Abstract: A three-dimensional shape measuring instrument is provided for measuring a three-dimensional shape of the polishing subject face. A polishing controller is provided for controlling a polishing robot alone or with a polishing tool, based on three-dimensional shape data of the polishing subject face obtained by the shape measurement by the three-dimensional shape measuring instrument. The polishing tool provides a polishing action on the respective part of the polishing subject face through controlling of the polishing robot alone or with the polishing tool by the polishing controller. By controlling a measuring robot and the three-dimensional shape measuring instrument by the polishing controller, the three-dimensional shape measuring instrument moves to a predetermined measuring position relative to the polishing subject face to measure the three-dimensional shape of the polishing subject face.

Abstract: In an automatic polishing system configured such that under control of a polishing robot and/or a polishing tool by a polishing controller, the polishing tool provides a polishing action on a polishing subject face, a color intensity measurement instrument is provided for measuring an intensity of a specified color in the polishing subject face. Based on the intensity of the specified color measured by this color intensity measurement instrument, the polishing controller controls the polishing robot and/or the polishing tool, so that an amount of polishing work by the polishing tool onto the polishing subject face is adjusted according to the intensity of the specified color.

Abstract: Provided is an automatic teaching system that is readily able to achieve automation, even when a small but varied number of processing objects are to undergo polishing or coating. The automatic teaching system includes a three-dimensional shape measurement apparatus, a reference marker, an image analysis apparatus, and a robot control device. The three-dimensional shape measurement apparatus acquires shape data of a processing target region on a processing object relative to the reference marker, and the image analysis apparatus divides the shape data of the processing target region into a plurality of continuous reference surfaces, in accordance with a predetermined algorithm, automatically generates a program of an operation path along which a polishing apparatus or coating apparatus of the robot is to be operated, for every reference surface, in accordance with a predetermined operation path generation rule, and transmits the program of the operation path to the robot control device.

Abstract: Provided is surface treatment system for a large object having high versatility. In a surface treatment system for a large object configured to cause a treatment machine for treating a surface of the object to be held by a leading end portion of a work arm of a work robot and to move the treatment machine relative to the surface of the object by a movement of the work robot thus treating the surface of the object by the treatment machine, there is provided a trackless type work machine mounting the work robot on a self-propelled cart. The work machine mounts a robot moving device for moving the work robot relative to the self-propelled cart at least in a height direction and mounts also a battery capable of supplying traveling power for the self-propelled cart.

Abstract: In an automatic polishing system configured such that under control of a polishing robot and/or a polishing tool by a polishing controller, the polishing tool provides a polishing action on a polishing subject face, a color intensity measurement instrument is provided for measuring an intensity of a specified color in the polishing subject face. Based on the intensity of the specified color measured by this color intensity measurement instrument, the polishing controller controls the polishing robot and/or the polishing tool, so that an amount of polishing work by the polishing tool onto the polishing subject face is adjusted according to the intensity of the specified color.

Abstract: Provided is a system controlling method that improves versatility of a surface treatment system. In the treatment system, for treating a surface of an object by a treatment machine while moving the treatment machine relative to the surface of the object by an action of a work robot, there is provided a trackless type work machine mounting the work robot on a self-propelled cart; and the work machine mounts a robot moving device for moving the work robot relative to the self-propelled cart at least in a height direction. A work area in which the object and the work machine are present is image-captured by a position determination camera. A control device recognizes relative positional relation between the object and the self-propelled cart based on image-captured data of the position determination camera and controls the self-propelled cart based on the recognized relative positional relation, whereby the work machine is moved to a designated work position near the object.

Abstract: Provided is surface treatment system for a large object having high versatility. In a surface treatment system for a large object configured to cause a treatment machine for treating a surface of the object to be held by a leading end portion of a work arm of a work robot and to move the treatment machine relative to the surface of the object by a movement of the work robot thus treating the surface of the object by the treatment machine, there is provided a trackless type work machine mounting the work robot on a self-propelled cart. The work machine mounts a robot moving device for moving the work robot relative to the self-propelled cart at least in a height direction and mounts also a battery capable of supplying traveling power for the self-propelled cart.

Abstract: The object is to effectively improve treatment efficiency or finish quality of polishing treatment on a polishing subject face. To achieve this object, a three-dimensional shape measuring instrument is provided for measuring a three-dimensional shape of the polishing subject face. A polishing controller is provided for controlling a polishing robot alone or with a polishing tool held thereby, based on three-dimensional shape data of the polishing subject face obtained by the shape measurement by the three-dimensional shape measuring instrument. The polishing tool provides a polishing action on the respective part of the polishing subject face through controlling of the polishing robot alone or with the polishing tool by the polishing controller.