JP2521422Y2 - Crane controller for aerial work vehicles - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane control device for an aerial work vehicle, and more particularly to a technique for backing up an abnormality of a sensor for detecting a drive control amount instructed to a crane drive unit. The present invention relates to a vehicle which is effectively used for an aerial work vehicle used for aerial work such as.

[0002]

2. Description of the Related Art A general aerial work vehicle has a work table on which a worker rides attached to the tip of a crane mounted on the vehicle. Among such aerial work vehicles in which a remote controller is installed on the workbench, the drive of the crane can be controlled by remote control from the workbench.

[0003]

However, in such an aerial work vehicle, in the control system for controlling the drive of the crane by the remote controller, the drive control amount commanded by the operator to the crane drive unit is detected. If the sensor malfunctions, the self-diagnosis function automatically operates for safety reasons, and it becomes impossible to control the crane drive by remote control from the workbench.

When such a failure occurs, if the workbench is located on the water or in a place where it cannot be lowered from the workbench such as a height of several tens of meters from the vehicle body, the worker Can't get off the work table by himself.

The object of the present invention is to carry out high-altitude work in which the crane can be driven to the minimum extent even in an emergency such as when a sensor for detecting the control amount commanded by the operator to the crane drive unit fails. To provide a crane control device for a vehicle.

[0006]

SUMMARY OF THE INVENTION A crane controller for an aerial work vehicle according to the present invention comprises a drive unit (29, 3) for a crane.
Sensors (24, 25, 26, 27) for detecting the drive control amounts instructed to (0, 31, 32, 33), respectively.
Each drive unit (29, 3) of the crane according to the control amount detected by each group and each sensor (24, 25, 26, 27).
Control means (14) for controlling 0, 31, 32, 33)
And a self-diagnosis unit (16) for detecting an abnormality of each sensor (24, 25, 26, 27), in a crane control device for an aerial work vehicle, a backup pulser (a backup pulser that outputs a set backup signal 22) and the sensors (24, 25, 26, 2) by the self-diagnosis unit (16).
When an abnormality is detected in any one of 7), the backup pulser (2
2) A control signal based on the backup signal from 2) is output to the drive unit (29, 30, 31, 32, 33), and a failure operation unit (19) is provided.

[0007]

According to the above-mentioned means, when the self-diagnosis unit (16) detects an abnormality in any of the sensors (24 to 27), the backup pulser (22) replaces the sensor in which the abnormality has occurred. Is selected. Then, in the failure operation unit 19, a control signal is generated based on the backup signal from the backup pulser (22),
Crane drive (29-33) according to this control signal
Are driven at least to a minimum.

Therefore, even when the sensor for detecting the control amount commanded to the crane drive unit fails, the crane can be driven at least to a minimum extent. As a result, the crane can be driven even when the sensor (24 to 27) fails, for example, when the workbench is located on the water or at a height of several tens of meters from the vehicle body. It is possible to get off from the stand on the car independently.

[0009]

1 is a block diagram showing a crane control device for an aerial work vehicle which is an embodiment of the present invention, FIG. 2 is a flow chart for explaining its operation, and FIG. 3 is a aerial work vehicle. It is a partially cut side view.

In this embodiment, the crane control apparatus for an aerial work vehicle according to the present invention is configured to control a crane mounted on an aerial work vehicle for performing aerial work on power lines and the like. Has been done. The crane 2 is loaded at the rear of the automobile 1 such as a truck. A boom 3 made of an insulating material such as fiber reinforced plastic is supported on the upper portion of the crane 2 so as to move forward and backward. At the upper end of the insulating boom 3, A box-shaped workbench 5 on which an operator can ride is attached and supported by a hinge portion 4 so as to be rotatable in a horizontal plane.

Further, the work table 5 is equipped with a remote controller (remote control device) 6 for moving the work table 5 to a desired position. This remote controller 6 is designed to move the workbench 5 to a desired position by remotely controlling the crane 2 on the workbench 5 by an operator working at a high place. An electric circuit 7 is connected to a hydraulic actuator (not shown) for remotely operating a solenoid (described later) of a solenoid valve.

Further, the crane 2 is equipped with a controller 14 that controls driving of various drive units of the crane 2 including a solenoid described later. The controller 14 is composed of a microcomputer, etc., and includes a switch input unit 15, a self-diagnosis unit 16, a warning lamp lighting pattern determination unit 17, a normal operation unit 18, and a failure operation unit 1.
9 and a solenoid drive determination unit 20.

An emergency pump switch 21 is connected to the switch input section 15, and a failure location assignment switch 22 as a backup pulser is also connected to the switch input section 15. The emergency pump switch 21 is arranged on the workbench 5 at a position where the operator can operate it. On the other hand, the failure location assigning switch 22 is provided as a backup pulser used in place of the sensor when a sensor which will be described later is abnormal, and the switch 22 as the backup pulser is located at a position on the workbench 5 that does not interfere with normal work. It is arranged. When the failure location assignment switch 22 is turned on, an electric signal as a preset backup control signal is input from the switch 22 to the self-diagnosis section 16 via the switch input section 15.

An A / D conversion section 23 is connected to the self-diagnosis section 16, and the undulation sensor 24,
Extension sensor 25, turning sensor 26, accelerator sensor 27
Is connected. These sensors are configured by, for example, potentiometers, and the operator measures the operation amount applied to the operation section of the remote controller 6 so that the operator tries to instruct each drive section (solenoid group described later) of the crane. The drive control amount is detected, and the detection signal is output as a drive control signal.

The hoisting sensor 24 is configured to detect a drive control amount for a motor for hoisting the crane 2. The extension / contraction sensor 25 is configured to detect a drive control amount for a drive motor that extends / contracts the boom 3. The swing sensor 26 is configured to detect a drive control amount for a drive motor that drives the crane 2 to swing. The accelerator sensor 27 is configured to detect the position of the accelerator. Then, after the detection outputs of the various sensor groups are converted into digital signals by the A / D conversion unit 23, the self-diagnosis unit 1
6 is input.

The self-diagnosis unit 16 includes the sensors 24 to 27.
It is configured to diagnose the state of the signal from the sensor, and to diagnose whether or not an abnormality has occurred in any of the groups of sensors 24 to 27. Then, based on this diagnosis result, each sensor 24
~ When each sensor is diagnosed as having no abnormality, each sensor 24 ~
A signal from 27 is output to the normal operation unit 18, and conversely, when it is diagnosed that an abnormality has occurred in any of the sensors 24 to 27 group, the fault location assignment switch is replaced with the abnormality sensor 24 to 27. The electric signal from 22 is output as a backup signal to the failure operation unit 19.

The normal operation unit 18 is configured as a control amount generating means for generating a control amount corresponding to each of the detection signals of the sensors 24 to 27, and outputs a signal corresponding to each control amount to the solenoid drive determining unit 20. It is supposed to do.

The failure operation unit 19 is adapted to generate a control amount according to a backup signal from a failure allocation switch 22 as a backup pulser. Then, this control amount is also output to the solenoid drive determination unit 20.

When the solenoid drive determination unit 20 determines the solenoid corresponding to the drive command, it outputs a drive control signal to the solenoid drive circuit 28 in accordance with this determination.

The solenoid drive circuit 28 is a control valve solenoid 29 for driving the crane 2 up and down, a control valve solenoid 30 for driving the boom 3 to extend and retract, a control valve solenoid 31 for swinging the crane 2. It is connected to the solenoid 32 of the control valve for driving the accelerator and the solenoid 33 of the control valve for driving the engine. Then, when each solenoid is excited by the drive signal from the solenoid drive circuit 28,
Through each control valve, the boom of the crane is driven or the accelerator is driven and the engine is started. Therefore, in this embodiment, each solenoid 29, 30, 31, 32, 33 substantially constitutes each drive unit of the crane.

On the other hand, a warning lamp lighting pattern determination unit 17 is connected to the self-diagnosis unit 16, and the warning lamp lighting pattern determination unit 17 uses the self-diagnosis unit 16 to detect the sensors 24 to 24.
When an abnormality is detected in any of the 27 groups, the blinking pattern corresponding to the sensor in which the abnormality has occurred is determined. Then, an electric signal according to the blinking pattern determined by the pattern determining unit 17 is output to the warning lamp 35 via the warning lamp driving circuit 34. The warning light 35 is designed to blink according to a designated blinking pattern.

Next, the operation will be described with reference to the flow chart of FIG. First, the self-diagnosis unit 16 of the controller 14
A / D the signals from each sensor 24, 25, 26, 27
It is taken in through the conversion unit 23, and it is determined whether or not it is in the fail state based on the signals from the sensors 24 to 27 (step S1).

Then, when it is diagnosed as normal, the solenoids 29, 30, 3 designated by the normal operation unit 18 according to the signals from the respective sensors 24, 25, 26, 27.
1, 32, 33 are excited. Drive control of the crane 2, the boom 3, and the like is appropriately performed through the control valve in accordance with the excitation of the solenoid. And the sensor 24 to
While the drive control signal is being measured by the 27 group, the process of step S1 is executed (step S2).

When the self-diagnosis unit 16 diagnoses that a failure has occurred, the warning lamp 35 is turned on (step S3). Note that the self-diagnosis unit 16 also performs self-diagnosis on each component other than the sensors 24 to 27, but the description of the self-diagnosis on each component other than the sensors 24 to 27 will be omitted.

As part of the function of the self-diagnosis unit 16, a self-diagnosis of whether or not an abnormality has occurred in each sensor 24, 25, 26, 27 is executed (step S4).

When the self-diagnosis unit 16 determines that the sensors 24, 25, 26, 27 have no abnormality, the process returns to step S1. On the contrary, when the self-diagnosis unit 16 diagnoses that a failure has occurred in any of the sensors 24 to 27, it is determined whether or not the emergency pump switch 21 has been operated (step S5).

When the emergency pump switch 21 is not operated, the process returns to step S1. When the operator operates the emergency pump switch 21, the self-diagnosis unit 16 causes the warning light lighting pattern determination unit 17 to operate.
An abnormal signal is output to. According to the determination made by the pattern determination unit 17, the warning lamp 35 is driven to blink (step S6).

Thereafter, it is determined whether or not the emergency pump switch 21 is turned off in order to determine whether or not the worker has confirmed the faulty part of the sensor by blinking the warning light 35 (step S7). ).

The above processing is continued until the emergency pump switch 21 is turned off. When the emergency pump switch 21 is turned off, instead <br/> abnormality of the resulting sensor waits for a signal from the failure point assignment switch 22 as a backup pulser is input. When the fault location assignment switch 22 is turned on by the operator in either the left or right direction, a backup signal from the switch 22 is input to the self-diagnosis unit 16 (step S8).

After that, for safety, a blinking operation is performed in which the warning light 35 is blinked, for example, every one second in order to allow the operator to confirm the backup drive operation (step S).
9). Then, the processing according to the signal input from the failure location assignment switch 22 is executed as follows, for example (step S10).

That is, if the turning sensor 26 becomes abnormal, a control amount for turning the crane 2 at the minimum speed is generated by the failure operation unit 19 based on the backup signal from the switch 22. The solenoid 31 is excited according to the control amount. This allows
Since the hydraulic actuator (not shown) is drive-controlled via the control valve (not shown) provided with the solenoid 31, the crane 2 is pivotally driven at the minimum safe speed.

Then, it is determined whether or not the emergency safe turning drive of the crane 2 is completed (step S).
11). When the turning drive in an emergency is completed, the processing in this routine is completed.

According to this embodiment, when a failure occurs in any one of the sensors 24 to 27 for detecting the control amount instructed to each of the solenoids 29 to 33 as the drive unit of the crane 2, Instead of the failed sensor, a control amount is generated based on the backup signal from the fault location assigning switch 22 as a backup pulser, and the solenoids 29 to 33 as the drive unit of the crane 2 are controlled according to this control amount. Therefore, even if a failure occurs in at least one of the sensors 24 to 27, the crane 2 can be driven at least to a minimum safety level.

Therefore, for example, when the work table 5 is located on the water when the turning sensor 26 fails, the crane 2 can be turned at a safe speed. Further, when the workbench 5 is located at a height of several tens of meters from the vehicle body and the boom telescopic sensor 25 fails, the boom 3 can be retracted. Therefore, the worker can get off the work table by himself.

Although the crane control device is also provided with a feedback sensor group used for feedback control, the description of the feedback sensor group and the feedback control method by them will be omitted.

[0036]

As described above, according to the present invention,
When an abnormality occurs in the sensor that detects the control amount commanded to the drive unit of the crane, the drive of the drive unit is configured to control the drive unit according to the signal from the backup pulsar instead of this sensor. The crane can be driven even in an emergency.

[Brief description of drawings]

FIG. 1 is a block diagram showing a crane control device for an aerial work vehicle according to an embodiment of the present invention.

FIG. 2 is a flow chart diagram for explaining the operation.

FIG. 3 is a partially cut side view showing an aerial work vehicle.

[Explanation of symbols]

1 ... car, 2 ... crane, 3 ... boom, 4 ... hinge,
5 ... Workbench, 6 ... Remote controller, 7 ... Electric circuit, 14 ... Controller, 15 ... Switch input section, 16
... Self-diagnosis unit, 17 ... Warning lamp lighting pattern determination unit, 18
... Normal operation unit, 19 ... Failure operation unit, 20 ... Solenoid drive determination unit, 21 ... Emergency pump switch, 22 ... Failure location assignment switch (backup pulser), 23 ... A
/ D converter, 24 ... undulation sensor, 25 ... expansion / contraction sensor, 2
6 ... Rotation sensor, 27 ... Accelerator sensor, 28 ... Solenoid drive part, 29, 30, 31, 32, 33 ... Solenoid (crane drive part), 34 ... Warning light drive circuit, 35
… Warning lights.

Claims (1)

(57) [Scope of utility model registration request] 1. Each drive unit (29, 30, 3) of the crane
1, 32, 33) and sensors (24, 25, 26, 27) for detecting the drive control amounts instructed,
According to the control amount detected by each sensor (24, 25, 26, 27), each drive unit (29, 30, 3) of the crane is controlled.
1, 32, 33) control means (14) and a self-diagnosis section (16) for detecting an abnormality of each sensor (24, 25, 26, 27), crane control of an aerial work vehicle In the device, a backup pulser (22) that outputs a set backup signal, and the sensor (24, 2) by the self-diagnosis unit (16).
5, 26, 27), when an abnormality is detected, a control signal based on the backup signal from the backup pulser (22) is sent to the drive unit (29, 30, 31, 32, 3
A crane control device for an aerial work vehicle, comprising: a failure operation unit (19) for outputting to 3).