JP4117057B2 - Control device for working machine with boom - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for a work machine with a boom such as a crane or an aerial work vehicle.
[0002]
[Prior art]
In a conventional working machine with a boom such as an aerial work platform, when moving the workbench, to control the work posture based on the stability performance of the work machine or to avoid interference with obstacles around the work environment Work posture regulation control and the like are performed.
[0003]
In this case, since the boom provided in the conventional working machine is an extendable boom that expands and contracts in its axial direction, the attitude of the working machine is uniquely determined with respect to the position of the work table. That is, when the workbench is set at a certain position, the boom length, the undulation angle, and the turning angle can each take only specific values, and therefore, regulation control other than the above attitude control is performed. Not.
[0004]
[Problems to be solved by the invention]
By the way, when the working machine is a boom having an expansion / contraction / folding structure driven in the bending direction in addition to the expansion / contraction movement in the axial direction, the work implement is positioned at the position of the work table provided at the tip of the boom. On the other hand, the work machine can take various postures (that is, it will perform a redundant operation).
[0005]
As shown in FIG.₀₁A first boom member 51 that can be driven up and down around the axis and can be extended and contracted in the axial direction, and a point P at the tip of the first boom 51₀₂(Hereafter, the reference point P₀₂A working machine having a boom 50 including a second boom member 52 that is connected so as to be foldable and can be extended and contracted in the axial direction thereof will be described as follows. .
[0006]
A control point P set at the tip of the boom 50, that is, the tip of the second boom member 52.₀₃From the current position shown by the solid line in FIG.₀₃Considering the case of linear movement to ′, the control point P₀₃Is the same control point P₀₃Even if it is set to ', the reference point P is used when indicated by reference numeral 50'.₀₂′ Is the initial reference point P at the projection position on the horizontal plane.₀₂Than the reference point P₀₁(In the working radius direction, “A ′ <A”), the reference point P is indicated by reference numeral 50 ″.₀₂″ Is the initial reference point P₀₂Than the reference point P₀₁(A <A ″ ”outside the working radius direction). That is, the reference point P depends on which drive means among a plurality of drive means involved in linear movement is driven.₀₂This changes the position of the signal, which results in redundant operation.
[0007]
In the case of such redundant operation, in particular, the reference point P as shown by reference numeral 50 ″ in FIG.₀₂When the operation of the work implement is actually performed by the operator, the operator can control the control point P when the operation position is located outside the position on the initial work radius.₀₃In addition to the movement position of the reference point P₀₂It is necessary to keep an eye on the position of this and prevent it from interfering with obstacles around the work environment, which makes the operation extremely complicated and leaves a problem in terms of operability.
[0008]
Therefore, the present invention provides an interference between the boom and an obstacle around the work environment when operating a work machine that performs a redundant operation to move a control point set on the tip side of the boom to a target position. The present invention has been made for the purpose of providing a control device for a working machine with a boom that can reliably prevent the above.
[0009]
[Means for Solving the Problems]
The present invention employs the following configuration as a specific means for solving such a problem.
[0010]
In the first invention of the present application, the first boom member 41 that is pivotably and undulatingly attached to the side of the base 1 and is pivotally driven by the pivot drive means 11 and driven by the undulation drive means 12, A boom 4 comprising a second boom member 42 attached to the distal end portion of the first boom member 41 so as to be foldable with respect to the first boom member 41 and driven to bend by the bending drive means 13 is provided. Control point P set on the distal end side of the second boom member 42_ThreeIn the control device for a working machine with a boom, in which the drive means 11, 12, 13 are appropriately driven to move the drive means to the target position designated by the target position input means 20, the raising and lowering of the first boom member 41 is performed. First reference point P in the center₁And a second reference point P at the center of bending of the first boom member 41 and the second boom member 42.₂, Respectively, and an operation state detection means 6 for detecting the current operation state of the boom 4 and the first and second reference points P in response to a signal from the operation state detection means 6.₁, P₂And the control point P_ThreeEach of the first reference point P from the position calculating means 32 when receiving the operation start signal₁Position signal and the second reference point P₂Based on the position signal of the first reference point P₁And the second reference point P₂Projection distance A on the horizontal plane between₀Is calculated as a restricted range, or a preset projection distance A₀, And the first and second reference points P from the position calculation means 32 and the restriction range calculation means 31 that uses the value as a restriction range.₁, P₂And the control point P_Three, And the target position signal from the target position input means 20, and a plurality of driving means groups G are combined by combining the driving means 11, 12, and 13.₁~ Gn, each driving means group G₁To the control points P by driving the driving means 11, 12, 13 belonging to .about.Gn._ThreeThe control values of the driving means 11, 12, and 13 when the motor is moved to the target position are obtained, and the driving means group G in that case is obtained.₁The first reference point P for each Gn₁And the second reference point P₂Projection distance A on the horizontal plane₁... An to each driving means group G₁The movement range calculation means 33 to be obtained as the movement range for each Gn and the restriction range A from the restriction range calculation means 31₀And the movement range A from the movement range calculation means 33.₁Are compared with each other, and each of the movement ranges A₁To An of the movement range A₁~ An is the regulation range A₀Driving means group G corresponding to the smaller one₁To Gn, and these selected driving means group G under certain conditions₁To Gn, the operation control means 34 for determining the operation priority order, and the drive means group G based on the operation priority order determined by the operation control means 34.₁... Gn to sequentially operate the driving means group G₁The control value output means 35 for outputting a control value to each of the drive means 11, 12, 13 belonging to .about.Gn is provided.
[0011]
In the second invention of the present application, the first boom member 41 that is pivotably and undulatingly attached to the base 1 side and is pivotally driven by the pivoting drive means 11 and driven by the undulation drive means 12, A boom 4 comprising a second boom member 42 attached to the distal end portion of the first boom member 41 so as to be foldable with respect to the first boom member 41 and driven to bend by the bending drive means 13 is provided. Control point P set on the distal end side of the second boom member 42_ThreeIn the control device for a working machine with a boom, in which the drive means 11, 12, 13 are appropriately driven to move the drive means to the target position designated by the target position input means 20, the raising and lowering of the first boom member 41 is performed. First reference point P in the center₁And a second reference point P at the center of bending of the first boom member 41 and the second boom member 42.₂, Respectively, and an operation state detection means 6 for detecting the current operation state of the boom 4 and the first and second reference points P in response to a signal from the operation state detection means 6.₁, P₂And the control point P_ThreeEach of the first reference point P from the position calculating means 32 when receiving the operation start signal₁Position signal and the second reference point P₂Based on the position signal of the first reference point P₁And the second reference point P₂Projection distance A on the horizontal plane between₀Is calculated as a restricted range, or a preset projection distance A₀, And the first and second reference points P from the position calculation means 32 and the restriction range calculation means 31 that uses the value as a restriction range.₁, P₂And the control point P_Three, And a target position signal from the target position input means 20, and a plurality of driving means groups G set in advance in combination with the driving means 11, 12, 13 are received.₁To Gn, the control points P are driven by driving the drive means 11, 12, 13 belonging to any one drive means group Gx._ThreeThe control value Ex of each of the drive means 11, 12, 13 when moving to the target position and the first reference point P of the one drive means group Gx in that case₁And the second reference point P₂Is calculated as a movement range of the one drive means group Gx, and the movement range Ax and the restriction range A₀Is compared with "A_x<A₀”, The control value Ex is output, and“ Ax> A₀”, The control value Ex is not output and another driving means group G is output.₁To Gn, the operation control means 36 for performing the above processing, and the operation control means 36 to the drive means group G₁~ Control value E output for each Gn₁To each of the driving means groups G₁... Gn to sequentially operate the driving means group G₁... To each of the drive means 11, 12, 13 belonging to Gn.₁Control value output means 37 for outputting .about.En is provided.
[0012]
According to a third invention of the present application, in the control device for a working machine with a boom according to the first or second invention, the first boom member 41 is driven to extend and contract by the first extension / contraction driving means 14, and the second The boom member 42 is fixed in length, and the first telescopic drive means 14 is connected to the drive means group G.₁It is characterized by being a component of .about.Gn.
[0013]
According to a fourth invention of the present application, in the control device for a working machine with a boom according to the first or second invention, the first boom member 41 is of a fixed length type, and the second boom member 42 is the first. 2 The expansion / contraction driving means 15 is extended / contracted and the second expansion / contraction driving means 5 is connected to the driving means group G.₁It is characterized by being a component of .about.Gn.
[0014]
In a fifth invention of the present application, in the control device for a working machine with a boom according to the first or second invention, the first boom member 41 is moved by the first telescopic drive means 14 and the second boom member. 42 are driven to extend and contract together by the second expansion / contraction driving means 15, and the first expansion / contraction driving means 14 and the second expansion / contraction driving means 15 are both driven to the driving means group G.₁It is characterized by being a component of .about.Gn.
[0015]
In the sixth invention of the present application, in the control device for a boom-equipped working machine according to the first, third, fourth, or fifth invention, the determination of the priority of operation in the operation control means 34 is selected. Each driving means group G₁Movement range A corresponding to each of ~ Gn₁A method of prioritizing in descending order of comparing values of An to An, a method of prioritizing in a preset order, or a driving means group G close to an operator operating the work implement₁The method is characterized in that it is performed by any one of the prioritized methods in order from.
[0016]
【The invention's effect】
In the present invention, the following effects can be obtained by adopting such a configuration.
[0017]
(1) According to the control device for a working machine with a boom according to the first invention of the present application, the control point P set on the distal end side of the second boom member 42 in the boom 4 by the operation of the target position input means 20._ThreeWhen the target position to be moved is instructed, an operation start signal is received. First, in the restriction range calculation means 31, the first reference point P from the position calculation means 32 is obtained.₁Position signal and second reference point P₂Based on the position signal of the first reference point P₁And the second reference point P₂Projection distance A on the horizontal plane between₀Is calculated as a regulation range, or a preset projection distance A₀Is read out as the restriction range. The position calculating means 32 receives the signal concerning the current operating state of the boom 4 from the operating state detecting means 6 and receives the first and second reference points P.₁, P₂And the control point P_ThreeThe current position of each is calculated.
[0018]
On the other hand, in the movement range calculation means 33, the first and second reference points P from the position calculation means 32 are used.₁, P₂And the control point P_Three, And the target position signal from the target position input means 20, and a plurality of driving means groups G are combined by combining the driving means 11, 12, and 13.₁~ Gn, each driving means group G₁To the control points P by driving the driving means 11, 12, 13 belonging to .about.Gn._ThreeIn this case, the control values of the driving means 11, 12, and 13 when the motor is moved to the target position are obtained, and the driving means group G in that case is obtained.₁The first reference point P for each Gn₁And the second reference point P₂Projection distance A on the horizontal plane₁~ An is the driving means group G₁It is calculated | required as a movement range for every -Gn.
[0019]
Thereafter, in the operation control means 34, the restriction range A from the restriction range calculation means 31.₀And the movement range A from the movement range calculation means 33.₁˜An and these are compared, and each moving range A₁To An of the movement range A₁~ An is the regulation range A₀Driving means group G corresponding to the smaller one₁~ Gn are selected, and these selected driving means group G under certain conditions₁˜Gn priority of operation is determined, and in the control value output means 35, the driving means group G is based on the priority of operation determined by the operation control means 34.₁... Gn to sequentially operate the driving means group G₁A control value is output to each of the driving means 11, 12, 13 belonging to .about.Gn.
[0020]
By executing such control, the control point P_ThreeIs the reference position P₂Is moved from the current position to the target position under a state of being restricted to be within the restriction range defined by the position at the start of operation. As a result, although the work implement performs a redundant operation, interference with obstacles around the work environment of the boom 4 is prevented in advance, and the operator can control the control point P._ThreeCompared to the conventional case where attention should be paid to the interference between the boom and the obstacles around the work environment, for example, improvement in operability and work can be performed. The improvement of the property can be expected.
[0021]
(2) According to the control device for a working machine with a boom according to the second invention of the present application, the control point P set on the distal end side of the second boom member 42 in the boom 4 by the operation of the target position input means 20._ThreeWhen the target position to be moved is instructed, an operation start signal is received. First, in the restriction range calculation means 31, the first reference point P from the position calculation means 32 is obtained.₁Position signal and second reference point P₂Based on the position signal of the first reference point P₁And the second reference point P₂Projection distance A on the horizontal plane between₀Is calculated as a regulation range, or a preset projection distance A₀Is read out as the restriction range. The position calculating means 32 receives the signal concerning the current operating state of the boom 4 from the operating state detecting means 6 and receives the first and second reference points P.₁, P₂And the control point P_ThreeThe current position of each is calculated.
[0022]
On the other hand, in the operation control means 36, the first and second reference points P from the position calculation means 32 are used.₁, P₂And the control point P_Three, And a target position signal from the target position input means 20, and a plurality of driving means groups G set in combination with the driving means 11, 12, 13.₁To Gn, the control points P are driven by driving the drive means 11, 12, 13 belonging to any one drive means group Gx._ThreeThe control value Ex of each of the drive means 11, 12, 13 when moving to the target position and the first reference point P of the one drive means group Gx in that case₁And the second reference point P₂Is calculated as a movement range of the one drive means group Gx, and the movement range Ax and the restriction range A₀And compare. And "A_x<A₀", The control value Ex is output as it is because there is no possibility of interference between the boom 4 and obstacles around the work environment. In contrast, “Ax> A₀”, There is a risk of the interference, so the control value Ex is not output, and then another driving means group G other than the one driving means group Gx.₁The same processing as described above is performed for the other driving means group in .about.Gn. Then, in the control value output means 37, the control value E output from the operation control means 36.₁To En, and each driving means group G₁... Gn to sequentially operate the driving means group G₁-Gn to the drive means 11, 12, 13 belonging to the control value E₁~ En is output.
[0023]
By executing such control, the control point P_ThreeIs the reference position P₂Is moved from the current position to the target position under a state of being restricted to be within the restriction range defined by the position at the start of operation. As a result, although the work implement performs a redundant operation, interference with obstacles around the work environment of the boom 4 is prevented in advance, and the operator can control the control point P._ThreeCompared to the conventional case where attention should be paid to the interference between the boom and the obstacles around the work environment, for example, improvement in operability and work can be performed. The improvement of the property can be expected.
[0024]
(3) According to the control device for a working machine with a boom according to the third invention of the present application, in addition to the effects described in the above (1) or (2), the following specific effects can be obtained. That is, in the present invention, the first boom member 41 is driven to extend and contract by the first extension / contraction driving means 14, the second boom member 42 is fixed in length, and the first extension / contraction driving means 14 is set to the above-described type. Driving means group G₁Since the first telescopic boom 41 is telescopically driven, the operability and workability are ensured despite the fact that the first telescopic boom 41 is telescopically driven. is there.
[0025]
(4) According to the control device for a working machine with a boom according to the fourth invention of the present application, in addition to the effects described in the above (1) or (2), the following specific effects can be obtained. That is, in the present invention, the first boom member 41 is fixed in length, the second boom member 42 is driven to extend and retract by the second extension / contraction drive means 15, and the second extension / contraction drive means 5 is driven. Means group G₁Since it is a constituent element of ~ Gn, high operability and workability are ensured despite the fact that the second telescopic boom 42 is telescopically driven so that the operation redundancy is higher. is there.
[0026]
(5) According to the control device for a working machine with a boom according to the fifth invention of the present application, in addition to the effects described in the above (1) or (2), the following specific effects can be obtained. That is, in the present invention, the first boom member 41 is driven to extend and retract by the first telescopic drive means 14 and the second boom member 42 is driven to extend and contract by the second telescopic drive means 15 and the first telescopic drive means. 14 and the second expansion / contraction driving means 15 together with the driving means group G₁Since the first and second telescopic booms 41 and 42 are both telescopically driven, the operability and the work are high despite the fact that the operation is further redundant. The property is ensured.
[0027]
(6) According to the control device for a working machine with a boom according to the sixth invention of the present application, in addition to the effects described in (1), (3), (4) or (5), the following unique features The effect of. In other words, in the present invention, the priority order of the operation in the operation control means 34 is determined by the selected drive means group G.₁Movement range A corresponding to each of ~ Gn₁A method for comparing and comparing An and prioritizing them in ascending order (first determination method), prioritizing in a preset order (second determination method), or driving means close to an operator operating the work implement Group G₁To Gn in order (prior to the determination method) (third determination method). Therefore, according to the first determination method, since the drive unit group having a low risk of interference between the boom 4 and the obstacle around the work environment is driven first, the avoidance of the interference becomes more reliable. According to the second determination method, since the driving means group is driven in a preset order, the operator can predict the movement of the work implement, and the operational safety is improved. Further, according to the third determination method, since the driving unit group close to the operator is driven first, the operator can confirm the operation and the actual movement close to each other, and the reliability of the operation is improved. .
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be specifically described based on preferred embodiments.
First embodiment
FIG. 1 shows an aerial work vehicle Z equipped with a control device according to the first embodiment of the present invention. This aerial work platform Z is mounted on a crawler base 1 with a boom 4 on a swivel 2 that is swiveled on a crawler base 1 via a swivel seat 3 and is swiveled by a swivel drive means 11 composed of a hydraulic motor. It is configured to be undulating.
[0029]
The boom 4 is extended and retracted by a first telescopic drive means 14 that is located on the base end side thereof and is constituted by a hydraulic cylinder, and a hoisting drive means that is constituted by a hydraulic cylinder disposed between the swivel base 2. The first telescopic boom 41 is driven by up and down movement 12 and the first telescopic boom 41 is connected to the front end of the first telescopic boom 41 so that it can be bent on the back side of the first telescopic boom 41. A second telescopic boom 42 that is bent and driven by a bending driving means 13 composed of an installed hydraulic cylinder and is telescopically driven by a second telescopic driving means 15 composed of a hydraulic cylinder built in the interior thereof; It consists of Further, a work table 5 is attached to the tip of the second telescopic boom 42, that is, the tip of the boom 4 via a leveling mechanism 7 and a swing mechanism 8. A joystick type target position input means 20 is disposed on the work table 5, and the target position of movement of the work table 5 is indicated by the operator operating the target position input means 20. Is done.
[0030]
Further, in the aerial work platform Z, as the operation state detecting means 6 for detecting the current operation state of the boom 4, the turning angle “φ” of the swivel base 2 (that is, the boom 4) is detected. The turning angle detecting means 21 and the undulation angle “θ” of the first telescopic boom 41.₁”And a length“ L ”of the first telescopic boom 41.₁First boom length detection means 24 for detecting the bending angle of the second telescopic boom 42 with respect to the first telescopic boom 41 “θ₂And the length “L” of the second telescopic boom 42.₂And second boom length detection means 25 for detecting "."
[0031]
Further, in this aerial work platform Z, the reference point “P”₁”To the folding fulcrum of the first telescopic boom 41 and the second telescopic boom 42 as a reference point“ P ”.₂”And a control point“ P ”to be the target of movement control._Three”Is set at an appropriate position on the distal end side of the second telescopic boom 42 (this control point“ P_Three"Indirectly indicates the position of the workbench 5 and, therefore, in other embodiments this control point" P "_ThreeCan be set on the workbench 5).
[0032]
By the way, in the control device for an aerial work vehicle Z according to this embodiment, the control point “P_Three”Is controlled to be moved to the target position indicated by the target position input means 20. In this case, in this embodiment, the driving target is different. The driving means 11 to 15 are provided as driving means, and the control point “P” is provided._ThreeThe reference point “P”₂The position of "" is unambiguously determined, and therefore the position having the highest risk of interfering with obstacles around the work environment due to the redundant operation, that is, the boom 4 described above. The reference point “P”₂”With the reference point“ P ”at the operation start time.₂The drive means 11 to 15 are selected and driven so as not to protrude outward in the working radial direction from the position of "", thereby preventing interference between the boom 4 and the obstacle in advance and reliably. The basic idea is to realize operation control with good operability and workability.
[0033]
Specifically, as shown in FIG. 4, when the posture (initial posture) of the boom 4 at the operation start time is in the state shown by the solid line, the control point “P” in this initial posture is set._Three”By, for example, the control point“ P_ThreeIn the boom posture indicated by reference numeral 4 'in FIG.₂′ ”Is the reference point“ P ”in the initial posture.₂”(Ie, the reference point“ P₁"And the reference point" P₂The moving range “A” represented by the line segment projected onto the horizontal plane with “′”₀′ ”Is the restriction range“ A ”represented by the projected line segment in the initial posture.₀Therefore, the operation is allowed. On the other hand, in the boom posture indicated by reference numeral 4 ″ in FIG.₂"" Is the reference point "P" in the initial posture.₂”Located outside the working radius direction (ie, the reference point“ P₁"And the reference point" P₂The movement range “A” represented by the line segment projected on the horizontal plane with “₀”” Is the restriction range “A” represented by the projected line segment in the initial posture.₀Therefore, the operation is restricted.
[0034]
The operation control is performed by the control unit 30 described below. Therefore, as shown in FIG. 1, the control unit 30 includes a target position signal outside the target position input means 20. The detection signals from the detection means 21 to 25 are input, and the control unit 30 calculates the control values of the drive means 11 to 15 based on the input signals. It outputs to the means 11-15. In the operation control by the control unit 30, the drive means 11 to 15 are connected to the control point “P” as described below._ThreeA plurality of drive means groups are set for each combination whose operation amount can be uniquely determined from the position of ``, '' and priority of operation is given to each drive means group under certain conditions. The driving means groups are sequentially driven in the order of priority. The details of the operation control will be specifically described below based on the control block diagram shown in FIG. 2 and the control flowchart shown in FIG.
[0035]
First, the basic concept of the control in the control unit 30 is as follows. In the case of an aerial work vehicle Z of this embodiment provided with five drive means 11 to 15, these five drive means. When three specific driving amounts among 11 to 15 are determined, the control point “P_Three"Is uniquely determined. Accordingly, the following six cases, that is, six driving means groups are conceivable as combinations of driving means capable of uniquely determining the position.
[0036]
First driving means group G₁: Consists of the first telescopic drive means 14, the undulation drive means 12, and the turning drive means 11.
[0037]
Second driving means group G₂: Consisting of the second expansion / contraction driving means 15, the bending driving means 13 and the turning driving means 11.
[0038]
Third driving means group G_Three: Comprising the first extension / contraction drive means 14, the bending drive means 13 and the turning drive means 11.
[0039]
Fourth driving means group G_Four: Consists of the second expansion / contraction drive means 15, the undulation drive means 12, and the turning drive means 11.
[0040]
Fifth driving means group G_Five: Consisting of the first extension / contraction drive means 14, the second extension / contraction drive means 15, and the turning drive means 11.
[0041]
Sixth driving means group G₆: Consists of undulation drive means 12, bending drive means 13 and turning drive means 11.
[0042]
In addition, in this embodiment, since the five drive means are provided as described above, the above six combinations can be considered as the drive means group constituted by these, and the number of drive means provided depends on the number of drive means provided. The number of driving means groups is also different. For example, when the second telescopic boom 42 is of a fixed length type, the second telescopic drive means 15 does not exist. Therefore, as the drive means group, the first telescopic drive means 14, the undulating drive means 12, and the turning Three of the driving means 11, the first extending / contracting driving means 14, the bending driving means 13 and the turning driving means 11, and the rising / lowering driving means 12, the bending driving means 13 and the turning driving means 11. It is. When the first telescopic boom 41 is fixed, the first telescopic drive means 14 does not exist. Therefore, as the drive means group, the second telescopic drive means 15, the bending drive means 13, and the turning drive are included. There are three types: one comprising the means 11, one comprising the second telescopic drive means 15, the undulating drive means 12 and the turning drive means 11, and one comprising the undulating drive means 12, the folding drive means 13 and the turning drive means 11. .
[0043]
On the other hand, each driving means group G₁~ G₆As a method of assigning priorities for sequentially operating the drive means, for example, each of the drive means groups G₁~ G₆When the operation of the driving means group G is permitted,₁~ G₆Range A corresponding to each of₁~ A₆The first determination method that prioritizes the values in order from the smallest value, the second determination method that prioritizes in the preset order, or the driving means group G close to the operator who operates the work implement₁~ G₆A third determination method in which priority is given in order from the first is considered.
[0044]
Next, the configuration and function of the control unit 30 will be described with reference to FIG.
The control unit 30 includes a regulation range calculation unit 31, a position calculation unit 32, a movement range calculation unit 33, an operation control unit 34, and a control value output unit 35.
[0045]
When the target position input means 20 is operated, the restriction range calculation means 31 is the restriction range of the boom 4 at the time of operation (“A” in FIG. 4).₀)), The restriction range calculation means 31 includes an operation start signal from the target position input means 20 and the reference point “P” from the position calculation means 32 described below.₁"And the reference point" P₂”(Position on Cartesian coordinates) is input, and based on these input signals, the restriction range“ A₀Is calculated and output to the operation control means 34 described later.
[0046]
The position calculating means 32 receives the detection signals from the detecting means 21 to 25 constituting the operating state detecting means 6 and receives the reference point “P” set on the boom 4.₁"And the reference point" P₂"And control point" P "_ThreeThe current position (position on the orthogonal coordinates) is calculated, and the calculated value is output to the restriction range calculation means 31 and the movement range calculation means 33 described below.
[0047]
The movement range calculation means 33 is configured to input the control point “P” input from the target position input means 20._Three”And the reference point“ P ”input from the position calculation means 32.₁"And the reference point" P₂"And the control point" P_ThreeAnd the above-mentioned driving means group G₁~ G₆Every time the driving means belonging to the driving means group is driven, the control point “P_Three”Is moved from the current position to the target position, each control value of the driving means and the reference point“ P ”in each of the driving means groups₁"And the reference point" P₂The movement range “A” represented by the projected line segment on the horizontal plane between₁~ A₆And the control value and the movement range are output to the operation control means 34 described below.
[0048]
The operation control unit 34 outputs the control values of the driving units 11 to 15 from the movement range calculation unit 33 as they are to the control value output unit 35 described below. Driving means group G₁~ G₆Each movement range “A₁~ A₆”And the restriction range“ A ”from the restriction range calculation means 31.₀”And compare them. First, each movement range “A₁~ A₆”Is within the above-mentioned regulatory range“ A ”₀”Is extracted, the drive means group corresponding to the extracted restriction range is excluded from the operation control target, and the other drive means groups are preferentially operated based on their movement ranges. The order is determined and output to the control value output means 35 described below. In addition, as the method of assigning priorities, the above three methods are conceivable, and which method is adopted is appropriately selected according to the usage situation of the aerial work vehicle Z, the operator's operational preference, and the like.
[0049]
The control value output means 35 receives the control value for each drive means 11 to 15 belonging to each drive means group from the operation control means 34 and the priority order of each drive means group. In turn, each driving means group G₁~ G₆The control values are output for each of the driving means 11 to 15 belonging to, and are driven.
[0050]
The operation control in the control unit 30 will be described in more detail based on the flowchart shown in FIG.
That is, after the start of control, first, in step S1, it is determined whether or not the target position has been input (in other words, whether or not the target position input means 20 has been operated), and when the target position is input, the process proceeds to step S2. Transition.
[0051]
In step S2, a signal (θ corresponding to the current state of the work machine detected by each of the detection means 21 to 25 is detected.₁, Θ₂, L₁, L₂, Φ). Furthermore, in step S3, based on the current state of the work implement, each of the reference points “P₁"," P₂"And control point" P "_Three"Position is calculated. Note that the processing in steps S2 and S3 corresponds to the processing in the position calculation means 32.
[0052]
Next, in step S4, the reference point “P₁"And the reference point" P₂From the position of "₀(The processing in step S4 corresponds to the processing in the restriction range calculation means 31).
[0053]
Further, in step S5, the target position and each of the reference points “P₁"," P₂"And control point" P "_ThreeFrom the position information of each driving means group G₁~ G₆Control values of the driving means 11 to 15 belonging to each of the driving means group G and the driving means group G₁~ G₆Movement range A when each is operated₁~ A₆(The processing in step S5 corresponds to the processing in the moving range calculation means 33).
[0054]
Thereafter, in step S6, each of the moving ranges A described above.₁~ A₆And the above restriction range A₀And a drive means group whose operation is allowed, that is, a drive means group whose movement range value is smaller than the regulation range value, and in step S7, each selected drive means is selected. The priority of driving for the group is determined (the processing in step S6 and step S7 corresponds to the processing in the operation control means 34).
[0055]
Next, in step S8, each driving means group G based on the priority order.₁~ G₆The control values are sequentially output to the drive means 11 to 15 belonging to the drive means 11 to drive them, and the control point “P_Three"To the target position (the process in step S8 corresponds to the process in the control value output means 35).
[0056]
By continuously performing the above control, even if the aerial work platform Z performs a redundant operation, the operator is not aware of interference between the boom 4 and obstacles around the work environment. The control point “P_Three”Can be moved to the target position.
[0057]
Second embodiment
FIG. 5 shows a control block diagram of a control device according to the second embodiment of the present invention. In this embodiment, the basic configuration is the same as that of the first embodiment, but in the first embodiment, each of the driving units 11 to 15 is combined. Driving means group G₁-Gn are given priority under certain conditions, and the driving means group G is assigned according to this priority.₁In the second embodiment, the target position input means 20 is operated by the operator and the predetermined target is set without giving the priority in the second embodiment. When the position is indicated, each driving means group G₁To Gn, the movement range Ax and the control value Ex of each of the drive means 11 to 15 belonging to the drive means group Gx are calculated first, and the movement range Ax is the restriction range A.₀The smaller driving means group Gx is first driven. Then, the control point P by the driving means group Gx that is driven first._ThreeIs the driving condition “Ax <A₀”Is not satisfied, the driving of the driving means group Gx is stopped, the moving range and the control value are calculated for the other driving means group, the moving range is compared with the restriction range, and the conditions are If this condition is satisfied, the driving means group is driven to control the control point P._ThreeWill continue to move. This processing is performed by the operation control means 36 in the control unit 30 shown in FIG. Accordingly, the operation control means 36 includes the target position signal from the target position input means 20 and the reference points P from the position calculation means 32.₁, P and control point P_ThreeAnd the regulation range A from the regulation range calculation means 31₀Are entered respectively.
[0058]
Then, a control value E from the operation control means 36 is obtained.₁~ E_FiveIs output to the driving means 11 to 15 through the control value output means 37, and the control point P_ThreeIs performed without causing interference between the boom 4 and surrounding obstacles.
[0059]
The control in the control unit 30 will be described with reference to FIGS. 6 and 7 as follows.
[0060]
In FIG. 6, after the control is started, it is first determined in step S1 whether or not the target position has been input (in other words, whether or not the target position input means 20 has been operated). The process proceeds to S2.
[0061]
In step S2, a signal (θ corresponding to the current state of the work machine detected by each of the detection means 21 to 25 is detected.₁, Θ₂, L₁, L₂, Φ). Furthermore, in step S3, based on the current state of the work implement, each of the reference points “P₁"," P₂"And control point" P "_Three”And the reference point“ P ”in step S4.₁"And the reference point" P₂From the position of "₀Is calculated.
[0062]
Further, in step S5, the target position and each of the reference points “P₁"," P₂"And control point" P "_ThreeFrom the position information of each driving means group G₁~ G₆Any one of them, for example, the first driving means group G₁Control values E of the respective driving means 11 to 15 when the driving means 11 to 15 belonging to the above are driven.₁~ E_FiveAnd the first driving means group G₁Moving range A at₁And ask. In step S6, the movement range A₁And the above restriction range A₀And "A₀> A₁”, It is determined that there is no risk of interference, and the control value E₁~ E_FiveIs output (step S7). And this control value E₁~ E_FiveThe output of "A₀> A₁"" Is continued while the condition is satisfied, and when this condition is not satisfied, the output is stopped, and the process proceeds to step S9 in FIG. If it is determined in step S6 that the above condition is not satisfied from the beginning, the process immediately proceeds to step S9.
[0063]
In step S9 of FIG. 7, the next drive means group, for example, the second drive means group G₂And the second drive means group G₂Control values E of the respective driving means 11 to 15 when the driving means 11 to 15 belonging to the above are driven.₁~ E_FiveAnd the second driving means group G₂Moving range A at₂And ask. In step S10, the movement range A₂And the above restriction range A₀And "A₀> A₂”, It is determined that there is no risk of interference, and the control value E₁~ E_FiveIs output (step S11). And this second drive means group G₂Control value E for each driving means 11-15₁~ E_FiveThe output of "A₀> A₂"" Is continued while the condition is satisfied, and the output is stopped when this condition is not satisfied.
[0064]
The control shift from the one driving means group to the other driving means group is performed by the driving means group G.₁~ G_FiveIs performed at random (see step S13 to step S16). In this way, each driving means group G₁~ G_FiveEven if these are randomly driven without assigning any priority order, even if the aerial work vehicle Z is configured to perform a redundant operation, as in the case of the first embodiment, The operator can control the control point “P” without worrying about interference between the boom 4 and obstacles around the work environment._Three”Can be moved to the target position.
[0065]
Other
(1) In each of the embodiments described above, the boom 4 can be bent so that the second boom member 42 on the distal end side can be folded back to the rear side with respect to the first boom member 41 on the proximal end side. Although the structure is described as an example, the boom 4 in the present invention is not limited to such a structure. For example, the second boom member 42 is the first boom member 42 contrary to the above embodiments. A structure that can be bent so as to be folded back toward the abdominal surface of one boom member 41 is also applicable.
[0066]
(2) In each of the above embodiments, the restriction range calculation means 31 is set to the first reference point P at the operation start time.₁Position signal and the second reference point P₂Projection distance A based on the position signal of₀However, the restriction range calculation means 31 in the present invention is not limited to such a configuration. For example, the projection distance A serving as a reference for restriction control is used.₀Is set in advance, and upon receiving the operation start signal, the set projection distance A₀It is also possible to configure so that this is read out and set as the regulation range.
[0067]
(3) Further, as an output method of the operation start signal to the restriction range calculation means 31, in addition to adopting the operation signal of the target position input means 20 as in the above embodiments, for example, a dedicated operation start signal An output means may be provided, and the operation signal may be output from the operation start signal output means.
[Brief description of the drawings]
FIG. 1 is an overall view of an aerial work vehicle including a control device according to a first embodiment of the present invention.
FIG. 2 is a control block diagram of the control device according to the first embodiment of the present invention.
FIG. 3 is a control flowchart in the control device according to the first embodiment of the present invention;
FIG. 4 is an operation explanatory diagram during vertical linear movement by the control device according to the first control device of the present invention;
FIG. 5 is a control block diagram of a control device according to a second embodiment of the present invention.
FIG. 6 is a control flowchart in the control device according to the second embodiment of the present invention;
FIG. 7 is a control flowchart in the control device according to the second embodiment of the present invention;
FIG. 8 is an operation explanatory diagram at the time of a conventional vertical linear movement.
[Explanation of symbols]
1 is a base, 2 is a swivel, 3 is a swivel seat, 4 is a boom, 5 is a work table, 6 is a boom operating state detection means, 11 is a turning drive means, 12 is a undulation drive means, and 13 is a bending drive means. , 14 is a first extension / contraction drive means, 15 is a second extension / contraction drive means, 20 is a target position input means, 21 is a turning angle detection means, 22 is an undulation angle detection means, 23 is a bending angle detection means, and 24 is a first Boom length detection means, 25 is a second boom length detection means, 30 is a control unit, 31 is a restriction range calculation means, 32 is a position calculation means, 33 is a movement range calculation means, 34 is an operation control means, and 35 is a control Value output means, 36 is an operation control means, 37 is a control value output means, 41 is a first telescopic boom, 42 is a second telescopic boom, and Z is an aerial work vehicle.

Claims (6)

A first boom member (41) attached to the base (1) in a swingable and undulating manner, driven by the slewing drive means (11) and driven by the undulating drive means (12); A second boom member (42) attached to the distal end of the first boom member (41) so as to be foldable with respect to the first boom member (41) and driven to bend by the bending drive means (13); A boom (4) consisting of
In order to move the control point (P ₃ ) set on the distal end side of the second boom member (42) to the target position indicated by the target position input means (20), the drive means (11, 12, 13) are moved. A control device for a working machine with a boom that is appropriately driven,
The first reference point (P ₁ ) is set at the center of undulation of the first boom member (41), and the center of bending between the first boom member (41) and the second boom member (42) is While setting _two reference points (P ₂ ) respectively,
Operating state detecting means (6) for detecting the current operating state of the boom (4);
In response to a signal from the operating state detecting means (6), the current positions of the first and second reference points (P ₁ ), (P ₂ ) and the control point (P ₃ ) are calculated and calculated. Position calculation means (32) for outputting as a position signal;
When the operation start signal is received, based on the position signal of the first reference point (P ₁ ) and the position signal of the second reference point (P ₂ ) from the position calculating means (32), A projection distance (A ₀ ) on the horizontal plane between the _first reference point (P ₁ ) and the second reference point (P ₂ ) is calculated and used as a restriction range, or a preset projection distance (A ₀ )), and a restriction range calculation means (31) that takes this as a restriction range;
Position signals of the first and second reference points (P ₁ ), (P ₂ ) and the control point (P ₃ ) from the position calculation means (32), and from the target position input means (20) In response to the target position signal, a plurality of driving means groups (G _{1 to} Gn) are assumed by combining the driving means (11, 12, 13), and belong to the driving means groups (G _{1 to} Gn). Control values (E _{1 to} En) of the driving means (11, 12, 13) when the driving means (11, 12, 13) are driven to move the control point (P ₃ ) to the target position. And the projected distance on the horizontal plane between the first reference point (P ₁ ) and the second reference point (P ₂ ) for each of the drive means groups (G _{1 to} Gn) in that case ( moving range calculation means for calculating the a ₁ .about.An) as the moving range of each respective drive means group (G ₁ ~Gn) And 33),
In response to the restriction range (A ₀ ) from the restriction range calculation means (31) and the movement range (A _{1 to} An) from the movement range calculation means (33), these are compared and each movement range (A _{1 to} An), the driving means group (G _{1 to} Gn) corresponding to the movement range (A _{1 to} An) smaller than the restriction range (A ₀ ) is selected, and these are selected under a certain condition. has been driven means group and (G ₁ ~Gn) to operation control means for determining the priority of the operation (34),
Based on the priority of the operation determined by said operation control means (34), said belong to said respective drive means group (G ₁ ~Gn) sequentially actuated to order respective drive means group (G ₁ ~Gn) each A control device for a working machine with a boom, comprising control value output means (35) for outputting control values (E _{1 to} En) to the drive means (11, 12, 13). A first boom member (41) attached to the base (1) in a swingable and undulating manner, driven by the slewing drive means (11) and driven by the undulating drive means (12); A second boom member (42) attached to the distal end of the first boom member (41) so as to be foldable with respect to the first boom member (41) and driven to bend by the bending drive means (13); A boom (4) consisting of
In order to move the control point (P ₃ ) set on the distal end side of the second boom member (42) to the target position indicated by the target position input means (20), the drive means (11, 12, 13) are moved. A control device for a working machine with a boom that is appropriately driven,
The first reference point (P ₁ ) is set at the center of undulation of the first boom member (41), and the center of bending between the first boom member (41) and the second boom member (42) is While setting _two reference points (P ₂ ) respectively,
Operating state detecting means (6) for detecting the current operating state of the boom (4);
In response to a signal from the operating state detecting means (6), the current positions of the first and second reference points (P ₁ ), (P ₂ ) and the control point (P ₃ ) are calculated and calculated. Position calculation means (32) for outputting as a position signal;
When the operation start signal is received, based on the position signal of the first reference point (P ₁ ) and the position signal of the second reference point (P ₂ ) from the position calculating means (32), A projection distance (A ₀ ) on the horizontal plane between the _first reference point (P ₁ ) and the second reference point (P ₂ ) is calculated and used as a restriction range, or a preset projection distance (A ₀ )), and a restriction range calculation means (31) that takes this as a restriction range;
Position signals of the first and second reference points (P ₁ ), (P ₂ ) and the control point (P ₃ ) from the position calculation means (32), and from the target position input means (20) One drive means group (Gx) among a plurality of drive means groups (G _{1 to} Gn) set in advance in combination with the drive means (11, 12, 13) in response to the target position signal And the control value (Ex) of each drive means (11, 12, 13) when the drive means (11, 12, 13) belonging to are moved to move the control point (P ₃ ) to the target position, In this case, the projection distance (Ax) on the horizontal plane between the first reference point (P ₁ ) and the second reference point (P ₂ ) of the one drive means group (Gx) is the one drive. While obtaining as the movement range of the means group (Gx), the movement range (Ax) and the restriction range (A ₀ ), the control value (Ex) is output when “A _x <A ₀ ”, and the control value (Ex) is not output when “Ax> A ₀ ”. And an operation control means (36) for performing the above-described processing for the other drive means groups (G ₁ ) to (Gn),
Said operation control means (36) from the respective drive means group (G ₁₎ ~ (Gn) said control value output for each (E ₁₎ ~ (En) receiving by said respective drive means group (G ₁ ~Gn Control value output means (37) for outputting the control values (E _{1 to} En) to the drive means (11, 12, 13) belonging to the drive means group (G _{1 to} Gn) in order to actuate the control means sequentially. And a control device for a working machine with a boom. In claim 1 or 2,
The first boom member (41) is telescopically driven by the first telescopic drive means (14), the second boom member (42) is fixed in length, and the first telescopic drive means (14). Is a component of the drive means group (G _{1 to} Gn). In claim 1 or 2,
The first boom member (41) is fixed in length, the second boom member (42) is driven to extend and contract by the second extension / contraction drive means (15), and the second extension / contraction drive means (15). Is a component of the drive means group (G _{1 to} Gn). In claim 1 or 2,
The first boom member (41) is driven to extend and retract by the first telescopic drive means (14), and the second boom member (42) is driven to extend and contract by the second telescopic drive means (15). drive means (14) and the second telescopic drive means (15) are both control of the boom with the working machine, characterized in that it is a component of the drive means group (G ₁ ~Gn). In claim 1, 3, 4 or 5,
Determination of the priority of operation in the operation control means (34)
A method of comparing the movement ranges (A _{1 to} An) corresponding to each of the selected driving means groups (G _{1 to} Gn) and giving priority in order from the smallest value,
A method of giving priority in the order set in advance,
Or a method of giving priority in order from the drive means group (G _{1 to} Gn) close to the operator who operates the work machine,
The control apparatus of the working machine with a boom characterized by performing by these.

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