JPH05285880A - High place working device - Google Patents

Abstract

PURPOSE:To improve working efficiency and to perform a safe and rapid work by projecting a monitor image through monitoring working environment from a desired direction. CONSTITUTION:A monitoring induction robot 13 is induced to a position in the vicinity of an object to be monitored at an elevated place by means of a boom 11. In this state, the posture of an image pick-up device 17 mounted on a monitoring induction robot 13 is operated by means of monitoring operation means 53 and 54 mounted on a ground. Through control of the posture, the object to be monitored is photographed by a photographing device 17 from a desired direction, and the image is monitored by a monitoring operation means 51.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work apparatus applied to construction equipment for overhead lines such as distribution lines, power transmission lines and telephone lines wired at a high place.

[0002]

2. Description of the Related Art As a method of constructing such an overhead wire, there is a method of using a manipulator for work instead of manual work by a worker. This work manipulator is mounted on a boom tip portion for guiding to a high place, and its operation is controlled by an operator operating the manipulator operation device in an operation room installed on the boom or on the ground.

As a specific example, a ground-operated manipulator vehicle is provided with a boom, and a work manipulator is mounted on the tip of the boom. An image pickup device such as a stereoscopic camera is provided at the tip of the boom, and a manipulator operation device and a monitor television are installed in the ground-operated manipulator vehicle.

When performing work, the vicinity of the work environment, including the overhead wire, is imaged by an imaging device, and the image is displayed on a monitor television. In this state, the operator operates the manipulator operating device while looking at the monitor image,
Work remotely by manipulating the work manipulator.

When working on such a ground-operated manipulator vehicle, the operator cannot directly see the work environment and is a monitor image, so no matter how the imaging device is installed on the working base at the tip of the boom. It is difficult to experience the working environment.

When the image pickup device cannot be installed on the working base at the tip of the boom, a monitor image obtained by installing the image pickup device below the work environment and picking up the work environment from below,
It is difficult to capture the entire work environment in three dimensions. That is, since the monitor image has different coordinate axes as compared with the work environment viewed directly, the monitor image in which the coordinates are rotated does not allow the user to experience the work environment, making it difficult to determine the correct shape of the work environment. .. In addition, the shape and the like of the blind spot of the image pickup apparatus are completely unknown, and the worker is anxious to perform the work.

Therefore, if the worker is anxious to perform the work, the work efficiency is lowered and the worker's mastery of the work is hindered. In addition, there is a risk of erroneous operation causing damage to the work manipulator and the work environment.

[0008]

As described above, when working on the ground-operated manipulator vehicle, the operator cannot experience the working environment and the shape of the blind spot of the image pickup device is completely unknown, and the operator is You must work with anxiety.

Therefore, the present invention has an object to provide an aerial work apparatus capable of picking up a work environment from a desired direction and displaying the work environment on a monitor image, improving work efficiency, and performing safe and quick work. And

[0010]

SUMMARY OF THE INVENTION The present invention is a monitoring and guiding robot equipped with a work robot for working at a high place and an image pickup device mounted on the tip of a boom for guiding the work place to pick up the work status of the work robot. And a monitoring operation means which is installed on the ground, displays at least an image captured by the image capturing device, and operates the attitude of the image capturing device in the surveillance guidance robot, and is an aerial work apparatus for achieving the above object. ..

[0011]

By providing such means, the monitoring and guiding robot is guided by the boom to the vicinity of the monitoring target at a high place. In this state, the attitude of the image pickup device provided in the monitoring guidance robot is operated by the monitoring operation means installed on the ground. By the operation of this posture, the monitoring target is imaged by the imaging device from the desired direction, and this image is monitored by the monitoring operation means.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall configuration diagram of an aerial work apparatus applied to construction work of an overhead wire. An overhead wire 2 which is an object to be monitored at high altitude is stretched above the utility pole 1. Aerial work vehicle 1
0 is provided with a boom 11 for guiding to a high place. A bucket 12 is provided at the tip of the boom 11, and an overhead wire monitoring and guiding robot (hereinafter, abbreviated as monitoring and guiding robot) 13 is mounted inside the bucket 12.

As shown in the external view of FIG. 2, the monitoring and guiding robot 13 has a head 15 connected to an upper portion of a robot body 14 via a posture changing mechanism 16, and the head 15 is connected to each stereoscopic camera 17. 18 and a microphone 19. or,
A left arm manipulator 20 and a right arm manipulator 21 are connected to the robot body 14. The gripping mechanisms 22 and 23 are connected to the tip portions of the left and right arm manipulators 20 and 21, respectively.

Further, the motion function of the monitoring and guiding robot 13 is as shown in FIG. First, a mechanism for changing the posture of each stereoscopic camera 17, 18, that is, a posture changing mechanism 24, includes a posture first axis 25 for rotating the waist of the robot body 14, a posture second axis 26 for bending the waist of the robot body 14,
The robot body 14 has a configuration in which a posture third shaft 27 for expanding and contracting the spine, a posture fourth shaft 28 for rotating the head 15, and a posture fifth shaft 29 for bending the head 15 are connected.

Next, the left and right arm manipulators 20, 2
1 has the same motor function, of which the left arm manipulator 20 is a multi-joint manipulator with 6 degrees of freedom, including a shoulder first rotation shaft 30, a shoulder bending second shaft 31, and an elbow bending third. The shaft 32, the elbow rotation fourth shaft 33, the wrist bending fifth shaft 34, and the wrist rotation sixth shaft 35 are connected. The right arm manipulator 21 is also a multi-joint manipulator with 6 degrees of freedom, and has a shoulder rotation first shaft 36, a shoulder bending second shaft 37, an elbow bending third shaft 38, and an elbow rotation fourth shaft.
Shaft 39, Wrist Bending Fifth Shaft 40, Wrist Rotating Sixth Shaft 41
It has a structure that is connected.

Further, the aerial work vehicle 10 is provided with an operation room 50 for the monitoring and guiding robot 13. This operation room 50
Is equipped with a monitor television 51, a speaker 52, and operating devices 53 and 54. Monitor television 5
1 includes each stereoscopic camera 17 of the surveillance guidance robot 13,
The monitor 52 receives the video signal from the monitor 18, and the speaker 52 acoustically converts the audio signal from the microphone 19. The operating devices 53 and 54 are for driving and operating the shafts 25 to 41 of the monitoring and guiding robot 13.

A boom operation joystick 55 is provided in the bucket 12, and the boom 11 is driven by operating the joystick 55 so that the boom 11 can be guided to a desired position. Next, the control system will be described with reference to FIG.

A controller 56 is provided for each of the operating devices 53 and 54.
Are connected to the controller 56, and each driver 57 to
75 is connected. The controller 56 has a function of receiving an operation instruction from each of the operation devices 53 and 54 and sending a drive instruction corresponding to the operation instruction to each of the drivers 57 to 75.

On the other hand, each axis 25 to 25
The shaft motors 25 m to 41 m and the gripper motors 22 m and 23 m are provided at 41. Each driver 57-
75 drives these axis motors 25m-41m and each gripping part motor 22m, 23m.

The drive control system will be described in detail. As shown in FIG. 5, the controller 56 controls the operation from the operating devices 53 and 54, that is, the axis motors 25m to 41m and the gripper motors 22m and 23m. Upon receiving the movement instruction and the operation instruction for instructing the direction, the drive instruction corresponding to the operation instruction is sent to each of the drivers 57 to 75. These drivers 5
7 to 75 have a function of supplying drive currents to the shaft motors 25m to 41m and the gripper motors 22m and 23m according to the drive commands.

Further, the drive control system may be configured as a position servo control system as shown in FIG. This position servo control system sends a position command from the controller 56 to each driver 57-75 through each adder 76, and together with this, each axis motor 25m-41m and each gripper motor 22m, 23m.
Each position sensor 77 is attached to and the position signal is added by the adder 7.
It is a configuration to feed back to 6.

A scanning device 78 is connected to each of the stereoscopic cameras 17 and 18, and the video signals from the stereoscopic cameras 17 and 18 are stereoscopically transmitted to the monitor television 51. The audio signal output from the microphone 19 is connected to the speaker 52 via the amplifier 79. The controller 56 and the drivers 57 to 7
5, the installation positions of the scanning device 78 and the amplifier 79 are not limited to the operation room 50 and the bucket 12, and may be installed at arbitrary positions.

A communication device 80 is provided in the operation room 50, and the communication device 101 of the ground-operated manipulator vehicle 100 is provided.
And are connected via a communication line 102. As a result, the worker Q of the aerial work vehicle 10 and the worker R of the ground operation type manipulator vehicle 100 can talk with each other. Next, the configuration of the ground-controlled manipulator vehicle 100 will be described.

The ground-operated manipulator vehicle 100 is parked at a position facing the aerial work vehicle 10 via a telephone pole 1. The ground-operated manipulator vehicle 100 is provided with a boom 103, and the working base 1 is attached to the tip of the boom 103.
04 is provided, and a working manipulator 105 and a camera 106 are provided on the working base 104. Further, the ground operation type manipulator vehicle 100 is provided with an operation room 107. The operation room 107 is equipped with a monitor television 108 and operating devices 109 and 110. The monitor television 108 receives a video signal from the stereoscopic camera 106 and displays the monitor image. The operation devices 109 and 110 are for driving and operating the respective axes of the work manipulator 105. Next, the construction work of the overhead electric wire 2 using the aerial work vehicle 10 and the ground operation type manipulator vehicle 100 will be described.

A worker R rides in the operation room 107 of the ground-operated manipulator vehicle 100, and the worker R operates each of the operating devices 109 and 110. At this time, the camera 106 images the vicinity of the overhead wire 2 and sends the video signal to the monitor television 108 in the operation room 107. A monitor image in the vicinity of the overhead wire 2 is displayed on the monitor television 108, and the worker R operates the manipulators 105 for operation by operating the operating devices 109 and 110 while watching the monitor image.

On the other hand, a worker Q gets into the operation room 50 of the aerial work vehicle 10. At this time, each of the stereoscopic cameras 17 and 18 of the surveillance guidance robot 13 images the range including the overhead wire 2, the work manipulator 105, and the working base 104, and outputs a video signal thereof. This video signal is three-dimensionalized by the scanning device 78, and the monitor television 5
1 and is displayed as a monitor image. Along with this, the microphone 19 is connected to the overhead wire 2 and the work manipulator 1.
The sound in the vicinity of 05 is collected and the audio signal is output. This audio signal is amplified by the amplifier 79 and sent to the speaker 52 for acoustic conversion.

The worker Q looks at the monitor image to see the manipulator 105 for work and the working base 1.
04 movement is grasped, and ground operation type manipulator vehicle 10
Appropriate instructions for work are given to 0 worker R. In this case, the workers Q and R are the communication devices 80 and 101, respectively.
Using. However, the worker Q of the aerial work vehicle 10
Can supervise the performance of the overhead wire 2 for construction work.

Further, the worker Q operates each of the operation devices 53 and 54 to send an operation instruction to the controller 56. The controller 56 receives the operation instruction and sends a drive instruction corresponding to the operation instruction to each of the drivers 57 to 75. These drivers 57 to 75 drive the respective axis motors 25m to 41m and the respective grip portion motors 22m and 23m. As a result, the surveillance guidance robot 13 changes its posture, for example, the orientation of the head 15 changes, and the viewpoints of the stereoscopic cameras 17 and 18 change.
Therefore, the directions in which the work manipulator 105 and the working base 104 are imaged change. Further, when the rotation of the posture second axis 26 is rotated, if the posture fifth axis 29 is rotated in the opposite direction to this rotation, the left arm and right arm manipulator 20 can be operated without changing the viewpoints of the stereoscopic cameras 17 and 18. ,
The position of 21 can be changed. Next, a case where a tool or the like is mounted on the bucket 12 will be described.

The worker Q of the aerial work vehicle 10 operates the operating devices 5
3 and 54 are operated to direct the viewpoints of the respective stereoscopic cameras 17 and 18 of the surveillance and guidance robot 13 to the grips 22 and 23, and the left and right arm manipulators 20 and 21 and the grips 2 respectively.
2 and 23 are operated so that one or both of the gripping portions 22 and 23 grips the tool. And the worker Q
By operating each of the operating devices 53 and 54, one or both of the left arm and the right arm manipulators 20 and 21 are operated to move the gripping portions 22 and 23 to the working manipulator 105 side.

On the other hand, the ground-operated manipulator vehicle 100
The worker R operates the operation devices 109 and 110 to move the work manipulator 105 to the monitoring guidance robot 13 side.

However, the left arm or right arm manipulator 2
The tool is transferred between the respective grips 22 and 23 of 0 and 21 and the hand of the working manipulator 105. In this case, not only the tools but also the equipment necessary for the construction work can be delivered. Next, work execution by the monitoring and guiding robot 13 will be described from the viewpoint of the visual fields of the stereoscopic cameras 17 and 18.

As shown in FIG. 7, the camera 106 on the ground-operated manipulator vehicle 100 side has a visual field 106b centered on a central visual point 106a. This camera 106
Puts the overhead electric wire 2 at the tip of the telephone pole 1 and the tip of the working manipulator 105 into the field of view, images this, and outputs the video signal. This video signal is sent to the monitor television 108 and displayed as a monitor image.

The worker R of the ground-operated manipulator vehicle 100 looks at this monitor image, but the working base 104 and the boom 103 cannot be grasped from this image,
Moreover, since only a partial portion of the work manipulator 105 can be grasped, there is a concern that the construction work is approached by approaching the overhead wire 2. Especially in a non-standard work environment, the overhead wire 2, the working base 104, the boom 103, and the work manipulator 105 may be damaged.

On the other hand, the three-dimensional cameras 17, 18 of the surveillance and guidance robot 13 have a visual field 17 centered on the central viewpoint 17a.
b. The camera 106 includes an overhead wire 2, a work manipulator 105, a working base 104,
The boom 103 is placed in the field of view 17b to be imaged, and the video signal is output. This video signal is the monitor television 5
1 and is displayed as a monitor image.

By looking at the monitor image, the worker Q of the aerial work vehicle 10 sees the overhead wire 2, the work manipulator 105, the working base 104, and the boom 10.
Understand the positional relationship in 3. Therefore, the worker Q uses the manipulator 105 and the working base 10 for work.
4 and the movement of the boom 103 are grasped, and an appropriate movement, its direction, and its speed are determined in accordance with these movements. However, the worker Q can make the same judgment as riding on the bucket 12 and monitoring the construction work of the overhead wire 2, and based on this judgment, one worker R gives an appropriate instruction for the construction work of the overhead wire 2. Can be given to. Next, each worker Q,
The working mode of R will be described with reference to FIG.

By looking at the monitor image on the monitor television 51, the worker Q on the side of the aerial work vehicle 10 grasps the positional relationship between the overhead wire 2, the work manipulator 105, the working base 104, and the boom 103, and the like. In addition, the sound collected by the microphone 19 is heard from the speaker 52 for the sound of the construction work, and the operation of the work manipulator 105 is monitored. The worker Q gives a work instruction to the worker R from this monitoring. In this case, each worker Q, R gives a work instruction using each of the communicators 80, 101, returns the reply, and consults for the construction work. Next, the exchange of work information of each worker Q and R will be described with reference to FIG.

In operation step # 1, the worker Q operates the boom 11 to guide the monitoring and guiding robot 13, and picks up the work environment such as the overhead wire 2 by the three-dimensional cameras 17 and 18 and arranges it at a position where it can be monitored. Let Next, the worker Q monitors the monitor image in the work step 32, and the worker R
In response, an appropriate work instruction regarding the operation of the work manipulator 105 is given.

Upon receiving the work instruction from the worker Q, one worker R operates the boom 103 in work step # 3 to dispose the working base 106 and the manipulator 105 for work in the vicinity of the overhead wire 2.

Next, the workers Q and R exchange information on the construction work, and the worker R operates the work manipulator 105 in work step # 4 to operate the overhead wire 2
Perform construction work for.

When the construction work is completed, the worker Q gives an instruction to the worker R to close the boom 103 in work step # 5. Upon receiving this instruction, the worker R
In operation step # 6, the operation of closing the boom 103 is performed. In this case, while exchanging information with the worker Q, the operation is advanced so that the boom 103 does not interfere with the overhead wire 2 or the like. Then, the worker Q closes the aerial worker 10 in work step # 7.

As described above, in the first embodiment, the monitoring guidance robot 13 is mounted on the bucket 12 at the tip of the boom 1 of the aerial worker 10, and the monitoring guidance robot 13 causes the overhead wire 2 and the manipulator 105 for work to work. Since the base 104 and the like are imaged and the monitor image is displayed and the sound is collected, it is possible to monitor the construction work of the overhead wire 2 performed by the work manipulator 105, and the worker who operates the work manipulator 105. Appropriate work instructions can be given to R. In this case, the worker Q rides on the bucket 12 by looking at the monitor image, and mounts the overhead wire 2 and the manipulator 10 for work.
The movement of the overhead wire 2 and the work manipulator 105 can be seen at the same intervals as the movement of the work 5, and the work instructions can be appropriate. By this work instruction, the worker R
Can proceed without worrying about the construction work,
Moreover, the overhead wire 2 and the manipulator 105 for work are not damaged. In this case, the construction work can be advanced while exchanging information on the construction work between the respective workers Q and R.

Each stereoscopic camera 1 of the monitoring and guiding robot 13
The view direction and the sound collecting direction of the microphones 7 and 18 and the microphone 19 can be changed by the posture changing mechanism 24, and a monitor image of a desired portion in a necessary direction during construction work can be obtained and the portion can be monitored.

Further, tools and equipment necessary for construction work are mounted in the bucket 12, and the left and right arm manipulators 20 and 21 of the monitoring guidance robot 13 are operated to attach / detach the tool to / from the work manipulator 105. Equipment can be supplied to the work manipulator 105.

Next, a second embodiment of the present invention will be described with reference to the block diagram of FIG. The same parts as those in the first embodiment are designated by the same reference numerals and detailed description thereof will be omitted.

The working base 104 of the ground-operated manipulator vehicle 100 has a stereo camera 120 and a microphone 1 on the working base 104.
21 is provided. Also, the three changeover switches 122
~ 124 are provided. These changeover switches 122
~ 124 have three contacts each, and switch 12
5, the switching operation is performed in conjunction with each other.

The stereoscopic cameras 7, 8 and 120 are connected to the scanning device 78 via the changeover switch 122, and the microphones 19 and 121 are connected to the speaker 127 via the changeover switch 123 and the amplifier 126.

Further, the manipulators 20 and 21, the grip portion 2
2, 23, the attitude changing mechanism 24, and the work manipulator 105 are connected to the controller 56 via the changeover switch 124 and the driver 128.

With such a configuration, the worker can use the switching device 12
5 is operated to select either the monitoring guide robot 13 side or the work manipulator 105 side. For example,
If the surveillance guidance robot 13 side is selected, the images taken by the stereoscopic cameras 7 and 8 are displayed on the monitor television 51.
And the sound collected by the microphone 19 is acoustically converted by the speaker 127. In addition, the operation device 53,
Manipulators 20, 21, by operating 54
The grips 22 and 23 and the attitude changing mechanism 24 can be operated.

If the manipulator 105 for work is selected, the image taken by the stereoscopic camera 120 is displayed on the monitor television 51 and the microphone 121 is displayed.
The sound collected by is converted into sound by the speaker 127. Further, the manipulator 105 for work can be operated by operating the operation devices 53 and 54. At the work manipulator 105 side, the attitude changing mechanism 2 is provided.
Since No. 4 is not provided, the posture may be changed by switching between two stages, for example.

As described above, in the second embodiment, the monitoring guidance robot 13 side or the manipulator 105 for work is used.
Either one of the two sides is selected and a monitor image is displayed by one monitor television 51, and the sound is converted by one speaker 127 together with this, so that the operation room 50 of the aerial work vehicle 10 is unnecessary, and One worker can supervise the construction work and perform the work with the work manipulator 105. In this case, the aerial work vehicle 1
If a monitor television and a speaker are provided in the operation room 50 of No. 0, the operation room of the ground operation type manipulator vehicle 100 becomes unnecessary. Next, a third embodiment of the present invention will be described with reference to FIG. The bucket 12 of the aerial work vehicle 10 or the operation room 50 of the aerial work vehicle 10 is provided with a boom operation unit 130 of the ground operation type manipulator vehicle 100.

Therefore, when the boom operating device 130 is provided in the bucket 12 of the aerial work vehicle 10, the worker Q in the operation room 50 of the aerial work vehicle 10 is to monitor the guide bot 1
3 either the left arm or the right arm manipulator 20, 21 is operated, or both are operated to operate the boom operation device 130,
The boom 103 of the ground-operated manipulator vehicle 100 can be operated.

Further, when the boom operation device 130 is provided in the operation room 50 of the aerial work vehicle 10, the worker Q can directly operate the boom operation device 130 to operate the boom 103. ..

Therefore, since the operation room 50 of the aerial work vehicle 10 is already provided with the operation device 131 for operating the own boom 11, the worker Q operates the boom 11 and the ground operation of the aerial work vehicle 10. The boom 103 of the mold manipulator vehicle 100 can be selected and operated. Furthermore, the aerial work vehicle 10 side and the ground-operated manipulator vehicle 100
The boom 103 can be operated by both the workers Q and R on the side, and can be selectively used by one of the workers Q and R depending on the work.

Next, a fourth embodiment of the present invention will be described with reference to the block diagram shown in FIG. In this embodiment, the teaching playback of the surveillance / guide robot 13 is performed. In the figure, only the attitude first axis 25 of the manipulator is shown. Motor 25m provided on the first axis 25 of the posture of the surveillance and guiding robot 13
A position sensor 140 is attached to the. A reader 141 is connected to the output terminal of the position sensor 140, and the reader 141 is connected to the controller 56 and the memory 1.
42 is connected. The reader 141 has a function of feeding back the position signal output from the position sensor 140 to the controller 56, and reading the position signal and passing it to the memory 142 for storage.

With such a configuration, the controller 56
Receives an operation instruction from each of the operation devices 53 and 54, and sends a drive instruction corresponding to the operation instruction to the driver 57. The driver 57 supplies each drive current to the motor 25m according to the drive command. As a result, the motor 25m is driven, and at this time, the position sensor 140 detects the rotational position of the motor 25m and outputs its position signal. The reader 141 feeds back this position signal to the controller 56, reads it, and passes it to the memory 142. As a result, the position signal is stored in the memory 142, and the monitoring and guiding robot 13 is taught.

When performing playback next, the controller 56 reads out the position signal stored in the memory 142, obtains a drive command, and sends it to the driver 57. As a result, the driver 57 supplies each drive current to the motor 25m according to the drive command, and the motor 25m is driven. As described above, according to the fourth embodiment, when a specific operation is performed, the operation is taught and played back to improve the work efficiency.

The present invention is not limited to the above embodiments, and may be modified within the scope of the invention. For example, each grip of the left arm or right arm manipulators 20 and 21 is not limited to one, and a plurality of grips may be provided. or,
In each of the above-described embodiments, the case where the application is applied to the construction work of the overhead wire 2 has been described, but the present invention is not limited to this and can be applied to a high-altitude monitoring target such as a device located at a high location.

[0059]

As described in detail above, according to the present invention, the work environment can be imaged from a desired direction and displayed on a monitor image, the work efficiency can be improved, and a high work efficiency can be achieved. A work device can be provided.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a first embodiment of an aerial work apparatus according to the present invention.

FIG. 2 is an external view of a monitoring and guiding robot in the same device.

FIG. 3 is a schematic diagram showing a motion function of the surveillance and guidance robot.

FIG. 4 is a configuration diagram of a control system in the surveillance guidance robot.

FIG. 5 is a configuration diagram of a drive control system for each axis motor in the same surveillance and guidance robot.

FIG. 6 is a configuration diagram of a drive control system for each axis motor in the same surveillance and guidance robot.

FIG. 7 is a diagram showing a field of view of a stereoscopic camera in the surveillance and guidance robot.

FIG. 8 is a diagram showing a work form in each operation room of an aerial work vehicle and a ground operation type manipulator vehicle.

FIG. 9 is a diagram showing information exchange among workers of an aerial work vehicle and a ground-operated manipulator vehicle.

FIG. 10 is a block diagram showing a second embodiment of the device of the present invention.

FIG. 11 is a diagram for explaining a third embodiment of the device of the present invention.

FIG. 12 is a configuration diagram of a teaching playback which is a fourth embodiment of the device of the present invention.

[Explanation of symbols]

1 ... Utility pole, 2 ... Overhead electric wire, 10 ... Aerial work vehicle, 11 ... Boom, 12 ... Bucket, 13 ... Monitoring guidance robot, 1
7, 18 ... Stereoscopic camera, 19 ... Microphone, 20 ... Left arm manipulator, 21 ... Right arm manipulator, 22, 23 ...
Gripping part, 50 ... Operation room, 51 ... Monitor television, 5
2 ... speaker, 53, 54 ... manipulator, 100 ... ground operation type manipulator car, 104 ... working base, 10
5 ... Working manipulator, 106 ... Camera, 107 ...
Control room, 108 ... Monitor television, 109, 110
… Operator.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location B66F 9/06 L 7515-3F H02G 1/02 F 7373-5G N 7373-5G S 7373-5G H04N 7/18 D

Claims (1)

[Claims] 1. A work robot for working at a high place, a monitoring and guiding robot equipped with an imaging device for picking up a work situation of the work robot, which is mounted on a boom tip for guiding to a high place, and installed on the ground. An aerial work apparatus comprising at least a monitoring operation means for displaying an image picked up by the image pickup device and for operating the posture of the image pickup device in the monitoring and guiding robot.