JP2011057349A - Vehicle for high lift work - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable an operator to instantaneously and correctly recognize the present attitude of a mobile body for operation during the reproducing operation by a teaching/playback control. <P>SOLUTION: A display screen 22 includes a first area 30 for graphically and three-dimensionally displaying the moving path T of the front end position 2a of a ladder 2, the present attitude P of the ladder 2 during the operation, and a vehicle body 1. The moving path T of the front end position 2a is prepared based on the data on the moving path of the ladder 2 during the initial reciprocating operation (during the teaching) by the operation of an operating means. The present attitude P of the ladder 2 is prepared based on the attitude data signals sequentially input from a sensor signal processing part to the display screen. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a fire truck with a ladder equipped with a telescopic ladder (including a tip bending type) as a working moving body, a fire truck with a refractive ladder equipped with a telescopic / refractive tower (boom), and a telescopic type. Equipped with a high-altitude water truck equipped with a refracting water tower, a rescue vehicle equipped with a telescopic crane device, and a telescopic boom to perform wall painting, overhead wire, lifting, etc. The present invention relates to an aerial work vehicle such as a crane mounted with a telescopic crane device for carrying out work such as loading and unloading of a transfer object at a high place.

  For example, fire trucks with ladders are used for fire fighting and rescue activities at fire sites in high places such as high-rise building fires. Fire trucks with ladders are equipped with telescopic ladders (including those with a bent tip) as work moving bodies, and slides to the basket attached to the tip of the ladder or to the top (back) of the ladder. Firefighters, etc. board the lifter installed freely to perform fire fighting and rescue activities.

  A ladder mounted on a fire engine with a ladder can be moved in three dimensions by operations including expansion, contraction, undulation, and turning, and an operator is usually seated on a seat of an operator seat installed at a side position of the base of the ladder. The ladder is extinguished while operating the operating means (extension / lift lever, hoisting / turning lever, etc.) provided in the operator's seat to avoid interference with surrounding obstacles such as buildings, utility poles and trees. Operate the ladder to move safely and quickly to a position suitable for rescue operations. A display device that displays information including the posture of the ladder is provided in front of the seat of the operator seat, and the operator can refer to various information displayed on the display screen of the display device and select an appropriate travel route. The ladder can be activated.

  As the above display device, the following Patent Documents 1 and 2 show on the display screen the posture on the two-dimensional plane including the extension and undulation directions of the ladder and the posture on the two-dimensional plane including the turning direction of the ladder. An apparatus for graphically displaying in different areas is described.

  In Patent Documents 3 to 6 below, the telescopic boom is specified by teaching / playback control in an aerial work vehicle equipped with a telescopic boom for performing wall painting or overhead wire work at a high place. A control device that can reciprocate between two positions (regeneration operation) is described.

JP 2006-26100 A JP-A-6-7471 JP 2001-130898 A JP 2006-27857 A JP 2004-352484 A JP 2005-15113 A

  The display devices described in Patent Documents 1 and 2 show different regions on the display screen between the posture on the two-dimensional plane including the extension and undulation directions of the ladder and the posture on the two-dimensional plane including the turning direction of the ladder. It is difficult for the operator to instantly recognize the current posture of the ladder moving in the three-dimensional space.

  In particular, when the operation of the work moving body such as a ladder is performed by teaching / playback control as described in Patent Documents 3 to 6, the operator can determine the current posture of the work moving body in the three-dimensional space. Due to the fact that it is difficult to recognize instantly, the reality is that the reliability of the regenerating operation of the working mobile body must depend only on the control device.

  Also, when the path of regeneration operation of the work mobile body is complicated, or after stopping the regeneration operation by playback control, switching to manual operation and operating the actuator, return to the regeneration operation path. In the case of resuming the regenerative operation, etc., the operator's recognition of the operation direction of the work vehicle may be different from the regenerative operation executed by the playback control, and there is room for improvement from the viewpoint of ensuring higher safety. there were.

  An object of the present invention is to enable an operator to instantaneously and correctly recognize the current posture at the time of regeneration operation of a work mobile body by teaching / playback control, thereby enabling the operation of the work mobile body to be regenerated. It is to increase the reliability and secure the most important safety for working on an aerial work platform.

  Another object of the present invention is to enable an operator to instantly and correctly recognize the direction of movement during the regeneration operation of a working moving body by teaching / playback control, thereby eliminating the possibility of erroneous operation. To ensure safety.

  A further object of the present invention is to enable an operator to distinguish and recognize instantaneously the regenerating operation of the work mobile body by teaching / playback control and the manual operation of the work mobile body by operating the operating means. , Thereby eliminating the possibility of erroneous operation and ensuring safety.

  In order to solve the above-described problems, the present invention operates a vehicle main body, a work moving body mounted on the vehicle main body and movable in three dimensions by operations including expansion, contraction, undulation, and turning, and operation of the work moving body. In an aerial work vehicle comprising an operating means for controlling, a control device for controlling the operation of the working mobile body, and a display device for displaying information including the posture of the working mobile body, the control device operates the operating means. A moving path storage means for storing the moving path of the working moving body actuated by the above, and a playback control means for regenerating the working moving body in accordance with the moving path stored in the moving path storage means. Is based on the data of the movement path stored in the movement path storage means, and the movement trajectory of the tip position of the working moving body is displayed in a three-dimensional graphic on the display screen, and also by the playback control means. To provide an arrangement for graphically displaying the three-dimensional display screen on the attitude of the working mobile in raw operation. Here, as described above, the movable body for work includes a telescopic ladder (including a tip-refractive type), a telescopic / refractive or telescopic boom, a telescopic or refractive water tower, a telescopic type. Crane equipment and the like. Also, high-altitude work vehicles include fire trucks with ladders, fire cars with refraction ladders, high-altitude water trucks, rescue work vehicles, work vehicles that perform wall painting and lifting work at high altitudes, crane vehicles, etc. included.

  In the above configuration, the movement trajectory may be displayed with different graphic display modes on the movement start point side and the movement end point side with the current position of the distal end position of the working moving body as a boundary.

  In the above configuration, when the reproduction operation by the playback control means is temporarily stopped and the work moving body is operated by the operation of the operation means, the work moving body moves differently from the movement route. The movement locus of the tip position of the working moving body moving along the route may be displayed in a three-dimensional graphic in a manner different from the above movement locus (movement locus for reproduction operation).

  In the above configuration, the viewpoint of three-dimensional graphic display may be variable.

  In the above configuration, the display device may be provided with a recording / reproducing unit that records the display data of the graphic display on an external recording medium and reads and reproduces the display data recorded on the external recording medium.

  The present invention is suitable for a fire engine with a ladder (including a fire engine with a refraction ladder).

  According to the present invention, based on the data of the movement path stored in the movement path storage means, the movement locus of the tip position of the working moving body is displayed in a three-dimensional graphic on the display screen, and by the playback control means. Since the posture of the work moving body during the regenerating operation is displayed in a three-dimensional graphic on the display screen, the operator can intuitively instantly determine whether the regenerating operation of the work moving body is appropriate or not by the three-dimensional graphic display on the display screen. Compared to the conventional configuration that relied only on the control device for the reliability of regenerative operation, the reliability of the regenerative operation was increased and the safety of work on a work vehicle at a high altitude was ensured more reliably. It becomes possible to do.

  In addition, the operator can display the movement trajectory by changing the three-dimensional graphic display mode on the movement start point side and the movement end point side with the current position of the tip position of the work moving body as a boundary. Since the operation direction of the regenerative operation of the actuating moving body executed by the playback control means can be determined intuitively and instantaneously, there is no possibility of erroneous operation, and safety is ensured.

  Further, in the case where the reproduction operation by the playback control means is temporarily stopped and the work moving body is operated by operating the operation means, when the work moving body moves along a route different from the above movement route, the different route is used. By displaying the movement trajectory of the tip position of the moving work moving body in a three-dimensional graphic manner different from the movement trajectory, the operator can confirm that the current operation of the working moving body is being performed manually. Since it can be recognized intuitively and instantaneously, there is no possibility of erroneous operation, and safety is ensured.

  Also, by making it possible to change the viewpoint of the 3D graphic display on the display screen, the 3D graphic display is adjusted so that the movement trajectory and the current posture of the work mobile body can be seen intuitively, and the work movement It becomes possible to quickly and correctly determine whether or not the body is suitable for regenerating operation.

  In addition, the operation of the working moving body is provided by recording the display data of the three-dimensional graphic display on the external recording medium, and providing the display device with a recording / reproducing unit that reads and reproduces the display data recorded on the external recording medium. The detailed recording can be analyzed or reproduced after the fact, which contributes to the improvement of the operation skill of the operator.

It is a side view of the fire engine with a ladder concerning an example. It is a perspective view of the operation seat installed in a fire engine with a ladder. It is a block diagram of a display apparatus and a control apparatus. It is a top view which shows an example of a display screen typically. It is a top view which shows an example of a display screen typically. It is a top view which shows an example of a display screen typically.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a ladder-equipped fire truck as an aerial work vehicle according to this embodiment. The fire engine with a ladder includes a vehicle main body 1 and a telescopic ladder 2 as a working moving body mounted on the vehicle main body 1. A turning table 3 capable of turning about a turning axis on the vertical axis is disposed on the vehicle body 1, and a support frame 4 is attached to the turning table 3. The base of the ladder 2 is attached to the support frame 4 so as to be movable up and down via a horizontal shaft. An operation seat 5 is attached to the side of the support frame 4.

  As is well known, the ladder 2 is configured by nesting a plurality of ladder members, and includes a telescopic cylinder (for example, a hydraulic cylinder) 6 as a telescopic drive means and a telescopic operation mechanism 7 mainly composed of a wire and a pulley. The hoisting cylinder (for example, a hydraulic cylinder) 8 serving as the hoisting driving means is operated to extend and retract, and the swiveling motor (for example, hydraulic motor) 9 serving as the swiveling driving means is turned together with the turntable 3. A basket 10 is movably mounted on the tip of the ladder 2, and a lifter 11 is slidably installed on the upper surface (back surface) of the ladder 2.

  The vehicle body 1 is equipped with an outrigger jack device 12, and when the fire engine with a ladder arrives in the vicinity of the fire site, the outrigger jack device 12 is activated and the vehicle body 1 is stably supported on the ground. . In this state, the operator can get on the operation seat 5 and operate the ladder 2.

  FIG. 2 shows the operation seat 5. The operator sits on the seat 13 of the operation seat 5 and operates operation means such as operation levers (expansion / lift lever 14a, hoisting / revolving lever 14b) provided on both sides (armrest portions) of the seat 13, and the ladder. 2 is activated. A display device 15 that displays various information including the posture of the ladder 2 is provided in front of the seat 13, and an operator refers to the various information displayed on the display screen of the display device 15 while referring to the ladder 2. Can be operated. Further, the display device 15 is equipped with an interphone 16, and an operator operates an interphone switch 17 installed on the floor of the operation seat 5, so that the intercom 16 and the firefighters who have boarded the basket 10 or the lifter 11 are intercommunicated. You can talk through. An operation unit main switch 18 is installed on the floor of the operation seat 15 in addition to the intercom switch 17, and manual operation by the operation levers 14a and 14b is performed only while the operator steps on the operation unit main switch 18. Is possible. A switch panel 19 is provided in front of one side of the seat 13. Although illustration is omitted, the basket 10 is also provided with an operation unit, and a firefighter or the like who has boarded the basket 10 displays a display device of the operation unit of the basket 10 (a display device that displays information including the posture of the ladder 2). While referring to various information displayed on the display screen, it is possible to operate the ladder by operating the operation means provided in the operation unit.

  The fire engine with a ladder according to this embodiment, for example, when performing a rescue operation by reciprocating the basket 10 at the tip of the ladder 2 between the fire site and a specific position on the ground, by teaching / playback control. The ladder 2 can be regenerated by a predetermined movement path. This teaching / playback control is performed by, for example, the control device 20 installed at a predetermined position of the operation seat 5 (in this embodiment, in the lower box of the seat 13). FIG. 3 shows a configuration example of the display device 15 and the control device 20.

  In this embodiment, the display device 15 is generated by the display generation unit 21, the display screen 22 for displaying various information based on the display signal S 8 of the display data generated by the display generation unit 21, and the display generation unit 21. The display data is sequentially recorded on an external recording medium such as an SD card, and a recording / reproducing unit 21 ′ that reads and reproduces the display data recorded on the external recording medium. In addition, the control device 20 includes a sensor signal processing unit 23, a movement path storage unit 24, a playback control unit 25, and an operation signal processing unit 26.

  The sensor signal processing 23 of the control device 20 receives from the sensor unit 27 detection signals S1 of various sensors that detect various states related to the operation of the ladder 2. The detection signal S1 input from the sensor unit 27 includes a detection signal related to the posture of the ladder 2 such as the expansion / contraction length, undulation angle, turning angle, and tip position of the ladder 2, a detection signal related to obstacles around the tip position of the ladder 2, The back load of the ladder 2, overload, the refraction state and the refraction part open state, the detection signal relating to the cross beam matching, the detection signal relating to the mounting of the basket 10 and the use of the lifter 11, and the support state of the vehicle body 1 by the outrigger jack device 12. A detection signal and the like are included. The sensor signal processing unit 23, based on the detection signal S1 sequentially input from the sensor unit 27, data relating to the posture of the ladder 2 in operation, that is, the expansion / contraction length, undulation angle, turning angle, and tip position of the ladder 2 The coordinates are calculated and output, and the calculation result is output as the attitude data signal S2 to the display generation unit 21 and the movement path storage unit 24 (during teaching) of the display device 15. In this embodiment, as the expansion / contraction length of the ladder 2, the tip position (the position of the bucket 10 in this embodiment) from the connecting portion (undulation shaft) between the base portion of the ladder 2 and the support frame 4 along the length direction of the ladder 2. ), The vertical angle including the turning axis of the turntable 3 and the longitudinal direction of the vehicle body 1 as the turning angle, the turning angle as the angle between the horizontal plane including the hoisting axis and the ladder 2 As the coordinates of the angle and the tip position, three-dimensional coordinates having the undulation axis (more precisely, the axial center of the undulation axis) as the origin are used. In addition, the reference | standard of the coordinate of expansion / contraction length, undulation angle, turning angle, and front-end | tip position is not restricted to the above, You may use another reference | standard. In the sensor signal processing unit 23, the detection signal S <b> 1 sequentially input from the sensor unit 27 includes a detection signal related to an emergency condition such as an obstacle around the tip position of the ladder 2 or an excessive load acting on the ladder 2. If there is, the detection signal is output as a warning signal to the display generation unit 21 of the display device 15 together with the attitude data signal S2.

  An operation signal S3 is input to the operation signal processing unit 26 from operation means 28 such as the expansion / contraction / lift lever 14a and the hoisting / turning lever 14b. The operation signal processing unit 26 generates an operation signal S4 based on the operation signal S3 input from the operation unit 28, and outputs the operation signal S4 to the drive unit 29 including the telescopic cylinder 6, the hoisting cylinder 8, and the turning motor 9. To do. Then, the driving unit 29 operates the ladder 2 in accordance with the operation signal S4 input from the operation signal processing unit 26.

  When the ladder 2 is reciprocated between two specific positions by teaching / playback control, the operator performs the first reciprocating operation of the ladder 2 by operating the operating means 28, and the operation of the ladder 2 during the reciprocating operation is moved. It memorize | stores in the path | route storage part 24 (teaching). At the time of the first reciprocating operation of the ladder 2, the posture data signal S2 (extension / contraction length, undulation angle, turning angle, and coordinates of the tip position) is sequentially input from the sensor signal processing unit 23 to the movement path storage unit 24, and the movement path storage is performed. Based on the posture data signal S2, the unit 24 sequentially stores the posture of the ladder 2 (extension / contraction length, undulation angle, turning angle, and coordinates of the tip position) in association with the passage of time. Thereby, the movement path at the time of the first reciprocating operation of the ladder 2 is stored in the movement path storage unit 24. The movement path data stored in the movement path storage unit 24 also includes data related to the movement locus of the tip position of the ladder 2, and the movement path storage unit 24 uses the movement path signal S5 for the movement path data of the ladder 2. Is output to the playback control unit 25, and the movement trajectory data of the tip position of the ladder 2 is output to the display generation unit 21 of the display device 15 as the movement trajectory signal S6.

  The playback control unit 25 generates a regeneration operation signal S7 based on the movement path signal S5 input from the movement path storage unit 24, and includes the expansion / contraction cylinder 6, the undulation cylinder 8, and the swing motor 9 as the regeneration driving signal S7. It outputs to the drive means 29. Then, the driving means 29 causes the ladder 2 to be repeatedly regenerated along a predetermined reciprocating path in accordance with the regenerative operation signal S7 input from the playback control unit 25.

  The display generation unit 21 of the display device 15 generates three-dimensional display data related to the movement locus of the tip position of the ladder 2 based on the movement locus signal S6 input from the movement route storage unit 24, and the sensor signal processing unit 23. The three-dimensional display data relating to the current posture of the ladder 2 in operation is created based on the posture data signal S2 sequentially input from, and the display data is output to the display screen 22 as the display signal S8. When the above-described warning signal is included in the attitude data signal S2 input from the sensor signal processing unit 23, the display generation unit 21 includes the warning signal in the display signal S8 and outputs the display signal to the display screen 22. Based on the display signal S8 input from the display generation unit 21, the display screen 22 displays the moving locus of the tip position of the ladder 2 in a three-dimensional graphic and also displays the current posture of the operating ladder 2 in a three-dimensional graphic. indicate. Further, the display screen 22 also graphically displays the vehicle main body 1 in three dimensions. The three-dimensional display data related to the vehicle main body 1 is generated based on, for example, the attitude data signal S2 input from the sensor signal processing unit 23. Created by the unit 21 and output to the display screen 22 as a display signal S8. When the warning signal is included in the display signal S8 input from the display generation unit 21, the display screen 22 performs a predetermined warning display based on the warning signal.

  On the other hand, display data generated by the display generation unit 21 (three-dimensional display data relating to the movement locus of the tip position of the ladder 2, three-dimensional display data relating to the current posture of the ladder 2 in operation, three-dimensional display data relating to the vehicle body 1, etc. Are sequentially recorded on an external recording medium such as an SD card set in the recording / reproducing unit 21 ′. The display data recorded on the external recording medium can be displayed on the display screen 22 by being read and reproduced by the recording / reproducing unit 21 'and output to the display screen 22 as a reproduction display signal S9. Alternatively, the display data recorded on the external recording medium can be read out and reproduced by an external recording / reproducing apparatus and displayed on an external display apparatus. Thereby, the detailed recording of the operation of the ladder 2 can be analyzed or reproduced after the fact, which can contribute to the improvement of the operation skill of the operator.

  FIG. 4 shows a configuration example of the display screen 22. The display screen 22 is, for example, a touch panel type liquid crystal display, and a first region 30 for graphically displaying the movement trajectory T of the tip position 2a of the ladder 2, the current posture P of the ladder 2 in operation, and the vehicle body 1 in three dimensions. And a second area 31 for graphically displaying the posture, working radius and vehicle body 1 in a two-dimensional plane including the turning direction of the ladder 2, a third area 32 for performing a predetermined warning display, Numerical data and schematic picture (post-relief angle display 34, expansion / contraction length display 35, working radius display 36, etc.), external information (wind speed display 37, etc.), various touch buttons (teaching start button 38, teaching end) Button 39, reproduction operation button 40, display mode switching button 41, etc.) and a fourth area 33 for displaying other information.

  The movement trajectory T of the tip position 2a displayed in the first area 30 is based on the movement path data stored in the movement path storage unit 24, that is, the movement path data of the ladder 2 at the time of the first reciprocating operation by the operation of the operation means 28. The current posture P of the ladder 2 displayed in the first area 30 is created based on the posture data signal S2 sequentially input from the sensor signal processing unit 23. At the time of the reproduction operation by the playback control unit 25, the tip position 2a of the ladder 2 moves from the movement start point O1 along the movement trajectory T to the movement end point O2 (at the time of forward movement: the state shown in FIG. 4). It moves from O2 to the movement end point O1 along the movement trajectory T (at the time of backward movement). Since the movement trajectory T and the current posture P are graphically displayed in the first area 30 in a three-dimensional manner, the operator can refer to the first area 30 to change the operation of the ladder 2 during the reciprocating operation (teaching). It is possible to determine intuitively and instantaneously whether or not the movement is correctly reproduced. That is, when the regenerating operation of the ladder 2 is correctly performed, the tip position 2a of the ladder 2 always moves on the movement trajectory T in the display of the first area 30, but the regenerating operation is not correctly performed due to some reason. When the operation of the ladder 2 deviates from the operation at the time of the first reciprocating operation (during teaching), the current position of the tip position 2a is the same regardless of the direction of expansion / contraction, undulation or turning. And the movement trajectory T are visually displayed graphically in the first area 30. Therefore, the operator can intuitively and correctly determine the suitability of the regenerating operation of the ladder 2 by the three-dimensional graphic display of the first area 30, and the reliability of the regenerating operation depends only on the control device. Compared to the conventional configuration, the reliability of the regenerating operation is increased, and the safety of work can be ensured more reliably.

  On the other hand, when the moving path of the regeneration operation of the ladder 2 is complicated, or after the regeneration operation by the playback control unit 25 is temporarily stopped and switched to the manual operation by the operation means 28, the ladder 2 is operated, and then the regeneration operation is performed. In the case where the regenerating operation is resumed by returning to the moving path, the operator's recognition regarding the operation direction of the ladder 2 may be different from the regenerating operation executed by the playback control unit 25. Therefore, in this embodiment, the movement trajectory T displayed in the first area 30 is moved from the current position of the tip position 2a of the ladder 2 to the movement start point side and the movement end point side (in the example shown in FIG. 4, the movement start point). O1 side and moving end point O2 side) are displayed with different graphic display modes so that the operator can intuitively determine the operation direction of the reproduction operation of the ladder 2 executed by the playback control unit 25 instantly. I have to. In the example shown in FIG. 4, the movement start point O1 side of the movement trajectory T is displayed with a thick solid line, and the movement end point O2 side of the movement trajectory T is displayed with a thick dotted line. The movement trajectory T on the movement start point O1 side displayed with the bold solid line is already executed, and the movement trajectory T on the movement end point O2 side displayed with the bold dotted line is not executed. The display mode of the movement trajectory T is not limited to this example, and the movement start point side of the movement trajectory T and the movement end point side of the movement trajectory T are displayed in different colors (for example, the movement start point side of the movement trajectory T is displayed in yellow thick). Other display modes such as a solid line and a movement end point side of the movement trajectory T may be displayed with a red thick solid line).

  Further, in this embodiment, the first region 30 includes a viewpoint change button (viewpoint upward movement button 42, viewpoint leftward movement button 43, viewpoint clockwise movement button 44, viewpoint downward movement button 45) and a zoom button. (Enlarge button 46, Reduce button 47) are provided so that the zoom enlargement / reduction of the three-dimensional graphic display displayed in the first area 30 and the viewpoint change to an arbitrary three-dimensional position can be easily performed with a button touch. Yes. By using such a viewpoint changing function and further a zoom function, the ladder 3 is adjusted by adjusting the three-dimensional graphic display of the first area 30 so that the movement locus T and the current posture P of the ladder 2 are intuitively easy to see. Therefore, it is possible to quickly and correctly determine whether or not the operation is appropriate at the time of the regeneration operation. For example, FIG. 5 shows a state in which the viewpoint of the three-dimensional graphic display in the first region 30 is moved counterclockwise and upward from the viewpoint position of FIG. 3. The movement trajectory T in the three-dimensional space and the current posture P of the ladder 2 are easier to see intuitively. The three-dimensional graphic display of FIG. 5 is a display when the tip position 2a of the ladder 2 moves from the movement start point O2 to the movement end point O1 along the movement locus T (at the time of backward movement). And the movement direction of the ladder 2 is opposite. In addition, a home position button 48 is also provided in the first area 30 so that the three-dimensional graphic display adjusted by the viewpoint changing function or the zoom function can be returned to the initial display set in advance. .

  Further, in this embodiment, as shown in FIG. 6, when the ladder 2 is moved along a path different from the movement path of the regeneration operation during manual operation by the operation means 28, the tip position of the ladder 2 moving along the different path The movement trajectory T1 of 2a is displayed in a three-dimensional graphic in a manner different from the movement trajectory T of the reproduction operation. In the example shown in the figure, the already executed portion of the movement trajectory T of the regeneration operation is indicated by a thick solid line, the unexecuted portion is indicated by a thick dotted line, and the movement locus T1 at the time of manual operation is indicated by a thin solid line. The display mode is not limited to this example, and the movement trajectory T and the movement trajectory T1 are displayed with different colors (for example, the already executed portion of the moving locus T is indicated by a thick yellow solid line, and the unexecuted portion is indicated by a red thick solid line). Other display modes may be employed, such as displaying the movement trajectory T1 with a thick gray solid line). Thus, by displaying the movement trajectory T1 of the tip position 2a at the time of manual operation in a three-dimensional graphic manner in a manner different from the movement trajectory T of the regeneration operation, the operator can execute the current operation of the ladder 2 by manual operation. Therefore, there is no possibility of erroneous operation and safety is ensured. Further, when the tip position 2a at the time of manual operation is returned to the movement locus T of the regeneration operation and the regeneration operation is resumed, the operation of returning the tip position 2a to the movement locus T is facilitated. Note that when the tip position 2a at the time of manual operation returns to the movement locus T of the reproduction operation, the display mode of the three-dimensional graphic display is temporarily changed (for example, the line type, color, and luminance of the movement locus T). Are temporarily changed, and the line type, color, brightness, etc. of the current posture P are temporarily changed), and the return of the tip position 2a to the movement trajectory T can be easily recognized.

  Note that the three-dimensional graphic display of the first area is performed by the ladder 2 as described in JP-A-2006-26100 and JP-A-6-7471 by the display mode switching button 41 in the fourth area 33. It is possible to switch to a two-dimensional graphic display on a two-dimensional plane including expansion and contraction directions. Further, a display device similar to the display device 15 of this embodiment may be provided in the operation unit of the basket 10.

1 Vehicle body 2 Ladder (working vehicle)
2a Tip position 14a Telescopic / lift lever 14b Lifting / turning lever 15 Display device 21 ′ Recording / reproducing unit 22 Display screen 24 Movement path storage unit 25 Playback control unit 28 Operating means T Movement locus T1 Movement locus

Claims (6)

A vehicle main body, a working moving body mounted on the vehicle main body and movable in three dimensions by operations including expansion, contraction, undulation, and turning, operating means for operating the working moving body, and the working movement In an aerial work vehicle including a control device that controls the operation of the body and a display device that displays information including the posture of the working moving body,
The control device includes: a moving path storage unit that stores a moving path of the working moving body that is operated by the operation of the operating unit; and the working moving body according to the moving path stored in the moving path storage unit. Playback control means for regenerating and
The display device graphically displays the movement locus of the tip position of the working moving body on a display screen in a three-dimensional manner based on the data of the movement route stored in the movement route storage means, and the playback An aerial work vehicle characterized in that the posture of the working moving body being regenerated by the control means is displayed in a three-dimensional graphic on the display screen.   The display device displays the movement trajectory in a different manner of the graphic display on the movement start point side and the movement end point side with the current position of the tip position of the working moving body as a boundary. The aerial work vehicle according to claim 1.   In the case where the reproduction operation by the playback control means is temporarily stopped and the work moving body is operated by the operation of the operation means, when the work moving body moves along a route different from the movement route, the display 3. The high-altitude work according to claim 1, wherein the apparatus graphically displays the movement locus of the tip position of the working moving body moving along the different route in a three-dimensional manner different from the movement locus. car.   The aerial work vehicle according to any one of claims 1 to 3, wherein a viewpoint of the graphic display is changeable.   The display device includes a recording / reproducing unit that records the display data of the graphic display on an external recording medium, and reads and reproduces the display data recorded on the external recording medium. The aerial work vehicle according to any one of 1 to 4.   The aerial work vehicle according to any one of claims 1 to 5, wherein the work vehicle is a fire engine with a ladder.

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