JPH09100098A - Aerial work vehicle - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To provide an aerial work vehicle that can reduce the burden of operator confirmation of the vehicle periphery, vehicle periphery confirmation for outrigger deployment, and safety confirmation of work floor rise. An aerial work vehicle includes a distance detection unit that detects a distance to a work object, a platform that changes the direction of the distance detection unit, a platform angle detection unit that detects an angle of the platform, and a work platform. A model space calculation means for calculating the distance to the object all around the vehicle by using the pan head and calculating the position model space of all symmetrical objects around the vehicle from the information of the distance detection means and the pan head angle detection means is provided. Therefore, the model space calculation means calculates the three-dimensional coordinates of the detection point based on the detection distance information to the target object by the distance detection means and the pan head angle information by the pan head angle detection means, and further the entire circumference of the vehicle. Then, the three-dimensional coordinates of the target object are calculated. By identifying each object based on the calculated three-dimensional coordinates and calculating the model space, it is not necessary for the operator to check the target object around the vehicle, so the burden on the operator is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work vehicle for performing aerial work using a vehicle.

[0002]

2. Description of the Related Art In conventional aerial work vehicles, it has been all done by the experience of an operator to move the vehicle under a work object or to bring the vehicle to a place where it is easy to work. When deploying the outriggers, the operator visually checks the area around the outriggers before extending the outriggers.In this case, however, the operator cannot see the left and right sides of the vehicle at one time, so one side is extended and the jack is grounded. At that time, the vehicle was lifted horizontally, and the height of each jack was adjusted while checking the tire height and the leveler so that the tire would take off the ground.

Further, in order to confirm that the jack is effective, it has been confirmed that there is no play by shaking the outrigger by hand around each outrigger. Further, when raising the work floor, the operator operates the work floor while confirming safety on the work floor or on the ground.

[0004]

As described above, in the conventional work vehicle for aerial work, the positioning of the vehicle, the deployment of the outriggers, the raising of the work floor, etc., are the work of the operator.
The operator needed to be proficient and the burden was heavy.

The present invention has been made in view of the above circumstances, and an object of claim 1 of the present invention is to confirm the vehicle surroundings for the positioning of the vehicle by the operator's visual inspection, and to check the vehicle surroundings for the outrigger deployment. It is to provide an aerial work vehicle that can reduce the burden of confirmation and safety confirmation of the work floor movement route for raising the work floor.

The object of claim 2 of the present invention is to enable the vehicle to be guided to a position where even an inexperienced person can easily work by automating the judgment of the vehicle position by the work object.
It is to provide an aerial work vehicle that can reduce work time.

The object of claim 3 of the present invention is to automate the deployment of the outrigger, so that the operator can adjust the height of each jack and check the jack while confirming the separation of the leveler and the tire. In order to confirm that there is no backlash, the work of shaking the outrigger around each outrigger by hand and eliminating the work of confirming that there is no backlash is provided, thereby reducing the operator's burden and providing an aerial work vehicle capable of shortening the work time. Especially.

An object of claim 4 of the present invention is to provide an aerial work vehicle capable of reducing the work load and improving safety by automating the raising of the work floor to reduce the burden on the operator. .

An object of claim 5 of the present invention is to provide an aerial work vehicle which can reduce the burden on the operator by automating the confirmation of the movement path of the work floor, and can shorten the work time and improve the safety. Especially.

[0010]

In order to achieve the above object, the first aspect of the present invention is to provide a distance detecting means for detecting a distance to a target object in an aerial work vehicle for performing aerial work by using a vehicle. A pan head for changing the direction of the distance detecting means, a pan head angle detecting means for detecting an angle of the pan head, and a distance to the target object for detecting the entire circumference of the vehicle using the pan head. The model space calculating means for calculating the positions of all symmetrical objects around the vehicle as a model space from the information of the distance detecting means and the platform angle detecting means.

According to a second aspect of the present invention, in the aerial work vehicle according to the first aspect, display means for displaying the model space calculated by the model space calculating means, and information about the displayed surrounding object are displayed. Input means for inputting, workable range calculating means for calculating a position at which the work vehicle is likely to work for an object identified as a work target from the input information, and model space calculated by the model space calculating means The vehicle installable range calculation means for calculating the range in which the vehicle can be moved and the outriggers can be extended, and the work floor can be raised to the work target object; the workable range calculated by the workable range calculation means; And a work optimum position calculating means for calculating a work optimum position of the work vehicle at high altitude from a vehicle installable range.

According to a third aspect of the present invention, in the aerial work vehicle according to the first aspect, the ground contact position of the jack post is calculated from the model space calculated by the model space calculating means, and the distance detecting means is used for pebbles or the like. Of outrigger extension control means for controlling the extension length of the outrigger so as to avoid the obstacle if there is an obstacle,
Outrigger extension detection means to detect outrigger extension, jack extension length calculation means to calculate the height of each jack post up to the ground and the height required for tire separation, and to detect the extension length of the jack post Jack extension length detection means, jack pressure detection means for detecting the pressure applied to the jack post by jacking up, extension length calculated by the jack extension length calculation means and calculated by the jack extension length detection means The jack post is extended so that the extension lengths match, and the jack extension control means for determining the suitability of the pressure detected by the jack pressure detection means is provided.

According to a fourth aspect of the present invention, in the aerial work vehicle according to the second aspect, boom angle detecting means for detecting the angle of the boom for raising the work floor, and boom extension detecting means for detecting the extension of the boom are provided. Boom control means for raising the boom along the work floor rising path calculated by the work optimum position calculating means.

According to a fifth aspect of the present invention, in the aerial work vehicle according to the second aspect, the interference check is performed with the ascending path of the work floor calculated by the vehicle installable range calculating means and the surrounding objects being ascended. It is characterized by being provided with means for confirming whether or not the boom can be raised.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of an aerial work vehicle that is an embodiment (corresponding to claim 1) of the present invention. As shown in FIG. 1, an aerial work vehicle according to an embodiment of the present invention is mounted on a vehicle 1, a control device 2 and a boom 3 mounted on the body of the vehicle 1, and a tip portion of the boom 3. A work floor 4, an outrigger 5 for fixing the vehicle 1 to the ground, a distance detection sensor 6 attached to the work floor 4 for detecting the distance of an object surrounding the vehicle, and a platform capable of changing the direction of the distance detection sensor 6. 7
And a platform angle sensor 8 for detecting the angle of the platform 7,
Display device 9 and input device 1 provided in the cab of the vehicle 1
0.

FIG. 2 is a block diagram of the model space calculating means according to the embodiment of the present invention (corresponding to claim 1), and FIG. 3 is a flow chart showing the procedure for calculating the model space by the model space calculating means.

First, the model space of this embodiment is calculated by the arithmetic unit 11 in the control device 2 based on the information of the distance detection sensor 6 and the platform angle sensor 8 as shown in FIG. Is stored in the control device 2.

Next, the model space calculation procedure will be described with reference to the flow chart of FIG. First, in step 101, the distance information is acquired from the distance detection sensor 6 and the camera platform angle information is acquired from the camera platform angle sensor 8. Step 102 Step 1
The three-dimensional coordinates of the detection point are calculated based on the information captured in 01. Next, in step 103, the orientation of the platform is changed, and in step 104, the direction of the distance detection sensor 6 is changed to take in distance information and angle information for the entire circumference of the aerial work vehicle, and calculate three-dimensional coordinates. I do. In step 105, the target object is identified based on the calculated three-dimensional coordinates, and 3
The dimensional coordinates and the identification information are stored in the control device 2 as the model space information 12.

FIG. 4 is a diagram of three-dimensional coordinates in the model space obtained in step 105. That is, the position of the detection point 14 obtained by the distance detection sensor 6 can be obtained by the polar coordinate represented by the angle information by the platform angle sensor 8 and the distance information by the distance detection sensor 6, that is, the three-dimensional coordinate 13. After that, the detection points with the same longitude in this polar coordinate are displayed in column 1
5, the detection points with the same latitude are shown in row 16.

5 and 6 are flow charts showing the procedure of object identification in step 105. That is, step 10
In column 6, column 15 which is loop1 of the same detection point of longitude
From the row 16 which is the loop 2 of the detection point having the same latitude, the loop 1 of the column 15 is started. Step 107
Then, an arbitrary one point in the arbitrary column of the column 15 and the next one point are selected. From these two points, a linear equation is calculated in step 108, and a linear equation is calculated for all loop1. In step 109, if the next point of the same loop1 is on the linear expression, it is assumed that they belong to the same object, and step 1
Group by 10. After that, it will be in the same group until a point that does not apply to the linear expression appears. If a point that does not fit appears, it is assumed to be another object, a linear equation is calculated with the next point, and the grouping work is performed. When the grouping for one column is completed, it is determined in step 111 whether all the points in the column have been completed. If not completed, the remaining points are processed in step 112 until all the points in the column are completed. Do the same. In step 113, it is determined whether or not all the columns have been completed. If not completed, the same work is performed on the remaining columns until all columns are completed in step 114. When the work of all rows is completed, it is determined in step 115 whether or not it is the loop 2 in the row 16 and the loop
If it is 2, all the rows of the row 16 are grouped in the same manner as the case of the column 15 by performing steps 117 to 125 in the following work in the same procedure as the procedure of the loop 1 of the column 15. A group in a row to which points belonging to an arbitrary group in a column belong is grouped as the same group as the column, and this group is confirmed as an object thereafter.

FIG. 7 is a flow chart showing the calculation procedure of the workable range calculation means according to the embodiment of the present invention (corresponding to claim 2). As shown in the figure, in step 126, the operator selects a work target from the model space and inputs the work content. In step 127, the work information 17 stored in advance according to the input work content is recognized from the shape of the work target recognized from the place where the vehicle is placed at the position where it is most easy to perform work at height and the workable range. The shape range of the work target to be extracted is extracted. In step 128, the position of the vehicle in the model space is calculated so that the shape of the work target in the model space selected in step 127 falls within the shape range of the work of the work target extracted from the work information, and the position of the vehicle can be worked. The range information 18 is stored in the control device 2.

FIG. 8 is a flow chart showing the calculation procedure of the work optimum position calculating means according to the embodiment of the present invention (corresponding to claim 2). As shown in the figure, in step 129, in the model space information 12 calculated in the procedure of FIG. 3, an object that overlaps the tire position of the aerial work vehicle is recognized as the ground. In step 130, a range in which the workable range information 18 obtained in FIG. 7 and the ground recognized in step 129 overlap is calculated and set as the movable range. In step 131, the size of the vehicle when the outrigger is projected is extracted from the vehicle information 19 stored in advance,
The installable range of this vehicle size is calculated within the movable range, and is set as the outrigger overhangable range.
In step 132, the boom information 2 stored in advance is stored.
From 0, information on the work floor / boom size, angle range, and extension range is extracted, and in order to confirm whether the work floor can be raised from the outrigger extension range, the rise path to the work target is calculated and raised. If there is interference, check the interference and set the range where the vehicle can climb to the range where the vehicle can be installed. In step 133, ranking is performed in the order of position closer to the work target in the vehicle installable range. Further, the shape of the work target recognized from the position is ranked in the order of being closer to the recognized shape from the position where the work is most easily performed. Step 13
In step 4, the position having the highest sum of the ranking by the position calculated in step 133 and the ranking by the shape is set as the optimum work position. Further, by displaying the work optimum position calculated in step 134 to the operator on the display device, it becomes unnecessary to rely on the operator's experience in positioning the vehicle, and the work time is shortened.

FIG. 9 is a perspective view of an outrigger according to an embodiment (corresponding to claim 3) of the present invention. As shown in the figure, the outrigger 5 which is the target of the present embodiment includes an outrigger arm 21, an outrigger extension sensor 22, and a jack post 2.
3, a jack extension sensor 24, and a jack oil pressure detection sensor 25. This outrigger extends the jack hydraulically.

FIG. 10 is a flow chart showing the procedure of automatic deployment of the outriggers of FIG. That is, in step 135, it is confirmed by the calculation of the outrigger extension possible range that there is no obstacle in the outrigger extension, but in order to confirm that there is no obstacle such as pebbles at the jack post grounding position, it is calculated by FIG. The ground contact position of the jack post 23 is calculated from the model space information 12, and the presence or absence of an obstacle is confirmed at that position by the distance detection sensor 6. If there is an obstacle, the size of the obstacle is calculated from the distance detection result, and the extension length of the outrigger is changed. Step 13
In step 8, the outrigger arm 21 is extended and the step 13
In 9, the outrigger arm 21 is extended until the length of the outrigger arm 21 detected by the outrigger extension sensor 22 becomes the length designated by the presence / absence confirmation of the obstacle. In step 140, the height of each jack post 23 to the ground and the height required for the tire to leave the ground are calculated from the above-ground height detected by the presence / absence confirmation, and the extension length of the jack post 23 is calculated. Step 142
Then, the jack post 23 is extended until the length of the jack post 23 detected by the jack extension sensor 22 reaches the calculated length. In step 143, the jack hydraulic pressure detection sensor 25 detects the pressure applied to the jack post 23 by jacking up and determines whether the pressure applied to the jack post 23 is appropriate for lifting the vehicle. If the pressure is different from the expected value, an error is displayed to the operator.

By automating the deployment of the outriggers 5 in this manner, the operator can confirm the surroundings of the outriggers 5, the level of the vehicle, the departure of the tires, and the jacking. You do n’t have to
The burden on the operator is reduced and the working time is shortened.

FIG. 11 shows an embodiment of the present invention (corresponding to claim 4).
It is a block diagram for explaining the automatic raising of the work floor according to
FIG. 12 is a flow chart showing the procedure. As shown in FIG. 11, the work floor automatic lifting is performed by the control device 2, the boom 3, the work floor 4, the boom angle sensor 26, and the boom extension sensor 27.
This is performed using

Next, the procedure will be described with reference to the flow chart of FIG. First, in step 145, the angle and extension operation speed are set using the boom rising path calculated when the optimum work position was calculated. In step 146, the work floor rise is started. In step 147, the extension and angle of the boom 3 are controlled at the set operation speed to raise the work floor 4. Boom angle sensor 26 and boom extension sensor 2
When the work floor 4 rises to the position of the work target at 7, the raising of the boom 3 is terminated.

By automating the raising of the work floor in this way, the safety is improved after confirming the safety in the model space, the safety is improved, the burden on the operator is reduced, and the work time is shortened.

FIG. 13 is a flow chart showing the procedure of boom up / down propriety recognizing means of the embodiment (corresponding to claim 5) of the present invention. First, in step 148, the boom storage state is set to the initial state of the boom 3. In step 149, the extension difference and the angle difference of the boom 3 when the work floor 4 is raised to the work object are calculated. In step 150, the movement point is calculated by dividing the expansion difference, the angle difference, etc., and step 1
At 51, this moving point is set. In step 152, starting from the stored state based on the model space information 12 in FIG. 2, interference check between the surrounding object and the work floor and the boom is performed at each moving point, and if the boom and the surrounding object interfere,
In step 153, first, only the angle is reset to the next moving point data, and in step 154, the interference check is performed again. If there is interference even with this setting, in step 155, only the expansion is set again to the next moving point data,
In step 156, the interference check is performed again. Step 1
In the case of 57, if the movement interferes regardless of whether it is moved in the angle or the extension, it is impossible to raise the boom at that position, and the boom is excluded from the boom raising range. If there is interference with a surrounding object in the movement route and the interference is avoided by the avoidance processing of steps 153 to 156, the movement point from the time when the interference is avoided to the work target is recalculated. In step 158, it is confirmed that the interference check has been performed at all the moving points. Then, the movement point group created by the above-described processing procedure is used as the movement path of the boom. In addition, the present invention can be modified in various ways without departing from the scope of the invention.

[0030]

As described above, according to the present invention,
By automating the vehicle positioning, outrigger deployment, and work floor rise of the aerial work vehicle, it is possible to provide an aerial work vehicle that can reduce the burden on the operator, shorten the work time, and improve safety. That is, according to the first aspect, the distance detection means detects the distance to the target object for the entire circumference of the aerial work vehicle using the platform. The model space calculating means calculates the three-dimensional coordinates of the detection point based on the detected distance and the pan head angle information at that time by the pan head angle detecting means. Three-dimensional coordinates are calculated for the entire circumference of the aerial work vehicle, each object is identified based on the calculated three-dimensional coordinates, and the model space is calculated. By calculating the model space, the operator does not need to check the surroundings of the work vehicle at high places, and the burden on the operator is reduced.

According to the second aspect, the model space calculated by the model space calculating means is displayed to the operator by the display means. The operator selects the work target from the model space and inputs the work content, thereby identifying the selected object model as the work target. The workable range calculation means calculates where to move the aerial work vehicle if the work target is at a proper position or is not at the proper position. A range in which the vehicle can move in the model space calculated by the model space calculating means is calculated. Further, within the vehicle movable range, the range in which the outrigger can project is calculated. In the outrigger overhangable range, the relative position between the work object and the work floor is calculated based on the model space calculated by the model space calculation means and the input information of the work object, and the movement path of the work floor is calculated from the boom operable range. To do. The range in which the work floor can be raised to the work target from this moving route is calculated, and is set as the vehicle installable range. This vehicle installable range is ranked in order of position closer to the work target. The workable range calculated by the workable range calculation means is ranked according to workability,
The optimum work position of the aerial work vehicle is calculated based on the rank of the vehicle installable range and displayed on the display means. By calculating the optimum work position, it is not necessary to rely on the experience of the operator for positioning the vehicle, and the work time is shortened.

According to the third aspect, the ground contact position of the jack post is calculated from the model space calculated by the model space calculation means, and it is confirmed by the distance detection means that there are no obstacles such as pebbles. If there is an obstacle, the extension length of the outrigger is controlled so as to avoid the obstacle. The height of each jack post up to the ground and the height required for the tire to leave the ground are calculated from the distance detection results. The jack extension is extended by the jack extension control means until the extension length detected by the jack extension length detecting means reaches the calculated result. Further, the pressure applied to the jack post by jacking up is detected by the jack pressure detection means, and it is determined by the jack extension control means whether or not the pressure applied to the jack is appropriate for lifting the vehicle. If the pressure is different from the expected value, an abnormality is output to the operator. By automating the outrigger deployment, the operator does not have to visually check the surroundings of the outrigger, check the level of the vehicle, check the departure of the tire, and check that the jack is working. And work time is reduced.

According to the present invention, the boom angle detecting means for detecting the boom angle for raising the work floor, the boom extension detecting means for detecting the extension of the boom, and the work floor calculated by the work optimum position calculating means. The work floor is moved to the vicinity of the work target by the boom control means for raising the boom along the ascending path. By automatically raising the work floor, the safety is confirmed in the model space before the work floor is raised. Therefore, the safety is improved, and the burden on the operator is reduced and the work time is shortened.

According to the fifth aspect, the extension difference and the angle difference of the boom from the housed state of the boom to the work target are calculated, and the extension difference and the angle difference are equally divided to calculate the moving point. At each moving point, check the interference between surrounding objects and the work floor and boom. If there is interference, avoidance processing is performed to calculate the travel route. If it is not possible to avoid even if the avoidance process is performed, it is impossible to climb. By automating the confirmation of the movement route of the work floor, the burden on the operator is reduced, the work time is shortened,
Safety is improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an aerial work vehicle that is an embodiment of the present invention.

FIG. 2 is a block diagram of a model space calculating unit in FIG.

FIG. 3 is a flowchart showing the calculation procedure of the model space calculating means in FIG.

FIG. 4 is a diagram for explaining three-dimensional coordinates in the model space of FIG.

5 is a flowchart showing a procedure of object identification in FIG.

FIG. 6 is a flowchart showing a continuation of the object identifying procedure shown in FIG. 5;

FIG. 7 is a block diagram of a workable range calculation unit in FIG.

FIG. 8 is a flowchart showing the calculation procedure of the work optimum position calculation means in FIG.

FIG. 9 is a configuration diagram of the outrigger of FIG.

10 is a flowchart for explaining the outrigger automatic deployment of FIG.

FIG. 11 is a configuration diagram for explaining automatic raising of a work floor attached to the boom of FIG. 1.

FIG. 12 is a flowchart for explaining the automatic raising of the work floor in FIG. 11.

FIG. 13 is a flowchart showing a confirmation procedure of boom up / down propriety confirmation means according to the embodiment of the present invention.

[Explanation of symbols]

1 ... Aerial work vehicle, 2 ... Control device, 3 ... Boom, 4 ... Work floor, 5 ... Outrigger, 6 ... Distance detection sensor, 7 ... Pan head,
8 ... Platform angle sensor, 9 ... Display device, 10 ... Input device,
11 ... Calculation unit, 12 ... Model space information, 13 ... Three-dimensional coordinates, 14 ... Distance detection sensor detection point, 15 ... Column, 16 ...
Rows, 17 ... Work information, 18 ... Workable range information, 19
... vehicle information, 20 ... boom information, 21 ... outrigger arm, 22 ... outrigger extension sensor, 23 ... jack post, 24 ... jack extension sensor, 25 ... jack hydraulic pressure detection sensor, 26 ... boom angle sensor, 27 ... boom extension sensor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomomi Kubo 2-4 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Toshiba Keihin Office

Claims (5)

[Claims] 1. In an aerial work vehicle for performing aerial work using a vehicle, a distance detecting means for detecting a distance to a work object, a platform for changing the direction of the distance detecting means, and a platform for the platform. A pan head angle detecting means for detecting an angle and a vehicle from the information of the distance detecting means and the pan head angle detecting means by detecting the distance to the work object all around the vehicle using the pan head. An aerial work vehicle comprising: model space calculating means for calculating the positions of all surrounding work objects as a model space. 2. The aerial work vehicle according to claim 1, further comprising: display means for displaying the model space calculated by the model space calculating means; and input means for inputting information to the displayed surrounding object. A workable range calculating means for calculating a position where the work vehicle is easily workable with respect to the work object identified as the work target from the input information; and movement of the vehicle in the model space calculated by the model space calculating means. From the vehicle installable range calculation means for calculating the range in which the outrigger can be extended and the work floor can be raised to the work object, the work available range calculated by the work available range calculation means, and the vehicle installable range An aerial work vehicle comprising: an optimal work position calculating means for calculating an optimal work position of the aerial work vehicle. 3. The aerial work vehicle according to claim 1, wherein the ground contact position of the jack post is calculated from the model space calculated by the model space calculation means, and the distance detection means is free from obstacles such as pebbles. If there is an obstacle, outrigger extension control means that controls the extension length of the outrigger so as to avoid the obstacle, outrigger extension detection means that detects the extension of the outrigger, and the height to ground of each jack post. And the extension length calculating means for calculating the height required for the tire to leave the ground, the jack extension length detecting means for detecting the extension length of the jack post, and the pressure applied to the jack post by jacking up. Calculated by the jack pressure detection means, the extension length calculated by the jack extension length calculation means, and the jack extension length detection means. And an extension work control means for extending the jack post so as to match the extension length and for determining the suitability of the pressure detected by the jack pressure detection means. . 4. The aerial work vehicle according to claim 2, wherein boom angle detection means for detecting a boom angle for raising the work floor, boom extension detection means for detecting boom extension, and work optimum position calculation means. An aerial work vehicle, comprising: boom control means for raising a boom along the ascending path of the work floor calculated by. 5. The aerial work vehicle according to claim 2, further comprising boom up / down availability confirming means for performing interference check with the ascending path of the work floor calculated by the vehicle installable range calculating means and a surrounding object being ascended. An aerial work vehicle characterized by being equipped.