JP2006193249A - Nonstop operation control device for boom work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve working efficiency, by moving a tip part of a boom to a position out of a trace line while continuing a nonstop operation control. <P>SOLUTION: In the nonstop operation control device, when a boom operation instruction signal for contraction operation (or extension operation) by operating a boom operating lever is output during the nonstop operation control, the increase/decrease correction of a value of a boom contraction operation instruction signal calculated for operating the boom so that a tip part of the boom moves along the trace line TR is performed depending on the boom operation instruction signal value, and the boom is operated based on a corrected instruction signal acquired from the correction. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a boom working vehicle in which the boom collapse operation can be continued without exceeding the limit of the allowable work range by performing the boom contraction operation in the middle of the boom collapse operation. The present invention relates to a non-stop operation control device.

  A boom work vehicle is a vehicle equipped with a work machine at the end of a boom that is provided on a traveling body so that it can be raised, retracted, and swiveled, and the work machine is a work platform for boarding workers. A vehicle and a work machine that is a lifting device are known as crane vehicles. In such a boom work vehicle, the boom can be lifted, retracted, and swiveled by operating the boom operation lever operated by the operator, and the working machine provided at the tip of the boom is moved to a desired position and required. Can be done.

  Such a boom work vehicle is provided with an overturn prevention device that prevents the traveling body from overturning due to the overturning moment generated by the weight of the boom and the load of the work implement. Various types of fall prevention devices are known. For example, in a type in which the movement of the tip of the boom is limited to a predetermined allowable work range (work range regulation type), The operation of the boom in which the tip part exceeds the limit line of the allowable work range is prohibited.

In addition to such a fall prevention device, a non-stop operation control device is known as a device for improving workability during boom collapse operation (see, for example, the following patent document). For this type of work range regulation type, the trace line is set so as to extend along the regulation line in the region inside the regulation line, and the tip of the boom during the fall operation is the trace line. In such a case, by performing not only the boom overturning operation but also the boom contraction operation, the tip of the boom is moved downward along the trace line. According to such a non-stop operation control device, it is possible to continuously perform the collapse operation of the boom without worrying about the forced stop of the boom operation due to the tip of the boom reaching the regulation line. Can be improved.
Japanese Patent Publication No. 4-19159 JP 2002-265199 A

  By the way, in the non-stop operation control, the distance between the tip of the boom and the trace line is always calculated, and the operation control in the boom expansion / contraction direction is performed so that the calculated distance is always small. Specifically, the operation control of the boom in the expansion / contraction direction is performed by controlling the contraction operation output of the expansion / contraction cylinder which is a hydraulic actuator for extending / contracting the boom. The command signal for the retracting operation of the telescopic cylinder is calculated by a controller that controls the operation of the boom. When a boom operation input is made to operate the boom to contract or extend during the non-stop operation, The cylinder operation command signals will be duplicated. In order to simplify the control against such duplication of operation command signals for the telescopic cylinder, the operation of the boom itself is stopped. In fact, even if the operation of the boom itself is stopped in the above case, an input for operating the boom to be contracted or extended during non-stop operation control is performed by the operator at the tip of the boom (high position). If it is a work vehicle, the intention to move the work platform to a position off the trace line is manifested. Therefore, after the non-stop operation control is canceled by stopping the boom operation, the boom retracts from that position. Alternatively, if the extension operation is performed, the tip of the boom can be moved to the target position, so that no particular problem has occurred.

  However, when the boom is contracted or expanded during non-stop operation control as described above, the boom tip may be moved to a position slightly deviated from the trace line by a so-called inching operation. In most cases, if it is possible to move a little off the trace line in this case, it is convenient for work.

  The present invention has been made in view of such problems, and can improve the workability by allowing the tip of the boom to move to a position off the trace line while continuing non-stop operation control. It is an object of the present invention to provide a non-stop operation control device for a boom work vehicle that can be used.

  A non-stop operation control device for a boom working vehicle according to a first aspect of the present invention is provided with a traveling body, a traveling body that can be raised and lowered and telescopically movable, and a working machine (for example, the work table 40 in the embodiment) at the tip. A boom operation unit that performs the operation of the boom (for example, the boom operation lever 51 in the embodiment), and a boom operation control unit that performs the operation control of the boom in accordance with the operation of the boom operation unit (for example, the embodiment). Storage means for storing trace line data provided in a region inside a restriction line that is a boundary line between the valve operation control unit 61) of the controller 60 and the region where movement of the tip of the boom is prohibited. (For example, the storage unit 64 of the controller 60 in the embodiment) and the boom operation control means cause the boom to fall down in accordance with the operation of the boom operation means. Non-stop operation control that performs non-stop operation control to perform boom contraction operation in conjunction with boom collapse operation so that the tip of the boom moves downward along the trace line when the arm reaches the trace line Means (for example, the non-stop operation control unit 65 of the controller 60 in the embodiment), and the non-stop operation control means is necessary for causing the tip of the boom to follow the trace line when performing the non-stop operation control. A “boom contraction operation command signal” that can produce a boom contraction operation output is calculated, and the boom is contracted based on the calculated “boom contraction operation command signal”. A “boom operation command signal” for retracting or extending the boom by operating the boom operating means during operation When it is detected that the force is applied, a correction is made to increase or decrease the value of the “boom contraction operation command signal” according to the value of the “boom operation command signal”, and the boom is adjusted based on the “correction command signal” obtained thereby. It is designed to operate.

  According to a second aspect of the present invention, there is provided a non-stop operation control device for a boom working vehicle. Boom operation means for performing operation, boom operation control means for performing boom operation control in response to the operation of the boom operation means, and a restriction line that is a boundary line between areas where movement of the tip of the boom is prohibited Storage means for storing the trace line data provided in the area of, and the boom operation control means is operating the boom in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line A non-stop operation control means for performing non-stop operation control for performing boom contraction operation in conjunction with boom collapse operation so that the tip of the boom moves downward along the trace line; The non-stop operation control means calculates the “boom contraction operation command signal” that can obtain the boom contraction operation output required to make the tip of the boom follow the trace line when performing non-stop operation control. The boom is contracted based on the calculated “boom contraction operation command signal”, and the boom operation is performed by operating the boom operating means during the non-stop operation control. When it is detected that the “command signal” is output, the larger one of the “boom contraction operation command signal” and the “boom operation command signal” is selected, and the boom is determined based on the “correction command signal” obtained thereby. Is to be activated.

  According to a third aspect of the present invention, there is provided a non-stop operation control device for a boom working vehicle. Boom operation means for performing operation, boom operation control means for performing boom operation control in response to the operation of the boom operation means, and a restriction line that is a boundary line between areas where movement of the tip of the boom is prohibited Storage means for storing the trace line data provided in the area of, and the boom operation control means is operating the boom in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line A non-stop operation control means for performing non-stop operation control for performing boom contraction operation in conjunction with boom collapse operation so that the tip of the boom moves downward along the trace line; The non-stop operation control means is configured to detect the boom operation control means when detecting that a “boom operation command signal” for extending the boom by operating the boom operation means is output during the non-stop operation control. After the boom overturning operation is interrupted, the boom is extended based on the “boom operation command signal”.

  According to a fourth aspect of the present invention, there is provided a non-stop operation control device for a boom working vehicle. A traveling body, a boom provided on the traveling body so as to be able to undulate and expand and contract, and having a working machine at a distal end thereof, Boom operation means for performing operation, boom operation control means for performing boom operation control in response to the operation of the boom operation means, and a restriction line that is a boundary line between areas where movement of the tip of the boom is prohibited Storage means for storing the trace line data provided in the area of, and the boom operation control means is operating the boom in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line A non-stop operation control means for performing non-stop operation control for performing boom contraction operation in conjunction with boom collapse operation so that the tip of the boom moves downward along the trace line; The non-stop operation control means is configured to detect the operation direction of the boom operation means when detecting that the boom is operated to be contracted or extended by operating the boom operation means during the non-stop operation control. The trace line is translated in accordance with the operation amount, and the boom is operated so that the tip of the boom moves down along the trace line after the parallel movement.

  In the non-stop operation control device for a boom working vehicle according to the first aspect of the present invention, a “boom operation command signal” for operating the boom by contraction operation or extension operation by operating the boom operation means during non-stop operation control is provided. A correction to increase or decrease the value of the “boom contraction operation command signal” calculated to operate the boom so that the tip of the boom follows the trace line when it is output, depending on the value of the “boom operation command signal” And the boom is operated based on the “correction command signal” obtained thereby. At this time, the tip of the boom moves in an area inside or outside the trace line according to the operation of the boom operation means, and the operator moves the tip of the boom from the trace line while continuing non-stop operation control. It can be moved to a deviated position. For this reason, when it is desired to move the tip of the boom to a position off the trace line during non-stop operation control as in the past, stop the boom operation and exit from non-stop operation control. It is not necessary to move the part, and workability is improved.

  In the non-stop operation control device for a boom working vehicle according to the second aspect of the present invention, a “boom operation command signal” for contracting the boom by operating the boom operation means is output while the non-stop operation control is being performed. Compare the value of the “boom contraction operation command signal” calculated to operate the boom so that the tip of the boom is along the trace line and the “boom operation command signal”. A signal is selected, and the boom is operated based on the “correction command signal” obtained thereby. At this time, the tip of the boom moves within the area inside the trace line according to the operation of the boom operating means, and the operator moves the tip of the boom inward from the trace line while continuing non-stop operation control. It can be moved to a deviated position. For this reason, when it is desired to move the tip of the boom to a position shifted inward from the trace line during the non-stop operation control as in the prior art, the boom operation is temporarily stopped to exit from the non-stop operation control. This eliminates the need to move the tip of the hood, improving workability. In the present invention, in order to move the tip of the boom to a position displaced inward from the trace line during the non-stop operation control, the “boom having a value exceeding the value of the“ boom contraction operation command signal ”is set. "Operation command signal" must be output. Therefore, the amount of operation of the boom operating means must be large to some extent, and it is possible to prevent the inconvenience that the moving path of the tip of the boom is changed due to an erroneous operation by the operator.

  In the non-stop operation control device for a boom working vehicle according to the third aspect of the present invention, a “boom operation command signal” for extending the boom by operating the boom operation means is output while the non-stop operation control is being performed. Then, after the boom overturning operation is interrupted, the boom is extended based on the “boom operation command signal”. At this time, the tip of the boom moves in the direction toward the outside of the trace line in accordance with the operation of the boom operating means. During the boom extension operation, the boom overturning operation is interrupted, but the non-stop operation control is resumed when the boom extension operation ends (that is, the boom extension operation by the boom operating means) ends. Therefore, the operator has continued the non-stop operation control substantially, and the boom tip has shifted to the position where the boom tip is shifted outward from the trace line (or the boom undulation angle has become a depression angle and has shifted to the inside of the trace line. Can be moved so that the tip of the is closer to the trace line. For this reason, when it is desired to move the tip of the boom to a position shifted outward from the trace line during the non-stop operation control as in the prior art, the boom operation is temporarily stopped to exit from the non-stop operation control. There is no need to move the tip of the boom, and workability is improved.

  In the non-stop operation control device for a boom working vehicle according to the fourth aspect of the present invention, a “boom operation command signal” for operating the boom by the operation of the boom operating means during the non-stop operation control is operated. When output, the trace line is translated in accordance with the operation direction and operation amount of the boom operating means, and the boom is operated so that the tip of the boom moves downward along the trace line after the parallel movement. At this time, the tip of the boom moves in an area inside (or outside) the original trace line according to the operation of the boom operation means, and the operator continues the non-stop operation control while the tip of the boom is being moved. The part can be moved to a position off the trace line. For this reason, when it is desired to move the tip of the boom to a position off the trace line during non-stop operation control as in the past, stop the boom operation and exit from non-stop operation control. It is not necessary to move the part, and workability is improved.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows a crawler type aerial work vehicle 1 to which the non-stop operation control device according to the first embodiment of the present invention is applied. The aerial work vehicle 1 has a swiveling body 20 on an upper part of a traveling body (crawler traveling body) 10, and a boom (extensible boom) 30 can be raised and lowered via a foot pin 23 on the upper part of the revolving body 20. It is attached.

  The revolving unit 20 can be swung within a range of 360 degrees in a horizontal plane with respect to the traveling unit 10 by rotating a revolving motor (hydraulic motor) 21 provided inside the revolving unit 20, and the boom 30 can be revolved. The swinging body 20 can be raised and lowered by extending and contracting a lifting cylinder (hydraulic cylinder) 22 provided between the body 20 and the body 20. The boom 30 includes a proximal boom 30a, an intermediate boom 30b, and a distal boom 30c. The boom 30 is telescopically moved by extending and contracting a telescopic cylinder (hydraulic cylinder) 31 provided inside the boom 30. Can be made.

  A vertical post 32 is provided at the tip of the boom 30, and a work table 40 for boarding a work vehicle is rotatably attached to the vertical post 32. The work table 40 can be swung in a horizontal plane with respect to the vertical post 32 by rotating a swing motor (hydraulic motor) 41 attached to the vertical post 32. Since the vertical post 32 is always held in a vertical posture by a balancing device (not shown), as a result, the floor surface of the work table 40 is always kept in a horizontal posture.

  The work table 40 is provided with an upper operation device 50, in which an operation operation of the boom 30, that is, a boom operation lever 51 for raising and lowering, extending and retracting the boom 30, and a swinging operation of the work table 40 are performed. A work table operating lever 52 is provided (see FIG. 1). For this reason, the operator (operator) OP who has boarded the work table 40 operates the boom operation lever 51 to raise, lower, expand, and rotate the boom 30, and operates the work table operation lever 52 to move the work table 40 to the vertical post. By swinging around 32, it is possible to freely move the work table 40 on which it is placed and perform work at a desired position at a desired position.

  The traveling body 10 includes one crawler traveling device 12 on each of the left and right sides of the frame 11. Each crawler traveling device 12 includes an activation wheel 12a attached to the rear part of the frame 11, an idler wheel 12b attached to the front part of the frame 11, and a crawler belt 12c wound around the activation wheel 12a and the idler wheel 12b. It is comprised. Each starter wheel 12a of the left and right crawler travel devices 12 is driven by rotating a sprocket (not shown) by travel motors (hydraulic motors) 13 and 14 (only the left travel motor 13 is shown in FIG. 2) attached to the frame 11. The left and right traveling motors 13 and 14 can be rotated and stopped as desired by operating the traveling operation levers 53 and 54 (see FIG. 1) provided in the upper operating device 50. it can.

  As shown in FIG. 1, the hydraulic pump P provided in the traveling body 10 is driven by a power source (not shown) such as an engine or an electric motor, and the hydraulic oil discharged from the hydraulic pump P controls the operation of the hoisting cylinder 22. Undulation cylinder control valve V1 to perform, telescopic cylinder control valve V2 to control the operation of the telescopic cylinder 31, swing motor control valve V3 to control the operation of the swing motor 21, swing motor control valve V4 to control the operation of the swing motor 41 And corresponding hydraulic actuators (the hoisting cylinder 22, the telescopic cylinder 31, the swing motor 21, the swinging motor 41, and the left and right traveling motors 13, via the traveling motor control valves V5, V6 for controlling the operation of the left and right traveling motors 13, 14. 14).

  When the boom operation lever 51 or the work table operation lever 52 is operated by the operator OP on the work table 40, an operation signal (voltage signal) corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) of the lever is generated. Are output to the valve operation controller 61 of the controller 60. The valve operation control unit 61 of the controller 60 then controls each spool (not shown) of the control valves V1, V2, V3, V4 corresponding to the direction and amount corresponding to the operation signal output by the operation of the levers 51, 52. ) Is electromagnetically driven. Here, the drive direction of each spool of the control valves V1, V2, V3, V4 is related to the drive direction (extension or contraction or rotation direction) of the corresponding hydraulic actuator, and the drive amount of each spool is supplied to the corresponding hydraulic actuator. This is related to the flow rate of hydraulic oil (flow rate per unit time), that is, the operating speed of each hydraulic actuator. Therefore, when the drive direction of the spool of each control valve is reversed, the operation direction of the corresponding hydraulic actuator is reversed, and the operation speed of the corresponding hydraulic actuator increases as the drive amount of the spool of each control valve increases.

  Here, the voltage level of the operation signal output by the operation of the boom operation lever 51 or the swing operation lever 52 is substantially proportional to the operation amount, and the operator OP operates the operation amount of each of the operation levers 51 and 52. It is possible to freely adjust the operating speed of the corresponding hydraulic actuator by adjusting.

  Further, when the left and right traveling operation levers 53 and 54 are operated by the operator OP, operation signals (voltage signals) corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) are output. Input to the valve operation control unit 61. The valve operation control unit 61 then controls the spools (not shown) of the left and right traveling motor control valves V5 and V6 corresponding in directions and amounts according to the operation signals output by operating the traveling operation levers 53 and 54. ) Is electromagnetically driven. Here, the drive directions of the spools of the control valves V5 and V6 are related to the rotation directions of the corresponding travel motors 13 and 14, and the drive amount of each spool is the flow rate of hydraulic oil supplied to the travel motors 13 and 14 ( (Flow rate per unit time), that is, the rotational speed (rotational speed) of the traveling motors 13 and 14. Therefore, when the drive direction of the spool of the control valve is reversed, the operation direction of the corresponding travel motors 13 and 14 is reversed, and the operation speed of the corresponding travel motors 13 and 14 increases as the drive amount of the spool of each control valve increases. growing.

  Here, the voltage level of the operation signal output by the operation of the left and right traveling operation levers 53 and 54 is substantially proportional to the operation amount, and is output if the operation amounts of the left and right traveling operation levers 53 and 54 are the same. The voltage level is the same. For this reason, the operator OP can travel straight or turn by freely adjusting the rotational speeds of the left and right traveling motors 13 and 14 by adjusting the operation amount of the traveling operation levers 53 and 54. The turn travel includes a pivot turn (swivel turn with a small radius) and a spin turn (turn on the spot). One of the left and right crawler travel devices 12 is (almost) fixed and the other is forward or A pivot turn can be made by rotating in the opposite direction, and a spin turn can be made by rotating the left and right crawler travel devices 12 in different directions.

  In addition, as shown in FIGS. 2 and 1, the work platform 1 includes a hoisting angle detector 81 that detects the hoisting angle θ of the boom 30 (see FIG. 3), and a length L of the boom 30 (FIG. 3). A length detector 82 for detecting a reference angle) and a turning angle detector 83 for detecting a turning angle (of the turning body 20) of the boom 30. The boom 30 detected by these detectors 81, 82, 83 is provided. Each information of the undulation angle θ, the length L, and the turning angle is input to the position calculation unit 62 of the controller 60 (see FIG. 1). Here, the position calculation unit 62 of the controller 60 is based on the information from the detectors 81, 82, and 83, and the tip of the boom 30 based on the traveling body 10 (the tip of the boom 30 is the work table 40. The position of the boom tip is calculated together with the information detected by the detectors 81, 82, 83 together with the information on the position of the boom tip obtained as a result. It outputs to the regulation control part 63 (refer FIG. 1).

  The undulation angle detector 81, the length detector 82, the turning angle detector 83, and the position calculation unit 62 of the controller 60 have a function of detecting the position (coordinates) of the boom tip portion. This is referred to as position detecting means 80. The position detection means 80 directly obtains the position of the boom tip at the turning angle of a certain boom 30 as coordinates (θ, L), but the working radius R of the boom 30 (as shown in FIG. 3). The horizontal distance from the vertical line PL including the foot pin 23 to the front end BP of the boom 30 and the height H of the front end of the boom 30 (the front end of the boom 30 from the horizontal line WL including the foot pin 23 as shown in FIG. 3). Since the height of the BP can be expressed using θ and L, respectively, it is possible to obtain the position of the boom tip as coordinates (R, H).

  The storage unit 64 of the controller 60 stores data on an allowable work range determined as an area where the work table 40 (the tip of the boom 30) can be moved without causing the traveling body 10 to fall. The outer edge of the allowable work range is an outer edge (referred to as an operation limit line) that is naturally defined based on the relationship between the range in which the length of the boom 30 can be taken and the range in which the boom 30 can take up and down. Although the tip can be moved, the outer edge set as a limit line in which the movement of the tip of the boom 30 has to be prohibited from the viewpoint of preventing the traveling body 10 from toppling (preventing the tipping moment from being excessive). (Referred to as a regulation line).

  The allowable work range set in the aerial work vehicle 1 is, for example, as shown in FIG. 3, and straight lines L1, L2, curves L3, L4, and straight lines (which may be curved lines, but here are assumed to be straight lines). It consists of a region surrounded by L5. The straight line L1, straight line L2, curved line L3, and curved line L4 shown in FIG. 3 are operation limit lines, and the straight line L5 is a regulation line. A curved line L4 ′ indicated by a dotted line is a virtual operation limit line that will be formed when the regulation line L5 is not set. In other words, the region between the restriction line L5 and the virtual operation limit line L4 ′ is a region where the movement of the tip of the boom 30 is prohibited (the tip of the boom 30 can be moved structurally, but the fall prevention is prevented). The restriction line L5 is a boundary line with the region where the movement of the tip of the boom 30 is prohibited. Since the restriction line L5 is a part of the outer edge of the allowable work range, the data of the restriction line L5 is stored in the storage unit 64 of the controller 60 as a part of the allowable work range data.

  As can be seen from the above description, the tip of the boom 30 cannot move outside the operation limit lines L1, L2, L3, and L4, but if there is no restriction on the operation of the boom 30, the restriction line L5 It is possible to move outward. The restriction control unit 63 of the controller 60 performs control for prohibiting the operation of the boom 30 such that the tip of the boom 30 moves to the outside of the restriction line L5. Specifically, the position information of the boom tip detected by the position detector 80 and the data of the allowable work range stored in the storage unit 64 are captured and compared, and the tip of the boom 30 is connected to the restriction line L5. Is reached, the operation of the valve operation control unit 61 is restricted so as to ignore the operation signal of the boom operation lever 51 that moves the tip of the boom 30 to the outside of the restriction line L5. Therefore, the tip of the boom 30 does not move far beyond the regulation line L5, and the operator OP on the work table 40 can safely move the work table 40 without worrying about the vehicle falling over. it can. For example, when a simple extension operation of the boom 30 is performed, the operation of the boom 30 is stopped when the tip of the boom 30 reaches the restriction line L5.

  As shown in FIG. 1, the controller 60 has a non-stop operation control unit 65 in addition to the above-described valve operation control unit 61, position calculation unit 62, regulation control unit 63, and storage unit 64. The storage unit 64 of the controller 60 stores data of the trace line TR (see FIG. 3) provided in the region (along the regulation line L5) inside (the traveling body 10 side) from the regulation line L5. The trace line TR data is stored as a mathematical expression or a set of points (coordinate values), and the non-stop operation control unit 65 of the controller 60 takes in the trace line TR data stored in the storage unit 64. Be able to. Then, the non-stop operation control unit 65 is configured such that the tip of the boom 30 reaches the trace line TR during the fall operation of the boom 30 (the tip of the boom 30 will reach the trace line TR during the fall operation of the boom 30). When it is determined that the boom 30 is retracted, non-stop operation control is performed so that the boom 30 contracts in conjunction with the collapse operation of the boom 30 so that the tip of the boom 30 moves downward along the trace line TR. . Here, the trace line TR may be set with reference to the regulation line L5 (for example, as a set of points having a predetermined horizontal distance from the regulation line L5), but the vertical line PL including the foot pin 23 shown in FIG. For example, it may be set based on a line other than the restriction line L5.

  In a case where the non-stop operation control unit 65 of the controller 60 does not perform such non-stop operation control, in the above case, when the tip of the boom 30 reaches the regulation line L5 due to the collapse operation of the boom 30, the controller 60 Although the operation of the boom 30 is forcibly stopped by the restriction control unit 63, the non-stop operation control unit 65 of the controller 60 performs the non-stop operation control as described above, so that the outer side of the tip of the boom 30 is moved outward. Although the movement to the side away from the traveling body 10 is limited, the operation of inclining the boom 30 intended by the operator OP can be continued, so that workability is improved.

  The non-stop operation control unit 65 of the controller 60 determines whether or not the tip of the boom 30 is about to reach the trace line TR during the collapse operation of the boom 30, which is a condition for starting the non-stop operation control. This is performed based on the operation state of the boom operation lever 51 and detection information from the position detection means 80. The operation signal of the boom operation lever 51 output to the valve operation control unit 61 is always input to the non-stop operation control unit 65 of the controller 60, and the non-stop operation control unit 65 of the controller 60 receives the boom operation lever 51. The boom 30 is in a tilting operation based on the output of an operation signal for tilting the boom 30 (an operation signal for contracting the hoisting cylinder 22, hereinafter referred to as a “boom tilting operation command signal”). The state can be detected. Then, in the state of detecting the state where the boom 30 is lying down based on the output of the “boom lying down operation command signal” by the operation of the boom operation lever 51 as described above, the detection information from the position detecting means 80 is further added. Based on this, when it is detected that the tip of the boom 30 is approaching the trace line TR, it is determined that the tip of the boom 30 is about to reach the trace line TR during the fall operation of the boom 30. Alternatively, when it is detected that the tip of the boom 30 has reached the trace line TR while drawing a trajectory corresponding to the falling operation of the boom 30 based on the detection information from the position detecting means 80, the lowering operation is in progress. It may be determined that the tip of the boom 30 is about to reach the trace line TR.

  Specifically, the non-stop operation control performed by the non-stop operation control unit 65 of the controller 60 is based on the detection information from the position detection means 80 and the data of the trace line TR stored in the storage unit 64 of the controller 60. The boom 30 is moved up and down (specifically, the hoisting cylinder 22 is moved so that the front end of the boom 30 moves downward along the trace line TR while comparing the position of the front end of the boom 30 with the trace line TR). In conjunction with the contraction operation, the boom 30 is controlled to contract (specifically, the expansion cylinder 31 is contracted). At this time, the non-stop operation control unit 65 of the controller 60 obtains the contraction operation output of the boom 30 necessary for moving the tip of the boom 30 along the trace line TR (making the tip of the boom 30 close to the trace line TR). The boom 30 contraction operation command signal (hereinafter referred to as “boom contraction operation command signal”) is calculated, and the boom 30 is contracted based on the calculated “boom contraction operation command signal”. In other words, the telescopic cylinder 31 is servo-controlled (feedback controlled) by the non-stop operation control unit 65 of the controller 60. For this reason, the tip of the boom 30 does not move accurately on the trace line TR, but moves so as to cross the trace lines TR alternately in an area having a certain width around the trace line TR. (See FIGS. 4 and 5). In spite of such servo control being performed, when the tip of the boom 30 reaches the regulation line L5 or exceeds the regulation line L5, the regulation control unit 63 of the controller 60 operates the boom 30 itself. Is forcibly stopped as described above.

4 and 5 show the movement trajectory m (P ₀ → P ₁ → P ₂ ) of the tip of the boom 30 in the non-stop operation control. Contraction operation of the boom 30 in the non-stop operation control is started at the latest when the tip of the boom 30 reaches the trace line TR (refer to point P _1), the tip of the boom 30 is assumed to have not performed nonstop operation After passing through the area below the movement trajectory that will be drawn in the case (see the movement trajectory m ′ indicated by the dotted line in FIG. 5), the movement downward along the trace line TR so as to cross the trace line TR alternately. Will do. Even if the output of the contraction operation performed in conjunction with the overturning operation of the boom 30 is too large and the tip of the boom 30 exceeds the trace line TR (to the traveling body 10 side), the controller 60 The non-stop operation control unit 65 does not issue a boom 30 extension operation command for bringing the tip of the boom 30 closer to the trace line TR. This is because the boom 30 is in a sloping operation, and the tip of the boom 30 approaches the trace line TR as time elapses without actively extending the boom 30.

  Further, the non-stop operation control unit 65 of the controller 60 operates an operation signal (hereinafter referred to as a “boom operation command signal”) that causes the boom 30 to be contracted or extended by operating the boom operation lever 51 during the non-stop operation control. ”) Is output to the valve operation control unit 61 of the controller 60, and the non-stop operation control unit of the controller 60 is operated to operate the boom 30 so that the tip of the boom 30 follows the trace TR. The value of the “boom contraction operation command signal” calculated by 65 itself is corrected to increase or decrease in accordance with the value of the “boom operation command signal”, and the command signal thus obtained (hereinafter referred to as “ The boom 30 is contracted based on the “correction command signal”. In this correction, the “boom operation command signal” for retracting the boom 30 and the “boom operation command signal” for extending the boom 30 are treated as having opposite polarities. That is, when the “boom operation command signal” has a polarity of “+”, the polarity of the “boom operation command signal” for contracting the boom 30 is “+” and the “boom operation command signal for extending the boom 30” "Is treated as"-".

FIGS. 6A and 7A show “boom” calculated by the non-stop operation control unit 65 of the controller 60 as a command signal for operating the boom 30 so that the tip of the boom 30 follows the trace TR. “Shrinkage operation command signal” (see signal Sa indicated by a one-dot chain line), “boom operation command signal” (see signal Sb indicated by a broken line) output to the valve operation control unit 61 of the controller 60 by operation of the boom operation lever 51, and these Example of time table of “correction command signal” (see signal St indicated by a solid line) obtained from “boom contraction operation command signal” and “boom operation command signal” and output as a command signal for actually operating boom 30 Show. However, FIG. 6 is an example in the case where the boom operation lever 51 is operated to contract the boom 30, and FIG. 7 is an example in which the boom operation lever 51 is operated to extend the boom 30. In these examples, when a certain amount of time has passed after the tip of the boom 30 reaches the trace line TR (see time t ₁ and the position P ₁ of the boom tip shown in both figures) (both figures). operation of contracting operating the boom 30 by the boom operating lever 51 is performed in the location reference P ₂₎ of the time t ₂ and the boom tip shown in further time t shown in (these figures when certain amount of time has passed the operation amount of the boom operation lever 51 is increased to ₃ and the reference position P ₃ of the boom tip).

  In these cases, after the distal end portion of the boom 30 starts to move downward along the trace line TR, the value of the “boom operation command signal” causes the boom 30 to contract in response to an increase in the operation amount of the boom operation lever 51. The value of the “correction command signal” is expressed as the sum of the value of the “boom operation command signal” and the value of the “boom operation command signal”. Since it increases or decreases stepwise, the tip of the boom 30 also moves stepwise inward or outward of the trace line TR (see FIGS. 6B and 7B).

  As described above, in the non-stop operation control device according to the first embodiment, the “boom operation command signal” that causes the boom 30 to contract or extend by operating the boom operation lever 51 while the non-stop operation control is being performed. Is output, the value of the “boom contraction operation command signal” calculated for operating the boom 30 so that the tip of the boom 30 follows the trace TR is increased or decreased according to the value of the “boom operation command signal”. The boom 30 is operated based on the “correction command signal” obtained thereby. At this time, the tip of the boom 30 moves in the region inside or outside the trace line TR in accordance with the operation of the boom operation lever 51, and the operator OP continues the non-stop operation control and the tip of the boom 30 is continued. The part (workbench 40) can be moved to a position off the trace line TR. For this reason, when it is desired to move the tip of the boom 30 to a position deviated from the trace line TR during the non-stop operation control as in the prior art, the operation of the boom 30 is once stopped to exit from the non-stop operation control. There is no need to move the tip of the boom 30 and workability is improved. In the above example, the correction for increasing or decreasing the value of the “boom contraction operation command signal” according to the value of the “boom operation command signal” is the value of the “boom operation command signal”. However, this is not necessarily limited to addition, and even if the amount of increase / decrease in a certain proportion corresponding to the value of the “boom operation command signal” is added to the “boom contraction operation command signal”, etc. Good.

  Next, a non-stop operation control apparatus according to the second embodiment of the present invention will be described. The non-stop operation control device according to the second embodiment is a controller 60 when the boom operation lever 51 is operated during non-stop operation control with respect to the non-stop operation control device according to the first embodiment. The only difference is the action.

  In the non-stop operation control device according to the second embodiment, the non-stop operation control unit 65 of the controller 60 is an operation signal (the operation signal for contracting the boom 30 by the operation of the boom operation lever 51 during the non-stop operation control). When it is detected that the “boom operation command signal” is output to the valve operation control unit 61 of the controller 60, the non-stop of the controller 60 is used to operate the boom 30 so that the tip of the boom 30 follows the trace TR. The value of the “boom contraction operation command signal” calculated by the operation control unit 65 itself is compared with the value of the “boom operation command signal” to select the command signal having the larger value, and the command signal obtained thereby The boom 30 is operated based on (hereinafter referred to as “correction command signal” in the second embodiment).

FIG. 8A shows a “boom contraction operation command signal” calculated by the non-stop operation control unit 65 of the controller 60 as a command signal for operating the boom 30 so that the tip of the boom 30 follows the trace TR. A signal Sa indicated by an alternate long and short dash line), a “boom operation command signal” (see signal Sb indicated by a broken line) output to the valve operation control unit 61 of the controller 60 by the operation of the boom operation lever 51, and a value of these two command signals. 4 shows an example of a time table of a “correction command signal” (see a signal St indicated by a solid line) that is obtained by selecting the larger one and is output as a command signal for actually operating the boom 30. The time table of the “boom contraction operation command signal” and “boom contraction operation signal” in this example is the same as that in FIG. 6A in the case of the first embodiment described above, but the “correction command signal” in this embodiment. Is different from the case of the first embodiment in terms of the contraction operation output of the boom 30 and the movement trajectory of the tip of the boom 30 accordingly. That is, in this example, after the tip of the boom 30 starts to move downward along the trace line TR, the value of the “boom operation command signal” increases stepwise in accordance with the increase in the operation amount of the boom operation lever 51. However, since the value of the “correction command signal” is the larger one of the value of the “boom contraction operation command signal” and the value of the “boom operation command signal”, the contraction operation output of the boom 30 is “boom operation command signal”. ”Increases only when the value of“ boom contraction operation command signal ”exceeds the value (after time t ₂ ), and the tip of the boom 30 is moved to the inside of the trace line TR after time t ₃ accordingly. It will be.

  As described above, in the non-stop operation control device according to the second embodiment, a “boom operation command signal” that causes the boom 30 to contract by the operation of the boom operation lever 51 is output while the non-stop operation control is being performed. The value of the “boom contraction operation command signal” calculated for operating the boom 30 so that the tip of the boom 30 follows the trace line TR is compared with the “boom operation command signal”. The larger command signal is selected, and the boom 30 is operated based on the “correction command signal” obtained thereby. At this time, the tip of the boom 30 moves in a region inside the trace line TR according to the operation of the boom operation lever 51, and the operator OP moves the tip of the boom 30 while continuing non-stop operation control. The (workbench 40) can be moved to a position shifted inward from the trace line TR. For this reason, when it is desired to move the tip of the boom 30 to a position shifted inward from the trace line TR during the non-stop operation control as in the prior art, the operation of the boom 30 is temporarily stopped to exit the non-stop operation control. In addition, it is not necessary to move the tip of the boom 30 and workability is improved. In this embodiment, in order to move the tip of the boom 30 to a position shifted inward from the trace line TR during non-stop operation control, a value that exceeds the value of the “boom contraction operation command signal” is set. The “boom operation command signal” that it has has to be output. Therefore, the operation amount of the boom operation lever 51 must be large to a certain extent, and the inconvenience that the movement locus of the tip of the boom 30 is changed due to an erroneous operation by the operator OP can be prevented.

  Next, a non-stop operation control device according to a third embodiment of the present invention will be described. In the non-stop operation control device according to the third embodiment, the boom operation lever 51 is operated during the non-stop operation control with respect to the non-stop operation control device according to the first embodiment or the second embodiment described above. Only the operation of the controller 60 is different.

  In the non-stop operation control device according to the third embodiment, the non-stop operation control unit 65 of the controller 60 is an operation signal (e.g., an operation for extending the boom 30 by operating the boom operation lever 51 during the non-stop operation control). When it is detected that the “boom operation command signal”) has been output, the boom 30 overturning operation performed by the valve operation control unit 61 of the controller 60 is interrupted, and then the boom 30 is based on the “boom operation command signal”. Is extended.

FIG. 9A shows a “boom contraction operation command signal” calculated by the non-stop operation control unit 65 of the controller 60 as a command signal for operating the boom 30 so that the tip of the boom 30 follows the trace TR. A signal Sa indicated by a one-dot chain line), a “boom operation command signal” (see a signal Sb indicated by a broken line) output to the valve operation control unit 61 of the controller 60 by the operation of the boom operation lever 51, and these “boom contraction operation command signals” ”And“ boom operation command signal ”and an example of a time table of a command signal (see a signal St indicated by a solid line) for actually operating the boom 30 is shown. In this example, the tip of the boom 30 has reached the trace line TR (see time t ₁ shown in the figure and the position P ₁ of the boom tip), and the boom 30 has reached a horizontal posture (time t shown in the figure). after ₂ and the reference position P ₂ of the boom tip), the operation of extending operation of the boom 30 by the boom operating lever 51 is performed when the time of about one has passed (time shown in FIG t ₃ and the boom tip reference position P _3), extending action operation subsequent boom 30 by the boom operation lever 51 is released (see position P ₄ of the time t ₄ and the boom tip shown in the figure).

  As described above, in the non-stop operation control device according to the third embodiment, the “boom operation command signal” for extending the boom 30 by the operation of the boom operation lever 51 is output during the non-stop operation control. The boom 30 is suspended and the boom 30 is extended based on the “boom operation command signal”. At this time, the tip of the boom 30 moves in a direction toward the outside of the trace line TR according to the operation of the boom operation lever 51. During the boom 30 extension operation, the boom 30 tilting operation is interrupted, but if the boom 30 extension operation (ie, the boom 30 extension operation by the boom operation lever 51) is completed, the non-stop operation is performed. Since the control is resumed, the operator OP substantially continues the non-stop operation control and moves the tip of the boom 30 (the work table 40) to a position shifted outward from the trace line TR (or as shown in FIG. 9). In addition, the boom 30 can be moved so that the undulation angle of the boom 30 becomes a depression angle and the tip of the boom 30 that has shifted to the inside of the trace line TR is brought close to the trace line TR. Therefore, when it is desired to move the tip of the boom 30 to a position shifted outward from the trace line TR during the non-stop operation control as in the prior art, the operation of the boom 30 is temporarily stopped to exit the non-stop operation control. In addition, it is not necessary to move the tip of the boom 30 and workability is improved.

  Next, a non-stop operation control apparatus according to the fourth embodiment of the present invention will be described. The non-stop operation control device according to the fourth embodiment includes the non-stop operation control device according to the first to third embodiments described above and the controller 60 when the boom operation lever 51 is operated during the non-stop operation control. The only difference is the action.

  In the non-stop operation control device according to the fourth embodiment, the non-stop operation control unit 65 of the controller 60 causes the boom 30 to be contracted or extended by operating the boom operation lever 51 during the non-stop operation control. When it is detected that the operation has been performed, first, the trace line TR is translated in accordance with the operation direction and the operation amount of the boom operation lever 51. Specifically, the data of the trace line TR fetched from the storage unit 64 of the controller 60 is processed to create data of the trace line TR ′ (see FIGS. 10 and 11) after translation. When the data of the trace line TR ′ after such translation is created, the boom 30 is operated so that the tip of the boom 30 moves downward along the trace line TR ′ after the translation.

Figure 10 is a distal end portion of the boom 30 has reached the trace line TR later (refer to the position P ₁ of the boom tip shown in the figure), when the time of a certain degree has passed (the boom tip shown in FIG. it is an example of the case where the operation for contracting operate the boom 30 by the boom operating lever 51 to the position P reference ₂₎ was performed. In this case, after the tip of the boom 30 starts to move downward along the trace line TR, the trace line TR moves in parallel to the traveling body 10 when the boom 30 is operated to contract by the boom operation lever 51. Therefore, it moves downward along the trace line TR 'after this parallel movement. At this time, the non-stop operation control unit 65 of the controller 60 performs servo control of the boom 30 with reference to the trace line TR ′ after translation (so that the tip of the boom 30 approaches the trace line TR ′ after translation). I do. When the operator OP completes the operation of retracting the boom 30 by the boom operation lever 51, the trace line TR ′ is returned to the original position.

11, the tip of the boom 30 has reached the trace line TR later (refer to the position P ₁ of the boom tip shown in the figure), when the time of a certain degree has passed (the boom tip shown in FIG. is an example of the case where the operation for extended operating the boom 30 by the boom operating lever 51 to the position reference P ₂₎ was performed. In this case, after the tip of the boom 30 starts to move down along the trace line TR, the trace line TR moves in parallel to the regulation line L5 when the boom 30 is operated to extend by the boom operation lever 51. Therefore, it moves downward along the trace line TR 'after this parallel movement. At this time, the non-stop operation control unit 65 of the controller 60 performs servo control of the boom 30 with reference to the trace line TR ′ after translation (so that the tip of the boom 30 approaches the trace line TR ′ after translation). The trace line TR ′ is returned to the original position when the operator OP completes the operation of extending the boom 30 by the boom operation lever 51. The boom 30 is moved during the non-stop operation control described above. This is the same as the case where the operation for contraction is performed.

  As described above, in the non-stop operation control device according to the fourth embodiment, the “boom operation command signal” that causes the boom 30 to be contracted or extended by operating the boom operation lever 51 while the non-stop operation control is being performed. When output, the boom is so that the trace line TR is translated in accordance with the direction and amount of operation of the boom control lever 51, and the tip of the boom 30 is moved downward along the trace line TR 'after the translation. 30 is activated. At this time, the tip of the boom 30 moves in the inner (or outer) area of the original trace line TR according to the operation of the boom operation lever 51, and the operator OP continues the non-stop operation control. However, the tip of the boom 30 (the work table 40) can be moved to a position off the trace line TR. For this reason, when it is desired to move the tip of the boom 30 to a position deviated from the trace line TR during the non-stop operation control as in the prior art, the operation of the boom 30 is once stopped to exit from the non-stop operation control. There is no need to move the tip of the boom 30 and workability is improved.

  Although the preferred embodiments of the present invention have been described so far, the scope of the present invention is not limited to those shown in the above-described embodiments. For example, in the above-described embodiment, the trace line TR is a straight line, but the trace line TR is not necessarily a straight line. In FIG. 3, the trace line TR is drawn so as to be set substantially parallel to the restriction line L5. However, the trace line TR does not necessarily have to be parallel to the restriction line L5. Further, the trace line TR may be a region having a certain width (in the horizontal direction).

  In the above-described embodiment, the object to which the present invention is applied is an aerial work vehicle whose traveling body is a crawler type, but the traveling body may not necessarily be a crawler type. In addition, the object to which the present invention is applied is not necessarily an aerial work vehicle, but a boom work vehicle configured to have a working machine at the tip of a boom provided on a traveling body so as to be able to undulate and expand and contract. Any other boom working vehicle (for example, a crane truck or a digging pillar car) may be used.

1 is a drive control system diagram of a hydraulic actuator in a crawler type aerial work vehicle to which a non-stop operation control device according to a first embodiment of the present invention is applied. It is a side view of the said crawler type aerial work vehicle. It is a figure which shows an example of the raising / lowering angle (theta) of the boom in the said crawler type aerial work vehicle, the length L of the boom, the working radius R of the boom, the height H of the front-end | tip part of a boom, and the allowable working range set. It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom at the time of non-stop action | operation control. FIG. 5 is an enlarged view of a region V in FIG. 4. (A) is an example of a time table of “boom contraction operation command signal”, “boom operation command signal” and “correction command signal” in the first embodiment, and (B) is a boom contraction operation output according to this time table. It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom in the case of being performed (however, when operation which shrinks a boom is performed during nonstop operation control). (A) is an example of a time table of “boom contraction operation command signal”, “boom operation command signal” and “correction command signal” in the first embodiment, and (B) is a boom contraction operation output according to this time table. It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom in the case of having been made (however, when operation which expand | extends a boom is performed during nonstop operation control). (A) is an example of a time table of “boom contraction operation command signal”, “boom operation command signal” and “correction command signal” in the second embodiment, and (B) is a boom contraction operation output according to this time table. It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom in case where is made. (A) is an example of a time table of a “boom contraction operation command signal”, a “boom operation command signal” and a command signal for actually operating a boom in the third embodiment, and (B) is a time table of the boom according to this time table. It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom in case the shrinkage | contraction action output is made | formed. It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom in 4th Embodiment (however, when operation which carries out contraction operation of a boom is performed during nonstop operation control). It is a figure which shows the movement locus | trajectory of the front-end | tip part of a boom in 4th Embodiment (however, when operation which expand | extends a boom is performed during non-stop operation control).

Explanation of symbols

1 High-altitude work vehicle (boom work vehicle)
10 traveling body 30 boom 40 work table (work machine)
51 Boom operation lever (boom operation means)
60 controller 61 valve operation control unit (boom operation control means)
62 position calculation unit 63 regulation unit 64 storage unit (storage unit)
65 Non-stop operation control unit (non-stop operation control means)
80 Position detection means L5 Restriction line TR Trace line TR 'Trace line after translation

Claims (4)

A traveling body,
A boom which is provided on the traveling body so as to freely undulate and extend, and has a work machine at a tip portion;
Boom operating means for operating the boom;
Boom operation control means for controlling the operation of the boom according to the operation of the boom operation means;
Storage means for storing data of a trace line provided in a region inside a restriction line that is a boundary line with a region where movement of the tip of the boom is prohibited;
When the boom operation control means causes the boom to fall down in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line, the tip of the boom follows the trace line. Non-stop operation control means for performing non-stop operation control for performing the contraction operation of the boom in conjunction with the collapse operation of the boom so as to move downward,
In the non-stop operation control, the non-stop operation control means outputs a boom contraction operation command signal sufficient to obtain a boom contraction operation output necessary for bringing the tip of the boom along the trace line. The boom is contracted based on the calculated boom contraction operation command signal, and the boom is contracted by the operation of the boom operating means during the non-stop operation control. When it is detected that the boom operation command signal to be extended is output, correction is performed to increase or decrease the value of the boom contraction operation command signal in accordance with the value of the boom operation command signal, and the correction command signal obtained thereby is corrected. The boom working vehicle non-stop operation control device characterized in that the boom is operated on the basis thereof. A traveling body,
A boom which is provided on the traveling body so as to freely undulate and extend, and has a work machine at a tip portion;
Boom operating means for operating the boom;
Boom operation control means for controlling the operation of the boom according to the operation of the boom operation means;
Storage means for storing data of a trace line provided in a region inside a restriction line that is a boundary line with a region where movement of the tip of the boom is prohibited;
When the boom operation control means causes the boom to fall down in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line, the tip of the boom follows the trace line. Non-stop operation control means for performing non-stop operation control for performing the contraction operation of the boom in conjunction with the collapse operation of the boom so as to move downward,
In the non-stop operation control, the non-stop operation control means outputs a boom contraction operation command signal sufficient to obtain a boom contraction operation output necessary for bringing the tip of the boom along the trace line. The boom is contracted based on the calculated boom contraction operation command signal, and the boom is contracted by operating the boom operating means during the non-stop operation control. When it is detected that a boom operation command signal has been output, the larger one of the boom contraction operation command signal and the boom operation command signal is selected, and the boom is operated based on the correction command signal obtained thereby. A non-stop operation control device for a boom working vehicle. A traveling body,
A boom which is provided on the traveling body so as to freely undulate and extend, and has a work machine at a tip portion;
Boom operating means for operating the boom;
Boom operation control means for controlling the operation of the boom according to the operation of the boom operation means;
Storage means for storing data of a trace line provided in a region inside a restriction line that is a boundary line with a region where movement of the tip of the boom is prohibited;
When the boom operation control means causes the boom to fall down in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line, the tip of the boom follows the trace line. Non-stop operation control means for performing non-stop operation control for performing the contraction operation of the boom in conjunction with the collapse operation of the boom so as to move downward,
When the non-stop operation control means detects that a boom operation command signal for extending the boom by the operation of the boom operation means is output during the non-stop operation control, the boom operation control means The boom working vehicle non-stop operation control device characterized in that the boom overturning operation by means is interrupted and then the boom is extended based on the boom operation command signal. A traveling body,
A boom which is provided on the traveling body so as to freely undulate and extend, and has a work machine at a tip portion;
Boom operating means for operating the boom;
Boom operation control means for controlling the operation of the boom according to the operation of the boom operation means;
Storage means for storing data of a trace line provided in a region inside a restriction line that is a boundary line with a region where movement of the tip of the boom is prohibited;
When the boom operation control means causes the boom to fall down in accordance with the operation of the boom operation means, and the tip of the boom reaches the trace line, the tip of the boom follows the trace line. Non-stop operation control means for performing non-stop operation control for performing the contraction operation of the boom in conjunction with the collapse operation of the boom so as to move downward,
The non-stop operation control means detects the boom operation means when it detects that an operation of retracting or extending the boom by the operation of the boom operation means is performed during the non-stop operation control. The boom operation is characterized in that the trace line is translated in accordance with the operation direction and the operation amount, and the boom is operated so that the tip of the boom moves down along the trace line after the parallel movement. Non-stop operation control device for cars.

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