JP2628276B2 - Method and apparatus for controlling movement of a bucket for working at height - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling the movement of a bucket for working on an aerial work vehicle, and more particularly to a method and a method for performing vector control in which the operating direction of an operating lever in a riding bucket and the bucket moving direction are matched. Related to the device.

[0002]

2. Description of the Related Art In general, an aerial work vehicle is used for overhead wire construction and street lighting work, etc., and is usually provided with a bending or telescopic boom, and a passenger bucket is attached to the tip of the boom. . FIG. 7 shows an aerial work vehicle equipped with a telescopic boom. As shown in the drawing, the vehicle body 1 has a turning base 2 on which an up-and-down boom 3 is attached, and a turning end is provided at the tip of the boom 3. The structure is such that a riding bucket 4 is provided as much as possible. And this is schematically shown in FIG.
The base 2 can be turned on the vehicle body 1, and the boom 3 can change the undulation angle, and has a telescopic structure so that it can expand and contract. Further, the riding bucket 4 can rotate independently at the tip of the boom 3. To move the bucket 4 to an arbitrary position, an operating device 5 is provided as shown in FIG. 8 (2), and by operating the operating lever, a hydraulic element serving as a driving element such as a cylinder is provided. The hydraulic device of the control device 6 is operated, whereby the base 2 is turned, the boom 3 is raised and lowered, expanded and contracted, and the bucket is rotated to move it to a desired position.

In a conventional aerial work vehicle, two or three operating levers are provided in the operating device 5, and each of the operating levers corresponds to the up / down movement of the boom, the turning, the expansion and contraction, and the rotation of the riding bucket. The hydraulic device is driven by on / off control of an electromagnetic switch of a hydraulic control system corresponding to an operation target by operating an operation lever, and the passenger bucket 4 is three-dimensionally moved by an individual output.

[0004]

However, in the conventional aerial work vehicle, since the operation lever does not directly relate to the direction of operation corresponding to each hydraulic control valve, the operation direction does not coincide with the operation direction. Therefore, as shown in FIG. 9, for example, when the boom 3 is extended to move the riding bucket 4 to the point A, when the bucket 4 is directed to the side in the boom extension and contraction direction, the operation for boom extension and contraction is performed. Although the lever is operated in the contraction direction, since the bucket 4 does not face the movement direction, it is necessary to operate the operation lever in the direction perpendicular to the boom extension direction as shown in the figure. For this reason, the bucket moving operation requires a skilled person, and has the drawback that the operability is very poor and the safety is low. For this reason, the conventional bucket control system for aerial work vehicles has a problem in that an operation sensation corresponding to the actual movement of the control target cannot be sufficiently obtained.

An object of the present invention is to solve the above-mentioned drawbacks of the prior art, and the operating direction of the operating lever matches the actual moving direction of the riding bucket regardless of the direction of the bucket. An object of the present invention is to provide a method and a device for controlling the movement of a bucket for aerial work vehicles, which are excellent in operability.

[0006]

In order to achieve the above object, a method for controlling the movement of an aerial work vehicle bucket according to the present invention includes the steps of: moving an aerial work vehicle riding bucket by an operating lever mounted on the bucket; In the controlling method, the operation vector of the operation lever capable of multi-axis operation is converted into a three-dimensional vector whose origin is the moving base point on the vehicle body side, and the operation amount corresponding to each vector is distributed and output to hydraulic equipment to output the riding bucket. Movement control.

In a second method for controlling the movement of a riding bucket of an aerial work vehicle using an operating lever mounted on the bucket, the present position of the riding bucket is developed on coordinates with the vehicle-body-side moving base point as the origin. The operation direction of the multi-axis operable operation lever is three-dimensionally developed on the coordinate of the movement base point, and while the operation of the operation lever is continued, the hydraulic device which moves in the three-dimensionally developed operation direction is continuously operated. The configuration was adopted.

In these cases, the position of the riding bucket may be detected by a gyro or the like, the deviation between the position change vector and the operation vector may be calculated, and the amount of operation on the hydraulic device may be feedback-controlled.

The moving control device for a work platform aerial bucket according to the present invention is provided with a retractable boom that can extend and retract via a swivel base, and a rotatable riding bucket is provided at the end of the boom. In the riding bucket movement control device for an aerial work vehicle provided with an operating lever for bucket moving operation on the bucket, the operating lever is formed to be multi-axis operable, and a driving hydraulic device for moving the riding bucket is provided. A control means for operating the operation lever according to the operation output of the operation lever, the control means performing a vector conversion processing for converting the operation vector of the operation lever from the center of rotation of the turning base to the origin, and a converted vector And a distribution output unit for performing a distribution operation of the drive amount to the hydraulic device corresponding to the above. A gyro may be provided in the riding bucket, a bucket movement vector by the gyro may be output to the control unit, and an output of the distribution output unit may be compared and controlled.

[0010]

According to the above construction, when the operation lever is set to be multi-axially operable and the operation lever is operated in the direction in which the bucket is moved, the operation vector of the lever changes the movement base point of the turning base or the like by the control means. It is converted to the drive vector that is the origin. The control means distributes and outputs an opening / closing command for a control valve or the like of the hydraulic device corresponding to the drive vector for each element. Thus, regardless of the orientation of the riding bucket, the riding bucket is moved in the lever operating direction along the operating direction of the operating lever. As a result, the intention of the driver and the operation direction of the passenger bucket can be matched.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the construction of an embodiment of a method and an apparatus for controlling the movement of an aerial work bucket according to the present invention.

FIG. 1 is a structural view and an explanatory view of an operation state of a movement control device of a bucket for working on an aerial vehicle according to an embodiment, and FIG. 2 shows an operation lever mounted on the bucket. As an aerial work vehicle, a vehicle having a structure shown in FIG. 7 is used, a turning base 2 is mounted on a vehicle body 1, an up-and-down boom 3 is attached to the turning base 2, and a riding bucket 4 is turnably mounted on a tip end of the boom 3. Targets the structure provided.

First, the operation lever 10 is capable of multi-axis operation. As shown in FIG. 2, the operation lever 10 has a horizontal axis-shaped gripper 12 in which a vertical shaft 14 forms a T-shape. It is provided integrally. The vertical shaft 14 can be vertically moved in the axial direction and has a double shaft structure, and is selectively connected to the inner shaft or the outer shaft by pressing a push knob 16 provided on the side surface of the gripper 12. The rotation of the gripper 12 can be transmitted to the inner shaft or the outer shaft. The vertical shaft 14 is provided with orthogonal horizontal axes 18 and 20, and the gripper 12 is connected to each axis 1.
It is possible to push down around 8, 20. As a result, the operating lever 10 is moved to the horizontal
It is possible to perform horizontal movement along three orthogonal axes with one of the Xs as the X axis and the other as the Y axis and the vertical shaft 14 as the Z axis, and a four-axis operation of a rotation operation around the Z axis. The operating lever 10 has a built-in resetting means such as a spring so that it can automatically return to the neutral position.

An operation lever 1 capable of such multi-axis operation
In order to detect the operation direction and the operation amount of 0, a sensor is provided in each axis portion. This may be configured as follows, for example. The operation amount along the X-axis direction is detected by the potentiometer 22 as the Y-axis rotation amount, and the operation amount along the Y-axis direction is detected as the X-axis rotation amount.
, And the operation amount along the Z-axis direction is detected by a linear sensor 26 provided on a shaft guide. Furthermore,
The amount of rotation about the Z axis is detected by potentiometers 28 and 29 attached to the outer shaft and the inner shaft, respectively.

Then, the operation lever 10 is moved to the riding bucket 4.
The operation of the operation lever 10 in the X-axis direction is performed in the driving direction of the passenger bucket 4 in the left-right direction, the operation in the Y-axis direction is performed in the front-rear direction, the operation in the Z-axis direction is performed in the vertical direction,
The outer shaft rotation of the vertical shaft 14 corresponds to the driving direction of the riding bucket 4, and the inner shaft rotation of the vertical shaft 14 corresponds to the turning direction of the boom 3.

The operation direction and the operation amount of the operation lever 10 are detected by each sensor. The control device includes a controller 30 as control means for inputting the operation direction, and performs vector conversion to drive and control the hydraulic equipment. It is assumed. This configuration will be described with reference to FIG. As the hydraulic equipment, there are a boom extension / retraction cylinder, a boom swing motor, a bucket rotation motor, and the like, in addition to the boom up / down cylinder 32 shown in the figure, and these expand and contract by hydraulic drive, and perform the boom up / down operation. The amount of expansion and contraction and the amount of rotation are determined by the amount of pressurized oil supplied to these devices, and are controlled by opening and closing the proportional electromagnetic control valve 34 provided in the piping. Each hydraulic device is provided with a sensor for detecting its drive amount. For example, a length sensor 36 is attached to the undulating cylinder 32, and this detection signal is input to the controller 30. The same applies to detection signals from length or angle sensors attached to the other hydraulic devices. And
The controller 30 that inputs the sensing data from the operating lever 10 and the sensing data from the hydraulic device side determines the operating vector of the operating lever 10 as the origin of the turning center of the turning base, which is the moving starting point of the riding bucket 4. Vector conversion processing unit 38 for performing a vector conversion process
And a distribution output unit 40 that distributes and operates a drive amount to the hydraulic device corresponding to the converted vector,
The following operation is performed.

Now, as shown in FIG.
The upper operation lever 10 is set as a point P, the moving base point of the riding bucket 4 is set as a turning center O of the turning base, and this is set as a neutral origin. Assuming that the point P is located at an arbitrary point A in the space and the operator wants to move the bucket 4 to another point B, the operator operates the operation lever 10 in the direction of the point B. With this operation, the operation vector V is set, and the direction of the vector V is defined as the moving direction of the point P, and the size is defined as the moving speed.

Here, the coordinate system of the origin O is the riding bucket 4
Is a coordinate system in which the central axis of the vehicle on which X is mounted is X. In addition, a point P which is the position of the operation lever 10 of the riding bucket 4
Is a coordinate system in which the direction directly facing the operation lever 10 is the X axis. Now, if there is a point P at an arbitrary point A in the coordinate system of the origin O and the direction of the bucket 4 is rotating with respect to the coordinate system of the origin O, the movement vector V in the coordinate system of the point P is calculated as the origin O It is necessary to convert to the coordinate system. The position of the point P on the riding bucket 4 in the coordinate system O is uniquely obtained from the sensing output of the length, the rotation direction, and the undulation angle of the boom 3. Further, the rotation direction of the riding bucket 4 can be obtained from the turning direction of the boom 3 and the angle of the riding bucket 4 with respect to the boom 3. The prescribed data such as the boom length and the boom mounting position from the center of rotation may be appropriately read out from a memory or the like and used for calculation. Therefore, the current position of the passenger bucket 4 can be calculated by a geometric operation based on a signal from the sensor 36 attached to the hydraulic device.
The operation vector V can be developed on the coordinate system O based on the detection signal from each sensor of the operation lever 10. Then, the three-axis components of the vector V in the coordinate system O can be obtained by calculation. As the velocity component, the value in the coordinate system P can be used as it is. The speed can be calculated by detecting a temporal change in the lever operation amount.

In this manner, the vector conversion processing unit 38 of the controller 30 sets the coordinate system O with the origin as the moving base point.
The operation amount is output to the distribution output unit 40. That is, since the sensor 36 of the drive unit of each hydraulic device is set by the coordinate system O, the vector component in each axis direction is determined by the operation vector developed in the coordinate system O, and the drive target corresponding to each axis is determined. Uniquely specified. For example, for horizontal movement in the X-axis direction,
A turning operation for aligning the boom with the X axis and a boom extension / contraction operation corresponding to the amount of displacement from the initial position A correspond. Since the moving speed is a temporal change of the operation amount, a flow rate corresponding to this may be given to the turning motor and the telescopic cylinder. That is, since the drive target corresponding to the vector component on each axis developed on the coordinate system O is uniquely specified, the distribution output unit 40 outputs the proportional electromagnetic type corresponding to the target hydraulic device corresponding to each vector component. The control valve 34 is selected, and a flow control signal is output. In response to this, the riding bucket 4 is directly moved according to the operating direction of the operating lever 10 irrespective of its direction.

That is, an output electric signal from an operation sensor (a potentiometer or the like) of the operation lever 10 is input to the vector conversion processing unit 38 as each dimension deviation amount.
Here, the intended movement direction is developed on the axis, and the movement destination point of the riding bucket 4 is obtained. Next, drive components are distributed for proportionally controlling each hydraulic machine. For this purpose, as a condition, a driving order (for safely operating the passenger bucket) is defined before distribution, and this is input and set by the condition specifying means 42. Each drive amount determined in this way is
Input to the hydraulic control device. Thereby, the hydraulic cylinder (length) and the hydraulic motor (rotation angle) are operated. The operation of each hydraulic device is checked by feedback control (sensor information), and the length and rotation are made to match the measured values to give an accurate movement amount. Thus, the passenger bucket 4 can move to a target point. Since the control of the electromagnetic control valve 34 of each drive unit performs feedback control while monitoring the output of each unit sensor, the movement change detection time Δ
By reducing the value of t, the movement vector direction and the point P
Movement can be matched, this is
0 depends on the computing power of the central processing unit CPU.

A method of controlling the movement of a bucket for working on a high place work performed by such a control device will be described with reference to the flowchart of FIG. First, the operation lever 10 is in the neutral position, and the riding bucket 4 is in the A position shown in FIG.
It is assumed that the state at the point is an initial state, and the position is moved from this position to a desired position B point. The operator in the bucket 4 operates the operation lever 10 toward the point B. In this case, even when the bucket 4 is oriented 90 degrees sideways with respect to the direction of expansion and contraction of the boom 3 as shown in FIG. In the control operation, the operation lever 10 is operated, and it is detected whether or not there is an output from a sensor attached thereto (step 100). When there is no output, the riding bucket 4 keeps the stopped state. When there is an output, first, the output from the sensor is read (step 101), and the movement vector V is calculated. Next, the current state of each drive unit is sensed by a linear sensor or an angle sensor of the drive unit of each hydraulic device (step 102). Thus, the boom length, boom direction, boom undulation, and bucket direction are detected. Based on this output, the coordinates of the departure position are calculated, and the position coordinates of the passenger bucket 4 after Δt seconds are calculated based on the speed and direction of the movement vector V (step 103). That is, vector conversion. Then, based on the change in the coordinate position of the riding bucket 4 before and after the elapse of Δt seconds, the drive amount (length, angle) of each hydraulic device is calculated (step 104). Upon receiving the drive output based on the calculation result, the distribution output unit 40 drives the proportional electromagnetic control valve 34 attached to the drive target (step 105). The control valve 34 may have a digital control valve structure, and each drive unit may be digitally driven.

In this control valve control process, the amount and direction of movement from the current position is detected for the hydraulic device drive unit to be driven based on the vector component, and the solenoid valve in the direction of movement is opened. Then, the sensor value is compared with the target value while being detected, and control is performed so that the solenoid valve is closed when the deviation from the target value is eliminated.

As a result, the passenger bucket 4 is operated by the operation lever 1
0 (step 10)
6). This moving direction is irrespective of the direction of the bucket 4, for example, as shown in FIG. 1 (2), when the riding bucket 4 is 90 ° transverse to the direction of the boom 3, and the moving direction is the operation lever 10 , The bucket 4 can be moved to a point where the pilot wants to move. This eliminates erroneous operations and improves operability and safety.

On the other hand, in the case of the conventional means, as shown in FIG.
When the driver is in the sideways position, the driver can move the passenger bucket 4 in the boom direction.
Is operated, the operating lever 10 must be operated in a direction different from the desired moving direction by 90 °.

When the passenger bucket 4 is moved in this manner, the controller 30 detects whether or not the operating lever 10 is in the neutral position (step 107), and returns the lever 10 to the neutral position by the driver's will. Then, the movement control is stopped (step 108), and if not, the flow returns to step 101 to continue the movement.

According to this embodiment, the vector control of the bucket for aerial work vehicles uses the operating lever 10 capable of four-axis control to support the moving direction and the moving speed by the single lever. Can be. Then, instead of the conventional electromagnetic switch ON-OFF control, the operation control method distributes and converts the three-dimensional output from the operation lever 10 to each drive unit operation amount, and controls each drive unit hydraulic device to output a proportional control output. In order to perform the riding bucket control by incorporating the calculating means for the vector control to be performed, the moving direction of the riding bucket 4 is made to coincide,
It is possible to perform an operation according to the intention of the operator.

Next, FIG. 5 shows the structure of a movement control device for a bucket for working aerial vehicle according to a second embodiment. This is to incorporate a three-axis gyro sensor into the riding bucket 3 and perform a proportional control between the output and the three-dimensional output from the operating lever 10 to improve the operability accuracy and response speed of the intended riding bucket movement. It was done. This second embodiment is different from the configuration shown in FIG.
, A three-axis gyro sensor 44 is incorporated therein, and this is fed back to the controller 30. In the first embodiment, the movement of the riding bucket 4 by the calculated value is
The operation direction of the operation lever 10 and the operation direction of the riding becket 4 may not coincide. In the second embodiment, in order to know the position in the space in the passenger bucket 4, the gyro sensor 44 is incorporated as shown in FIG. 5 so as to obtain information on the current position and orientation. Thus, the calculated value from the operating lever 10 is compared with the actually measured value from the three-axis gyro sensor 44 incorporated in the riding bucket 4, and the correction processing unit 45 corrects the deviation so as to eliminate the deviation, and distributes and outputs it. It goes out to the section 40 and performs correction control.

FIG. 6 shows a flowchart of a control method using the control device having such a configuration. As shown, the flow of the system is the same as that of the vector control method of the first embodiment (FIG. 4). That is, steps 100 to 106 are the same, but in this embodiment, the moving direction of the moving bucket 4 driven by the solenoid valve control is detected by the gyro sensor 44 (step 200). Therefore, the deviation between the detected value from the sensor 44 and the calculated vector direction is calculated to determine the presence or absence of the deviation (step 201). When the deviation is detected, a correction amount for making the moving direction of the bucket 4 closer to the operation direction is calculated by the correction processing unit 45 (step 202), and the correction amount is corrected by the driving amount calculation step 104 of the hydraulic device driving unit. It is supposed to be. If there is no deviation, the process proceeds to step 107 for determining whether or not the next lever 10 is in neutral, and thereafter the same processing as in the first embodiment is performed.

In the second embodiment, in particular, the actual moving direction of the riding bucket 4 is determined, so that this can always be made to coincide with the operating direction of the operating lever 10 to obtain higher moving accuracy. Can be.

In the above embodiment, the riding bucket of the aerial work vehicle having the telescopic boom 3 has been described. However, this is applicable to an aerial work vehicle having a bending boom or an aerial work vehicle having another structure. can do. Accordingly, it goes without saying that the operation lever 10 can be a multi-axis operation lever having four or more degrees of freedom. Also,
Gyro 44 mounted on bucket 4 in the second embodiment
Instead, an acceleration sensor or the like can be used, and a direction sensor capable of detecting the moving direction can be appropriately adopted.

[0031]

As described above, according to the present invention,
The operation direction of the multi-axis operation lever provided on the riding bucket is converted into a drive vector having the origin as the moving base point of the boom or the like, and the hydraulic equipment is operated along this vector, regardless of the direction of the moving bucket. Since the bucket can be directly moved in the operation direction, the operability is significantly improved. A moving direction sensor such as a gyro is provided on the bucket side to constantly monitor the moving direction of the bucket, and when the deviation is present, the driving unit is controlled so as to correct the deviation, thereby realizing higher operability. be able to.

[Brief description of the drawings]

FIG. 1 is a configuration diagram and an explanatory diagram of a moving state of a riding bucket movement control device according to a first embodiment.

FIG. 2 is an explanatory diagram of an operation lever.

FIG. 3 is a diagram illustrating the principle of a control method according to the first embodiment.

FIG. 4 is a flowchart illustrating a control method according to the first embodiment.

FIG. 5 is a configuration diagram of a riding bucket movement control device according to a second embodiment.

FIG. 6 is a flowchart illustrating a control method according to a second embodiment.

FIG. 7 is a side view and a plan view showing a configuration of a conventional high place worker.

FIG. 8 is a schematic diagram of a conventional driving device for a riding bucket and an explanatory diagram of a control device.

FIG. 9 is an explanatory view of the operation and moving direction of a conventional riding bucket.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Revolving base 3 Boom 4 Riding bucket 5 Operating device 6 Hydraulic control device 10 Operating lever 12 Gripper 14 Vertical shaft (Z axis) 16 Push knob 18 X axis 20 Y axis 22, 24, 28, 29 Potentiometer 26 Linear sensor Reference Signs List 30 controller 32 boom hoist cylinder 34 proportional electromagnetic control valve 36 length sensor 38 vector conversion processing unit 40 distribution output unit 42 condition specifying means 44 3-axis gyro sensor 45 correction processing unit

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-6-247699 (JP, A) JP-A-4-7297 (JP, A) JP-A-3-297800 (JP, A) 50211 (JP, U) Fully open sho 63-71200 (JP, U) Really open sho 58-106399 (JP, U)

Claims (5)

(57) [Claims] 1. A method for controlling the movement of a riding bucket of an aerial work vehicle using an operating lever mounted on the bucket, wherein an operation vector of an operation lever capable of multi-axis operation has a three-dimensional vector whose origin is a moving base point on the vehicle body side. And controlling the movement of the passenger bucket by distributing and outputting an operation amount corresponding to each vector to a hydraulic device to control the movement of the passenger bucket. 2. A method for controlling the movement of a riding bucket of an aerial work vehicle using an operation lever mounted on the bucket, wherein a current position of the riding bucket is developed on coordinates having a vehicle-body-side movement base point as an origin, and a multi-axle is provided. The operation direction of the operable operation lever is three-dimensionally developed on the coordinates of the movement base point, and while the operation of the operation lever is continued, the hydraulic device that moves in the three-dimensionally developed operation direction is continuously operated. A method for controlling the movement of a bucket for working at a height. 3. The method according to claim 1, wherein a position of the riding bucket is detected by a gyro or the like, a deviation between the position change vector and the operation vector is calculated, and an operation amount to the hydraulic device is feedback-controlled. 3. The method for controlling the movement of a bucket for use in an aerial work vehicle according to 2. 4. An up-and-down boom that can be extended and retracted via a turning base is mounted on an aerial work vehicle, a rotatable bucket is provided at the end of the boom, and an operation lever for bucket moving operation is provided on the bucket. In the riding bucket movement control device for an aerial work vehicle, the operating lever is formed to be multi-axially operable, and control means is provided for operating a drive hydraulic device for moving the riding bucket by an operation output of the operating lever. A control unit configured to perform a vector conversion process on the operation vector of the operation lever with respect to the center of rotation of the turning base as an origin, and to distribute a drive amount to the hydraulic device corresponding to the converted vector. And a distribution output unit for causing the vehicle to move at a height. 5. A gyro is provided in the riding bucket,
The bucket movement control device for aerial work vehicles according to claim 4, wherein the bucket movement vector by the gyro is output to the control unit, and the output of the distribution output unit is compared and controlled.