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AssigneeFraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.
InventorsMartin-Christoph Wanner, Thomas Fred Herkommer
Estimating the term…
A process and arrangement are disclosed for cleaning the surface of airpls (44). A large manipulator arranged on a truck (8) is moved towards the airplane (44) up to a predetermined position within its range of action and is parked in that position. A rotary brush-bearing head (18) is moved over the surface of the object by means of an articulated mast (13) arranged on the truck (10) and constituted of several extension arms (12, 12', 12", 12"', 14) that may swivel or slide with respect to each other at turning knuckles and/or prismatic joints and of a multiple joint (16) arranged at the last extension arm (14). In order to carry out a washing process in a reliable manner, without the risk of collisions even when the large manipulator is not accurately positioned in front of the airplane (44), the large manipulator is parked within a limited two-dimensional parking field (46) spaced apart from the airplane (44), while the joints (20 to 28) of the articulated mast (13) and/or the multiple joint (16) are controlled during the surface treatment according to a series of predetermined sets of joint co-ordinates associated to the actual position of the large manipulator within the parking field (46), and the brush-bearing head (18) is moved along a predetermined path of operation over the surface of the object.
A process for the treatment of a large object by means of a treating device having at least one treating unit, comprising the steps of moving the treating device into a parking field at a predetermined reference point and positioning the treating device at a distance from the object, whereby the predefined reference point of the parking field is at a fixed position with reference to at least one reference point of the object, guiding the spacial movements of the at least one treatment unit with respect to the predefined point, defining grid fields by a specific number of grid points in the parking field, determining an operating-sequence control for each grid point for controlling the at least one treating unit of the treating device, contacting the treating unit actively against the object to be treated, controlling the spacial movement of the at least one treating unit by the operating-sequence control of one of grid points, guiding the at least one treatment unit with respect to the one grid point of the parking field, determining the one actual position of the treating device with reference to the parking field, determining the one grid point with the least distance from the actual position of the treating device from the number of grid points associated with the parking field, and selecting one of the operating-sequence control associated with the one grid point and an interpolation of an operating-sequence control for the actual position calculated and stored in a storage of the manipulator control as an actual washing program.
An arrangement for the treatment of objects, comprising a treating device having at least one treating unit, the treating device being positionable in a specified parking field adjacent an object to be treated, an opto-electronic distance camera arranged on the treating device and alignable with respect to the object to be treated for producing distance-image signals, and evaluating electronics receiving the distance-image signals of the distance camera, the evaluating electronics having storage means for storing distance-image data of the object from the view of several grid points of the specified parking field, first software means for comparing the distance-image data taken by the distance camera when the treating device is positioned in front of the object with the stored distance-image data, and second software means for determining the coordinate position of the treating device within the specified parking field and for associating the coordinate position of the treating device with a closest one of the several grid points.
An arrangement for the treatment of objects, comprising:
Dependencies are inferred from the claim text.