JP2001180900A - Safety device of boom working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a working device from being shifted on a roadway side in a cable work performed with a boom working vehicle parked on a general road or from being collided with a tunnel wall, etc., in a work inside the tunnel. SOLUTION: A controller 50 lights an alarm lamp 45, generates an alarm sound from an alarm buzzer 46, regulates the operation of hydraulic valves V1-V4 and prohibits the operation of a boom 30 and a working platform 40 in the direction where the outermost edge of the working platform 40 is moved inward of movement regulatory regions M1 and M2, if it is judged that the position of an outermost edge of the working platform 40 with respect to a vehicle body obtained based on the detection information from detectors 51-54 is within the movement regulatory regions M1 and M2 set based on the position of each jack 12 with respect to the vehicle body obtained from jack expansion detectors 55-58 when the right-to-left movement regulatory mode is selected by a right-to-left movement regulatory mode setting switch SW10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for a boom working vehicle having a structure in which a boom provided on a vehicle body is operated to move a working device attached to the end of the boom as desired.

[0002]

2. Description of the Related Art As such a boom working vehicle, for example, there is an aerial work vehicle provided with a working table at the tip of a boom.
In this aerial work platform, the worker on the work table can operate the boom by operating his own lever to move the work table to a desired position. It is also possible to carry out electric wire construction and the like while parked on a general road.

[0003]

However, in the case where the aerial work vehicle is parked on a general road and work is performed, the vehicle body is parked on one side of the road and the work table is moved to the road side. Careful attention must be paid to the operation of moving the worktable so that the worktable does not protrude and be positioned above a passing vehicle. Also, when performing work in a tunnel, the same care is required to prevent the work table from contacting the wall of the tunnel or the like.

[0004] The present invention has been made in view of such a problem, and in a wire construction or the like performed while parked on a general road, the working device may be moved to the roadway side,
Alternatively, it is an object of the present invention to provide a safety device for a boom working vehicle that can prevent a situation in which a working device comes into contact with a wall of a tunnel or the like in a work in a tunnel.

[0005]

In order to achieve the above object, a safety device for a boom working vehicle according to the present invention comprises a plurality of body supporting jacks provided on the side of the vehicle body, Work device position detecting means for detecting a position with respect to the vehicle body (for example, a boom up / down angle detector 51, a boom length detector 52, a boom turning angle detector 5 in the embodiment)
3 and the workbench turning angle detector 54), left and right movement restriction mode setting means (for example, left and right movement restriction mode setting switch SW10 in the embodiment) for setting the left and right movement restriction mode by an external operation, and the position of the jack with respect to the vehicle body. Based on the first predetermined area setting means (for example, the left movement restriction area M1 or the right movement restriction area M2 in the embodiment) based on the left or right of the vehicle body, When the left and right movement restriction mode is set by the left movement restriction area setting switch SW11 or the right movement restriction area setting switch SW12 and the controller 50 in the embodiment, the working device position detection means The working device is set on the first predetermined area setting unit based on the detection information from Determining means (for example, the controller 50 in the embodiment) for determining whether or not the working device is positioned within the first predetermined area; and an alarm when the determining means determines that the working device is positioned within the first predetermined area. It is configured to include alarm means for performing an operation (for example, the alarm lamp 45 and the alarm buzzer 46 in the embodiment). Here, a plurality of jack extension means for extending each of the jacks to the side of the vehicle body (for example, the outrigger 13 in the embodiment).
And jack overhang amount detecting means (for example, jack overhang amount detectors 55 to 58 in the embodiment) for detecting an overhang amount of each jack to the side of the vehicle body. It may be determined based on the detection information from the overhang amount detecting means.

In the safety device having such a configuration, a predetermined region (first predetermined region) can be set to the left or right of the vehicle body based on the position of the jack with respect to the vehicle body. When the working device is moved within the specified area, an alarm is issued. For this reason, work safety in the work in which the movement of the working device to the side of the vehicle body is restricted (for example, electric wire work performed while parked on a general road or work in a tunnel) is improved, and the working device Workability is improved because the moving operation is facilitated.

Further, the above-mentioned safety device includes a front-rear movement restriction mode setting means (for example, a front-rear movement restriction mode setting switch SW20 in the embodiment) for setting a front-rear movement restriction mode by an external operation, and a front-rear edge position of the vehicle body. Second predetermined area setting means (for example, front movement restriction area setting in the embodiment) for setting a second predetermined area (for example, front movement restriction area M3 or rear movement restriction area M4 in the embodiment) ahead or behind the vehicle body Switch S
W21 or rearward movement restriction area setting switch SW2
And the controller 50), wherein the determination unit determines whether the working device is based on the detection information from the working device position detection unit when the forward / backward movement restriction mode is set by the forward / backward movement restriction mode setting unit. It is determined whether or not the work apparatus is located within the second predetermined area set by the second predetermined area setting means, and the alarm means determines that the working device is positioned within the second predetermined area by the determination means. It is preferable that an alarm operation is performed when it is determined that the alarm is activated.

In such a configuration, a predetermined area (second predetermined area) can be set in front of or behind the vehicle body based on the front and rear edge positions of the vehicle body, and within the predetermined area thus set. When the working device is moved, an alarm is issued. For this reason, work in which movement of the working device forward or backward of the vehicle body is restricted (for example, work in a situation where a building wall or the like is located in front of or behind the vehicle body).
Also, the work safety is improved.

The working device position detecting means detects the position of the outermost edge of the working device with respect to the vehicle body based on both the information on the position of the tip of the boom and the horizontal turning angle of the working device with respect to the tip of the boom. Preferably, the position is used as the position of the working device with respect to the vehicle body. With such a configuration, the above-described safety can be ensured even when the working device is large and its dimensions cannot be ignored (for example, when the working device is a working table).

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows an aerial work vehicle 1 which is an example of a boom work vehicle provided with the safety device according to the present invention. The aerial work vehicle 1 includes a vehicle body 10 capable of traveling with tire wheels 11, a swivel 20 provided on the body 10, and a foot pin 21
And a work table 40 attached to the tip of the boom 30.

A jack 12 operated by hydraulic pressure is provided at four lateral sides of the vehicle body 10, and can be extended downward to lift and support the vehicle body 10. These jacks 12 can be used by extending them to the side of the vehicle body 10 by means of outriggers 13 which are also operated by hydraulic pressure (see FIG. 4), so that the resistance to the vehicle body 10 from falling over sideways can be increased. . Note that both the operation of extending the outrigger 13 to the side and the operation of extending the jack 12 downward can be performed by a manual operation lever (not shown) provided behind the vehicle body 10. .

The swivel table 20 is attached to the vehicle body 10 so as to be rotatable 360 degrees around a vertical axis. The swivel table 20 can be swiveled in a horizontal plane by hydraulically operating a boom swing motor 14 built in the vehicle body 10. It is possible. The boom 30 is assembled in a nested manner, and can be extended and contracted in a longitudinal direction by hydraulically operating a built-in boom extendable cylinder 31, and a boom hoist cylinder provided between the boom 30 and the swivel 20. By operating the 22 hydraulically, it is possible to perform an up-and-down operation in the upper and lower surfaces including the central axis of the boom 30.

The worktable 40 is mounted on a vertical post 32 attached to the end of the boom 30 so as to be rotatable 360 degrees, and is operated in a horizontal plane by hydraulically operating a built-in worktable swing motor 41. It is possible to perform a turning operation. The vertical post 32 is always kept vertical by the hydraulic operation of the leveling cylinder 33, so that the floor surface of the worktable 40 is always kept horizontal.

[0014] As shown in FIG.
2. The hydraulic operation of the boom telescopic cylinder 31, the boom swing motor 14 and the workbench swing motor 41 is performed by controlling the supply of hydraulic oil supplied from a hydraulic pump P provided in the vehicle body 10, The supply control of the hydraulic oil to the hydraulic cylinder and the motor is controlled by operating the boom operation lever L1 and the worktable turning operation lever L2 provided on the operation box 42 of the workbench 40.
By driving the hydraulic valves V1, V2, V3, and V4 via. Therefore, the operator can move the boom 30 up and down, extend and retract, turn, and turn the worktable 40 by operating the lever to move to a desired position.

Here, the angle of the boom 30 is raised and lowered.
The boom 30 is detected by a boom up / down angle detector 51 incorporated in the boom 30, and the length of the boom 30 is detected by a boom length detector 52 also incorporated in the boom 30. In addition, the swivel angle of the swivel table 20 (that is, the boom 30
The turning angle of the workbench 40 is detected by a boom turning angle detector 53 provided in the vehicle body 10, and the turning angle of the worktable 40 is detected by a worktable turning angle detector 54 built in the worktable 40. ing.

The controller 50 calculates the position of the tip of the boom 30 with respect to the vehicle body 10 based on the information from the boom up / down angle detector 51, the boom length detector 52 and the boom turning angle detector 53, and Work table 40 obtained based on information from swing angle detector 54
The position of the outermost edge of the worktable 40 with respect to the vehicle body 10 is constantly calculated from the turning angle of the worktable and the dimensions of the worktable 40 stored in advance.

Each of the outriggers 13 has a jack extension detector 55 (left front) for detecting the extension of the vehicle body 10 to the side.
6 (rear left), 57 (rear right), 58 (rear right) are provided, and these information are also input to the controller 50.
The controller 50 includes these jack overhang detectors 55 to 55.
The position of each jack 12 with respect to the vehicle body 10 is constantly grasped on the basis of the detection information from 58, and the information is stored in a jack position indicator 44 provided in the operation box 42.
(See FIG. 3).

FIG. 3 shows an external view of a part of an operation panel 43 provided on the operation box 42. The jack position indicator 44 is provided on the operation panel 43. Lamps LF, L in jack position indicator 44
A, RF, and RA (all four each) are the body 1
The positions of the jacks 12 located at the front left, the rear left, the front right, and the rear right of 0 are indicated in four stages (the larger the number attached to the ramp, the larger the lateral overhang amount). The person can visually grasp the position of the jack 12. In FIG. 3, the position of the front left jack 12 is “4”, the position of the rear left jack 12 is “3”, the position of the front right jack 12 is “3”, and the position of the rear right jack 12 is “3”. The example in the case of is shown.

As shown in FIG. 3, the operation panel 43 is provided with a left / right movement restriction mode setting switch SW10, and the left / right movement restriction mode can be set by manually operating (pressing) the switch. . And
When the left / right movement restriction mode is set, a predetermined area in which the movement of the workbench 40 is restricted based on the position of each jack 12 obtained based on the information from the jack extension amount detectors 55 to 58. Can be set to the left or right of the vehicle body 10.

First, when the left / right movement restriction mode setting switch SW10 is operated, a setting signal is output, and the controller 50 receiving this setting signal switches the left movement restriction area setting switch SW11 and the left movement restriction area setting switch SW11 provided on the operation panel 43. This is a state in which an input from the rightward movement restriction area setting switch SW12 can be accepted. Here, when the leftward movement restriction area setting switch SW11 is pressed, an operation signal is input to the controller 50, and the position of the front left jack 12 obtained based on the detection information from the jack extension detector 55. And jack overhang detector 5
6, a vertical plane S1 passing through a straight line connecting the position of the jack 12 on the rear left obtained based on the detection information from
An area on the left side of the vertical plane S1 is a leftward movement restriction area M1.
Is set as On the other hand, when the rightward movement restriction area setting switch SW12 is pressed, an operation signal is input to the controller 50, and the jack extension detector 57
Right front jack 1 determined based on detection information from
2 and a vertical plane S2 passing through a straight line connecting the position of the rear right jack 12 obtained based on the detection information from the jack extension amount detector 58, is set. The area is set as the rightward movement restriction area M2.

FIG. 4 shows the positions of the jacks 12 in the case shown in FIG. 3 and the left and right movement restriction areas M1 and M2 which can be set at this time.
This is shown together with vertical planes S1 and S2, which are limit planes of M1 and M2. As can be seen from FIG. 3, in the case of FIG. 3, the positions of the front and rear jacks 12, 12 on the right side of the vehicle body 10 are both equal to "3", so that the limit surface (vertical surface S2) of the rightward movement restriction region M2 is the front and rear of the vehicle body Although it is set so as to be parallel to the axis, the positions of the front and rear jacks 12, 12 on the left side of the vehicle body 10 are "4" in the front and "3" in the rear, and are different from each other.
The limit plane (vertical plane S1) of the left movement restriction area M1 is the vehicle body 1
It is set obliquely with respect to the front-back axis of 0. It should be noted that both of these two movement restriction areas M1 and M2 can be set at the same time as both of them.

Here, the limit surfaces (vertical surfaces S1, S2) of both movement restriction regions M1, M2 are set so as to connect the positions of the front and rear jacks 12, 12 as described above. Alternatively, the jacks 12 may be set so as to pass through the smaller or larger projecting amount of the front and rear jacks 12 and 12 and to be parallel to the longitudinal axis of the vehicle body 10. Alternatively, an operator may be able to arbitrarily set by a separately provided setting means.

According to such a procedure, the leftward movement restriction area M
In a state in which 1 or the rightward movement restriction area M2 is set, the controller 50 determines that the outermost edge of the worktable 40 calculated as described above is located within the set movement restriction area (M1 or M2). If the outermost edge of the workbench 40 is located within the movement restriction area (M1 or M2), the alarm lamp 45 provided on the operation box 42 is turned on, and the operation box is also turned on. An alarm sound is generated from an alarm buzzer 46 provided at 42. At the same time, the controller 50 regulates the operation of the hydraulic valves V1 to V4, and raises, lowers, expands and contracts the boom 30 in a direction in which the outermost edge of the worktable 40 moves inward of the movement restriction areas M1 and M2. The turning operation of the work table 40 is prohibited.

The operation panel 43 is provided with a forward / backward movement restriction mode setting switch SW20, and the forward / backward movement restriction mode can be set by manually operating (pressing) the switch. When the front / rear movement restriction mode is set, a predetermined region in which the movement of (the outermost edge of) the work table 40 is restricted is set in front or rear of the vehicle body 10 based on the front / rear edge position of the vehicle body 10 stored in advance. Can be set.

First, when the forward / backward movement restriction mode setting switch SW20 is operated, a setting signal is output, and the controller 50 receiving this setting signal switches the forward movement restriction area setting switch SW21 provided on the operation panel 43 and the rearward. This is a state in which an input from the movement restriction area setting switch SW22 can be accepted. Here, when the forward movement restriction area setting switch SW21 is pressed, an operation signal is input to the controller 50 and the vehicle body 10 is pressed.
A vertical surface S3 that is in contact with the front edge of the vehicle body 10 and is perpendicular to the front-rear axis of the vehicle body 10 is set, and a region ahead of the vertical surface S3 is set as a forward movement restriction region M3. On the other hand, when the rearward movement restriction area setting switch SW22 is pressed, an operation signal is input to the controller 50, and a vertical plane S4 is set in contact with the rear edge of the vehicle body 10 and perpendicular to the longitudinal axis of the vehicle body 10,
The area behind this vertical plane S4 is the rearward movement restriction area M4.
Is set as

FIG. 5 shows the forward movement restricting area M3 and the rearward movement restricting area M4 set as described above, together with the vertical planes S3 and S4 which are the limit surfaces of the movement restricting areas M3 and M4. In addition, these two movement restriction areas M
3 and M4 can be set not only one of them but also both.

According to such a procedure, the forward movement restriction area M
3 or the rearward movement restriction area M4 is set, the controller 50 determines whether the outermost edge of the worktable 40 calculated as described above is located within the set movement restriction area (M3 or M4). If the outermost edge of the workbench 40 is located within the movement restriction area (M3 or M4), an alarm lamp 45 provided on the operation box 42 is turned on and an alarm is output from the alarm buzzer 46. Generate a sound. At the same time, the controller 50 regulates the operation of the hydraulic valves V1 to V4, and raises, lowers, expands and contracts the boom 30 in a direction in which the outermost edge of the worktable 40 moves inward of the movement restriction areas M3 and M4. The turning operation of the work table 40 is prohibited.

As described above, in the safety device according to the present invention, based on the position of the jack 12 with respect to the vehicle body 10,
A predetermined area (left movement restriction area M1 or right movement restriction area M2) can be set on the left or right side of the vehicle body 10, and the workbench 1 is set within the predetermined area thus set.
An alarm is issued when 0 is moved. For this reason,
The work safety in the work in which the movement of the worktable 10 to the side of the vehicle body 10 is restricted (for example, electric wire construction or work in a tunnel parked on a general road) is improved, and the movement of the worktable 10 is improved. Since the operation is easy, the workability is improved. Further, a predetermined area (forward movement restriction area M3 or rearward movement restriction area M4) can be set in front of or behind the vehicle body 10 based on the front and rear edge positions of the vehicle body 10, and within the predetermined area thus set. Since the alarm is also issued when the work table 10 is moved to the front, the work in which the movement of the work table 10 to the front or rear of the vehicle body 10 is restricted (for example, a wall of a building or the like in front or rear of the vehicle body 10). ), The work safety is improved.

In order to prevent the work table 40 from moving to a region outside the position of the jack 12 or a region outside the front and rear edges of the vehicle body 10 (to provide an alarm), Regulated area (M1, M2 or M
3, M4) at the critical plane (vertical plane S1, S2 or S3)
S4) needs to be set with a margin on the center side of the vehicle body 10 from the position of the jack 12 or the front and rear edges of the vehicle body 10. In this way, the workbench 40 is located in a region where movement of the workbench 40 is truly to be restricted (in this example, a region outside the position of the jack 12 or a region outside the front and rear edges of the vehicle body 10). An alert can be issued when approaching.

Although the safety device for a boom working vehicle according to the present invention has been described above, the scope of the present invention is not limited to the above. For example, in the embodiment described above, the number of jacks 12 provided on the vehicle body 10 is four in total in the front, rear, left, and right of the vehicle body 10, but the number of jacks is not necessarily four. Further, in the above-described embodiment, the aerial work vehicle in which the working device at the end of the boom is a working table has been described as an example, but the present invention is applicable to all boom working vehicles in which the working device is a crane or the like. It is. Here, when the working device is small and its size does not matter in particular, the position of the tip of the boom is used instead of the position of the outermost edge of the working device (work table 40) as in the above embodiment. Is also good.

The manner of setting the left and right or front and rear movement restriction areas depends on the position of the jack 12 with respect to the vehicle body 10,
Alternatively, the present invention is not limited to the above-described embodiment as long as it is set based on the front and rear edge positions of the vehicle body 10. For example, in the above embodiment, the left and right movement control areas M1, M
The two limit surfaces S1 and S2 have been described to pass through the positions of the jacks 12, but may be set inside (closer to the center of the vehicle body 10) or outside (farther away from the center of the vehicle body 10) than the position of each jack 12. You may. Similarly, the limit surfaces S3 and S4 of the front and rear movement control areas M3 and M4 have been described as just contacting the front and rear edges of the vehicle body 10, but may be set inside or outside these front and rear edges.

Further, in the above-described embodiment, each jack 12 is configured to be able to protrude to the side of the vehicle body 10 by the outrigger 13, but the jack 12 can be provided without such jack protruding means. In the case of a boom working vehicle fixed to the vehicle body 10, the jack extension amount detectors 55 to 58 shown in the above embodiment are not required. At this time, the position of the jack 12 with respect to the vehicle body 10 needs to be stored in the storage unit of the controller 50 in advance. Further, in the above-described embodiment, the limit surface of the restriction area (M1 to M4) is set as a vertical surface (S1 to S4). However, the limit surface is not limited to such a vertical surface.
It is preferable that the limit surface can be set in a curved shape using the parameters in the height direction. With such a configuration, a great effect can be obtained in an operation in which the lateral movement of the work table 40 is restricted according to the height (for example, an operation in a tunnel).

[0033]

As described above, in the safety device for a boom working vehicle according to the present invention, the predetermined area (first predetermined area) is located on the left or right side of the vehicle body based on the position of the jack with respect to the vehicle body. Can be set, and an alarm is issued when the working device is moved within the predetermined area set in this way. For this reason, work safety in the work in which the movement of the working device to the side of the vehicle body is restricted (for example, electric wire work performed while parked on a general road or work in a tunnel) is improved, and the working device Workability is improved because the moving operation is facilitated.

Further, a predetermined area (second predetermined area) can be set in front of or behind the vehicle body based on the front and rear edge positions of the vehicle body, and the working device is moved within the predetermined area thus set. In the case where the work equipment cannot be moved to the front or the rear of the vehicle body beyond the front and rear edge positions of the vehicle body because the warning is issued when the operation is performed (for example, the building Work in a situation where a wall or the like is located) can also enhance work safety.

The working device position detecting means detects the position of the outermost edge of the working device with respect to the vehicle body based on both the information on the position of the tip of the boom and the horizontal turning angle of the working device with respect to the tip of the boom. Preferably, the position is used as the position of the working device with respect to the vehicle body. With such a configuration, when the working device is large and its dimensions cannot be ignored (for example, when the working device is a working table). The above safety can be ensured also in the case of (1).

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a safety device according to the present invention.

FIG. 2 is a side view showing an aerial work vehicle which is an example of a boom work vehicle provided with the safety device.

FIG. 3 is a view showing an external appearance of a part of an operation panel provided in an operation box of the aerial work vehicle.

FIG. 4 is a plan view showing an example of setting a leftward movement restriction area and a rightward movement restriction area.

FIG. 5 is a plan view showing an example of setting a forward movement restriction area and a backward movement restriction area.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 aerial work vehicle (boom work vehicle) 10 body 12 jack 13 outrigger (jack extension means) 30 boom 40 work platform (work equipment) 45 alarm lamp (alarm means) 46 alarm buzzer (alarm means) 50 controller (judgment means) , First predetermined area setting means) 51 Boom undulation angle detector (working device position detecting means) 52 Boom length detector (working device position detecting means) 53 Boom turning angle detector (working device position detecting means) 54 Work Platform turning angle detector (work device position detecting means) 55 to 58 Jack overhang amount detector (jack overhang amount detecting means) SW10 Left / right movement restriction mode setting switch (left / right movement restriction mode setting means) SW11 Left movement restriction area Setting switch (first predetermined area setting means) SW12 Rightward movement restriction area setting switch (first predetermined area Constant means)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F333 AA08 AB04 AC02 FA11 FA22 FA28 FA34 FA36 FE03 FE05 FE09

Claims (4)

[Claims] 1. A safety device for a boom working vehicle having a working device at a tip end of a boom provided on a vehicle body and moving the working device by operating the boom, the safety device being provided on a side of the vehicle body. A plurality of jacks for supporting the vehicle body; a working device position detecting means for detecting a position of the working device with respect to the vehicle body; a lateral movement restriction mode setting means for setting a lateral movement restriction mode by an external operation; A first predetermined area setting means for setting a first predetermined area to the left or right of the vehicle body based on a position with respect to the vehicle body; and the left and right movement restriction mode is set by the left and right movement restriction mode setting means. When the operating device is in the first predetermined area set by the first predetermined area setting means based on the detection information from the operating device position detecting means. Determining means for determining whether or not the working device is located; and alarm means for performing an alarm operation when the determining means determines that the working device is positioned within the first predetermined area. A safety device for a boom work vehicle. 2. A plurality of jack overhanging means for projecting each of the jacks to the side of the vehicle body, and a jack overhanging amount detecting means for detecting the amount of each of the jacks overhanging to the vehicle body side. 2. The safety device for a boom working vehicle according to claim 1, wherein a position of the jack with respect to the vehicle body is obtained based on detection information from the jack extension amount detecting means. 3. A front / rear movement restriction mode setting means for setting a front / rear movement restriction mode by an external operation; and a second predetermined area for setting a second predetermined region in front of or behind the vehicle body based on a front / rear edge position of the vehicle body. A predetermined area setting unit, wherein the determination unit is configured to perform the following based on detection information from the working device position detection unit when the front-rear movement restriction mode is set by the front-rear movement restriction mode setting unit. It is determined whether or not the working device is located within the second predetermined region set by the second predetermined region setting unit. The alarm unit determines that the working device is in the second predetermined region by the determining unit. 3. The safety device for a boom working vehicle according to claim 1, wherein an alarm is activated when it is determined that the vehicle is located within a predetermined area. 4. The working device position detecting means detects a position of a tip of the boom and a horizontal turning angle of the working device with respect to the tip of the boom. The safety device for a boom working vehicle according to any one of claims 1 to 3, wherein a position is detected, and the detected position is used as a position of the working device with respect to the vehicle body.