WO2011120115A2 - Method and apparatus for using robots to wash trucks used in mining and other dirty environments - Google Patents
Method and apparatus for using robots to wash trucks used in mining and other dirty environments Download PDFInfo
- Publication number
- WO2011120115A2 WO2011120115A2 PCT/BR2011/000082 BR2011000082W WO2011120115A2 WO 2011120115 A2 WO2011120115 A2 WO 2011120115A2 BR 2011000082 W BR2011000082 W BR 2011000082W WO 2011120115 A2 WO2011120115 A2 WO 2011120115A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- washing
- truck
- mining
- vehicle
- manipulator arms
- Prior art date
Links
- 238000005065 mining Methods 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005406 washing Methods 0.000 claims abstract description 184
- 238000004140 cleaning Methods 0.000 claims description 32
- 238000005507 spraying Methods 0.000 claims description 13
- 230000003213 activating effect Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 5
- 241000282414 Homo sapiens Species 0.000 description 4
- 239000003599 detergent Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- GINJFDRNADDBIN-FXQIFTODSA-N bilanafos Chemical compound OC(=O)[C@H](C)NC(=O)[C@H](C)NC(=O)[C@@H](N)CCP(C)(O)=O GINJFDRNADDBIN-FXQIFTODSA-N 0.000 description 1
- 239000011538 cleaning material Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 244000221110 common millet Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013527 degreasing agent Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- Patent of invention for a "METHOD AND APPARATUS FOR USING ROBOTS TO WASH TRUCKS USED IN MINING AND OTHER DIRTY ENVIRONMENTS".
- the present invention relates to a method and apparatus for using robots to wash trucks used in mining and other dirty environments.
- a cleaning apparatus capable of removing coatings from large surface areas and for cleaning such surface areas, for example, on large structures such as aircraft bodies, buses, motor vehicles, and so forth, is provided with a manipulator arm having at one its end portion, two outer spraying devices.
- the apparatus disclosed in US 5,273,059, does not show a system composed by a washing area and a robotic equipment having an automatic and optimized control capable of cleaning both sides of mining trucks, according to the teachings of the present invention.
- a robot suitable for cleaning aircraft, shuttles, helicopters and the like, and in particular to a robot which is able to clean an aircraft using this robot is provided with a cleaning head, a chassis, a solvent tank, a hose and a plurality of arms connected to a first adjacent arm by a hinge at a first end and to a second adjacent arm by a steering joint at a second end.
- the robot described in this prior art GB 2391799 is preferably movable and mounted to a lorry or other movable devices.
- the robot mentioned above is not applicable in mining trucks and equipments, such as proposed in the present invention, neither applied in a cleaning method able to calculate the truck model according to the laser beam information, such as further described in details in the present invention.
- a robot system and method for washing and unclogging procedures for ma- chines under maintenance is provided with an anthropomorphous robotic manipulator of at least 5 degrees of freedom, provided with a set of tools which allows to wash and remove the material from the machine.
- This solution does not meet the requirements related to the mining trucks cleaning, and specially to the use of a robotic system combined to the laser beam information capable of calculate a truck distance shaft, and estimate the truck model.
- the objectives of the present invention are achieved by means of a robotic system for washing mining trucks.
- the system has at least first and second manipulator arms.
- the first and second manipulator arms each have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit.
- the laser sensor unit selectively generates a laser beam.
- the laser sensor unit is configured to detect, by means of a laser beam information, a positioning of the mining truck at a previously established washing area.
- the laser sensor unit being further configured to confirm, by means of the laser beam information, a truck model.
- the truck model is established according to a calculated axle distance between first and second truck points.
- the washing electronic control is programmed according to the established truck model and according to the established mining truck position, to establish a previously established washing recipe.
- the first and second manipulator arms are driven by the washing electronic con- trol in order to clean the mining truck according to the established mining truck position and the truck model.
- the objectives of the present invention are also achieved by means of a robotic system for washing utility vehicles.
- the utility vehicle has at least first and second axles.
- the first and second axles define first and second vehicle points.
- the vehicle has a given distance between the first and second vehicle points.
- the system has:
- each of the first and second manipulator arms having :
- the laser sensor unit selectively generates a laser beam for interrogating the utility vehicle to obtain information from the utility vehicle to be used to determine a positioning of the utility vehicle at a previously estab- lished position in the washing area
- the laser sensor unit is further configured to calculate from the information obtained from the utility vehicle the axle distance between the first and second vehicle points and to select from the calculation a predetermined model for the utility vehicle previously stored in a washing electronic control
- the washing electronic control is programmed according to the selected vehicle model and the detected vehicle position, to select a previously established washing recipe for the selected vehicle model.
- the objectives are further achieved by means of a method of washing mining trucks using a system having at least first and second mani- pulator arms and first and second traffic lights.
- the manipulator arms each have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor.
- the laser sensor is able to generate a laser beam.
- the method has the steps of:
- a method of washing different models of mining trucks in a washing area has at least first and second manipulator arms. Each of the manipulator arms have at least one cleaning spraying unit, at least one washing electronic control and at least one laser sensor unit.
- the laser sensor unit is able to generate a laser beam. The method has the steps of:
- Figure 1 - is a side view of a robotic system for washing mining trucks.
- Figure 2 - is a top view of the robotic system for washing mining trucks shown in Figure 1 with a typical mining truck in the system.
- Figure 3 - is a schematic view of the mining truck, highlighting the truck tire points that will be used by the system shown in Figures 1 and 2 when it washes the truck.
- Figures 1 and 2 show a robotic system 1 for washing mining trucks 10.
- Fig. 2 shows a top view of a typical mining truck 10
- Fig. 3 shows a schematic view of the typical mining truck 0.
- the robotic system for washing mining trucks 1 comprises, such as shown in figures 1 to 3, at least first 2 and second 3 robotic manipulator arms.
- the first 2 and second 3 manipulator arms each comprise at least one cleaning spraying unit 4, at least one washing electronic control (not shown in the drawing figures) and at least one laser sensor unit 5.
- the washing electronic control is part of the controller that is associated with one of the two robots whose manipulator arms 2 and 3 are shown in Fig. 1 and more particularly in that one of the two robots that is configured as the master robot.
- washing electronic control controls the six axes of each robot and the 7 th and 8 th external axes. These external parts are the axes of the structure of the washing system wherein the robots are installed.
- the laser sensor unit 5 selectively generates a laser beam in order to detect, by means of a laser beam information, the positioning of a mining truck 10 at previously established reference points in the washing area 20.
- the robotic system is equipped with first 2 and second 3 manipulator arms, in order to develop the washing process more efficiently, however more than two arms could be applied in this type of application.
- the washing system in its preferred embodiment, controls two manipulator arms, however, the present system, in a second embodiment, is capable for controlling other robotic manipulator arms, such as third and fourth arms, in order to configure a line of automated washing.
- This second embodiment for example, is able to wash a first truck already parked in the washing area 20, while a second truck is entering the washing area 20.
- the first 2 and second 3 manipulator arms are located on an associated one of first 6 and second 7 support bridges able to run in a pivotal manner with regard to an associated one of first 41 and second 42 rails.
- Figure 2 shows a preferred embodiment, in which the present robotic system is composed by two rails 41 ,42.
- first 6 and second 7 support bridges comprise a longitudinal movement with regard to its respective rail, 41 and 42, respectively.
- This longitudinal movement is controlled by a robot control panel using a rack and pinion system.
- the control panel which is not shown in the drawing figures, is located outside of the metallic structure that supports the robotic manipulators 2,3 and inside a protected control room that is located adjacent to the rail area.
- the cleaning spraying unit 4 is able to wash the mining truck 10 efficiently using at least the 6 degrees of freedom of the first 2 and second 3 manipulator arms.
- the first 2 and second 3 manipulator arms, and more precisely, the cleaning spraying unit 4 comprise a movement around 180 degrees with regard to its respective rail.
- the laser sensor unit 5 is configured, to detect, by means of a laser beam information, the positioning of the mining truck 10 at a previously established reference point in the washing area 20.
- Figure 2 shows the washing area 20, wherein the mining truck 0 should stop for starting the washing process.
- the laser sensor unit 5 is further configured to confirm, by means of the laser beam information, a truck model, while the truck model is estab- lished according to the calculated axle distance 30 between at least first P1 and second P2 truck points.
- the washing electronic control is programmed according to the established truck model and the established position for the mining truck in the washing area in order to determine a previously estab- lished recipe for washing that truck model.
- first 2 and second 3 manipulator arms are driven by the washing electronic control in order to clean the mining truck 10 according to the established mining truck position and the truck model.
- the mining truck position could also be calculated using a GPS (Global Position System) installed in a specific portion of the mining truck, in order to guide the operator for driving the vehicle in a start position of the washing area 20. In this case, the operator has the information where to stop the mining truck in the washing area 20.
- GPS Global Position System
- axle distance 30 is calculated as a function of the first P 1A and second Pi B truck tire points and third P 2 A and fourth P 2B truck tire points shown in Figure 3.
- the first manipulator arm 2 and second manipulator arm 3 installed on its respective rails 41 ,42 are capable of simultaneously washing opposite sides of the min- ing truck 10.
- the present system is used for washing utility vehicles.
- the utility vehicle has at least first and second axles which define first and second vehicle points.
- the vehicle has a given distance between the first and second vehicle points.
- the system has:
- the laser sensor unit 5 selectively generates a laser beam for interrogating the utility vehicle to obtain information from the utility vehicle to be used to determine a positioning of the utility vehicle at a previously established position in the washing area 20,
- the laser sensor unit 5 is configured to calculate from the information obtained from the utility vehicle the axle distance (30) between the first and second vehicle points and to select from the calculation a predeter- mined model for the utility vehicle previously stored in a washing electronic control.
- the washing electronic control is programmed according to the selected vehicle model and the detected vehicle position, to select a previously established washing recipe for the selected vehicle model.
- the washing electronic control operates the at least one spray cleaning unit 4 to wash the utility vehicle.
- the present cleaning process has, as mentioned before, at least first 2 and second manipulator arms 3.
- the first 2 and second 3 manipulator arms each have at least one cleaning spray- ing unit 4, one washing electronic control and at least one laser sensor 5 able to generate a laser beam.
- the present method takes into account first 51 and second traffic lights 52.
- the method of washing the mining trucks has the steps of:
- steps above are preferably performed by an operator, however, some other means could be used, such as for example having the truck on a mechanism which moves through the length of the washing area 20, or having the truck pulled through the washing area 20 etc.
- step h the truck model is manually informed to the washing electronic control using two buttons, one to increase and another to decrease a number that means the truck model code. Another button is used to validate the model code and to start the washing cycle.
- the method described herein could be used for washing different models of mining trucks in a washing area 20.
- the washing area has at least first and second manipulator arms 2,3.
- Each of the manipulator arms has at least one cleaning spraying unit 4, at least one washing electronic control and at least one laser sensor unit 5.
- the laser sensor unit 5 is able to gener- ate a laser beam.
- the method has the steps of:
- the washing electronic control selecting a recipe for washing of the truck in accordance with the identified truck model when the truck is in the predetermined position in the washing area 20 to start washing of the truck.
- the truck model could be automatically identified using a tag system, such as a label mounted on the truck body that has a bar code that identifies the model.
- the tag could be read by the washing control system in order to identify the truck model.
- an audible alarm sounds in order to warn the operators of the system for removing the mining truck from the washing area 20 or if the automatic means are used to move the truck to warn that the washing has ended and the truck will be moved out of the washing area 20.
- a security system having electrical relays will stop the first 2 and second 3 manipulator arms.
- an audible alarm also sounds in order to warn the operator for presence of human beings in the washing area 20.
- the system includes an emergency button in order to stop the first 2 and second 3 manipulator arms on fault conditions. This button, when pressed, opens the general stop channel in the robot safety system.
- the first 2 and second 3 manipulator arms will finish the washing process, and then the manipulator arms will be displaced to a refilling position.
- the axle distance 30 is calculated as a function of the first ⁇ ⁇ and second PI B truck tire points and third P2A and fourth P 2 B truck tire points which are shown in Fig. 3.
- axle distance 30 gives greater precision to the washing system, when compared to other applications, since the truck model is established more precisely. Additionally, it should be noted that, the mining trucks usually have massive dimensions, so it is necessary to establish the model of each truck to be washed in a reliable way.
- the present method takes into account the use of two rails 41 ,42, wherein the two manipulator arms 2,3 are pivotal supported by a support bridges and capable of washing the mining vehicle 10 simultaneously in opposite sides.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2796638A CA2796638C (en) | 2010-03-31 | 2011-03-28 | Method and apparatus for using robots to wash trucks used in mining and other dirty environments |
BR112012025100-7A BR112012025100A2 (en) | 2010-03-31 | 2011-03-28 | robotic method and system for washing trucks used in mining, utility vehicles and other dirty environments |
AU2011235557A AU2011235557B2 (en) | 2010-03-31 | 2011-03-28 | Method and apparatus for using robots to wash trucks used in mining and other dirty environments |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BRPI1001981-2A BRPI1001981A2 (en) | 2010-03-31 | 2010-03-31 | robotic method and system for washing mining trucks, utility vehicles and other dirty environments |
BRPI1001981-2 | 2010-03-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2011120115A2 true WO2011120115A2 (en) | 2011-10-06 |
WO2011120115A3 WO2011120115A3 (en) | 2011-12-29 |
Family
ID=44359419
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/BR2011/000082 WO2011120115A2 (en) | 2010-03-31 | 2011-03-28 | Method and apparatus for using robots to wash trucks used in mining and other dirty environments |
Country Status (4)
Country | Link |
---|---|
AU (1) | AU2011235557B2 (en) |
BR (2) | BRPI1001981A2 (en) |
CA (1) | CA2796638C (en) |
WO (1) | WO2011120115A2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104260694A (en) * | 2014-08-01 | 2015-01-07 | 兖州煤业股份有限公司 | Spray cleaning method and system of underground mining vehicle |
CN105270349A (en) * | 2014-07-22 | 2016-01-27 | 昝士录 | Special digital program-control four-arm multi-finger clean-keeping mechanical hand for outer surface of car |
CN105365790A (en) * | 2015-11-24 | 2016-03-02 | 至库停车信息服务有限公司 | 3D fast car washer |
CN109220869A (en) * | 2018-09-18 | 2019-01-18 | 合肥启迪农业发展有限公司 | A kind of agricultural livestock-raising cleaning device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5273059A (en) | 1991-01-31 | 1993-12-28 | MBB Foerd-und Hebesysteme | Apparatus for removing coatings from large surface areas and for cleaning such areas |
US5833762A (en) | 1993-08-13 | 1998-11-10 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Process for treating an object, in particular an airplane |
GB2391799A (en) | 2002-08-11 | 2004-02-18 | Ibrahim Ghulam Murad Ali | A robot suitable for cleaning aircraft etc |
US20070267043A1 (en) | 2005-11-10 | 2007-11-22 | Hugo Salamanca | Robot system and method for washing and unclogging procedures of machines under maintenance |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61111863A (en) * | 1984-11-05 | 1986-05-29 | Nissan Motor Co Ltd | Assembling work by using robots |
GB8501776D0 (en) * | 1985-01-24 | 1985-02-27 | Haden Drysys Int Ltd | System for applying material to surface areas of the body |
US5318254A (en) * | 1991-06-28 | 1994-06-07 | Conceptual Solutions, Inc. | Aircraft maintenance robot |
-
2010
- 2010-03-31 BR BRPI1001981-2A patent/BRPI1001981A2/en not_active IP Right Cessation
-
2011
- 2011-03-28 WO PCT/BR2011/000082 patent/WO2011120115A2/en active Application Filing
- 2011-03-28 CA CA2796638A patent/CA2796638C/en active Active
- 2011-03-28 BR BR112012025100-7A patent/BR112012025100A2/en not_active Application Discontinuation
- 2011-03-28 AU AU2011235557A patent/AU2011235557B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5273059A (en) | 1991-01-31 | 1993-12-28 | MBB Foerd-und Hebesysteme | Apparatus for removing coatings from large surface areas and for cleaning such areas |
US5833762A (en) | 1993-08-13 | 1998-11-10 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Process for treating an object, in particular an airplane |
GB2391799A (en) | 2002-08-11 | 2004-02-18 | Ibrahim Ghulam Murad Ali | A robot suitable for cleaning aircraft etc |
US20070267043A1 (en) | 2005-11-10 | 2007-11-22 | Hugo Salamanca | Robot system and method for washing and unclogging procedures of machines under maintenance |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105270349A (en) * | 2014-07-22 | 2016-01-27 | 昝士录 | Special digital program-control four-arm multi-finger clean-keeping mechanical hand for outer surface of car |
CN104260694A (en) * | 2014-08-01 | 2015-01-07 | 兖州煤业股份有限公司 | Spray cleaning method and system of underground mining vehicle |
CN105365790A (en) * | 2015-11-24 | 2016-03-02 | 至库停车信息服务有限公司 | 3D fast car washer |
CN109220869A (en) * | 2018-09-18 | 2019-01-18 | 合肥启迪农业发展有限公司 | A kind of agricultural livestock-raising cleaning device |
Also Published As
Publication number | Publication date |
---|---|
CA2796638C (en) | 2017-09-19 |
BR112012025100A2 (en) | 2020-08-11 |
CA2796638A1 (en) | 2011-10-06 |
AU2011235557A1 (en) | 2012-11-01 |
WO2011120115A3 (en) | 2011-12-29 |
AU2011235557B2 (en) | 2016-05-12 |
BRPI1001981A2 (en) | 2011-11-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA2796638C (en) | Method and apparatus for using robots to wash trucks used in mining and other dirty environments | |
CN105182980A (en) | Automatic cleaning equipment control system and control method | |
CN110054084B (en) | Multi-mechanical-arm traveling crane system and control method and fault processing method thereof | |
CN112859833A (en) | Unmanned transfer robot system | |
KR100861695B1 (en) | Lug welding robot system and welding method | |
CN109605390A (en) | A kind of automobile washing machine people's control system | |
CN113134790B (en) | Shot blasting robot for ship deck and operation method | |
CN110077964A (en) | A kind of more car body row crane systems of single-beam and its progress control method | |
JP2023134850A (en) | Car washing machine | |
CN208727050U (en) | A kind of flushing robot | |
CN210414553U (en) | Bogie cleaning robot and system | |
CN111260772A (en) | Equipment anti-collision protection method, system and manufacturing system | |
RU2746628C1 (en) | Automated contactless car wash and manipulator used in it | |
JP5020668B2 (en) | Car wash machine | |
CN110104563A (en) | A kind of more car body row crane systems of single-beam and fault handling method | |
JP6756941B1 (en) | Automated guided vehicle and an industrial machine system equipped with the automatic guided vehicle | |
JP4597684B2 (en) | Car lower cleaning apparatus and car wash machine equipped with the apparatus | |
CN210121586U (en) | Bogie cleaning device | |
CN113650584A (en) | Cleaning device, sensing system and moving tool | |
JPH03258638A (en) | Automatic spray type car washing machine | |
RU2410257C2 (en) | Car wash robot | |
KR970003564B1 (en) | Cleaning robot for wall glass of building | |
Konosu et al. | Skill-assist: Assisting device helping human workers in automobile modular component assembly | |
CN215826671U (en) | Cleaning device, sensing system and moving tool | |
JP3584081B2 (en) | Car wash equipment |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11714675 Country of ref document: EP Kind code of ref document: A2 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2796638 Country of ref document: CA |
|
ENP | Entry into the national phase |
Ref document number: 2011235557 Country of ref document: AU Date of ref document: 20110328 Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11714675 Country of ref document: EP Kind code of ref document: A2 |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112012025100 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112012025100 Country of ref document: BR Kind code of ref document: A2 Effective date: 20121001 |