Abstract: A rotary trowel is provided for a working robot which can freely run and the concreted floor is flattened and finished by the rotary trowel while the robot runs on the concreted floor. The working robot is automatically operated in accordance with a zigzag running pattern which was set in a desired working range which is determined by a width and a depth. When the teaching mode is set, the first straight running and the first turning operation of a zigzag running pattern which will be set are executed by the manual operation. Thus, a straight running distance and turning direction which were detected by the manual operation are set as initial values and the zigzag running pattern is automatically set. Subsequently, the automatic operation is performed in accordance with the zigzag running pattern which was automatically set.

Abstract: A flatness integrating/recording apparatus of the present invention includes a car than can travel on a road surface, a device associated with the wheel of the car for calculating the travelled distance of the car, and an optical road surface irregularities measuring device provided on the car. The data obtained from these devices is processed by first and second signal processing portions so as to calculate the travelled distance and the irregularities of the road surface. The data output from the first and second signal processing portions is supplied to a display device and to a data storage portion. A set value inputting device for setting measuring conditions is provided in the tractor portion of the car. The output of the set value inputting device is supplied to the second signal processing portion.

Abstract: A system for measuring irregularities of a road surface, wherein laser rays irradiated on the road surface are received and processed in a predetermined manner. This system includes a body frame mounted on the road surface, a movable frame movably supported by this body frame, and a laser ray transmitting-receiving section connected to this movable frame. The laser ray transmitting-receiving section is additionally provided thereon with a signal process circuit, by which received signals are processed in a predetermined manner, whereby the irregularities of the road surface are measured. Processing performed in the signal process circuit is controlled in timing in accordance with a moving speed of the laser ray transmitting-receiving section.

Abstract: A method of and apparatus for measuring any irregularity on a road surface by applying a beam onto a measuring point on the road surface and detecting any change in the vertical position of the center of the beam spot formed on the road surface thereby obtaining data concerning the irregularity on the road surface. The beam spot on the road surface is detected by a unidimensional CCD sensor and the position of the center of the beam spot is determined from the output of the unidimensional CCD sensor. The thus obtained data concerning the position of the center of the spot is suitably processed so that data concerning the irregularity on the road surface is obtained.