JP6185355B2 - Lighting device for work mobile - Google Patents

Description

  The present invention relates to a telescopic ladder (including a tip bending type) mounted on a fire engine with a ladder as an aerial work vehicle, and an extension / refraction mounted on a fire truck with a refractive ladder as an aerial work vehicle. The present invention relates to a lighting device installed on a working movable body such as a tower (boom) of a type, a telescopic boom mounted on other aerial work vehicles, and a crane mounted on a vehicle or fixed equipment.

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

  After the fire engine with a ladder is stopped near the fire site, the ladder is turned, undulated, and extended and retracted to move the tip of the ladder safely and promptly to a position suitable for fire fighting and rescue activities. Since it is difficult to see the fire section of the building that is the target position to move the tip of the ladder, the lighting section installed on the ladder irradiates the fire section, and the ladder can be moved safely and promptly. Smooth fire extinguishing and rescue activities are possible.

  For example, when moving a ladder to a fire section, it may be necessary to avoid interference with surrounding obstacles such as buildings, utility poles, and trees. May fall out of compartment. In such a case, the operator operates the external input means, outputs an operation signal to the lighting device, and corrects the posture of the lighting device appropriately so that the lighting device can always irradiate the fire compartment. The burden on the operator is large.

  Many devices have been proposed for automatically tracking and illuminating a moving body (for example, Patent Documents 1 and 2 below), but it is necessary to detect the position of the moving body by a sensor or image processing. In addition, complicated arithmetic processing is required for automatic tracking control. Therefore, this type of automatic tracking lighting device is expensive, and is not suitable for a lighting device for a work moving body that is installed to illuminate a target position of a stationary body such as a fire section of a building. In addition, some construction machines are equipped with an automatic follow-up type lighting device (for example, Patent Documents 3 and 4 below), which irradiate the tip portion (bucket portion) of a working machine that turns and moves up and down. Therefore, it is not suitable for a lighting device for a working moving body that is installed to illuminate a target position of a stationary body.

JP 2001-60406 A JP 2000-123614 A JP-A-6-1180 Japanese Patent Laid-Open No. 5-162583

  An object of the present invention is to provide an illumination device for a working moving body that can always illuminate the illumination target position of the stationary body following the operation of the working moving body, and is relatively simple in configuration and control. Is to provide.

  In order to solve the above-described problems, the present invention provides a main body unit that is installed in a working moving body that performs operations including turning and undulation, has a light projecting unit, and can be displaced in posture with respect to the working moving body, and a main body unit And a control unit for controlling the posture of the work mobile body. The control unit positions the work mobile body at a predetermined position and emits it from the light projecting means of the main body. In a state in which the illumination light to be illuminated is irradiated to the illumination target position of the stationary body, a virtual position is drawn on a reference line extending toward the target position from the reference position set in the main body with respect to the target position corresponding to the illumination target position. The virtual target setting function unit for setting the target position and the operation of the work moving body from the state in which the virtual target position is set extend from the reference position of the main body corresponding to the illumination light irradiation direction. The irradiation reference line is always the virtual target position Providing a structure that includes a posture control function unit for controlling the orientation of the main unit to direct.

  In the above configuration, the main body is provided with an inertial sensor including a gyro sensor and an acceleration sensor, and the virtual target setting function unit stores posture information of the main body in a state where the virtual target position is set, The posture control function unit sequentially calculates the posture information of the main body based on the posture information of the main body stored in the virtual target setting function unit and the angle information sequentially detected by the inertial sensor during the operation of the working moving body. It can be configured to calculate and calculate the posture of the main body.

  Further, in the above-described configuration, the main body includes a first operating unit that is rotatable with respect to the working moving body in a turning direction plane of the working moving body, and the working moving body with respect to the first operating unit. And a second actuating part provided with a light projecting means. The posture control function part of the control part is configured to rotate the first actuating part and rotate the second actuating part. It can be set as the structure which controls movement.

  Or in the said structure, a main-body part turns the working moving body with respect to the 1st operation part which can be rotated in the raising / lowering direction of the working moving body with respect to the working moving body. And a second actuating unit provided with a light projecting means, and a posture control function unit of the control unit controls the rotation of the first actuating unit and the rotation of the second actuating unit. It can be set as the structure to do.

  Further, in the above configuration, the posture displacement of the main body with respect to the work moving body is limited within a predetermined range, and the posture control function unit is within the operation range of the work moving body in which the posture displacement of the main body is restricted. Regardless of the operation of the working mobile body, the posture control of the main body can be stopped, and the posture control of the main body can be resumed at the position where the working mobile has left the above-mentioned operating range.

  The inertial sensor may have an insensitive function that does not output the angle information below a predetermined reference to the attitude control function unit.

  The lighting device of the present invention is suitable for a work body mounted on an aerial work vehicle such as a fire engine with a ladder.

  According to the present invention, it is possible to constantly illuminate the illumination target position of the stationary body following the operation of the working mobile body, and the illumination device for the working mobile body is relatively simple in configuration and control. Can be provided.

It is a side view of the fire engine with a ladder concerning an embodiment. It is a top view of the fire engine with a ladder concerning an embodiment. It is a fragmentary sectional view (VV partial section shown in Drawing 1 and Drawing 2) of a ladder. It is the figure which looked at the illuminating device from the direction (W direction of FIG. 3) which becomes planar view with respect to the base end part of a ladder. It is a control block diagram of the attitude | position control of the main-body part by a control part. It is an operation | movement principle figure which shows an example of the attitude | position control of the turning direction of a main-body part (1st action | operation part). It is an operation | movement principle figure which shows an example of the attitude | position control of the turning direction of a main-body part (1st action | operation part). It is an operation | movement principle figure which shows an example of the attitude | position control of the raising / lowering direction of a main-body part (2nd operation part). It is a figure explaining stop and resumption of attitude control of the 1st operation part. It is a fragmentary sectional view (a section corresponding to a VV partial section shown in Drawing 1 and Drawing 2) of a ladder concerning other embodiments.

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

  FIG.1 and FIG.2 has shown the fire engine with a ladder as an aerial work vehicle which concerns on this embodiment. This fire engine with a ladder is installed on a vehicle main body 1, an extendable (multiple-stage) ladder 2 as a working moving body mounted on the vehicle main body 1, and a base end (first stage) 2a of the ladder 2. And the basket 4 attached to the tip of the ladder 2. The illuminating device 3 is attached to the structural material on the side portion of the base end portion 2a via an appropriate attachment member 2a1 (see FIG. 3). In this embodiment, the illuminating device 3 is attached to both sides of the base end portion 2a. Each is installed. As is well known, a turning table 5 capable of turning about a turning axis (turning center X) on the vertical axis is disposed at the rear of the vehicle body 1, and a support frame 6 is attached to the turning table 5. The base end 2a of the ladder 2 is attached to the support frame 6 through a horizontal undulation axis (undulation center Y) so as to be movable up and down. The ladder 2 is constructed by combining a plurality of ladder members (not shown) in a nested manner, and is expanded and contracted by an expansion / contraction drive means (not shown), and is raised and lowered by an undulation drive means (not shown). It is swiveled. The vehicle body 1 is equipped with an outrigger jack device 7. When a fire engine with a ladder arrives near the fire site, the outrigger jack device 7 is activated and the vehicle body 1 is stably supported on the ground. Is done.

  3 is a VV partial cross-sectional view of the ladder 2 in FIGS. 1 and 2, and FIG. 4 is a plan view of the lighting device 3 with respect to the base end portion 2a of the ladder 2 (W direction in FIG. 3). ). The illuminating device 3 includes a main body 3A and a control unit 3B. In this embodiment, the main body 3A is mounted on a structural material on the side of the base end 2a via an appropriate mounting member 2a1. A first actuating portion 3a that is rotatable about an axis (rotation center Z1) in a direction orthogonal to the planar direction of the base end portion 2a with respect to the member 2a1, and a base end portion 2a of the first actuating portion 3a. And a second actuating portion 3b that is rotatable about an axis (rotation center Z2) in a direction parallel to the planar direction. The first actuating part 3a pivots around the pivot center Z1 with respect to the base end part 2a, in other words, pivots in the turning direction of the base end part 2a and / or the second actuating part 3b 1 is rotated about the rotation center Z2 with respect to the operating portion 3a, in other words, is rotated in the undulating direction of the base end portion 2a, and the posture of the main body portion 3A with respect to the base end portion 2a by these rotating operations. Is displaced. The initial posture of the main body portion 3A with respect to the base end portion 2a is as shown in FIG. 4 in which the first operation portion in which the rotation center Z2 of the second operation portion 3b coincides with the width direction of the base end portion 2a and is orthogonal to the rotation center Z2. The direction of 3a coincides with the longitudinal direction of the base end portion 2a, and the irradiation surface 3b1 of the second actuating portion 3b faces the distal end side of the base end portion 2a parallel to the plane direction of the base end portion 2a. (Hereafter, this state is referred to as “origin state”). For example, the first actuating part 3a can be rotated in the range of 180 ° around the turning center Z1 (90 ° in the horizontal direction from the origin state shown in FIG. 4), and the second actuating part 3b is shown in FIG. Can be rotated in the range of 360 ° in both forward and reverse directions around the rotation center Z2. However, the second operating part 3b may be endlessly rotatable in the forward direction and / or the reverse direction around the rotation center Z2 from the origin state shown in FIG.

  In this embodiment, the control part 3B is accommodated in the inside of the 1st action | operation part 3a of 3 A of main-body parts. In addition to the control unit 3B, the first operating unit 3a includes a rotation mechanism that rotates the first operating unit 3a about the rotation center Z1, for example, a servo motor (not shown), and a second operating unit. A rotation mechanism that rotates 3b around the rotation center Z2, for example, a servo motor (not shown), and a sensor that detects posture information of the main body 3A, for example, an inertial sensor including a gyro sensor and an acceleration sensor, particularly three axes A three-axis inertial sensor 3c including a gyro sensor and an acceleration sensor is housed. For example, the rotation center Z1 of the first operating part 3a passes through the center of gravity G of the main body part 3A (the center of gravity of the first operating part 3a or the center of gravity of the entire main body part 3A), and the inertial sensor 3c is disposed at the position of the center of gravity G. Has been. Attitude information of the main body 3A detected by the inertial sensor 3c, in this embodiment, angle information regarding rotation of the first operating unit 3a and the second operating unit 3b is input to the control unit 3B. Further, a light projecting means (not shown) such as an LED is accommodated in the second operating portion 3b, and the illumination light emitted from the light projecting means is a predetermined spread angle (for example, about 100 ° or more) from the irradiation surface 3b1. Is irradiated in a predetermined direction. The inertial sensor 3c has an insensitive function that does not output angle information below a predetermined reference to the attitude control function unit 3B2. For example, due to vibrations transmitted from the vehicle body 1 to the ladder 2 (base end 2a) and other external forces, Even if the main body 3A is slightly displaced, this minute displacement does not become a control factor. Note that the inertial sensor 3c is not limited to the position of the center of gravity G of the main body 3A, and may be disposed at an arbitrary position on the rotation center Z1 of the first operating part 3a. Further, the rotation center Z1 of the first operating part 3a may be located at a position shifted from the center of gravity G of the main body part 3A.

  FIG. 5 is a control block diagram of posture control of the main body 3A by the control unit 3B. The control unit 3B includes a virtual target setting function unit 3B1 and an attitude control function unit 3B2. In this embodiment, the control unit 3B further includes a manual control function unit 3B3. The angle information detected by the inertial sensor 3c is sequentially input to the attitude control function unit 3B2 as an angle information signal S1, and the attitude control function unit 3B2 includes the main body 3A (first operation unit 3a and second operation unit 3b). The control signal S2 is output to the rotation mechanism 3d. The manual control function unit 3B3 receives an operation signal S3 from the external input means 10, and the manual control function unit 3B3 outputs a control signal S4 to the rotation mechanism 3d based on the operation signal S3. Further, posture information of the main body 3A based on the control signal S4 is sent from the manual control function unit 3B3 to the virtual target setting function unit 3B1 as the posture information signal S5.

  The virtual target setting function unit 3B1 positions the ladder 2 (base end 2a) at a predetermined position (including the initial mounting position of the ladder 2 shown in FIGS. 1 and 2), and the second operation unit 3b of the main body 3A. The target position (this target position is the target position) corresponding to the illumination target position in a state where the illumination light emitted from the light projecting means is irradiated to the target illumination target position (for example, the fire section of the building where the fire is occurring). , And may be a position slightly deviated from the illumination target position), and extends from the reference position set in the main body 3A toward the target position. The virtual target position is set on the reference line, and the posture information of the main body 3A in a state where the virtual target position is set (when the virtual target is set) is stored. For example, when the virtual target is set, when the posture of the main body 3A with respect to the base end 2a is displaced from the origin state shown in FIG. 4, this posture displacement is controlled by the manual control function unit 3B3. In this case, the operation signal S3 is input from the external input means 10 to the manual control function unit 3B3, and the manual control function unit 3B3 outputs the control signal S4 to the rotation mechanism 3d based on the operation signal S3. The part 3A is displaced to a predetermined posture. At this time, the posture information of the main body 3A is sent from the manual control function unit 3B3 to the virtual target setting function unit 3B1 as the posture information signal S5, and the virtual target setting function unit 3B1 is obtained from the posture information signal S5. Based on the posture information of the main body 3A and the known information regarding the virtual target position, the posture information of the main body 3A at the time of setting the virtual target is calculated and stored.

  The posture control function unit 3B2 always follows the operation of the base end 2a from the state at the time of setting the virtual target, and the irradiation reference line extending from the reference position of the main body 3A corresponding to the irradiation direction of the light projecting unit is always The posture of the main body 3A is controlled so as to point to the virtual target position. The control by the posture control function unit 3B2 is based on the posture information of the main body 3A stored in the virtual target setting function unit 3B1 and the angle information sequentially input from the inertial sensor 3c. The calculation is performed by calculating and outputting the calculation result as a control signal S2 to the rotation mechanism 3d.

  6 and 7 are operation principle diagrams illustrating an example of posture control in the turning direction of the main body 3A (first operation unit 3a). When the control is started, the posture of the main body 3A is always in the origin state shown in FIG. 4 (when the control by the control unit 3B is finished, the main body 3A returns to the origin state shown in FIG. 4). ). 6 and 7, B is the distance from the turning center X of the ladder 2 (base end portion 2a) to the main body portion 3A (the center of gravity G of the first operating portion 3a), and is relative to the base end portion 2a. It depends on the installation position of the main body 3A.

FIG. 6 shows a state when the virtual target is set. The virtual target position is set in the following manner, for example. First, the ladder 2 (base end portion 2a) is operated from the initial mounting position shown in FIGS. 1 and 2 to a predetermined position, and the operation signal S3 is input from the external input means 10 to the manual control function unit 3B3, and the manual control function The main unit 3A is displaced from the origin state shown in FIG. 4 to a predetermined posture by the unit 3B3, and the illumination light emitted from the light projecting means of the second operating unit 3b is irradiated to the illumination target position O1 of the stationary body. In this state, from the reference position of the main body 3A, in this example, the center of gravity G (located on the rotation center Z1) of the main body 3A, the irradiation direction of the illumination light (optical axis L1) in the three-dimensional space A reference line L2 extending in a parallel direction is set. This reference line L2 is shifted in a parallel direction from the optical axis L1 of the illumination light by a distance δ1 in plan view, and a target position O2 corresponding to the illumination target position O1 exists on the reference line L2. The illumination device 3, since the distance to the illumination target position O1 and the target position O2 is not detected, the virtual target setting function unit 3B1, separated by a predetermined distance A ₀ along a reference line L2 from the center of gravity G of the body 3A position Is set to the virtual target position O3. This predetermined distance A ₀ may be smaller than the distance to the target position O2, may be larger, or may be the same (because the distance to the target position O2 is not known). The closer the virtual target position O3 is to the target position O2, the better the irradiation accuracy. In addition, the predetermined distance A ₀ may be set as appropriate each time a virtual target is set, or the structure and mounting mode of the work moving body on which the lighting device 3 is installed, the work purpose and work mode of the work moving body. Depending on the above, it may be set as a fixed value in advance.

When the virtual target position O3 is set in the above manner, a geometric triangle is formed by the virtual target position O3, the center of gravity G, and the turning center X of the base end 2a. The distance between the center of gravity G and the virtual target position O3 is A ₀ , the distance between the turning center X and the center of gravity G is B, the distance between the turning center X and the virtual target position O3 is C, and the distance A ₀ is The angle between the side and the side at the distance B is α ₀ , and the angle between the side at the distance B and the side at the distance C is β ₀ . The distance A ₀ is determined by setting the virtual target position O3, and the distance B is determined by the installation position of the main body 3A with respect to the base end 2a. The angle α ₀ is calculated from the attitude information signal S5 sent from the manual control function unit 3B3 to the virtual target setting function unit 3B1. Virtual target setting function unit 3B1 from the value of a known distance A ₀ and the distance B and the angle alpha _0, the distance C and the angle beta ₀ calculated calculated by the cosine theorem, as the posture information of the body 3A at the time of the virtual target setting , Distance A ₀ , distance B, distance C, angle α ₀ and angle β ₀ are stored.

  The virtual target position O3 is set by operating only the ladder 2 (base end portion 2a) from the initial mounting position to a predetermined position according to the illumination target position O1, or by moving the ladder 2 (base end portion 2a). While maintaining the initial mounting position, only the main body portion 3A is displaced from the origin state shown in FIG. 4 to a predetermined posture, or the ladder 2 (base end portion 2a) is maintained at the initial mounting position and the main body portion 3A. Can also be performed while maintaining the origin state shown in FIG.

FIG. 7 shows a state during posture control. When the ladder 2 (base end portion 2a) performs the turning operation from the state at the time of setting the virtual target, the inertial sensor 3c accommodated in the main body 3A (first operating portion 3a) is based on the turning operation. The angular displacement β ₁ of the turning angle of the end portion 2a is sequentially detected, and the angular displacement β ₁ is sequentially input to the attitude control function unit 3B2 as angle information S1. Attitude control function unit 3B2, the distance B which is stored in the virtual target setting function unit 3B1, a distance C and the angle beta _0, based on the angular displacement β1 is sequentially detected by the inertial sensor 3c, the turning angle of the base end portion 2a β ₂ (an angle between the side of the distance B and the side of the distance C) is calculated, and the irradiation reference extends in the direction parallel to the optical axis L1 of the illumination light from the center of gravity G of the main body 3A (first operating unit 3a). The angle α _{1 in the} turning direction with respect to the base end portion 2a of the main body portion 3A (first operating portion 3a) is calculated and calculated by the cosine theorem so that the line L3 always points to the virtual target position O3. The calculation result is, as the control signal S2, is sequentially outputted from the posture control function unit 3B2 the rotation mechanism 3d of the first actuating portion 3a, thereby, the first actuating portion 3a is rotated to the position of the angle alpha _1.

  In the above example, the reference position of the main body 3A is set to the center of gravity G, but the reference position of the main body 3A is set to the intersection M between the rotation center Z2 of the second operating part 3b and the optical axis L1 of the illumination light. When the virtual target is set, the virtual target position O1 is set on the reference line L2 that coincides with the optical axis L1 of the illumination light. At the time of attitude control, the irradiation reference line L3 that coincides with the optical axis L1 of the illumination light is always set. It is also possible to perform control so that the virtual target position O1 is directed.

  FIG. 8 is an operation principle diagram illustrating an example of posture control in the undulation direction of the main body 3A (second operation unit 3b). The center diagram shows a state where the ladder 2 (base end portion 2a) does not take an elevation angle, and the upper and lower diagrams show a state where the ladder 2 (base end portion 2a) takes an elevation angle γ. The virtual target position O3 is set in one of the above states according to the illumination target position O1, but here, for the sake of simplicity, the base end portion 2a does not take an elevation angle (the state in the center diagram). The case where the virtual target position O3 is set and the base end portion 2a moves up and down while taking the elevation angle γ upward from this state (the state in the above figure) will be described as an example. In FIG. 8, B ′ is from the undulation center Y of the ladder 2 (base end portion 2a), from the intersection M between the main body 3A {the rotation center Z2 of the second operating portion 3b and the optical axis L1 of the illumination light. This is the distance to the elevation angle line (the position of the perpendicular line below the elevation angle γ) and is determined by the installation position of the main body 3A with respect to the base end 2a.

The setting of the virtual target position O3 is performed in the same manner as described above. In this example, the reference position of the main body 3A is set to the intersection M between the rotation center Z2 of the second operating unit 3b and the optical axis L1 of the illumination light, and when the virtual target is set (in this example, the state of the center figure) ), A reference line L2 extending from the reference position M of the main body 3A toward the virtual target position O3 coincides with the optical axis L1 of the illumination light. Further, the distance A ₀ is set to a predetermined distance in the above-described manner, and the shift amount δ2 between the reference position M and the elevation angle line (line of the elevation angle γ) is determined by the structure of the main body 3A. In this example, the elevation angle γ of the base end portion 2a is 0 °. Virtual target setting function unit 3B1 stores the distance A ₀ and the distance B 'between the elevation angle (gamma = 0) and the shift amount δ2 as the posture information of the body portion 3A (second actuating section 3b).

When the ladder 2 (base end portion 2a) performs the upward and downward movement from the state at the time of setting the virtual target, the inertial sensor accommodated in the main body 3A (first operating portion 3a) is accompanied by the upward and downward movement. 3c sequentially detects the angular displacement γ of the elevation angle of the base end portion 2a, and the angular displacement γ is input to the attitude control function unit 3B2 as angle information S1. The posture control function unit 3B2 is based on the distance A ₀ , the distance B ′, the elevation angle (γ = 0), the shift amount δ2 stored in the virtual target setting function unit 3B1, and the angular displacement γ sequentially detected by the inertial sensor 3c. Thus, the elevation angle γ of the base end 2a is calculated so that the irradiation reference line L3 (coincident with the optical axis L1) extending from the reference position M of the main body 3A (second operating unit 3b) always points to the virtual target position O3. In addition, the angle α _{2 in the} undulation direction with respect to the base end portion 2a of the second operating portion 3b is calculated and calculated by the cosine theorem. The calculation result is, as the control signal S2, is outputted from the posture control function unit 3B2 the rotation mechanism 3d of the second actuating portion 3b, thereby, the second operating portion 3b is rotated to the position of the angle alpha _2.

  The posture control function unit 3B2 follows the operation of the ladder 2 (base end portion 2a) while appropriately using the posture control of the first operation unit 3a and the posture control of the second operation unit 3b as described above. Thus, the posture of the main body 3A is controlled so that the illumination light emitted from the light projecting means of the main body 3A (second operating unit 3b) always irradiates the illumination target position O1. Strictly speaking, the optical axis L1 of the illumination light often deviates from the center of the illumination target position O1, but this deviation is small compared to the distance to the illumination target position O1, and the illumination light is Since irradiation is performed with a predetermined spread angle, the illumination target position O1 can always be within the illumination light irradiation range.

As described above, in this embodiment, the first actuating part 3a of the main body part 3A rotates from the origin state shown in FIG. 4 in the range of 90 ° in the left-right direction around the rotation center Z1 (180 ° in total). If the ladder 2 (base end portion 2a) moves beyond a certain operating range, the first actuating portion 3a rotates to the limit of the rotatable range, and can no longer be rotated. The posture control function unit 3B2 controls the rotation of the posture control function unit 3B2 regardless of the operation of the base end 2a in the operation range of the base end 2a in which the rotation of the first operating unit 3a is restricted. Is stopped, and the rotation control of the first actuating part 3a is resumed at the position where the base end part 2a is out of the above operating range. For example, Figure 9 is a proximal end 2a (reference is at a distance B shown in FIGS. 6 and 7) to pivot moves counterclockwise, the first actuating portion 3a is the position of the origin state (P ₀ shown in FIG. 4 ) From left to right. The attitude control function unit 3B2 is configured to determine the rotation angle of the first operating unit 3a and the base end 2a based on the angles α ₀ and β ₀ shown in FIG. 6 and the angles α ₁ , β ₁ and β ₂ shown in FIG. The turning angle can be detected. Following the pivotal movement of the base end portion 2a, but first actuating portion 3a is rotated counterclockwise, the proximal end portion 2a is pivoted moved to the position of P _1, the first actuating portion 3a is left from the origin state It turns 90 ° in the direction and can no longer turn. Attitude control function unit 3B2 detects this condition and stops the rotation control of the first operating portion 3a at a position P _1. Then, the posture control function unit 3B2 is in the operating range of the base end portion 2a of rotation of the first actuating portion 3a is regulated (the range of P ₁ ~P ₂ ~P _3), maintaining the stopped state, the when the rotation of the first operation unit 3a is moved again allows a position P ₃ to the base end portion 2a is turning resumes rotation control of the first actuating portion 3a. At the time of resuming the rotation control, the posture control function unit 3B2 rotates the first operating unit 3a clockwise by 180 °, and from this state, the first operating unit 3a follows the turning movement of the base end 2a. To control the rotation. The control is performed in the same manner when the base end portion 2a is pivoted clockwise.

  FIG. 10 shows a ladder 2 and a lighting device 3 according to another embodiment (a partial cross section corresponding to the VV partial cross section in FIGS. 1 and 2). In this embodiment, the main body 3A is attached to a structural material on the side of the base end 2a via an appropriate mounting member 2a2, and is in a direction parallel to the planar direction of the base end 2a with respect to the mounting member 2a2. A first actuating part 3a rotatable around an axis (rotation center Z1), and rotating about an axis (rotation center Z2) in a direction perpendicular to the planar direction of the base end part 2a with respect to the first actuating part 3a. And a movable second actuating part 3b. The first actuating part 3a pivots around the pivot center Z1 with respect to the base end part 2a, in other words, pivots in the undulating direction of the base end part 2a and / or the second actuating part 3b 1 is rotated about the rotation center Z2 with respect to the operating portion 3a, in other words, is rotated in the turning direction of the base end 2a, and by these turning operations, the posture of the main body 3A with respect to the base end 2a Is displaced. The posture control (rotation control) of the first operation unit 3a is performed according to the operation principle diagram shown in FIG. 8, and the posture control (rotation control) of the second operation unit 3b is the operation shown in FIGS. This can be done according to the principle diagram.

  The lighting device of the present invention is mounted on a telescopic ladder of a fire engine with a ladder, an extendable / refractive boom of a fire engine with a refractive ladder, an extendable boom of an other aerial work vehicle, a vehicle or a fixed facility. It can also be installed in a working mobile body such as a crane.

1 Vehicle body 2 Ladder (working vehicle)
2a Base end part 3 Illuminating device 3A Main body part 3a First action part 3b Second action part 3b1 Irradiation surface 3c Inertial sensor 3B Control part 3B1 Virtual target setting function part 3B2 Posture control function part 3B3 Manual control function part Z1 First action part Rotation center Z2 Rotation center G of the second operating part G Center of gravity M of the main body part Intersection X of the rotation center of the second operating part and the optical axis of the illumination light Y Rotation center Y of the base end part O1 Illumination target position O2 Target position O3 Virtual target position L1 Optical axis L2 of illumination light Reference line L3 Irradiation reference line

Claims (7)

A main body portion that is installed in a working moving body that performs operations including turning and undulation, has a light projecting unit, and can be displaced in posture with respect to the working moving body; and a posture of the main body portion with respect to the working moving body. An illumination device for a working mobile body comprising a control unit for controlling,
The control unit is configured to position the work moving body at a predetermined position, and irradiate the illumination target position of the stationary body with the illumination light emitted from the light projecting unit of the main body unit. A virtual target setting function unit configured to set a virtual target position on a reference line extending toward the target position from a reference position set in the main body with respect to the position; and the state from the state where the virtual target position is set Following the operation of the working moving body, the posture of the main body is set so that an irradiation reference line extending from the reference position of the main body corresponding to the irradiation direction of the illumination light always points to the virtual target position. An illuminating device for a working moving body, comprising: a posture control function unit for controlling.   The main body is provided with an inertial sensor including a gyro sensor and an acceleration sensor, and the virtual target setting function unit stores posture information of the main body in a state where the virtual target position is set, The posture control function unit, based on the posture information of the main body stored in the virtual target setting function unit and the angle information sequentially detected by the inertial sensor, during the operation of the working moving body 2. The illumination device for a working moving body according to claim 1, wherein the posture information is sequentially calculated and calculated to control the posture of the main body.   The main body includes a first actuating portion that is rotatable with respect to the working moving body in a turning direction of the working moving body, and a undulation direction of the working moving body with respect to the first working portion. And a second actuating part provided with the light projecting means. The posture control function part of the control part comprises a pivot of the first actuating part and a pivot of the second actuating part. The lighting device for a working moving body according to claim 1 or 2, wherein   The main body includes a first actuating portion that is rotatable with respect to the working moving body in a undulation direction of the working moving body, and a turning direction of the working moving body with respect to the first working portion. And a second actuating part provided with the light projecting means. The posture control function part of the control part comprises a pivot of the first actuating part and a pivot of the second actuating part. The lighting device for a working moving body according to claim 1 or 2, wherein   The posture displacement of the main body portion with respect to the working mobile body is limited within a predetermined range, and the posture control function unit is configured to operate in the operation range of the working mobile body in which the posture displacement of the main body portion is restricted. The attitude control of the main body is stopped regardless of the operation of the working moving body, and the attitude control of the main body is resumed at a position where the working moving body leaves the operating range. Item 5. The lighting device for a working moving body according to any one of Items 1 to 4.   The illumination device for a working moving body according to claim 2, wherein the inertial sensor has a dead function that does not output the angle information equal to or less than a predetermined reference to the posture control function unit.   The illumination device for a working moving body according to any one of claims 1 to 6, which is mounted on an aerial work vehicle.

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