| 摘要 |
A method and a system for cleaning the glass surface of an object, such as a surface light, a run way guide light, or a reflector, installed on various pavements or roads, by propelling a cleaning agent from a blast nozzle to the glass surface. The blast nozzle is installed on the front end of an arm of a working robot mounted on a truck. A truck mounted with a cleaning agent blaster and a working robot ( 21 ) provided with a blast nozzle ( 23 ) and a CCD camera ( 24 ) at the forward end of a manipulator is stopped at a specified position in the vicinity of an object to be cleaned, i.e. surface light or a reflection mirror ( 30 ). Based on an image of the object taken by the CCD camera ( 24 ), dimensions are recognized from distance information through processing by a vehicle-mounted computer, the image shape of the object is collated with a stored shape and recognized, and then positional information of the recognized object is searched. Cleaning agent is propelled from the blast nozzle ( 23 ) at the forward end of the manipulator ( 22 ) toward the object while measuring the extent of cleaning, brightness or light intensity of the cleaned object is determined by the CCD camera, and automatic cleaning is performed.
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