JP6212301B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle that has a working device on a traveling body capable of self-running and travels according to a travel operation of an operator.

  As such a work vehicle, for example, there is a vertical lift type aerial work vehicle in which a self-propelled traveling body (vehicle) is provided with a high work device for moving a work table up and down by a lift mast. Manufactures and sells such aerial work platforms. Many of these high-altitude work vehicles are relatively small, and are used for ceiling wiring work, lighting fixture installation work, and the like inside a building such as a building. Such work is performed by running an aerial work vehicle inside a building and moving it to a work place, and then moving up and down the lifting mast to move the work table on which the operator is boarded to the high place.

  After that, when moving to another work place, if the work table is lowered and moved each time, the running stability is high, but because the work efficiency is bad, the work table is moved up and moved. The aerial work vehicle is constructed so that it is possible. However, there are many steps inside the building, and there is a problem that running stability drops when an aerial work vehicle rides on the step while driving, so it is necessary to avoid the step and drive carefully . It is known that a step in the traveling direction of the traveling body is detected by an infrared sensor, and the speed of traveling over the step is controlled according to the size of the step or an alarm is given (for example, Patent Document 1).

JP 2001-151497 A

  In the case of the above-mentioned patent document 1, a step in front of the traveling direction is detected by an infrared sensor to control the step-over speed, and an alarm is issued when the step cannot be overcome. However, small aerial work platforms used for ceiling wiring work, lighting equipment installation work, etc. inside the building can be controlled with a small turn, and not only normal turning, but also spin turn and pivot turn. In many cases, the vehicle is allowed to travel with a sudden change in the direction of travel. For this reason, there exists a problem that sufficient level | step difference detection cannot be performed in the level | step difference detection like the said patent document 1. FIG.

  However, the step inside the building can be grasped in advance, and it is possible to detect such a known step and perform traveling control to reach the step. In addition, the ceiling wiring work and the lighting equipment mounting work inside the building are determined in places where the work is required, and it is also required to move the places sequentially to perform the high place work efficiently.

  The present invention has been made in view of such a problem, and is capable of traveling a work vehicle in accordance with an operation of a traveling operation lever or the like and detecting a step around the traveling body to avoid the step. An object of the present invention is to provide a work vehicle having a configuration that can also be controlled.

In order to achieve such an object, a work vehicle according to the present invention includes a traveling body that has a traveling drive device and is capable of traveling, an elevating device provided on the traveling body, and the elevating device on the traveling body. A work table that is movable upward from the storage position, a travel operation device that can be operated by an operator, and a travel control device that controls the operation of the travel drive device to travel the traveling body. . Then, with a step detector for detecting the level difference of the traveling road around the traveling body, as a control for running the running body by the travel control device, the normal running control mode for running according to an operation of the traveling manipulator And a step detection travel control mode for restricting travel toward the step when the step detector detects that there is a step around the traveling body , the travel control device Is configured to automatically select and set the step detection travel control mode when the work table is moved upward from the storage position by the lifting device .

  The work vehicle preferably includes a guideline detector that detects a guideline formed on a traveling road surface, and the traveling control device moves the traveling body along the guideline based on detection of the guideline by the guideline detector. A scanning travel control mode for traveling can also be selected.

  The work vehicle preferably includes a movable area detector that detects a movable area provided on a traveling road surface, and the traveling control device detects the movable area by the movable area detector, An area-limited travel control mode that allows the traveling body to travel only within the movable area can also be selected.

In addition, the work vehicle according to the present invention includes a traveling body that has a traveling drive device and is capable of traveling, an elevating device provided on the traveling body, and moved upward from a storage position on the traveling body by the elevating device. And a travel control device that can be operated by an operator, and a travel control device that controls the operation of the travel drive device to cause the travel body to travel. And a guideline detector for detecting a guideline formed on the traveling road surface, and as a control for running the running body by the running control device, a normal running control mode for running according to an operation of the running operation device; and Based on detection of the guideline by the guideline detector, it is configured to be able to select a scanning travel control mode in which the traveling body travels along the guideline, and the travel control device is configured such that the work table is stored by the lifting device. The scanning travel control mode is automatically selected and set when moved upward from the position.
In addition, the work vehicle according to the present invention includes a traveling body that has a traveling drive device and is capable of traveling, an elevating device provided on the traveling body, and moved upward from a storage position on the traveling body by the elevating device. And a travel control device that can be operated by an operator, and a travel control device that controls the operation of the travel drive device to cause the travel body to travel. And the normal travel control which is provided with the movable area detector which detects the movable area provided in the driving | running | working road surface, and makes it drive | work according to operation of the said travel operation apparatus as control which makes the said travel body drive by the said travel control apparatus. A mode and an area-limited travel control mode that allows the traveling body to travel only within the movable area by detecting the movable area by the movable area detector can be selected. The travel control device is configured to automatically select and set the area limited travel control mode when the work table is moved upward from the storage position by the lifting device.
The work vehicle is preferably configured such that the travel control device automatically selects and sets the normal travel control mode when the work table is stored in the storage position. Preferably, a mode change switch is provided that can switch and set a travel control mode set in the travel control device by a manual operation.

  According to the present invention, as the control for traveling the traveling body, the normal traveling control mode for traveling according to the operation of the traveling operation device and the presence of a step around the traveling body are detected by the step detector. Sometimes, a step detection traveling control mode for restricting traveling toward the step can be selected. For this reason, when performing traveling movement in a work place where there is a step, it is possible to select a step detection traveling mode and to perform traveling control that ensures traveling stability while avoiding the step. On the other hand, when the step detection travel mode is unnecessary, such as when the work vehicle is transported and moved, the normal travel mode can be selected to enable quick transport and movement.

The crawler type aerial work vehicle as an example of the work vehicle according to the present invention is shown, (a) is a side view of the aerial work vehicle, and (b) is a plan view. It is a block diagram which shows the control system of the said aerial work vehicle. It is a block diagram which shows the control system of the left and right crawler apparatuses provided in the aerial work vehicle. It is a perspective view which shows the guideline detector provided in the said aerial work vehicle. It is explanatory drawing for demonstrating making the said aerial work vehicle drive | work by normal driving | running | working control, level | step difference detection driving control, and area limited driving control. It is explanatory drawing for demonstrating making the said aerial work vehicle drive | work with normal driving | running | working control and copying driving | running | working control. It is explanatory drawing which shows the structure which demarcates the area in the case of making the said aerial work vehicle drive by area limited travel control. It is explanatory drawing for demonstrating that the said high-altitude work vehicle is run-controlled along the path of a building. It is explanatory drawing for demonstrating carrying out the control which makes the said aerial work vehicle follow the path which connects these area | regions between two area | regions in a building. It is explanatory drawing for demonstrating carrying out the control which makes the said aerial work vehicle follow the path which connects these area | regions between two area | regions in a building. It is explanatory drawing for demonstrating carrying out area limited travel control of the said aerial work vehicle through the path | route which connects these area | regions between two areas | regions in a building. It is explanatory drawing for demonstrating that the above-mentioned work place where a work is carried out passes through a floor board between two areas of high and low. It is a perspective view which shows the wheel type aerial work vehicle as another example of the work vehicle which concerns on this invention.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, the overall configuration of an aerial work vehicle 1 to which the present invention is applied will be described with reference to FIGS. This aerial work vehicle is a so-called vertical lift type aerial work vehicle in which a work table 40 is moved up and down by a lift mast 30 formed by combining a plurality of mast members in a nested manner. In the following description, for convenience of explanation, the directions of arrows attached to the drawings are defined as front and rear, left and right, and up and down as illustrated.

  FIG. 1A shows a state where the aerial work vehicle 1 is viewed from the left side. The aerial work vehicle 1 protrudes upward from a crawler traveling body 10 capable of traveling and a front portion of the crawler traveling body 10. A control unit 50 (FIG. 2) is configured to include a telescopic elevating mast 30 and an operator boarding work platform 40 protruding rearward from the elevating mast 30 and controlling the operation of the aerial work vehicle 1 inside. 2).

  The crawler traveling body 10 includes left and right crawler traveling apparatuses 12a and 12b (see also FIG. 3) provided on the left and right of the traveling body frame 11. The left and right crawler travel devices 12 a and 12 b are respectively composed of a drive wheel 13 attached to the rear part of the travel body frame 11, a driven wheel 14 attached to the front part of the travel body frame 11, and the drive wheel 13 and the driven wheel 14. A plurality of lower rollers 15 provided therebetween, and a drive wheel 13, a driven wheel 14, and a crawler belt 16 wound around the lower roller 15 are configured.

  Electric right and left traveling motors 51 and 52 (see also FIG. 2 and FIG. 3) for rotating the left and right drive wheels 13 and 13 respectively are provided inside the traveling body frame 11. The output rotations of the right and left traveling motors 51 and 52 are decelerated via a speed reducer (not shown) and transmitted to the right and left drive wheels 13 and 13 for rotation.

  The elevating mast 30 is configured to be vertically extendable by combining a plurality of mast members in a nested manner. The elevating mast 30 is expanded and contracted by a plurality of mast members relatively moved up and down by an electric elevating motor 61 (see FIG. 2) and an elevating mechanism (not shown) provided on the traveling body frame 11. It is configured as follows.

  The work table 40 is attached to the mast member that is positioned at the uppermost position when the extension operation is performed among the plurality of mast members combined in a nested manner, and a work floor 40a on which an operator can ride and a handrail surrounding the work floor 40a. 40b. An operation box 41 is provided on the upper right side of the work floor 40a. The operation box 41 is provided so as to be tiltable back and forth, and is provided so as to be able to tilt up and down. The left and right crawler traveling devices 12a and 12b are operated to perform a traveling operation (operation to perform forward and reverse traveling), and are provided so as to be twistable to the left and right, and a turning operation (operation to change the traveling direction). There is provided a turning amount operation dial 48 for performing a so-called steering operation. When these lifting / lowering operation lever 46, travel operation lever 47 and turning amount operation dial 48 are operated, signals corresponding to the respective operations are output to the control unit 50 as shown in FIG.

  As shown in FIG. 1B, step detectors 21 for detecting whether or not there are steps on the road surface around the vehicle are provided at four positions on the left and right ends of the crawler traveling body 10. The level difference detector 21 is configured to include detection portions 21b at the tips of four support arms 21a extending outward from the front, rear, left and right corners of the traveling body frame 11, respectively. The detection unit 21b includes a light emitting unit that emits inspection light downward, and a light receiving unit that detects reflected light emitted from the light emitting unit and reflected. Each step detector 21 can be stored by swinging the support arm 21 a to a position along the traveling body frame 11. When the step detector 21 is used, it swings and moves from the storage position to the detection position shown in FIG. 1 (b), irradiates light from the light emitting part onto the road surface, and controls the detection signal indicating the detection result at the light receiving part. Send to unit 50. Note that, instead of the inspection light, a configuration using ultrasonic waves or radio waves (infrared rays or radar) may be used. Furthermore, the structure which detects a level | step difference using the image detected by imaging devices, such as an infrared camera, may be sufficient.

  The aerial work vehicle 1 is configured to be able to travel along a predetermined target travel route. Specifically, a cable C (see FIG. 4) as a guide line is laid on the road surface along a predetermined target travel route, and the guide line detector 22 provided on the front portion of the crawler travel body 10 is provided with this cable C. It is configured to be able to perform travel control that travels along the cable C while detecting the above (referring to travel following the route, referred to as travel travel control).

  For this reason, as shown in FIG. 1 and FIG. 4, guideline detectors 22 are respectively provided before and after the crawler traveling body 10. The guideline detector 22 includes a base portion 23 that protrudes forward from the front portion of the traveling body frame 11, a rotatable swing shaft member 24 that extends upward from the base portion 23, and an upper portion of the swing shaft member 24. A swing plate member 25a attached to the front and extending forward, an intermediate member 25b attached to the front of the swing plate member 25a and attached downward, and a lower portion of the intermediate member 25b with a predetermined interval and extending downward. And a pair of left and right sliding arms 26a and 26b, and a swing detector 27 provided inside the base portion 23 for detecting the swing of the swing shaft member 24. As shown in FIG. 4, the sliding arms 26 a and 26 b are configured to be able to hold the cable C laid on the road surface from the left and right.

  Therefore, for example, as shown in FIG. 4, when the aerial work vehicle 1 is run with the cable C sandwiched from the left and right by the sliding arms 26 a and 26 b, the sliding arms 26 a and 26 b follow the cable C. Therefore, if the extending direction of the cable C and the traveling direction of the crawler traveling body 10 are different, the swing plate member 25a, the intermediate member 25b, and the sliding arms 26a and 26b are integrally swung left and right according to the difference. The oscillating shaft member 24 is rotated. At this time, the rocking rotation direction and the rotation amount of the rocking shaft member 24 are detected by the rocking detector 27, and a detection signal indicating the detection result is sent from the rocking detector 27 to the control unit 50.

  When the guide line detector 22 is used, the swing plate member 25a is projected and moved to a detection position extending forward as shown in FIG. 4, and when it is not used, as shown in FIG. The crawler traveling body 10 is configured to be stored in a storage position along the front portion. In the present embodiment, the guideline detector 22 is provided at the front part of the vehicle (the front part of the traveling body frame 11).

  The aerial work vehicle 1 is further configured to be able to perform control that allows traveling only within a preset movable area. The movable area is set by, for example, placing a colored tape on the road surface surrounding the movable area, or placing a colored tape on the road surface corresponding to the entire movable area. For this reason, the movable area detector 28 (refer FIG. 1) is provided in the front part and rear part of the crawler traveling body 10. FIG. This movable area detector 28 is configured by an optical sensor that can identify and detect a color tape that is pasted and disposed on the road surface. A detection signal corresponding to the detection result by the movable area detector 28 is sent to the control unit 50. Instead of color tape, paint the road surface, lay a color block to represent the movable area, or place a plate or rug that can be identified by an optical sensor in the movable area on the road surface. It may be configured.

  As shown in FIG. 2, the control unit 50 includes a controller 60 as the center of the control unit 50, a battery 90 that stores electric power and supplies a direct current, and a lift that converts direct current power from the battery 90 into alternating current power. An inverter 62, a left-side traveling inverter 53, and a right-side traveling inverter 54 are provided.

  The controller 60 includes a determination unit 60a to which detection signals from the level difference detector 21, the guideline detector 22, and the movable area detector 28 are input, and an elevation control unit 60b to which an elevation command signal from the elevation operation lever 46 is input. And a travel control unit 60c to which a travel command signal from the travel operation lever 47 and a turn amount command signal from the turn amount operation dial 48 are input.

  The elevating control unit 60b controls the driving of the elevating motor 61 based on the elevating command signal from the elevating operation lever 46, and controls the elevating / lowering operation of the elevating mast 30 to move the work table 40 up and down. For example, when an operator on the work table 40 tilts the lifting operation lever 46, a lifting command signal corresponding to the operation direction (tilting direction) and the operation amount (tilting amount) is input to the lifting control unit 60b. The lift controller 60b controls the operation of the lift inverter 62 according to the input lift command signal, converts the DC power from the battery 90 into AC power corresponding to the lift command signal, and supplies the AC power to the lift motor 61. Take control. In this manner, control is performed in which the lifting motor 61 is rotationally driven in response to the operation of the lifting operation lever 46, and the work table 40 moves up and down in accordance with the operation of the lifting operation lever 46.

  The traveling control unit 60c controls the driving of the left and right traveling motors 51 and 52 based on the traveling command signal and the turning amount command signal from the traveling operation lever 47 and the turning amount operation dial 48, so that the aerial work vehicle 1 moves forward and backward. Control to make it run. For example, when an operator who has boarded the work table 40 tilts the travel operation lever 47, a travel command signal corresponding to the operation direction (tilt direction) and the operation amount (tilt amount) with respect to the neutral position is generated by the travel control unit 60c. Is input. The traveling control unit 60c controls the operation of the left and right traveling inverters 53 and 54 in accordance with the input traveling command signal, and converts the DC power from the battery 90 into AC power corresponding to the traveling command signal. The left and right traveling motors 51 and 52 are controlled to be supplied. In this way, the left and right traveling motors 51 and 52 are controlled to rotate in response to the operation of the traveling operation lever 47, and the aerial work vehicle 1 travels forward in accordance with the operation of the traveling operation lever 47. The vehicle can be driven backward and stopped.

  Specifically, when the traveling operation lever 47 is tilted forward from the neutral position, the left and right crawler traveling devices 12a and 12b are driven to travel forward. At this time, the driving speed corresponds to the tilting operation amount of the travel operation lever 47, that is, the driving speed is increased as the tilting operation amount increases. Conversely, when the traveling operation lever 47 is tilted backward from the neutral position, the left and right crawler traveling devices 12a and 12b are driven to travel backward. Further, when the traveling operation lever 47 is positioned at the neutral position, the driving of the left and right crawler traveling devices 12a and 12b is stopped.

  On the other hand, when the operator who has boarded the work table 40 twists and turns the turning amount operation dial 48, the turning amount command signal corresponding to the operation direction (twisting direction) and the operation amount (twisting amount) with respect to the neutral position, It is input to the traveling control unit 60c. The traveling control unit 60c controls the operation of the left traveling and right traveling inverters 53 and 54 in accordance with the input turning amount command signal, and controls power supply from the battery 90 to the left and right traveling motors 51 and 52. Do. As a result, the left and right traveling motors 51 and 52 are controlled to rotate in response to the twisting operation of the turning amount operation dial 48. This control is performed by twisting and rotating the turning amount operation dial 48 when the aerial work vehicle 1 is traveling forward and backward in accordance with the operation of the traveling operation lever 47, and the left and right traveling The aerial work vehicle 1 is made to turn while the drive speeds of the motors 51 and 52 are made different. As can be seen from this, the torsional rotation operation of the turning amount operation dial 48 is an operation to change the traveling direction of the aerial work vehicle 1, that is, an operation referred to as a steering operation.

  The twisting operation to the right from the neutral position of the turning amount operation dial 48 is an operation of turning the aerial work vehicle 1 to the right, and the rightward operation as the amount of twisting operation increases. The target turning amount is controlled to be large. On the contrary, the twisting operation to the left from the neutral position of the turning amount operation dial 48 is an operation of turning the aerial work vehicle 1 to the left, and by turning the turning amount operation dial 48 to the neutral position, The crawler traveling devices 12a and 12b are controlled so that the difference between the driving speeds is zero and the aerial work vehicle 1 travels straight.

  As can be seen from the above description, when the travel command signal is input from the travel operation lever 47, the travel control unit 60c sets the target straight travel speed of the left and right crawler travel devices 12a and 12b corresponding to the travel command signal. To do. And the electric power supplied to the left and right traveling motors 51 and 52 is controlled so that the traveling speeds of the left and right crawler traveling devices 12a and 12b both follow the target straight traveling speed. Control the rotation speed. When a turning amount command signal is input from the turning amount operation dial 48 in this state, the traveling control unit 60c sets the target turning traveling speeds of the left and right crawler traveling devices 12a and 12b corresponding to the turning amount command signal. To do. Then, the electric power supplied to the left and right traveling motors 51 and 52 is controlled so that the traveling speeds of the left and right crawler traveling devices 12a and 12b become the respective target turning traveling speeds, and the left and right traveling motors 51 and 52 rotate. Control the speed.

  In the aerial work vehicle 1 configured as described above, the operator gets on the work table 40 and combines the forward / backward tilt operation of the travel operation lever 47 and the left / right twist operation of the turning amount operation dial 48. To perform forward or reverse straight traveling corresponding to these operations, slalom turning traveling (twisting operation of the turning amount operation dial 48, that is, traveling for changing the traveling direction corresponding to the steering operation), pivot turning traveling (one side) Driving the crawler traveling device on the opposite side to turn while the crawler traveling device is stopped) and spin turning traveling (traveling to turn the left and right crawler traveling devices in the opposite directions). it can. Further, by tilting the elevating operation lever 46 back and forth, the elevating mast 30 can be expanded and contracted to move the work table 40 on which the operator is boarded to a desired height. For this reason, the operator who has boarded the work table 40, for example, operates the traveling operation lever 47 and the turning amount operation dial 48 to travel the aerial work vehicle 1 in the vicinity of the desired height, and then moves the lifting operation lever 46. The elevating mast 30 is extended by operating to move together with the work table 40 to a desired height.

  Next, control by the determination unit 60a will be described. As described above, the detection signals from the level difference detector 21, the guideline detector 22, and the movable area detector 28 are input to the determination unit 60a. First, control by the determination unit 60a when receiving a detection signal from the step detector 21 will be described. The level difference detector 21 measures the data indicating the distance from the detection unit to the road surface by detecting the inspection light emitted from the light emitting unit in the detection unit 21b, which is reflected by the road surface and detected by the light receiving unit. Is output to the determination unit 60a. The determination unit 60a calculates the distance from the detection unit 21b to the road surface immediately below based on the measurement value signal, and determines whether there is a step on the road surface based on the calculated distance to the road surface.

  Specifically, since the distance from the detection unit 21b to the road surface when the crawler traveling body 10 travels on a flat road is determined, this is set as a reference distance, and from the detection unit 21b to the road surface immediately below it. When the detected distance is greater than the reference distance, it is determined that there is a stepped portion that is recessed below the detection unit 21b. When the detection distance is less than the reference distance, it is determined that there is a raised road surface below the detection unit 21b. Such determination information is sent to the traveling control unit 60c, and traveling control for restricting traveling toward the stepped portion can be performed.

  Next, traveling control by the determination unit 60a and the traveling control unit 60c based on the detection signal from the guideline detector 22 will be described. This is a control in the case where the copying travel control is performed, and a cable C as a guideline is previously laid on the road surface along a predetermined target travel route, and this cable C is provided at the front portion of the crawler travel body 10. In this control, the vehicle travels while being detected by the guideline detector 22. The cable C is a relatively heavy cable having a certain thickness, and can be easily arranged along a predetermined route, and does not move easily due to its weight, and is held stationary at the arrangement position. Something is used. At this time, the cable C may be fixed to the road surface with a tape or the like. As a result, guidelines can be easily installed, the route setting can be easily changed, and the guidelines are highly flexible. Of course, a guide rail or the like laid along a predetermined route may be used as a guideline.

  As described with reference to FIG. 4, in the aerial work vehicle 1, it is possible to perform the following traveling control along the cable C arranged and installed in advance along a predetermined route as a guideline. The following traveling control is performed by traveling the aerial work vehicle 1 in a state where the cable C is sandwiched from the left and right by the sliding arms 26a and 26b. When the aerial work vehicle 1 travels forward in this state, the sliding arms 26a and 26b move along the cable C. At this time, if the extending direction of the cable C and the traveling direction of the crawler traveling body 10 are different, the swing plate member 25a, the intermediate member 25b, and the sliding arms 26a and 26b are integrally swung left and right according to the difference. The oscillating shaft member 24 is rotated. The swing rotation direction and amount of the swing shaft member 24 at this time are detected by the swing detector 27, and a detection signal indicating the detection result is sent from the swing detector 27 to the determination unit 60a.

  When the determination unit 60a receives this detection signal, the operation of the left and right traveling inverters 53 and 54 is controlled so as to cause the aerial work vehicle 1 to turn in the direction in which the rotation of the swing shaft member 24 is restored. Then, drive control of the left and right traveling motors 51 and 52 is performed. As a result, the aerial work vehicle 1 turns so that the swinging of the swinging plate member 25a, the intermediate member 25b, and the sliding arms 26a, 26b is returned to the original direction and turned forward. By continuing such turning control, the aerial work vehicle 1 is controlled to follow the cable C. The turning traveling control at this time is control by the determination unit 60a, and the operator who has boarded the work table 40 simply operates the traveling operation lever 47 to move forward or backward, and the aerial work vehicle 1 is connected to the cable C. Follow along the road. That is, it is not necessary for the operator to operate the turning amount operation dial 48. Conversely, even if the turning amount operation dial 48 is operated, the operation is ignored by the determination unit 60a and travels along the cable C. Be controlled.

  Here, an example in which copying travel control along the cable C (or guide rail) is performed is shown, but instead of the cable, a magnetic line (embedded type or magnetic tape may be attached) may be used as a predetermined path. The guideline detector may be configured by providing a magnetic detector for detecting a magnetic line below the intermediate member 25b. In this case, a device for swinging and rotating the swing plate member 25a and the like around the swing shaft member 24 is provided in the base portion 23, and the magnetic detector is magnetically operated when the aerial work vehicle 1 is traveling. The swing plate member 25a and the like are swung and rotated so as to detect the line downward, and the rotation direction and the rotation amount of the swing shaft member 24 at this time are detected by the swing detector 27. This detection signal is sent to the determination unit 60a, and the left side of the aerial work vehicle 1 is swung in the direction in which the rotation of the swing shaft member 24 is restored (the direction in which the swing plate member 25a or the like faces forward). And drive control of the right side traveling motors 51 and 52 is performed. As a result, it is possible to perform control such that the aerial work vehicle 1 travels along the cable C.

  Similarly, instead of magnetic lines, colored tapes may be arranged along a predetermined path, or guidelines may be provided by painting, or colored blocks may be laid to constitute guidelines. A guideline detector may be configured by providing a detector for detecting the formed line or the line formed by the color block below the intermediate member 25b. Furthermore, by copying the guideline with a camera and recognizing the image, it is possible to perform a follow-up traveling control in which the aerial work vehicle 1 travels along the guideline.

  Next, traveling control by the determination unit 60a and the traveling control unit 60c based on the detection signal from the movable area detector 28 will be described. This traveling control has already been described together with the description of the movable area detector 28, but is performed by setting a movable area in advance. As described above, the movable area is set by adhering and arranging a color tape on the road surface surrounding the movable area, or by adhering and arranging a color tape on the road surface corresponding to the entire movable area. When the aerial work vehicle 1 travels within the movable area thus set, the movable area detectors 28 provided at the front and rear of the crawler traveling body 10 identify and detect the color tape, This signal is sent to the determination unit 60a, and the determination unit 60a determines whether or not the host vehicle is in the movable area. While it is determined that the host vehicle is in the movable area, the aerial work vehicle 1 is allowed to travel corresponding to the operation of the travel operation lever 47 and the turning amount operation dial 48 as it is. However, if it is determined that the vehicle is traveling such that the vehicle reaches the edge of the movable area and moves outside the movable area, the determination unit 60a regulates the traveling and moves the vehicle outside the movable area. The aerial work vehicle 1 is prevented from traveling.

  The setting of the movable area may be painted on the road surface instead of the color tape, or a color block may be laid. Alternatively, a magnetic material or a magnetic tape may be used. In this case, the movable area detector 28 includes a sensor for detecting magnetism. Furthermore, the movable area detector 28 may be configured by a camera, and the movable area may be determined by image recognition.

  The overall configuration of the aerial work vehicle 1 has been described above. Below, the traveling control of the aerial work vehicle 1 configured as described above will be described. As can be seen from the above description, as the control for traveling the aerial work vehicle 1, the step detection traveling control using the step detection by the step detector 21, the guideline (for example, the cable C) and the guideline detector 21 are used. There are a copying travel control used and an area limited travel control using the movable area detector 28. A combination of these controls can also be used. Furthermore, there is also normal traveling control that performs traveling control based only on the operation of the traveling operation lever 47 and the turning amount operation dial 48.

  First, as a first traveling control, as shown in FIG. 5, in a building having a low floor surface LF and a high floor surface HF, an aerial work is performed using the aerial work vehicle 1 on the high floor surface HF. Travel control when performing (for example, fluorescent lamp replacement work, upper wiring work, etc.) will be described. In such a high-altitude work, an operator gets on the work table 40 and operates the travel operation lever 47 and the turning amount operation dial 48 to travel the high-altitude work vehicle 1 to a predetermined work position on the high floor HF. The work table 40 is moved up and down by operating the lift operation lever 46 at a predetermined work position. At this time, it is necessary to prevent the aerial work vehicle 1 from falling off the high floor surface HF and moving to the low floor surface LF side, and the columns 100 and 101 provided on the high floor surface HF. It is necessary to prevent contact with or collision with the like.

  For this reason, in this high-altitude work, the step detection traveling control using the step detection by the step detector 21 and the area limited traveling control using the movable area detector 28 are used in combination. In order to perform area-limited travel control, a color tape that can be identified and detected by the movable area detector 28 is placed around the support columns 100 and 101. The colored tapes 110 and 111 disposed around the support columns 100 and 101 further exceed the colored tapes 110 and 111 from when the movable area detector 28 provided before and after the aerial work vehicle 1 detects this. As the vehicle advances, the aerial work vehicle 1 is provided at a position where it comes into contact with the support columns 100 and 111. That is, in this example, an area surrounded by the color tapes 110 and 111 is a movement prohibited area, and an area excluding this area is a movable area.

  Thus, when performing work at a high place on the high work platform 1 on the high floor HF on which the color tapes 110 and 111 are arranged, an operator who has boarded the work table 40 moves the travel operation lever 47 and the turning amount operation dial 48. Is considered to move the aerial work vehicle 1 on the high floor HF. In this case, when a level difference is detected by the level difference detector 21 according to the traveling movement of the aerial work vehicle 1, that is, the level just below the detector 21b may be off the high floor HF and the lower floor LF may be below it. When detected, the detection signal is sent to the determination unit 60a. Based on this detection, the determination unit 60a regulates traveling such that the aerial work vehicle 1 is moved toward the detector 21b that has performed this detection. As a result, it is possible to reliably and surely prevent the aerial work vehicle 1 from falling to the lower floor LF side by mistake in the traveling operation of the aerial work vehicle 1.

  At this time, area limited travel control using the movable area detector 28 is also performed. When the aerial work vehicle 1 travels and the movable area detector 28 detects the color tapes 110 and 111 attached around the support columns 100 and 101, it moves beyond the color tapes 110 and 111. The traveling movement of the aerial work vehicle 1 is restricted. As a result, even if the operator who has boarded the work table 40 does not pay particular attention, the traveling where the aerial work vehicle 1 moves to the outside of the high floor HF is restricted, and the traveling such that the collision with the support columns 100 and 101 occurs. Are also regulated.

  Next, in a building having a low floor surface LF and a high floor surface HF similar to the above, high-altitude work (for example, fluorescent lamp replacement work, upper wiring) using the high-altitude work vehicle 1 on the high floor surface HF. With reference to FIG. 6, an example in which the following traveling control is performed in which the aerial work vehicle 1 travels along a predetermined route when the operation is performed) will be described. The replacement work of the fluorescent lamp may be performed by moving the aerial work vehicle along the position where the fluorescent lamp is provided. For this reason, the cable C serving as a guideline is placed on the high floor HF in advance along such a route. Install it. Of course, this route is also set so that the aerial work vehicle travels inside the boundary with the lower floor surface LF. Then, the follow-up traveling control for moving the aerial work vehicle 1 along the cable C is performed by the guideline detector 22 provided at the front portion of the aerial work vehicle 1. Since the copying travel control has already been described, the description of its operation is omitted here.

  Note that when performing the following traveling control, as indicated by an arrow A1 in FIG. 6, if the guideline detector 22 detects the guideline from a free traveling state on the high floor HL, the following traveling control is performed according to the guideline. It is good also as control to transfer. In this case, when the scanning travel control according to the guideline is performed, the operator operates the travel operation lever 47 and the turning amount operation dial 48 (or the switching operation from the scanning travel control mode to the normal travel mode). As indicated by the arrow A2, it is preferable to deviate from the guideline and shift to normal traveling control. In order to shift from the normal driving control to the copying driving control and to shift from the copying driving control to the normal driving control, instead of using the cable C as a guideline, the magnetic line (magnetic tape) and the color tape described above are used. It is better to use a paint line or a line formed by laying color blocks.

  Next, an example of area limited travel control that allows travel only within a certain limited area will be described with reference to FIG. Here, the laser markers 120 are installed at the four corners that define the workable area, and the area surrounded by the laser beam 121 by the laser marker 120 is the workable area. The aerial work vehicle 1 is provided with a laser beam detector that detects the laser beam 121. When the laser beam detector 121 detects the laser beam 121, traveling that moves across the laser beam 121 is restricted. As a result, the aerial work vehicle 1 is allowed to travel only within the area surrounded by the laser beam 121.

  The laser marker 120 is replaced with a wireless point such as an RFID, and the aerial work vehicle 1 recognizes each wireless point to detect the relative position of the own vehicle with respect to the wireless point, and travels beyond the area set by the wireless point. You may make it regulate. This is because the relative position of the host vehicle can be specified by the radio wave intensity from each wireless point. In addition, a map of the travel area is stored in advance in the host vehicle, and a structure around the host vehicle is two-dimensionally detected by a laser area sensor, an image sensor, etc., and this is compared with the stored map. You may make it recognize the position of a vehicle.

  Next, as shown in FIG. 8, in a building having an L-shaped passage P <b> 1 in plan view that connects the outdoor area SA of the building and the indoor work area WA <b> 1, the aerial work vehicle 1 is moved from the outdoor to the indoor work area. The travel control in the case of moving to WA1 will be described. In this case, in order to run the aerial work vehicle 1 so as not to contact the walls on both sides of the passage P1, careful driving and turning operations are required, which increases the work load. Therefore, a guideline G1 is provided in advance along the passage P1 at the center portion in the width direction of the passage P1, and the scanning travel control along the guideline G1 is performed. As a result, the worker simply operates the travel operation lever 47 to perform forward or reverse travel control, and the aerial work vehicle 1 is automatically turned and controlled to follow the guideline G1. This makes it possible to easily travel through the passage P1 without touching the wall without operating the turning amount operation dial 48.

  Next, as shown in FIG. 9, an example of travel control in the case where work is performed using the aerial work vehicle 1 in the work areas WA2 and WA3 connected via the opening P2 in the building will be described. To do. In this case, there is a problem that the opening P2 is narrow, and it is difficult to control the aerial work vehicle 1 to pass through the opening P2 and a careful operation is required. For this reason, here, one guide line G2c is provided in the opening P2, and a plurality of guide lines G2a and G2b extending in a fan shape from the guide line G2c toward the respective work areas WA2 and WA3 are provided as the guide line G2. .

  For this reason, for example, when the aerial work vehicle 1 that has been working in the work area WA3 is moved into the work area WA2, if the aerial work vehicle 1 travels toward the opening P2, the opening P2 Corresponds to the guideline G2b extending in the work area WA3. Therefore, a transition is made to the copying travel control according to the guideline G2b (that is, a transition from the normal travel control to the copying travel control, which may be automatically performed when the guideline G2b is hit). Then, the aerial work vehicle 1 can smoothly travel and move into the work area WA2 through the guide lines G2b to G2c. Needless to say, the guide line G2c is provided so as to extend through the central portion of the opening P2, and when the aerial work vehicle 1 is driven and driven along the guide line G2, the guide G2c is set so that it can smoothly pass through the opening P2 without hitting the wall. Has been.

  Instead of such copying travel control, a guide mark G3 (wide guideline) as shown in FIG. 10 may be provided. The guide mark G3 includes a thin linear guide mark G3c that passes through the center of the opening P2, and guide marks G2a that are connected to both sides of the linear guide mark G3c and spread in a fan shape in the work areas WA2 and WA3, respectively. Formed from G2b. Also in this manner, the traveling control is performed so that the aerial work vehicle 1 passes through the area of the guide mark G3, so that the traveling control that allows the opening P2 to pass smoothly can be performed.

  Travel control similar to the above can also be performed by area limited travel control using the movable area detector 28. This will be described with reference to FIG. In this example, two work areas WA4 and WA5 connected to each other by a passage P3 are provided in a building, and traveling movement and work at a high place are performed by the high work vehicle 1 in the work areas WA4 and WA5. In addition, since the tool 131 is placed in the work area WA4 and the fixed object or the tools 132 to 135 are also placed in the work area WA5, it is required to travel the aerial work vehicle 1 while avoiding them. The For this reason, the mark Ma (for example, color tape, paint, color block, etc.) is formed in the work area WA4 so as to avoid the contact with the tool 131 and cover the range in which the work vehicle 1 is allowed to move. Mark) is provided, and area-limited travel control is performed that allows the aerial work vehicle 1 to move only within a range in which the movable area detector 28 detects the mark Ma.

  Similarly, in the work area WA5, a mark Mb is provided so as to cover a range in which the work of the aerial work vehicle 1 is allowed to avoid contact with a fixed object or the instruments 132 to 135, and the movable area detector 28 is provided. However, area-limited travel control that allows the aerial work vehicle 1 to move only within the range in which the mark Mb is detected. Furthermore, a thin strip-shaped mark Mc is provided that connects the marks Ma and Mb and extends through the center of the passage P3. For this reason, when it is attempted to move the aerial work vehicle 1 from the work area WA4 to WA5, it becomes a travel movement along the mark Mc, so that it is possible to perform a travel control that allows the passage P3 to pass smoothly.

  As shown in FIG. 12, the road plate S may be passed between the high floor HF and the low floor LF, and the aerial work vehicle 1 may be moved on the road plate S. In such a case, a guideline G3 extending from the high floor HF to the lower floor LF through the center portion of the road plate S may be provided, and the copying travel control along the guideline G3 may be performed. In this way, the aerial work vehicle 1 can be moved and moved smoothly and safely on the road plate S.

  As described above, the step detection traveling control, the following traveling control, the area limited traveling control, and the normal traveling control by the aerial work vehicle 1 have been described. However, a mode changeover switch for switching each traveling control mode may be provided in the operation box 41, for example. In this way, the worker who has boarded the work table 40 can switch and set the traveling control mode by operating the mode switch. In this case, it is preferable that a plurality of travel modes can be set simultaneously.

  The traveling control mode may be switched automatically. For example, it is possible to turn on the step detection travel control mode when the step detector 21 is moved to the detection position and to turn off this mode when stored. Similarly, the copying travel control mode can be turned on when the guideline detector 21 is moved to the detection position, and can be turned off when stored. In addition, as described with reference to FIG. 6, a setting may be made such that the traveling control mode is turned on when the aerial work vehicle 1 travels in the direction of the arrow A1 and the guideline detector 21 detects the guideline. .

  Furthermore, mode switching may be automatically performed according to the working posture of the aerial work vehicle. For example, when the work platform 40 is stored and an aerial work vehicle is transported to the work site, the step detection traveling control, the copying traveling control, and the area limited traveling control are turned off, and only traveling in the normal traveling control mode is performed. It is preferable to make it possible to prevent this from occurring. On the contrary, when the work table 40 is moved up and down to perform work, the step detection travel control, the follow travel control, and the area limited travel control are automatically turned on to ensure work safety. Conceivable.

  In the above description, the crawler type vertical lift type aerial work vehicle has been described as an example, but any type of aerial work vehicle including the wheel type aerial work vehicle 2 (see FIG. 13) can be used. The present invention is also applicable. Further, the present invention is not limited to an aerial work vehicle, and the present invention can be applied to various types of work vehicles.

DESCRIPTION OF SYMBOLS 1 High-altitude work vehicle 10 Crawler traveling body 11 Traveling body frame 21 Step detector 22 Guideline detector 28 Movable area detector 30 Lifting mast 40 Work table 47 Traveling operation lever 48 Turning amount operation dial 50 Control unit 60 Controller 60a Judgment unit 60b Elevation control unit 60c Travel control unit

Claims (7)

A traveling body capable of traveling with a traveling drive device;
A lifting device provided in the traveling body;
A work table movable upward from a storage position on the traveling body by the lifting device;
A traveling operation device that can be operated by an operator;
In work vehicle constructed and a travel control device for running the traveling body to control the operation of the travel drive device,
A step detector for detecting a step on the road surface around the traveling body;
As the control for traveling the traveling body by the traveling control device, a normal traveling control mode for traveling according to the operation of the traveling operation device and the presence of a step around the traveling body are detected by the step detector. Sometimes it is configured to be able to select a step detection travel control mode that regulates traveling toward this step ,
The travel control device is configured to automatically select and set the step detection travel control mode when the work table is moved upward from the storage position by the lifting device. Working vehicle. With a guideline detector that detects the guideline formed on the road surface,
2. The work according to claim 1, wherein the travel control device can also select a scanning travel control mode in which the travel body travels along the guideline based on detection of the guideline by the guideline detector. car. A movable area detector that detects a movable area provided on the road surface,
The travel control device can also select an area-limited travel control mode that allows the travel body to travel only within the movable area by detecting the movable area by the movable area detector. The work vehicle according to claim 1, wherein the work vehicle is provided. A traveling body capable of traveling with a traveling drive device;
A lifting device provided in the traveling body;
A work table movable upward from a storage position on the traveling body by the lifting device;
A traveling operation device that can be operated by an operator;
In a work vehicle configured to include a travel control device that controls the operation of the travel drive device to travel the traveling body,
With a guideline detector that detects the guideline formed on the road surface,
As the control for traveling the traveling body by the traveling control device, the traveling body is used as the guideline based on the normal traveling control mode for traveling according to the operation of the traveling operation device and the detection of the guideline by the guideline detector. It is configured to be able to select the scanning travel control mode to travel along,
The travel control device is configured to automatically select and set the copying travel control mode when the work table is moved upward from the storage position by the lifting device. Work vehicle. A traveling body capable of traveling with a traveling drive device;
A lifting device provided in the traveling body;
A work table movable upward from a storage position on the traveling body by the lifting device;
A traveling operation device that can be operated by an operator;
In a work vehicle configured to include a travel control device that controls the operation of the travel drive device to travel the traveling body,
A movable area detector that detects a movable area provided on the road surface,
As the control for causing the traveling body to travel by the travel control device, a normal travel control mode for traveling according to an operation of the travel operation device and detecting the movable area by the movable area detector, An area-limited travel control mode that allows the body to travel only within the movable area is configured to be selectable,
The travel control device is configured to automatically select and set the area limited travel control mode when the work table is moved upward from the storage position by the lifting device. Working vehicle. 6. The travel control device is configured to automatically select and set the normal travel control mode when the work table is stored in the storage position. A work vehicle according to any one of the above. The work vehicle according to any one of claims 1 to 6, further comprising a mode change switch capable of switching and setting a travel control mode set in the travel control device by a manual operation.

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