JPH06178417A - Tension independent control type lifting and moving method and apparatus - Google Patents

Abstract

PURPOSE:To provide a tension independent control type lifting and moving method and apparatus which can lift a lift platform and freely move it in the virtual XY axes coordinating plane by detecting position and attitude of the lift platform and a tension of each extended wire, arithmetically calculating these data and controlling thereby the tension of each extended wire. CONSTITUTION:A lift platform 1, a position attitude sensor 2 for detecting position and attitude thereof mounted on the lift platform 1, a plurality of winches 5a to 5d, wires 3a to 3d extended over the wintches 5a to 5b and the lift platform 1 with the other end of wires fixed to the corresponding corners of platform 1 and extension sensors 4a to 4d are provided. Provided moreover is a control mechanism portion B for calculating a control tension from the tension for stabilizing the lift platform 1 and the tension required for movement of the gravity center of the lift platform 1 based on the detected signals A1 to A5 from the position attitude detection sensor 2 and tension sensors 4a to 4d in order to independently drive the wintches 5a to 5d.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides an aerial communication cable inspection / repair device for automatically performing aerial work such as inspection / connection work on outdoor aerial communication cables that accommodate various communication lines such as telephone lines. The present invention relates to a tension independent control type lifting / lowering method and apparatus for lifting and moving a cable to an arbitrary position while controlling the position and attitude.

[0002]

2. Description of the Related Art Conventionally, when an aerial communication cable inspection / repair device for automatically inspecting and repairing an aerial communication cable is lifted to a desired position of the aerial communication cable, the aerial communication cable inspection is performed on the ground. After storing the repair device on the lifting platform, one end of each of the plurality of tension wires is wound around the lifting platform, and the other end is collectively wound around the winch mounted on the overhead communication cable support column. An elevating device has been used in which an elevating platform can be moved up and down by winding a tension wire with a winch.

Since the conventional elevating device is constructed in this way, the aerial cable inspection / repair device can be lifted to a desired aerial cable tension position stretched to an arbitrary height, and the aerial cable inspection It is possible to perform repair work.

[0004]

However, the above-mentioned conventional lifting device has only a structure in which the tension wire can be wound up and lifted by the winch, and the lifting platform simply moves up and down along the tension wire. You can only move. Therefore, it was impossible to move the elevating platform housing the aerial cable inspection and repair device horizontally to an arbitrary position on the aerial cable, or to elevate and lower it while maintaining a certain posture.

Moreover, since the lifting device itself has no means or mechanism for moving by recognizing and judging the current position and posture and the target position and posture, the lifting platform reaches the target overhead cable tension position. As described above, the operator must previously arrange the winch at an appropriate position on the aerial cable support column and control the winch from the aerial cable support column.

Furthermore, since a method of winding a tension wire with a winch and lifting an elevating platform and an aerial cable inspection and repair device housed therein, is adopted.
The location of the winches was limited to the overhead cable support columns. For this reason, the operator has to lift and fix the winch having a relatively large weight on the aerial cable support column, which puts a heavy burden on the operator.

Further, since the lifting device does not have a function of detecting and controlling the posture of the lifting platform, once the posture of the lifting platform collapses, the posture cannot be restored, and the lifting device is mounted on the lifting platform. There is a risk that the aerial cable inspection / repair device may be tilted to make it impossible to perform the inspection / repair work on the aerial cable, or the aerial cable inspection / repair device may collapse and fall.

In addition, when the aerial cable inspection / repair device is horizontally moved to another place on the tension cable, the tension wire is once fed out to lower the lifting platform to the ground, and the winch and the lifting platform are newly installed. Since the winch has to be driven again to wind the tension wire after moving to the position, it has been difficult to perform a rapid horizontal movement of the lifting platform. Here, the present invention detects the position and posture of the lifting platform and the tension of each tension wire and performs arithmetic processing to control the tension of each tension wire, thereby lifting the lifting platform and making it movable in the virtual XY axis coordinate plane. The present invention provides a tension-independently controlled lifting movement method and device.

[0009]

The above object can be achieved by the present invention by adopting the novel characteristic construction methods and means listed below. That is, the first feature of the present invention is that in an ascending / descending movement method of vertically moving an aerial cable inspection / repair device in a virtual XY axis coordinate plane, the aerial cable inspection / repair device is attached to an ascending / descending platform housing the aerial cable inspection / repair device. From the detection signal from the position / orientation sensor that detects the position and orientation of the, and the detection signal from each tension sensor that independently detects the tension of the plurality of tension wires that support the lifting platform at multiple points, The stabilizing tension of each tension wire is first calculated from the condition that satisfies the stable balance state of the lifting platform and the condition that the resultant force and the resultant moment acting on the lifting platform are zero, and then the lifting platform Based on the difference between the current position and posture and the target position and posture, Calculating a back control tension, subsequently, a double calculation result each winch independently controlled tension independently-controlled lifting movement method comprising the said tension wire each by calculated control tension unwinding winding the condition.

The second feature of the present invention is that in an elevating and lowering device for vertically moving the aerial cable inspection and repair device in the virtual XY axis coordinate plane, an elevating platform for housing the aerial cable inspection and repair device and the elevating and lowering platform. A position / orientation sensor attached to the platform to detect the position and orientation of the lifting platform, a plurality of winches arranged in correspondence with the required corners of the lifting platform, and one end of each winch that can be rolled up and drawn out freely. A tension wire that is wound around and fixed at the other end of the lifting platform to the corresponding corners, and a tension wire that is tensioned between the tension wires, a tension sensor that is arranged in the middle of each tension wire, and the position.・ Stabilizing tension of the lifting platform and the lifting platform based on the detection signals from the posture sensor and each tension sensor A tension independent-controlled lifting movement device comprising and a control mechanism for independently driving the winch of each to calculate a control tension than the tension required to move the center of gravity of Tohomu.

A third feature of the present invention is that in an elevating / lowering device for vertically moving an aerial cable inspection / repair device in a virtual XY axis coordinate plane, an elevating platform for housing the aerial cable inspection / repair device and the elevating / lowering platform. A position / orientation sensor attached to the platform for detecting the position and orientation of the lifting platform, and a winch attached to each of the upper and lower required corners of the lifting platform,
An upper tension wire, one end of which is wound around each winch of the upper corner so as to be freely wound and unwound, and the other end of which is attached to an aerial cable tension wire connecting piece attached to an aerial cable,
A lower tension wire having one end wound around each winch of the lower corner so as to be freely drawn out and the other end being attached to a ground tension wire attachment piece, and attached to the rotary shaft of the winch. Based on the tension sensor, the position / orientation sensor, and the detection signals from the respective tension sensors, the control tension is calculated from the stabilizing tension of the elevating platform and the tension required to move the elevating platform at the center of gravity. A tension independent control type lifting / lowering device including a control mechanism section for independently driving the winch.

A fourth feature of the present invention is that in an elevating / lowering device for vertically moving an aerial cable inspection / repair device in a virtual XY axis coordinate plane, an elevating platform for housing the aerial cable inspection / repair device and the elevating / lowering platform. A position / orientation sensor attached to the platform for detecting the position and orientation of the elevating platform, a tension sensor attached to each of the required upper and lower corners of the elevating platform, and an aerial cable pulley stopper attached to the aerial cable. A pulley vertically suspended on the wheel, and one end connected to each of the tension sensors at the upper corners and the other end folded back and engaged with the pulley halfway to be attached to each winch fixed on the ground winch fixing piece. One end is connected to the upper tension wire and the tension sensor in each of the lower corners, and the other end is fixed to the ground winch. A lower tension wire wound around each winch fixed on the top, a stabilizing tension of the elevating platform and movement of the elevating platform at its center of gravity based on detection signals from the position / orientation sensor and the tension sensors. And a control mechanism unit for independently driving each winch by calculating a control tension from the required tension.

In a fifth aspect of the present invention, the control mechanism section in the second, third or fourth aspect converts the analog detection signals from the position / orientation sensor and the tension sensors into digital detection signals. Each A / D converter, an arithmetic processing unit for inputting the digital detection signal and then performing arithmetic processing and outputting a digital control signal, and each output digital control signal corresponding to the analog control signal are converted. Tension independent control type lifting / lowering device including each D / A converter and a drive unit for amplifying an analog control signal output from the D / A converter and driving a motor incorporated in each winch Is.

[0014]

Since the present invention has taken the above-mentioned means, the overhead cable inspection / repair device stored on the lifting platform is used to detect the information values such as the position and posture of the lifting platform and the tension of each tension wire. By performing the arithmetic processing, it is possible to control the arrival at the target position with high accuracy.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Device Example) A first device example of the present invention will be described in detail with reference to the drawings. FIG. 1 is a structural conceptual diagram showing an example of this apparatus. In the figure, α is a tension independent control type lifting / lowering device, A is a lifting / lowering mechanism unit, B is a control mechanism unit, 1 is a lifting platform, 2 is a position / orientation sensor, 3a to 3d are tension wires,
4a to 4d are tension sensors, 5a to 5d are winches, 6 is an A / D converter, 7 is an arithmetic processing unit, 8a and 8b are D / A converters, and 9a to 9d are driving units.

In the example of the apparatus shown in FIG. 1, the tension independent control type lifting / lowering apparatus α is composed of a lifting / lowering mechanism section A and a control mechanism section B. The elevating / moving mechanism unit A includes an elevating platform 1 for storing an aerial cable inspection / repair device (not shown), a position / orientation sensor 2 arranged on the elevating platform 1 for detecting the position and attitude of the elevating platform 1, and the elevating / lowering unit 1. The tension wires 3a to 3d each having one end connected to the four side corners of the platform 1, the tension sensors 4a to 4d arranged in the middle of the tension wires 3a to 3d, and the tension wires 3a to 3d. The winches 5a to 5a, which are arranged at the upper and lower maximum positions of the required movable range of the elevating platform 1 in order to wind and wind the respective tension wires 3a to 3d by winding the other ends thereof and driving the motor forward and reverse. It is composed of 5d.

The control mechanism section B includes the position / orientation sensor 2
And the respective analog detection signals A1 to A5 from the respective tension sensors 4a to 4d are independently digital detection signals D1.
To D5, an A / D converter 6, an arithmetic processing unit 7 that inputs the digital detection signals D1 to D5 and then performs arithmetic processing to output digital control signals D6 to D9, and the output digital control signal. D / A converters 8a and 8b for converting D6 to D9 into analog control signals A6 to A9
And a drive unit 9a for amplifying the analog control signals A6 to A9 output from the D / A converters 8a and 8b and independently driving a motor (not shown) built in each winch 5a to 5d.
.About.9d.

(Method Example) Next, a detailed description will be given of a method example applied to the first device example, in which four tension wires are stretched. In this method example, the lifting platform 1
Is detected by a position / orientation sensor 2 disposed on the lifting platform 1, and the tension wire 3a for supporting the lifting platform 1 is used.
The tensions of 3d to 3d are independently detected by the tension sensors 4a to 4d, and these analog detection signals A1 to A are detected.
5 is input to the A / D converter 6. The analog detection signals A1 to A5 are converted into digital signals D1 to D5 by the A / D converter 6 and then input to the arithmetic processing unit 7,
Digital control signals D6 to D9 of winches 5a to 5d are calculated and output according to a predetermined processing procedure.

The digital control signals D6 to D9 calculated and output from the current state are converted into analog control signals A6 to A9 by the D / A converters 8a and 8b. The analog control signals A6 to A9 are amplified by the drive units 9a to 9d and drive the winches 5a to 5d to stretch the tension wires 3a to.
The tension of 3d is controlled respectively.

Next, the principle of the method for calculating the control tension of the winches 5a to 5d for controlling the position and posture of the lifting platform 1 through the tension wires 3a to 3d will be described with reference to FIGS. FIG. 2 is a vector diagram showing the forces and moments acting on the lifting platform, and FIG. 3 is a flowchart showing the tension calculating means of the control mechanism section.

In the state shown in FIG. 2, the relationship between the tension that the lifting platform 1 receives from the tension wires 3a to 3d and the resultant force and resultant moment at the center of gravity of the lifting platform 1 is expressed by the following equation.

[Formula 1] Vector F = J (vector T)

However, the vector F = [F _x F _y M _z ]
^T is a vector having the resultant force and the resultant moment in the x-axis and y-axis directions in FIG. 2 at the center of gravity of the lift platform 1, vector T = [T ₁ T ₂ T ₃ T ₄ ].
^T is defined as a vector whose component is the tension of each of the tension wires 3a to 3d.

The matrix J is a transformation matrix of 4 rows and 3 columns between the tension vector T and the resultant / resultant moment vector F, and is as follows.

[Formula 2]

Here, L is the length of the long side of the rectangular lifting platform 1, h is the height of the short side of the lifting platform 1, φ
Is the angle between the difference vector e between the current position / posture and the target position / posture, and the y-axis in the figure, and θ _{1 to} θ ₄ are the extension lines of the lifting platform 1 and the tensions of the tension wires 3a to 3d, respectively. It is defined as an angle.

Here, the tension vector T for generating an arbitrary resultant force and resultant moment at the center of gravity of the lifting platform 1 is expressed by the following equation using the generalized inverse matrix J'of the matrix J.

[Formula 3] Vector T = J ′ (vector F) + (I−J ′
J) (vector k) where I is defined as a unit matrix of 4 rows and 4 columns, and vector k is defined as an arbitrary vector of 1 row and 4 columns.

Using this principle, the present example of the method controls the tension during up-and-down movement, and the specific procedure for calculating the control tension vector T _c of the up-and-down platform 1 will be described below. Elevating platform 1 from the generalized inverse matrix J'shown in Equation 3
In order to uniquely obtain the control tension vector T _c of the above, first, when the resultant force / result moment vector F = 0, the vector k is obtained from the condition that the lifting platform 1 is in the stable equilibrium state. For that, from the balance condition at this time,

[Formula 4]

However,

[Formula 5] It is defined as

Further, the vector T _s = [T _sx T _sx T _sy
T _sy ] ^T is a vector having vertical and horizontal stabilizing tensions at the center of gravity of the lifting platform 1 as components, and vector T _i = [T _i1 T _i2 T _i3 T _i4 ] ^T is for each of the suspension wires 3a to 3d. A vector having the initial control tension as a component, M is the mass of the lifting platform 1, and g is the gravitational acceleration.

Next, from the resultant force / result moment vector F = 0,

[Equation 6] Vector T _i = (I−J′J) (Vector k) As described above, an arbitrary vector k can be uniquely obtained from Equation 4 and Equation 6, and the obtained vector is defined as k _s .

Further, the displacement vector from the current position and attitude to the target position and attitude is defined as vector e = [e _x e _y e _z ] ^T, and the following feedback control law is used.

[Formula 7] Vector F _f = K _f (vector e) where vector F _f is a feedback amount vector of resultant force / result and K _f is a gain matrix.

By substituting the vector k _s and the vector F _f obtained from the equations 6 and 7 into the equation 3, the final control tension T _c can be obtained from the following equation.

[Formula 8] Vector T _c = J ′ (vector F _f ) + (I−
J′J) (vector k _s ) However, the vector T _c = [T _c1 T _c2 T _c3 T _c4 ] ^T is a vector having each control tension as a component.

Therefore, the winches 5a to 5d are driven so as to generate tensions proportional to the respective components of the obtained vector _Tc . Actually, the tension is controlled by the tension wires 3a to 3a.
Since it is carried out by driving the motor built in the winches 5a to 5d for winding the d, the expansion and contraction of the tension wires 3a to 3d and the operating characteristics of the winches 5a to 5d are compensated, and the lifting platform 1 is acted on. The local feedback control is performed for each winch 5a to 5d so that each tension to be applied matches each component of the target control tension vector _Tc .

In this example of the method, the control tension vector T _c is calculated by using the initial control tension T _i and the difference vector e between the current position / posture and the target position / posture. The control tension of 3d is controlled by the control tension vector T
It is possible to obtain from each component of _c .

That is, here, the case where the procedure for calculating the control tension in the method example is specifically applied to the first apparatus example will be described in detail. In the tension independent control type lifting / lowering device α of the first device example, the arithmetic control unit 7 has the tension detection signals of the tension wires 3a to 3d and the lifting platform 1 as well.
And attitude detection signals A1 to A for detecting the position and attitude of the
5 is converted into digital signals D1 to D5 and input.

Therefore, the arithmetic processing section 7 determines whether each tension wire 3a ...
The first step of calculating the initial control tension vector T _i applied to 3d by a matrix operation, and the lifting platform 1
The second step of calculating the stabilizing tension vector T _s at the center of gravity of the lifting platform 1 from the stable balance condition of the above, and the initial control tension vector T _i and the stabilizing tension calculated in the first step and the second step, respectively. a third step of calculating a vector k _s a vector T _s condition, and the gain matrix K _f, the resultant force from the totalizing the difference vector e between the current position and orientation and the target position and orientation,
Fourth step and said third step and fourth each stretching wire feedback quantity vector F _f of the vector k _s and force-resultant moment calculated at steps as a condition for obtaining the feedback amount vector F _f of resultant moment And a fifth step of calculating the control tension vector T _c from the relationship between the tension of the above and the resultant force / resulting moment at the center of gravity of the lifting platform.

As described above, the arithmetic processing unit 7 outputs the digital control signals D6 to D9 corresponding to the respective components of the calculated control tension vector _Tc . The output digital control signals D6 to D9 are converted into analog control signals A6 to A9 by the D / A converters 8a and 8b, and the driving units 9a to 9d.
To the winches 5a-5
The motor built in d is driven independently.

By repeating these series of steps and performing control, the winches 5a to 5d are driven so as to reach the target positions and postures, and the respective stretching wires 3a to 3d are driven.
Control the tension of.

Since the specifications of this method example represent such a concrete embodiment, the winches 5a to 5d are driven based on the detection signals A1 to A5 from the position / orientation sensor 2 and the tension sensors 4a to 4d. Then, it is possible to independently control the tensions of the respective tension wires 3a to 3d and reach the target position and posture of the elevating platform 1.

(Second Device Example) A second device example of the present invention will be described in detail with reference to the drawings. FIG. 4 is a conceptual diagram of the configuration of the elevating / moving mechanism section that constitutes the example of the present apparatus. In the figure, A'denotes an elevating and moving mechanism section, 10a and 10b are ground wire tension wire connection pieces, 11 is an overhead cable, and 12a and 12b are overhead wire tension wire connection pieces. In the following description, the first
The same reference numerals are used for the same elements in the device example.

In this device example, the lifting / lowering mechanism A'is
An elevating platform 1 for housing an overhead cable inspection and repair device, a position / orientation sensor 2 attached to the elevating platform 1 for detecting the position and orientation of the elevating platform 1, and attached to the upper and lower four corners of the elevating platform 1 respectively. Winches 5a'-5d ', tension sensors 4a'-4d' respectively attached to the rotary shafts of the winches 5a'-5d ', one end of which is wound around the winches 5a'-5d' and the other end Is connected to the ground tension wire connecting pieces 10a and 10b on the ground, or the overhead cable 11 is connected to the overhead cable tension wire connecting pieces 12a and 12b.
The upper and lower tension wires 3a 'to 3d' are connected to each other at b.

Since the specifications of the example of the present apparatus show such a concrete embodiment, the vertical movement including the position / orientation sensor 2, the tension sensors 4a 'to 4d' and the winches 5a 'to 5d' is performed on the lifting platform 1. The mechanical unit A ′ is integrally mounted. Further, it goes without saying that the control mechanism unit B is also systemically connected in the same manner as the first device example.

(Third Device Example) A third device example of the present invention will be described in detail with reference to the drawings. FIG. 5 is a conceptual diagram of a configuration of an up-and-down moving mechanism portion that constitutes the example of the present device. In the figure, A "is an elevating and moving mechanism section, 13a and 13b are ground winch fixing pieces, 14a,
Reference numeral 14b is a pulley hooking piece for aerial cables, and 15a and 15b are pulleys. In the following description, the same elements as those of the second device example are designated by the same reference numerals.

In the example of this apparatus, the lifting / lowering mechanism A "is
Lifting platform 1, a position / posture sensor 2 attached to the lifting platform 1 for detecting the position and posture of the lifting platform 1, and the lifting platform 1
Tension sensors 4 attached to the four corners of the upper and lower sides
a "to 4d", the tension wires 4a "to 4d" connected to the tension wires 3a "to 3d", and the winches winding the other ends of the tension wires 3a "to 3d". 5a "-5d" and the winch 5a "-5d"
Winch fixing pieces 13a, 13b for fixing the vehicle to the ground
And the aerial cable pulley locking pieces 14a and 14b fixed to the aerial cable 11, and the lifting platform 1 suspended from the aerial cable pulley locking pieces 14a and 14b.
Pulleys 15a and 15b are provided to respectively fold and engage the tension wires 3a "and 3b" that are stretched in the upper direction with the winches 5a "and 5b" disposed on the ground.

Since the specifications of the present apparatus example show such a concrete embodiment, all the winches 5a "to 5d" by the pulleys 15a and 15b suspended on the aerial cable 11.
Can be installed on the ground, and the position / orientation sensor 2 and the tension sensor 4a ″ to
Since only 4d ″ is required, it is possible to reduce the weight of the lifting platform 1. Needless to say, the control mechanism section B is also system-connected as in the first device example.

In the method example and the first to third apparatus examples, the tension wires 3a to 3d, 3a 'to 3d',
The case where four 3a "to 3d" are used has been described, but the number of the tension wires 3a to 3d, 3a 'to 3d', 3a "to 3d" is limited as long as the control tension can be calculated. No, tension wires 3a to 3d, 3a 'to 3
This can be dealt with only by appropriately changing the determinant J stored in the arithmetic processing unit 7 according to the number of d ′, 3a ″ to 3d ″.

[0046]

As described above, according to the present invention, it is possible to reach the target position and posture by detecting the position and posture of the lifting platform and by detecting and controlling the tension of each tension wire. It is possible to control the position and posture of the lifting platform.

Further, since the attitude of the elevating platform is constantly detected and the feedback control is performed, it is possible to prevent the overhead cable inspection / repair device from being inoperable or falling due to the inclination of the elevating platform.

Furthermore, since the elevating platform can be moved up and down not only in the vertical direction but also in a certain range on the same plane, the aerial cable inspection / repair device can be horizontally moved along the aerial cable, which has been indispensable in the past. Since the work of moving the winch on the aerial cable support column is not necessary, the aerial cable inspection and repair work can be speeded up and the work labor can be reduced.

Further, main components such as winches and tension sensors and control mechanisms are mounted on a lifting platform as required to integrally configure a tension independent control type lifting / moving device to set a target position and posture in advance. By storing it in the control operation unit, the target position and posture can be automatically maintained.

Further, since the tension wire is folded and stretched by interposing the pulley and the winch is disposed on the ground, it is not necessary to mount the winch having a relatively heavy weight on the lifting platform. The energy required to lift the lifting platform is low, and because the winch is placed on the ground, the control line can be easily routed and the control mechanism can be integrated on the ground to form an integrated control mechanism. Demonstrate usefulness.

[Brief description of drawings]

FIG. 1 is a structural conceptual diagram of a tension independent control type elevation moving device of a first device example of the present invention.

FIG. 2 is a vector diagram showing forces and moments acting on the same platform for moving up and down.

FIG. 3 is a flowchart showing a tension calculation procedure of the control mechanism unit of the above.

FIG. 4 is a structural conceptual diagram of an elevating / moving mechanism section that constitutes the above-mentioned second example of the apparatus.

FIG. 5 is a structural conceptual diagram of an elevating / moving mechanism portion that constitutes the above-mentioned third device example.

[Explanation of symbols]

α ... Independent tension control type lifting / lowering device A, A ', A "... Lifting / moving mechanism unit B ... Control mechanism unit 1 ... Lifting platform 2 ... Position / orientation sensor 3a to 3d, 3a' to 3d ', 3a" to 3d "... tension wire 4a-4d, 4a'-4d ', 4a" -4d "... tension sensor 5a-5d, 5a'-5d', 5a" -5d "... winch 6 ... A / D converter 7 ... operation Processing parts 8a, 8b ... D / A converters 9a-9d ... Driving parts 10a, 10b ... Stranding wire connecting pieces for overhead cables 11 ... Aerial cables 12a, 12b ... Stranding wire connecting pieces for ground 13a, 13b ... Ground winch fixing pieces 14a, 14b ... Pulley hooking pieces 15a, 15b ... Pulley for aerial cables

Claims (5)

[Claims] 1. A lifting method for vertically moving an aerial cable inspection / repair device in a virtual XY axis coordinate plane, wherein the aerial cable inspection / repair device is attached to an elevator platform housing the aerial cable inspection / repair device to detect the position and posture of the elevator platform. Based on the detection signals from the position / orientation sensor and the tension sensors that independently detect the tensions of the multiple tension wires that support the lifting platform at multiple points, stable fishing of the lifting platform is performed. First, the stabilizing tension of each of the tension wires is calculated from the condition that satisfies the combined state and the condition that the resultant force and the resultant moment acting on the lifting platform are zero, and then the current position, posture, and target of the lifting platform. The feedback control tension of the resultant force and the resultant moment is calculated using the difference between the position and the posture. Out, subsequently, the tension independently-controlled lifting movement method characterized by the tension wire of each by calculated control tension independent control of each winch unwinding winding both calculation result as a condition. 2. An elevating / lowering device for vertically moving an aerial cable inspection / repair device in a virtual XY coordinate plane, and an elevating / lowering platform accommodating the aerial cable inspection / repair device, and the elevating / lowering platform attached to the elevating / lowering platform. Position / orientation sensor for detecting the position and orientation of the winch, a plurality of winches arranged corresponding to the required corners of the lifting platform, one end of each winch being windably wound and the other end being wound. A tension wire fixedly attached to each of the corresponding corners of the elevating platform and connected to each other by tension, tension sensors arranged in the middle of each tension wire, the position / orientation sensor, and tensions of the tension sensors. The stabilizing tension of the lifting platform and the center of gravity of the lifting platform based on the detection signal from the sensor. Kicking tension independently-controlled lifting movement device being characterized in that and a control mechanism for independently driving the winch of each to calculate a control tension than the tension required to move. 3. An elevating and lowering device for vertically moving an aerial cable inspection and repair device up and down in a virtual XY axis coordinate plane, and an elevating platform for housing the aerial cable inspection and repair device, and an elevating platform attached to the elevating platform. Position / orientation sensor for detecting the position and orientation of the winch, winches attached to the respective required upper and lower corners of the elevating platform, and one end of each winch of the upper corner so that the winch can be wound and unwound. An upper tension wire connected to an aerial cable tension wire connecting piece with an end attached to the aerial cable, and one end wound on each winch of the lower corner so that the other end can be unwound and the other end can be wound. A lower tension wire attached to the ground tension wire attachment piece; a tension sensor attached to the rotary shaft of the winch; Based on the detection signals from the sensor and the respective tension sensors, control tension is calculated from the stabilizing tension of the lifting platform and the tension required to move the lifting platform at the center of gravity, and each winch is independently driven. An independent tension-controlled lifting / lowering device having a mechanical section. 4. An elevating / lowering device for vertically moving an aerial cable inspection / repair device in a vertical XY coordinate plane, and an elevating / lowering platform for accommodating the aerial cable inspection / repair device and the elevating / lowering platform attached to the elevating / lowering platform. Position and orientation sensors that detect the position and orientation of the above, tension sensors that are attached to the required corners on the upper and lower sides of the lifting platform, and the suspension cables for the aerial cables that are attached to the aerial cables so that they freely hang free. A pulley and an upper tension wire that is connected to one end of each of the tension sensors at the upper corners and is wound around each winch fixed on the ground winch fixing piece by connecting the other end to the pulley halfway. Each winch having one end connected to each of the tension sensors at the lower corners and the other end fixed on a winch fixing piece for ground. Lower tension wire to be wound around the torch, and based on the detection signals from the position / orientation sensor and each of the tension sensors, the stabilizing tension of the lifting platform and the tension required to move the lifting platform at the center of gravity. A tension-independently controlled lifting / lowering device, comprising a control mechanism section for calculating control tension and independently driving each winch. 5. The control mechanism section, after inputting the respective A / D converters for converting the respective analog detection signals from the position / orientation sensor and the respective tension sensors into digital detection signals, and after inputting the digital detection signals. , An arithmetic processing unit that performs arithmetic processing and outputs a digital control signal, respective D / A converters that convert the respective output digital control signals into analog control signals, and output from the D / A converter The tension independent control type lifting / lowering device according to claim 2, 3 or 4, further comprising: a drive unit that amplifies the generated analog control signal and drives a motor incorporated in each winch.