JPH0761278A - Road lighting fixture cleaning and inspecting device - Google Patents

Abstract

PURPOSE:To attain the safety and quicknes of work by controlling the stroke of stroke detectable expansion mechanism, provided at the tool grip part of the hand tip of a cleaning robot, in such a way as to be kept within a certain range. CONSTITUTION:A position-attitude correcting device 11 is provided with attitude correcting cylinders 12 and formed into conforming structure when a pole grip devices 13 grip a lighting pole 7. A position-attitude detecting device 14 detects the distance from the gripped place of the lighting pole 7 to a lighting fixture 8 and changes the reference position of a cleaning robot 18 by a positioning device. The arm tip of this positioning device is provided with a glove supporting device 16 for cleaning the inner surface of a glove 9, and a cleaning robot 18 is fitted to the other end. A tool grip part at the hand tip shifts a cleaning liquid tool 19a and the like to perform cleaning inspection work. The hand tip of the cleaning robot 18 is also provided with stroke detectable expansion mechanism, and the expansion quantity is controlled in such a way as to be kept within a specified range. The lighting fixture 8 can be thereby cleaned uniformly, and work at an elevated spot is eliminated so as to be safe as well as man-saving and labor-saving.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning / inspecting apparatus for road lighting equipment, for example, a road lighting equipment at a high place mounted on the upper end of a lighting pole installed on a highway or a motorway. Related to equipment for cleaning and inspection.

[0002]

2. Description of the Related Art A conventional road illumination lamp cleaning device has a structure as described in JP-A-62-121203, and can clean only the portion of the outside lower surface of the lamp that comes into contact with the brush. If the size and size change, the brush contact area and pressing force will change, and cleaning will not be uniform. Further, since the cleaning device is carried by a person, the burden on the person is large. Further, although it is necessary to manually attach the cleaning device to the lighting pole, there is a problem that it is difficult to attach the cleaning device depending on the type of the lighting pole and the presence or absence of a soundproof wall.

[0003]

In the above-mentioned prior art, only a part of the outside of the lamp can be cleaned, and the pressing force of the brush changes depending on the lamp, so the cleaning effect cannot be expected so much. In addition, since a person carries a cleaning device on a road with a lot of traffic while performing work such as mounting to a lighting pole, it is very dangerous to work and there is a problem in the efficiency of cleaning and inspection work because it is manually performed. there were.

An object of the present invention is to provide a cleaning / inspecting device for a road lighting device, which enables safety and speed of work.

[0005]

In order to achieve the above object, the cleaning / inspecting device of the present invention is installed at the tip of an undulating and retractable boom mounted on a vehicle and a lighting pole is clamped. A pole gripping device for gripping, a position / position correction device for passively and actively adjusting the position / posture of the cleaning / inspecting device according to the inclination of the lighting pole, and a position for detecting the position / posture of the lighting fixture with respect to the lighting pole A posture detection device, a cleaning robot positioning device that positions the reference coordinates of the cleaning robot after gripping the lighting pole according to the type of lighting fixture and the position where the lighting pole is gripped, and a teaching point of the hand of the cleaning robot from the detected position and posture. Control device that changes the joint angle and recalculates the joint angle, and a glove support device that holds the glove opened and closes the glove when cleaning the interior of the lighting fixture. A cleaning robot that can replace the cleaning / inspection tool held by the hand and ejects cleaning air, cleaning liquid, and water, a reversing device that reverses the cleaning robot, and a TV camera for checking the cleaning status. In addition, an extension mechanism that can detect the stroke is provided on the hand so that the tool held by the hand of the cleaning robot is pressed against the lamp with a constant force during cleaning, and the stroke is kept within a certain range. It controls the cleaning robot.

Further, a TV camera is provided so that the TV camera is directed upward toward a part of the vehicle or the cleaning device, and the vehicle is stopped based on the image data of the TV camera so that the illuminating lamp comes within the movable range of the boom that can be undulated and extended. It determines the position.

Further, the position at which the lighting pole is gripped is detected by a position / orientation detection device, and control is performed to convert teaching data of the cleaning robot from the data and the geometrical shape of the lighting pole.

[0008]

The pole gripping device grips and fixes the lighting pole after the conforming operation by the position / orientation correction device is completed so that the relative position of the illumination lamp and the cleaning / inspecting device does not change during cleaning. The position / orientation correction device uses a multi-stage telescopic boom for the cleaning / inspection device, and when positioning the cleaning / inspection device at a position where it can be gripped by the gripping device on the lighting pole near the lighting fixture, the cleaning / inspection device X, The attitude around the Y axis is actively adjusted, and the translation around the X and Y axes and the attitude around the Z axis are passively adjusted. The position / orientation detection device measures the inclination of the lamp with respect to the illumination pole and the distance from the position gripped by the pole gripping device to the lamp. The cleaning robot positioning device
After the pole gripping device grips the lighting pole, the position / orientation detection device detects the position / orientation detection metal fitting mounted near the lighting fixture, measures the reference position of the cleaning robot with respect to the lighting fixture, and uses the information to determine the predetermined position. Position the cleaning robot in position. The control device changes the taught data and recalculates the joint angle based on the information obtained by the position / orientation detection device detecting the displacement of the hand position during cleaning due to the mounting angle error of the lamp around the illumination pole axis. Further, the teaching data is changed from the information on the gripping position detected by the position / orientation detection device and the geometric information on the shape of the illumination pole, and the joint angle is recalculated. Further, the cleaning device is controlled while correcting the joint angle of the cleaning robot so that the stroke data of the telescopic mechanism provided at the hand of the cleaning robot is kept within a certain range. As a result, a uniform cleaning result can be obtained. The glove support device supports the glove when it is opened, supports the reaction force of the cleaning robot when cleaning the inner surface of the glove, and presses the glove until it is latched when the glove is closed. The cleaning robot mounts a cleaning tool such as a brush or waste cloth on the tip of the hand, or ejects cleaning liquid, water, or air from the nozzle of the hand to clean the inner and outer surfaces of the lighting fixture. Also, use a tool such as a wrench or screwdriver to perform inspection work such as retightening the terminals. Furthermore, in order to clean the inner surface of the lighting fixture, the glove opening / closing latch is operated using the glove opening / closing tool to open the glove in cooperation with the glove support device. The cleaning status monitoring TV camera notifies the operator of the cleaning status and the cleaning result by a monitor installed in the operation unit. The reversing device reverses the cleaning robot so as to prevent the lamp from interfering with the robot when the cleaning robot cleans the lamp, and changes the posture during cleaning. The vehicle stop position confirmation TV camera photographs the upper part in the running state, and when the lighting pole enters the area where there is a monitor, the vehicle stops so that the lighting pole is within the operating range of the multi-stage telescopic boom. Since the vehicle can be stopped, the pole can be gripped stably. As described above, by operating the respective parts of the cleaning / inspection device, the cleaning / inspection work of the illumination lamp can be mechanically performed, and the work can be made safe, speedy, and uniform. Further, by loading these devices on a vehicle, it is possible to reduce the burden on humans.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of a road illumination lamp cleaning device according to an embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows a perspective view in which the cleaning / inspecting device of the present invention holds the pole to clean the upper surface of the lamp. FIG. 2 is a perspective view showing a state in which the cleaning / inspecting device opens the lamp and cleans the inner surface of the globe. FIG. 3 shows a side view and a plan view when the cleaning / inspecting device of the present invention is mounted on a vehicle. Figure 4
FIG. 3 shows a sectional view of a hand extension / contraction mechanism part of a cleaning robot which is a part of the cleaning device of the present invention.

A stage 3 capable of ascending and descending in the Z-axis direction while being horizontal to the ground is attached to the tip of a multi-stage telescopic boom 2 which is provided on the vehicle 1 and which can be raised, lowered, extended and swung freely. Further, the vehicle 1 is also provided with a vehicle fixing jack 4 for horizontally fixing the vehicle during cleaning and maintaining stability. A cleaning / inspection device 10 is mounted on the stage 3 via a position / orientation correction device 11. The structure between the stage 3 and the position / orientation correction device 11 is one having a hinge on one side and two attitude correction cylinders 12 on the other side so that the attitude around the X and Y axes can be actively corrected. There is. The position / orientation correction device 11 is capable of passively correcting translations in the X and Y axis directions and rotation about the Z axis, and has a structure adapted to grip the illumination pole 7.
A pole gripping device 13 composed of two pole clamps 20 is mounted on the position / orientation correction device 11. A position / orientation detection device 14 for detecting the position and attitude of the illumination lamp 8 with respect to the illumination pole 7 is attached to the pole gripping device 13. Between the position / orientation correction device 11 and the pole gripping device 13, the reference position of the cleaning robot 18 is changed according to the position information from the position where the lighting pole 7 is gripped to the lighting fixture 8 detected by the position / orientation detection device 14. A cleaning robot positioning device 15 is provided.
At the tip on the right side of the arm of the cleaning robot positioning device 15, the globe 9 of the illumination lamp 8 is closed or
A glove support device 16 is provided for supporting the inner surface of the sheet when cleaning the inner surface of the sheet. A reversing device 17 for reversing the cleaning robot 18 by 180 degrees around the X axis is attached to the tip on the left side, and the cleaning robot 18 is provided at the tip thereof.
Is attached. The tool gripping part of the hand of the cleaning robot 18 can carry a cleaning liquid tool 19a for cleaning, a tool 19b (not shown) for inspection, and the like, and cleaning work using these hand tools 19 is possible. I do. These hand tools 19 are arranged on a tool base 29 (not shown) within the movable range of the cleaning robot.
Further, the extension / contraction mechanism 36 using a spring that can detect a stroke so that the hand tool 19 can be pressed against the hand of the cleaning robot with a force within a range of the illumination lamp 8 during cleaning.
Is installed. Furthermore, the teaching point of the hand of the cleaning robot 18 is changed from the posture information detected by the position / orientation detection device 14 and the geometrical shape data of the illumination pole, and the joint mechanism angle is recalculated, and the cleaning mechanism control device 5 and the cleaning mechanism control device A cover 6 (not shown) that does not drop dust and dirty water on the road, and a cleaning condition monitoring TV camera 25 (not shown) for monitoring the cleaning condition are also attached. In addition, a vehicle stop position confirmation TV for determining the stop position of the vehicle 1
A camera 35 (not shown) and a TV camera 36 for detecting the illumination pole (not shown) are also attached.

Next, the operation of the position / orientation detection device 14 will be described with reference to FIG.

After gripping the illumination pole 7, the extension / contraction mechanism 14c is operated until the limit switch 14a comes into contact with the position / orientation detecting metal fitting 24 and is turned on. By measuring the stroke of the expansion / contraction mechanism 14c with a potentiometer, the distance from the gripped position to the position / orientation detection fitting 24 can be known. Since the position / orientation detection metal fitting 24 is attached to the predetermined position from the lighting fixture 8 by using a jig 26 (not shown), the relative position between the lighting fixture 8 and the cleaning device 10 can be known. Next,
The rotation mechanism 14d is rotated until the fin portion 24a of the position / orientation detection fitting 24 blocks the photo interrupter 14b. Since the position / orientation detection metal fitting 24 is attached to the illumination lamp 8 by the jig 26 so as to match the posture around the pole, the inclination of the illumination lamp 8 around the pole axis can be known from this rotation angle. The cleaning robot positioning device 15 is used to correct the reference position of the cleaning robot 18 from the relative position between the illumination lamp 8 and the cleaning inspection device 10. Further, the cleaning mechanism control device 5 is used to convert the data of the cleaning robot from the inclination around the axis of the illumination pole to perform cleaning.

Next, the flow of the cleaning work using this apparatus will be described with reference to FIGS. 6 to 13. 6 shows the overall configuration of the control device of the present invention, FIG. 7 shows a schematic flow of the cleaning work, and FIGS. 8 to 13 show a detailed flow of the cleaning work.

First, the operation of gripping the pole will be described. First, the vehicle 1 is driven to move below the lighting pole 7, and the vehicle is stopped based on the information from the vehicle stop position confirmation TV camera 35. Secondly, the vehicle fixing jack operation switch 30 is operated to horizontally fix the vehicle 1 by the vehicle fixing jack 4. Thirdly, the multistage telescopic boom 2 is operated by the multistage telescopic boom operating lever 31 to move the cleaning / inspection device 10 to the vicinity of the illumination lamp 8 of the illumination pole 7. And
Position and posture correction device 1 that was fixed for safety during running 1
The clamp No. 1 is released by using the position / orientation correction device fixing switch 32 so that the cleaning / inspection device 10 can passively operate in accordance with the illumination pole 7. Fourth, while watching the image of the TV camera 36 for detecting the lighting pole, the multi-stage telescopic boom 2
To position the cleaning device finely. Then, when the touch sensor 21 (not shown) senses that the illumination pole 7 is in contact with the claw portions of the two pole clamps 20, the operation of the multi-stage telescopic boom 2 is stopped. Fifth, the stage 3 is moved up in the Z-axis direction, and the position / orientation correction device 11 passively changes the posture of the cleaning / inspection device 10, and the proximity sensor 22 (not shown) provided on the pole clamp 20 while conforming. Move the lighting pole 7 until it senses it. Sixthly, the posture inspection cylinder 12 is used to tilt the cleaning / inspection device 10, and when the two proximity sensors 22 detect the pole, the pole gripping device operating switch 33 is operated to move the pole gripping device 1
The lighting pole 7 is gripped by the pole clamp 20 of 3. Seventh, the cleaning start button 34 is operated to start cleaning automatically.

Next, the operation of automatic cleaning will be described. On the illumination pole 7 near the illumination lamp 8, a position / orientation detecting metal fitting 24 is attached in advance to a predetermined position by using a jig 26 in alignment with the illumination lamp 8. When the cleaning start button 34 is pressed, the cleaning / inspection device 10 firstly causes the position / orientation detection device 14 to detect the distance from the portion holding the illumination pole 7 to the position / orientation detection fitting 24 mounted near the illumination lamp 8 and the illumination. The inclination of the illumination lamp 8 around the axis with the pole 7 as the axis is measured. Second, the cleaning robot positioning device 15 is used to correct the reference position of the cleaning robot 18 from the position information to a predetermined position. Thirdly, the inclination of the lamp around the Y axis is calculated from the position information and the geometrical shape information of the illumination pole 7, and this information and information about the inclination of the illumination lamp 8 around the axis around the illumination pole 7 are calculated. Using the, the cleaning mechanism control device 5 performs coordinate conversion to change the teaching point of the hand. Fourth, the nut runner 19d is attached to the hand of the cleaning robot 18, and the screw fixing the globe is opened. Fifth, cleaning robot 1
Replace the hand tool of item 8 with the one for opening the latch. Sixth, while supporting the glove 9 with the glove support device 16, the latch is operated using the tool 19c for opening the latch held by the hand of the cleaning robot 18, and the glove is supported by the cooperative action of the cleaning robot 18 and the glove support device 16. Open 9. Seventh, the cleaning tool 19f is held by the hand of the cleaning robot 18 to clean the inner surface of the illumination lamp 8. Eighth, clean the inner surface of the lamp by ejecting air from the nozzle of the hand. Ninth, the glove 9 is pushed up and closed using the glove support 16 until it is latched. Tenth, the nut runner 19d is attached to the hand of the cleaning robot 18, and the screw for fixing the globe is tightened. Eleventh, the hand tool of the cleaning robot 18 is replaced with the cleaning liquid tool 19a from the nut runner 19d. Then, the cleaning liquid is sprayed from the nozzle of the hand to the outside of the illumination lamp 8, and cleaning is performed using the cleaning liquid tool 19a attached to the hand of the cleaning robot 18.
Twelfth, a water wiping tool 1 attached to the hand of the cleaning robot 18 by ejecting water from the nozzle of the hand on the outside of the illumination lamp 8.
Clean with 9e. Thirteenth, the outer side of the illuminating lamp 8 is cleaned by attaching an empty wiping tool 19f to the hand of the cleaning robot 18. The operator can monitor the cleaning status using the cleaning status monitoring TV camera 25. By performing these operations, cleaning of the lighting fixture 8 can be automated.

In the embodiment, the cleaning liquid and water are jetted separately from the cleaning operation, but if the position of the nozzle of the hand is changed, the jetting of water or the like can be performed while cleaning, so that the cleaning time can be shortened.

When the cleaning is completed, the clamp of the illumination pole 7 is released by operating the pole gripping device operating switch 33, and the multi-stage telescopic boom 2 is operated by the multi-stage telescopic boom operating lever 31, and the cleaning / inspecting device 10 is operated. Is stored on the vehicle 1 and moved under the next lamp. By repeating this operation, it is possible to mechanize the cleaning work of the lighting equipment installed on the highway or the like.

The operation of the control device 5 when the cleaning tool 19 contacts and cleans the illumination lamp 8 will be described with reference to FIGS. 14 and 15. When the cleaning tool 19 comes into contact with the lighting fixture 8 for cleaning, the extension / contraction mechanism 3 of the hand of the cleaning robot 18
The strokes of 6 are sequentially detected, and when the stroke exceeds the set range, the tool is over-pressed or insufficiently pressed, and the correction operation is started. In the correction operation, first, it is determined from the joint angles of the cleaning robot which direction the extension / contraction direction of the hand extension / contraction mechanism is directed in world coordinates, and the stroke for making the stroke of the extension / contraction mechanism 36 in the middle of the set range is cleaned. Decompose in each axis of world coordinates set as the base of the robot. Next, each joint angle when the hand position is corrected by the stroke in each axis direction is calculated, and the difference from the current joint angle is stored in the correction value storage unit.
From the output of the next joint angle, the correction value is added to the joint angle data and output. By repeating this operation, the tool can be pressed with a predetermined force.

[0019]

According to the cleaning / inspecting device for a road illumination lamp of the present invention, the vehicle can be stopped so that the illumination lamp enters the movable range of the multi-stage telescopic boom by using the vehicle stop position confirmation TV camera. In addition, the multistage telescopic boom is operated to position the cleaning / inspection device in the vicinity of the lighting pole, and while being fitted to the pole using the position / orientation correction device, it is fixed to the lighting pole by the pole gripping device. Then, the position and orientation detection device measures the distance from the part where the lighting pole is gripped to the lighting fixture and the inclination of the lighting fixture around the lighting pole, and the cleaning robot positioning device positions it to keep the positional relation between the lighting fixture and the cleaning robot constant. . Further, the teaching data is converted in advance from the information of the position / orientation detection device and the geometrical shape data of the illumination pole, and this data is played back to operate the cleaning robot. At this time, since the cleaning is performed while correcting the joint angle so that the stroke of the extension / contraction mechanism provided on the hand is kept within a certain range, it is possible to realize uniform cleaning of the illumination lamp, and the cleaning state monitoring T.
Since the cleaning status can be monitored with the V camera, it is safe because humans do not have to do cleaning work at high places. Further, since the cleaning machine is mounted on the vehicle, it is not necessary to manually carry the cleaning machine. By mechanizing the cleaning work, it is possible to save labor and labor in the cleaning work.

[Brief description of drawings]

FIG. 1 is a perspective view of a cleaning state of an upper surface of a lamp using a cleaning / inspecting apparatus for an illumination lamp according to an embodiment of the present invention.

FIG. 2 is a perspective view of a state of cleaning the inner surface of the lamp using the cleaning / inspecting apparatus for the lamp according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram when the cleaning / inspection device according to the present invention is mounted on a vehicle.

FIG. 4 is a cross-sectional view of a hand extension / contraction mechanism portion of a cleaning robot that is a part of the cleaning / inspection apparatus according to the present invention.

FIG. 5 is an explanatory diagram of a position and orientation detection device.

FIG. 6 is a block diagram of a control device of the present invention.

FIG. 7 is a schematic flowchart for cleaning an illumination lamp using the present invention.

FIG. 8 is a flowchart for cleaning an illumination lamp using the present invention.

FIG. 9 is a flowchart for cleaning an illumination lamp using the present invention.

FIG. 10 is a flowchart for cleaning an illumination lamp using the present invention.

FIG. 11 is a flowchart for cleaning an illumination lamp using the present invention.

FIG. 12 is a flowchart for cleaning an illumination lamp using the present invention.

FIG. 13 is a flowchart for cleaning an illumination lamp using the present invention.

FIG. 14 is a block diagram of a control device of the cleaning / inspection device of the present invention.

FIG. 15 is a flowchart of the operation of the control device during the cleaning operation.

[Explanation of symbols]

7 ... Lighting pole, 8 ... Lighting fixture, 9 ... Globe, 10 ...
Cleaning / inspection device, 11 ... Position / posture correction device, 12 ... Posture correction cylinder, 13 ... Pole gripping device, 14 ... Position / posture detection device, 18 ... Cleaning robot, 19a ... Cleaning liquid tool,
20 ... Pole clamp.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Eiji Fujita 6-107 Takino-cho, Nishinomiya-shi, Hyogo Shinmeiwa Industrial Co., Ltd. Development Technology Headquarters (72) Koichi Okamoto 6 Takino-cho, Nishinomiya-shi, Hyogo No. 107 Shinmeiwa Industrial Co., Ltd. Development Technology Headquarters (72) Inventor Toru Hojo 6-107 Takino-cho, Nishinomiya-shi, Hyogo Prefecture Shinmeiwa Industrial Co., Ltd. Development Technology Headquarters

Claims (1)

[Claims] 1. A mechanism for holding an illuminating pole, which is installed at the tip of an undulating and retractable boom mounted on a vehicle, and which adjusts the inclination of the illuminating pole when the cleaning / inspecting device grasps the illuminating pole. A mechanism for passively adjusting the position and orientation of the cleaning / inspecting device, and a mechanism for actively adjusting
A mechanism for detecting the mounting position and posture of the lighting fixture with respect to the lighting pole, and a mechanism for positioning the reference position of the cleaning robot at an appropriate position based on the type of the lighting fixture, the place where the lighting pole is gripped, and the detected posture. , A device for changing the teaching point of the hand of the cleaning robot from the detected position and posture and calculating and changing each joint angle, a mechanism for opening, holding, and closing the globe for cleaning the inside of the lighting fixture, A cleaning / inspecting device for a road illumination lamp having a cleaning robot mechanism capable of exchanging a cleaning / inspection tool to be gripped, a reversing device for reversing the mechanism of the cleaning robot, and a TV camera for monitoring the cleaning status. ,
A cleaning / inspecting device for a road illumination lamp, comprising a telescopic mechanism capable of detecting a stroke at a part of a hand of a cleaning robot that grips a tool, and controlling the stroke of the telescopic mechanism so as to keep the stroke within a certain range.