature and high pressure water to the nozzle part 317, and a compressor 319 for supplying high pressure air to the nozzle part 317. Is equipped with.

Since the precise position of the prism surface 24 is known in advance by the above-mentioned precise position measuring device, the work robot arm 312 is operated to move the cylindrical outer shell 3
Position 14 so that lamp 20 is completely covered. This is because water used for cleaning does not spread around.

The link structure 3 is operated by operating the power unit 316.
While rotating 15, the high-pressure water generator 318 is operated to eject high-pressure water from the nozzle portion 317.

In the nozzle portion 317, the outer shell 314 has the lamp 20.
Is mounted at a position on the link structure 315 where the jetted high-pressure water just hits the prism surface 24 when positioned so as to completely cover the.

After the washing operation with high-pressure water is completed, the compressor 319 is operated this time to eject high-pressure air from the nozzle portion 317, and the dirt removed by the high-pressure air is blown off from the prism surface 24 and dried.

After the cleaning process and the finishing process are completed, the work robot arm 312 is folded and the cleaning work unit 311 is housed.

<3.2> Second Modification (Rotating Brush [1] Method) The cleaning work section 321 of the prism surface cleaning device 320, which is a third and second modification of the prism surface cleaning device 300, is shown in FIG. Two
4, a working unit main body 322 having a rotary shaft protruding vertically and a flat cylindrical tip working unit 323 (short axis rotating brush) are mainly provided.

By constructing the tip working portion 323 in a detachable manner, a brush with a long (short) bristle, a brush with a small caliber (large caliber), a brush with a hard (soft) bristles, etc., depending on the condition of dirt, etc. Can be replaced as needed.

For finishing, the nozzle portion 324 and the nozzle portion 3
It is also possible to prepare a compressor for supplying high-pressure air to 24 and blow off the dirt that has been dropped by the high-pressure air.

It is also possible to prepare a suction port 325 and suck it with low-pressure air in case a large amount of washing water or the like remains around.

The cleaning work section 321 is also positioned by the work robot arm 326, and its operation is controlled by the control computer 327.

<3-3> Third Modification (Rotating Brush [2] Method) The cleaning work section 331 of the prism surface cleaning device 330, which is a third and third modification of the prism surface cleaning device 300, is shown in FIG. Two
As shown schematically in FIG. 5, it is mainly provided with a cylindrical but axially long tip working part 332 (major axis rotating brush) and a working part body 333 which makes the axes parallel and supplies a rotational force. .

The axially long cylindrical tip working portion 332 can clean the prism surface 24 which is long in the lateral direction all at once, so that the cleaning work can be performed only by positioning the working robot arm 334 once and controlling the pressing force. Can be done.

In particular, since the rotary shaft of the tip working portion 332 is made of an elastic body, the rotational force for scraping off dirt can be transmitted and the cleaning portion can be deformed in the shape of the prism surface 24. It is possible to reduce the amount of dirt left on the prism surface 24.

The cleaning work unit 331 is also positioned by the work robot arm 334, and is controlled by the control computer 3.
Operation is controlled at 35.

<3.4> Fourth Modification (Rotating Brush [3] Method) A cleaning work unit 341 of a prism surface cleaning device 340 which is a third and fourth modification of the prism surface cleaning device 300 is shown in FIG. Two
As shown schematically in FIG. 6, three tip working units 342 in the third and third modified examples are mainly arranged in parallel and driven by one working unit main body 343.

While one tip working part 342 is being washed, the other tip working part 344 is also rotated by the same rotational force and is rubbed by the restoring part 345 or washed with water, so that the working part 344 itself. Is cleaned.

Therefore, even when a plurality of lamps 20 have to be continuously treated, that is, when a plurality of prism surfaces 24 have to be continuously worked, a new lamp is produced due to the stains of the lamp 20 previously worked. It can work effectively without polluting the container 20.

The cleaning work unit 341 is also positioned by the work robot arm 346, and is controlled by the control computer 3
The operation is controlled at 47.

<3.5> Fifth Modification Example (Spatula [1] Method) A cleaning operation section 351 of a prism surface cleaning apparatus 350, which is a third modification example of the prism surface cleaning apparatus 300, is shown in FIG.
As shown in the outline, it is mainly composed of a thin plate-like spatula 352 made of a thin elastic body having a notch portion of the same shape as the prism surface 24 in the horizontal direction.

By having a notch portion having the same shape as the prism surface 24, the work robot arm 353 whose operation is controlled by the control computer 354 can be positioned once and reciprocated once in the vertical direction. You can scrape off the dirt that has adhered.

<3.6> Sixth Modified Example (Spatula [2] Method) The cleaning work section 361 of the prism surface cleaning apparatus 360, which is a third and sixth modified example of the prism surface cleaning apparatus 300, is shown in FIG.
As shown in the outline, the main feature is that a spatula 362 similar to the third and fifth modified examples has a plurality of interdigital cuts.

Since the spatula 362 has such a structure,
Even if the positioning accuracy of the work robot arm 363 whose operation is controlled by the control computer 364 is not so high, the spatula part can independently conform to the shape of the prism surface 24 by the cut, so that the stain remains unremoved. It can be removed and scraped off cleanly.

<3.7> Seventh Modification Example (Cartridge Method [1]) The cleaning operation section 371 of the prism surface cleaning device 370 which is the third and seventh modification example of the prism surface cleaning device 300 is shown in FIG.
The tape-shaped cloth material 372 is mainly used as shown in FIG.
A cartridge 37 including a holding portion 373 that holds most of it inside, a convex portion 374 that exposes only part of it to the outer surface, and a feeding portion 375 that feeds the tape.
6 and 6.

The tape-shaped cloth material 372 is out of the cartridge 376 only at the convex portion 373, and the control computer 37
By the operation of the work robot arm 378 whose operation is controlled by 7, the part is pressed against the prism surface 24,
Remove dirt.

Contamination of the prism surface 24 is caused by pressing the convex portion 374 with a constant force by the work robot arm 378,
The dirt may be removed by winding and running the tape-shaped cloth material 372 by the operation of the transport unit 375.

Dirt adhering to the tape-shaped cloth material 372 is scraped off at the edge of the entrance to the inside of the cartridge 376 from the convex portion 374, so that the cloth material 372 is less deteriorated and can be continuously cleaned. ..

Alternatively, the tape-like cloth material 37 may be used during the cleaning work.
The dirt may be removed by swinging the tip of the work robot arm 378 to the left or right without traveling the second step.

With the above-described structure, since the convex portion 374 is provided, there is an advantage that the surface pressure of the cloth material 372 required for the work can be increased.

Further, by making the cloth material 372 into a tape and working while winding it, it is possible to always perform a cleaning work on a clean surface, and when the winding is finished, the cartridge 3
Since every 76 can be exchanged, there is also an advantage that maintenance is easy.

<3.8.> Eighth Modification (Cartridge Method [2]) The cleaning work section 381 of the prism surface cleaning device 380 which is the third and eighth modification of the prism surface cleaning device 300 is shown in FIG.
As shown in the outline, the tape-like cloth material 382 is housed in a rectangular parallelepiped cartridge 383, which is mainly similar to the cleaning work unit 371 in the third and seventh modifications.

The tape-shaped cloth material 382 is a cartridge 383.
Since it is supported only by the both ends 384 and 385 of the long side of the above, and the intermediate portion is floated and supported by the elastic body 386, the tape can be run according to the shape of the work target surface.

With such a structure, the tape can be run and the dirt removed by simply pressing the tape.

<3.9> A ninth modified example (impact
Head System) The cleaning unit 391 of the prism surface cleaning device 390, which is a third and ninth modification example of the prism surface cleaning device 300, is shown in FIG.
As shown in the outline, a plurality of straight needles 393 each independently held by an elastic member 392 are arranged in parallel.

The entire surface of the plurality of straight needles 393 is covered with a cloth material, which is pressed against the prism surface 24 by the operation of the work robot arm 395 whose operation is controlled by the control computer 394. The prism surface 24 having a complicated shape can be dealt with if the tip of the lens 395 is swung to the left and right.

Therefore, there is an advantage that even if the type of the lamp 20 to be operated changes, a wide range of applications can be considered for other operations. FIG. 31 (2) shows the shape of the plurality of straight needles 393 before and after use.

<3 · 10> Tenth Modification Example (Balloon Method) The cleaning work section 3a1 of the prism surface cleaning device 3a0, which is a third and tenth modification example of the prism surface cleaning device 300, is shown in FIG.
2, the elastic medium 3a2 such as a liquid or gas is sealed inside and the rubber-like flexible material 3a is mainly sealed.
It has a configuration of 3 in the shape of a balloon.

The balloon-shaped surface is covered with a cloth material, which is pressed against the prism surface 214 by the operation of the work robot arm 3a5 whose operation is controlled by the control computer 3a4, and the work robot arm 3a5 moves its tip to the left and right. The prism surface 24 having a complicated shape like a human finger can be dealt with by swinging the lens.

Further, since the rigidity can be easily changed by changing the type of the elastic medium 3a2 to be sealed, even if the type of the lamp 20 is changed, a wide range of application can be considered for other work. , Has the advantage.

(4) Modified Example of Bolt Tightening Device A modified example of the bolt tightening device 400 shown in the embodiment will be described. <4.1> First Modification (Use of Many Nuts and Runners) A bolt tightening device 4a0, which is a fourth modification of the bolt tightening device 400, is mainly used as shown in FIG. , Multiple (4 in this modification) nut runners 4
a1, a fixed disk 4a2 for fixing them, a link 4a3 for changing the position of the nut / runner, a rotary plate 4a4, an LM guide 4a5, and a drive motor 4a6 for rotating the rotary plate. It

Since the insertion positions of the nuts and runners are determined by the above-mentioned precision positioning device, if the nuts and runners 4a1 placed on the upper part of the lamp 20 are simultaneously lowered, it becomes possible to tighten a plurality of bolts at once. It will improve efficiency.

Further, if there is a type in which the target bolt has a different PCD (pitch diameter), the fixed nut / runner cannot handle it. Therefore, this modification proposes a mechanism that performs the following procedure. That is, for example,
When the nut runner 4a1 is initially aligned with the lamp bolt position on the outer shape side and the inner lamp bolt position is to be aligned, first, the drive motor 4a6 for rotating the rotary plate 4a4 is rotated. Then, the rotating plate 4a
4 rotates, and the nut runner 4a1 fixed to the LM guide (linear motion guide) 4a5 moves from the "a" point to the "a '" point via the link 4a3 connected thereto. With this structure, it is possible to simultaneously tighten more bolts than the number of installed nuts and runners.

<4.2> Second Modification (Looseness Detection by Detecting Nut Height) A bolt tightening device 4b0, which is a fourth and second modification of the bolt tightening device 400, has its outline shown in FIG. , Mainly the displacement sensor 4b1 and the plate 4b2 fixing them.
And a control calculation device 4b3.

First, after the plate 4b2 is positioned parallel to the lamp (using the position information of the precision positioning device described above), the displacement sensor 4b1 measures the distance to the bolt and the distance to the center of the lamp 20. . This difference in distance is calculated in the control calculation device and compared with the data stored in advance. For example, if the difference is 1 [mm] or more, it is known that there is an abnormality.

In the device constructed as described above, bolt looseness can be detected with a very simple structure.

<4.3. Third Modification Example (Detection of Tightening Degree by Hardness Meter) A bolt tightening device 4c0 which is a fourth and third modification example of the bolt tightening device 400 has a schematic structure as shown in FIG. It is mainly composed of a hardness meter (for example, echo tip hardness meter) 4c1, a plate 4c2 fixing them, and a control calculation device 4c3.

First, the hardness meter 4c1 is pressed against the central portion of the lamp 2 and the center of the bolt. The position at this time uses the position information of the precision positioning device described above. Next, hardness meter 4c1
, And measure the hardness of the lamp and each bolt. This hardness data is compared with data stored in advance in the control calculation device, and if the difference is 100 (echo tip hardness) or more, it is known that there is an abnormality.

In the apparatus constructed as described above, bolt looseness can be detected with a very simple structure.

It is also possible to measure the reaction by hitting with a mechanical hammer instead of the hardness meter.

(5) Modification of Lamp Inspection Device A modification of the lamp inspection device 500 shown in the embodiment will be described.

<5.1> First Modification (Image Processing <2
> + External) A lamp inspection device 510, which is a fifth and a first modified example of the lamp inspection device 500, has a main body 1 as shown in FIG.
Cloud top 512 with two degrees of freedom for turning and bending, on the upper back of the
The control computer 513 processes the image information obtained by the CCD camera / sensor 511 connected via the control camera 511 to determine the effect of the prism surface cleaning operation.

After the required predetermined series of operations including the above-described prism cleaning operation, the main body 1 is moved on the optical axis of the lamp 2 to a position, for example, 10 [m] away from the lamp.

The cloudy base 51 so that the light source is located at the center of the image plane.
2. Adjust the degree of freedom of turning and bending.

In the control computer 513, a gradation change pattern from the center toward the edge of the screen is previously stored as a data base.

The captured image information is compared with this clean prism pattern, and if it falls within a certain range using the evaluation function, it can be confirmed that the work effect is improved.

When the lighting of the lamp 20 (filament of electric lamp) is deteriorated, the degree of the deterioration can be quantitatively judged by distorting this pattern compared to a clean pattern, and the position is stored in a memory. By setting
You can inform the operator later.

(6) Modification of Lamp Maintenance Device <6.1> First Modification A sixth modification of the overall configuration of the lamp maintenance device is shown in FIG.
As shown in detail below, as an example in which the functions mounted on the main body 1 are combined, precision positioning 611, bolt tightening 612, and lamp inspection device 613 are continuously performed by one working robot arm. Here is an example. FIG. 37 (1) is its plan view, and FIG. 37 (2) is its cross-sectional view.

<6.2> Second Modification A sixth and second modification of the overall configuration of the lamp maintenance device is shown in FIG.
As shown in the details in Fig. 1, not all functions are integrated into the main body 1, but each function can be disassembled. Do the work.

With such a configuration, it is possible to connect only those having necessary functions to the work site, which contributes to labor saving of work.

In the above description, the case where the lamps are arranged on the air route has been shown, but the present invention is not limited to this, and
It can be applied even when the lamps are arranged on the road on which a vehicle passes or on a normal road on which a person passes.

[0188]

As described above, according to the constitution of the present invention,
Since the moving body which moves so as to be in a predetermined positional relationship with the lamp is provided and the cleaning means for cleaning the emission window is mounted on the movable body, the emission window of the lamp can be efficiently cleaned. You can As a result, the working environment is improved, and it is possible to provide a lamp maintenance device that can reduce the labor manually performed and improve the efficiency of the operation.

[Brief description of drawings]

FIG. 1 is a perspective view showing a schematic configuration of a lamp maintenance device according to the present invention.

FIG. 2 is a block diagram showing a schematic configuration of a lamp maintenance device according to the present invention.

FIG. 3 is a flowchart showing the overall operation of the lamp maintenance device according to the present invention.

FIG. 4 is a perspective view illustrating details of a rough positioning device.

FIG. 5 is a flowchart showing the operation of the rough positioning device.

FIG. 6 is a perspective view illustrating details of a precision positioning device.

FIG. 7 is a perspective view illustrating details of a prism surface cleaning device.

FIG. 8 is a flowchart showing a cleaning operation of the prism surface cleaning device.

FIG. 9 is a perspective view illustrating details of a bolt tightening device.

FIG. 10 is a flowchart showing the bolt tightening operation of the bolt tightening device.

FIG. 11 is a perspective view illustrating details of a lamp inspection device.

FIG. 12 is a perspective view illustrating details of an operation example of the lamp maintenance device.

FIG. 13 is a perspective view illustrating a first modification of the rough positioning device.

FIG. 14 is a perspective view illustrating a second modification of the rough positioning device.

FIG. 15 is a perspective view illustrating a third modification of the rough positioning device.

FIG. 16 is a perspective view illustrating a fourth modified example of the rough positioning device.

FIG. 17 is a perspective view illustrating a first modified example of the precision positioning device.

FIG. 18 is a flowchart showing the operation of the first modification of the precision positioning device.

FIG. 19 is a perspective view illustrating a second modified example of the precision positioning device.

FIG. 20 is a perspective view illustrating a third modified example of the precision positioning device.

FIG. 21 is a perspective view illustrating a fourth modified example of the precision positioning device.

FIG. 22 is a perspective view illustrating a fifth modified example of the precision positioning device.

FIG. 23 is a perspective view illustrating a first modification of the prism surface cleaning device.

FIG. 24 is a perspective view illustrating a second modification of the prism surface cleaning device.

FIG. 25 is a perspective view illustrating a third modification of the prism surface cleaning device.

FIG. 26 is a perspective view illustrating a fourth modification of the prism surface cleaning device.

FIG. 27 is a perspective view illustrating a fifth modification of the prism surface cleaning device.

FIG. 28 is a perspective view illustrating a sixth modification of the prism surface cleaning device.

FIG. 29 is a perspective view illustrating a seventh modification of the prism surface cleaning device.

FIG. 30 is a perspective view illustrating an eighth modification of the prism surface cleaning device.

FIG. 31 is a perspective view illustrating a ninth modification of the prism surface cleaning device.

FIG. 32 is a perspective view illustrating a tenth modified example of the prism surface cleaning device.

FIG. 33 is a perspective view illustrating a first modified example of the bolt tightening device.

FIG. 34 is a perspective view illustrating a second modified example of the bolt tightening device.

FIG. 35 is a perspective view illustrating a third modified example of the bolt tightening device.

FIG. 36 is a perspective view illustrating a first modification of the lamp inspection device.

FIG. 37 is a plan view (1) illustrating an example of combining working devices.
And a cross-sectional view (2).

FIG. 38 is a perspective view illustrating a configuration example of a main body.

FIG. 39 is a perspective view showing an external configuration of a lighting device embedded in a road.

FIG. 40 is a plan view showing a lamp.

FIG. 41 is a cross-sectional view showing the lamp.

[Explanation of symbols]

1 main body 5 light source 6 road surface 7 bolt 20 lamp 21 bolt head 22 notch 23 upper surface 24 prism surface 25 lamp 26 guide wall 100, 110, 120, 130, 140 coarse positioning device 101, 202, 242, 512 fog Platform 102, 201, 501, 251 and 511 CCD camera 103 Omnidirectional drive mechanism 104 Wheels 105 Driving drive mechanism 106 Steering drive mechanism 107, 205, 503, 112, 122, 132, 1
42, 213, 223, 233, 243, 313, 32
7,335,347,354,364,377,3a
4,513 Control computer 108,109 Line sensor 10a Out rigger 111 Communication antenna 113 Communication satellite 121 Three-dimensional gyro 123 Reflective ball 124 Metal tape 131 Metal sensor 141 Control device 200, 210, 220, 230, 240, 250 Precision positioning Device 203 Rotational degree of freedom 204 Bending degree of freedom 211,221,231 Precision positioning jig 212,222,232 Measuring robot arm 213,214 Guide pin 215,236 Parallel sliding part 216,217 Linear guide 218,219 Elasticity Springs 21a, 21b Ball casters 224, 225 Side plates 227 Integrated structure 234, 235 Veneer 241 Laser range finder 252 Housing 253 Robot device 254 Image processing device 255, 94 controller 300,310,320,330,340,350,3
60, 370, 380, 390, 3a0 Prism surface cleaning device 301, 311, 321, 351, 361, 371, 3
81,391,3a1 cleaning work unit 302,402,502,312,326,334,3
46, 353, 363, 378, 395, 3a5 Working robot arm 303 Contactor 304 Piezoelectric actuator 305 Displacement magnifying mechanism 306 Actual cleaning section 307 Hose 308 Nozzle 309 Finishing working section 30a, 404, 21c, 226, 237 6 Axial force Sensor 314 Outer shell 315 Link structure part 316 Power part 317, 324 Nozzle part 318 High-pressure water generator 319 Compressor 322, 333, 343 Working part body 323, 332, 342, 344 Tip working part 325 Suction part 331, 341 Cleaning work Part 345 Restoring part 352,362 Spatula 372 Cloth material 373 Holding part 374 Convex part 375 Conveying part 376,383 Cartridge 382 Tape-like cloth material 384,385 Both ends 392 Elastic body 393 Needle 3a2 Elastic medium 3a3 Rubber-like flexibility Material 400, 4a0, 4b0, 4c0 Bolt tightening device 401 Bolt tightening working part 403, 4a1 Nut runner 405 Flexible joint 500, 510 Lamp inspection device 4a2 Fixed disk 4a3 Link 4a4 Rotating plate 4a5 LM guide 4a6 Drive motor 4b1 Displacement sensor 4b2, 4c2 plate 4b3, 4c3 control calculator 4c1 hardness meter

Claims (1)

[Claims] 1. A lamp maintenance device for maintaining a plurality of lamps arranged so that an emission window for emitting a light beam for illumination appears on the road, the lamp maintenance device comprising: A moving body that detects the arrangement relationship of the lighting equipment and moves so as to be positioned in a predetermined positional relationship with the lighting equipment, and a cleaning means mounted on the moving body to clean the emission window. A lamp maintenance device, comprising: