JPH0881199A - Surface working device in elevated spot working vehicle - Google Patents

Abstract

PURPOSE: To provide a surface working device, by which work on a wall face consisting of a curved face can be properly carried out, in an elevated spot working vehicle. CONSTITUTION: Three distance sensors 31, 32, 33 arranged at fixed angular gaps are installed in a working base 24 on a boom 23, and the direction Rs of a perpendicular line OS to a wall face is found after distance detection carried out in each of the distance sensors 31, 32 on both sides, and on the basis of an angle θ made by the perpendicular line OS and the distance sensor 33 in the center and the predetermined proper perpendicular line distance Lt3, a desired detection distance Lu3 for the distance sensor 33 is found, and then, the working base 24 is moved to such a position. As a difference between the direction of the distance sensor 33 in the center and that of the perpendicular line to the wall face is small, the working base 24 can be substantially precisely moved to the proper perpendicular line distance position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface work apparatus for a work platform for aerial work such as wall washing, and more particularly, it maintains a constant distance from the wall of a structure such as a tunnel or a ship such as a work platform for aerial work. The present invention relates to a surface work device in an aerial work vehicle capable of drawing a trajectory as it is and directing a nozzle perpendicular to a wall surface.

[0002]

BACKGROUND ART FIGS. 12 and 13 are views showing a general work platform for aerial work (see Japanese Utility Model Laid-Open No. 63-54732). The aerial work vehicle comprises a work table 8 mounted on a boom 5 which is mounted on a turntable 3 mounted on a bogie 1 so as to be capable of undulating and extending. A surface work device is provided on the work vehicle for aerial work. In FIG. 12, 4 is a swing motor, 6 is a balance cylinder, 7 is a telescopic cylinder, 9 is a swing cylinder, 10 is a swing position detector that detects the swing position of the boom 5, and 11 is a hoisting angle of the boom 5. An undulation angle detector, 12 is an extension / contraction length detector for detecting the extension / contraction length of the boom 5, 16 is a nozzle (working means) for spraying a cleaning liquid, and 15 is a distance between the workbench 8 and the wall surface 14. A distance detector for detection, 17 in FIG. 13 is an input device for manually inputting an operation pattern and an operation speed of the workbench 8, and 18 is a signal from the input device 17 and each detector 1
An arithmetic unit for processing signals from 0, 11, 12, and 15,
Reference numeral 19 is a controller that controls each operation unit based on a signal from the computing unit 18, and 20 is an electromagnetic proportional control valve.

When the nozzle is directed vertically to the wall surface 14 while maintaining a constant distance from the target such as the wall surface 14 of the building such as cleaning work and painting work, the work is performed by the distance detector 15. Detects the distance between the table 8 and the wall surface 14,
The position of the workbench 8 is controlled based on the detection result.

[0004]

In the surface work apparatus of the conventional example, when the distance detector 15 is oriented in the direction perpendicular to the wall surface 14 (radial direction), the distance detector 15 causes the wall surface 14 However, when the distance detector 15 is directed in the direction (λg) of the tilt angle ψ different from the vertical with respect to the wall surface 14 as shown in FIG. Spraying causes uneven liquid.

Therefore, as shown in FIG. 15, two distance detectors 15a and 15b are provided, and the separation distance λ in each direction is provided.
A method (proposed example) in which a and λb are detected and the distance λc of the perpendicular line is obtained from the triangular shape formed by these line segments and the wall surface 14 is also conceivable.

However, in the method of the proposed example,
Although it is suitable for detecting the distance between the flat wall surface 14 and the workbench 8, when the wall surface 14 is a curved surface as shown in FIG. 16, the triangle perpendicular line obtained as described above is used. A non-negligible error ξ occurs with respect to the distance λc, and the distance accuracy is significantly deteriorated, and as a result, the liquid unevenness of the nozzle spray occurs.

In view of the above problems, it is an object of the present invention to provide a surface work apparatus for an aerial work vehicle that can appropriately perform work on a wall surface formed of a curved surface.

[0008]

A means for solving the problems according to claim 1 of the present invention is a work in which a work table is mounted on a boom (movable arm) attached to a carriage and a predetermined work is performed on the work table. In an aerial work vehicle on which the means is mounted, the following (a)-
The element (h) is provided.

(A) first distance detecting means for detecting a distance to the target surface in the first direction, (b) the first distance detecting means in the second direction deviated from the first direction by a predetermined angle difference. Second distance detecting means for detecting a distance to the target surface, (c) detecting a distance to the target surface in a third direction between the first direction and the second direction. Third distance detecting means, (d) From the detection results of the first distance detecting means and the second distance detecting means,
Perpendicular direction computing means for approximating the direction of a perpendicular to the target surface, (e) Perpendicular distance storage means for storing an appropriate perpendicular distance to the target surface in the direction of the perpendicular in performing the predetermined work. (F) An appropriate distance from the target surface in the third direction from the perpendicular distance stored in the perpendicular distance storage means and the direction of the perpendicular calculated by the perpendicular direction calculating means. Separation distance calculation means for calculating distance, (g) Comparison means for comparing the proper separation distance calculated by the separation distance calculation means with the distance detected by the third distance detection means, (h) The comparison A movement signal output means for outputting a movement signal to the boom so that the workbench is positioned at the position of the proper separation distance based on the comparison result of the means.

The problem solving means according to claim 2 of the present invention is
The working means is rotatably supported on the work table, and further comprises working direction adjusting means for adjusting the working direction of the working means in the direction of the perpendicular calculated by the perpendicular direction calculating means.

The problem solving means according to claim 3 of the present invention is
The first distance detecting means and the second distance detecting means are rotatably supported at predetermined positions on the workbench, and the first distance detecting means and the second distance detecting means are provided on the workbench. Further includes a fixing means for positioning and fixing the rotational position at a predetermined rotation position.

The problem solving means according to claim 4 of the present invention is
Rotational position recognition means for recognizing the rotational positions of the first distance detection means and the second distance detection means when positioning and fixing by the fixing means are further provided.

The problem solving means according to claim 5 of the present invention is
An aerial work vehicle equipped with a work platform on a boom attached to a trolley, and a work means for performing a predetermined work on the work platform is equipped with the following elements (i) to (q).

(I) first distance detecting means for detecting a distance to the target surface in the first direction, (j) the distance in the second direction deviated from the first direction by a predetermined angle difference. Second distance detecting means for detecting a distance to the target surface, (k) a second distance detecting means for detecting a distance to the target surface in a bisector direction of the first direction and the second direction 3 distance detecting means, (l) holding means for holding the first distance detecting means, the second distance detecting means and the third distance detecting means, (m) the holding means with respect to the workbench. Turning means for turning about the turning axis,
(N) By rotating the holding means, the rotation amount of the rotation means is adjusted so that the detection distance of the first distance detection means and the detection distance of the second distance detection means match. Rotation amount adjusting means, (o) Perpendicular distance storing means for storing an appropriate perpendicular distance to the target surface in the direction of the perpendicular in performing the predetermined work, (p)
Comparing means for comparing the detected distance detected by the third distance detecting means at the turning position adjusted by the turning amount adjusting means with the proper separation distance stored in the perpendicular distance storing means, (Q) Movement signal output means for outputting a movement signal to the boom so that the workbench is located at the position of the proper separation distance based on the comparison result by the comparison means.

The problem solving means according to claim 6 of the present invention is
The working direction of the working means is set in the same direction as the distance detecting direction of the third distance detecting means.

[0016]

In the surface work apparatus for an aerial work vehicle according to claim 1 of the present invention, the worker first inputs an appropriate perpendicular distance in the direction of the perpendicular to the target surface when performing a predetermined work, and the perpendicular distance storage means. To remember. Next, the first distance detecting means detects the distance to the target surface in the first direction, and the second distance detecting means deviates from the first direction by a predetermined angular difference. The distance to the target surface in the second direction is detected. And the first
From the detection results obtained by the distance detecting means and the second distance detecting means, the perpendicular direction calculating means approximately obtains the direction of the perpendicular to the target surface. Then, based on the perpendicular distance stored in the perpendicular distance storing means and the direction of the perpendicular calculated by the perpendicular direction calculating means, the separation distance calculating means detects the distance in the distance detecting direction (third direction) of the third distance detecting means. An appropriate separation distance from the target surface is calculated. Then, while comparing the distance actually detected by the third distance detecting means and the proper distance calculated by the distance calculating means by the comparing means, the work table is positioned at the position of the proper distance. A movement signal is output from the movement signal output means to drive the boom. By repeating a predetermined work while repeating such an operation, it is possible to perform a predetermined work while maintaining a constant distance from the target surface even when the target surface is formed of a curved surface.

In the surface work apparatus for an aerial work vehicle according to claim 2 of the present invention, when the work is actually performed, the work direction adjusting means moves the work means in the direction of the normal line calculated by the normal direction calculation means. Adjust the working direction. As a result, the working direction of the working means can be always set to be perpendicular to the curved surface, and the quality of work can be improved.

In the surface work apparatus for an aerial work vehicle according to claim 3 of the present invention, the first distance detecting means and the second distance detecting means are provided in accordance with the distance detection accuracy of each distance detecting means and the curvature of the target surface. The means is rotated and fixed, and the distance detection direction is adjusted. Then, the distance between the target surface and the workbench can be adjusted almost accurately.

According to a fourth aspect of the present invention, in the surface work apparatus for an aerial work vehicle, when the first distance detecting means and the second distance detecting means are rotated and fixed as described in the third aspect, the rotation work is performed. Since the moving position recognizing means can recognize the respective rotational positions of the two distance detecting means, the calculation in the normal direction calculating means, the separation distance calculating means, etc. can be performed almost accurately, and the target surface and the workbench can be calculated. The distance can be adjusted almost accurately.

In the surface work apparatus for an aerial work vehicle according to claim 5 of the present invention, first, when performing a predetermined work, the worker inputs an appropriate perpendicular distance to the target surface in the direction of the perpendicular, and then the perpendicular. It is stored in the distance storage means. Next, the first distance detecting means detects the distance to the target surface in the first direction, and the second distance detecting means detects the distance to the target surface in the second direction. To do. Then, the rotation amount adjusting means adjusts the rotation amount of the rotating means so that the detection distance of the first distance detecting means and the detection distance of the second distance detecting means match, and rotates the holding means. . When the detection distances of the both distance detecting means become equal, the direction of the bisector of the first direction and the second direction is substantially perpendicular to the target surface.
That is, the detected distance by the third distance detecting means oriented in this direction indicates the shortest distance between the workbench and the target surface. In this state, the movement signal is output from the movement signal output means while continuing the comparison by the comparison means, and the workbench is moved to the position of the appropriate separation distance. Accordingly, even when the target surface is formed of a curved surface, the distance from the curved surface can be controlled to be a constant distance.

In the surface work apparatus for an aerial work vehicle according to claim 6 of the present invention, the holding means is rotated with respect to the work table by the rotating means to detect the distance detected by the first distance detecting means and the second distance detecting means. The distance detection direction of the third distance detection means is set to be vertical to the target surface at the time point when the distance is detected by the distance detection means of No. 3, but at the same time, the working direction of the working means is always set. It will be set perpendicular to the target plane. Therefore, it is not necessary to rotate the working means again after rotating the holding means, and the processing efficiency can be improved.

[0022]

【Example】

{First Embodiment} <Structure> A wall cleaning vehicle will be described as an example of an aerial work vehicle according to the first embodiment of the present invention. FIG. 1 is a schematic view of an aerial work vehicle of this embodiment. The aerial work vehicle of this embodiment is
In particular, wall surfaces including curved surfaces of buildings such as tunnels and ships 1
4, the cleaning liquid is sprayed by directing the nozzle perpendicularly to the wall surface 14 while drawing a locus keeping a constant separation distance from the nozzle 4. As shown in FIG. 1, the aerial work vehicle has a work table 2 mounted on a boom 23 (movable arm) mounted on a turntable 22 mounted on a bogie 21 so as to be undulated and extendable.
4 (bucket), and the cart 21 is provided with a surface work device for performing a predetermined work (wall surface cleaning or the like). 2 is a control block diagram showing an aerial work vehicle. In FIG. 2, elements having the same functions as those of the conventional example are designated by the same reference numerals, and the description of the elements having the same reference numerals will be omitted. The workbench 24 is always kept horizontal.

Then, the surface work apparatus is as shown in FIG.
A distance between a cleaning liquid spraying nozzle 16 as a working means for performing the predetermined work (wall surface cleaning, etc.) on the wall surface 14 on the carriage 21, and the wall surface 14 when the cleaning liquid is sprayed by the nozzle 16. And a spraying angle adjusting means (working direction adjusting means) 27 for setting the spraying direction of the nozzle 16 substantially perpendicular to the wall surface 14.

The nozzle 16 is supported at a predetermined position on the carriage 21 so as to be rotatable (elevated) about a horizontal axis 28, and sprays a cleaning liquid from a cleaning liquid supply device (not shown) within a predetermined directivity angle. To do.

As shown in FIG. 3, the distance adjusting device 26 includes the following elements (A) to (H).

(A) First distance detecting means 31 (first sensor) for detecting the distance L1 from the target surface (wall surface 14) in the first direction R1 (FIG. 4), (B) 1
From the direction R1 of FIG. 4 (FIG. 4) by a predetermined angle difference α
Second distance detecting means 32 (second sensor) for detecting a distance L2 between the wall surface 14 in the direction R2 (FIG. 4) and (C) the first direction R1 (FIG. 4) and the second direction. Third direction R3 (FIG. 4) between two directions R2 (FIG. 4)
In the third distance detecting means 33 (third sensor) for detecting the distance to the wall surface 14 in (3), (D) from the respective detection results of the first sensor 31 and the second sensor 32, Perpendicular direction calculating means 34 for approximating the direction DR of the perpendicular OR with respect to the wall surface 14, (E) A perpendicular line that stores an appropriate perpendicular distance Lt3 to the wall surface 14 in the direction of the perpendicular line when performing the predetermined work. Distance storage means 35, (F) The normal distance Lt3 stored in the normal distance storage means 35 and the normal direction calculation means 3
Separation distance calculating means 36 (G) for calculating an appropriate separation distance Lu3 between the wall surface 14 and the wall surface 14 in the third direction R3 (FIG. 4) from the direction of the perpendicular line calculated in 4.
Comparing means 37 for comparing the proper distance calculated by the distance calculating means 36 with the distance detected by the third sensor 33, (H) Based on the comparison result by the comparing means 37, the proper distance is calculated. Movement signal output means 38 for outputting a movement signal to the boom 23 so that the work table 24 is located at a position with a large separation distance.

A general ultrasonic sensor is used for each of the sensors 31, 32, and 33, and among them, the first sensor 31 and the second sensor 32 are the worktables as shown in FIG. It is supported at a predetermined position of 24 so as to be rotatable (elevated) about the horizontal axis 41, and the angle can be adjusted by the operator. Also, after the angle adjustment, both sensors 31, 32
Fixing means 42 for positioning and fixing the (ultrasonic sensor) to the workbench 24 is provided. The fixing means 42 is, as shown in FIG. 6, the workbench side screw holes 43, 4 formed at a plurality of predetermined positions on the side wall 24a of the workbench 24.
4, 45, 46, sensor-side screw holes 47, 48 formed in the hole pieces 31a, 32a formed so as to project from a part of the sensors 31, 32, and the workbench-side screw holes 43, 4
4, 45, 46 and a fixing screw 49 for fixing the sensor side screw holes 47, 48 to each other. Also,
When positioning and fixing by the fixing means 42, the first
A rotational position recognizing means 50 for recognizing the rotational positions of the sensor 31 and the second sensor 32 is provided. As shown in FIG. 5, the rotation position recognizing means 50 includes the first
The tilt sensor for detecting the tilt angle of the sensor 31 and the second sensor 32 may be used, or the input device 17 for manually inputting the value of the tilt angle from the outside may be used as it is.

The third sensor 33 is located at a predetermined position on the workbench 24, and is intermediate between the first direction R1 of the first sensor 31 and the second direction R2 of the second sensor 32 ( It is fixed in the direction of the bisector (the third direction R3).

The normal direction computing means 34 detects the distances in the respective directions detected by the first sensor 31 and the second sensor 32, and the rotational position recognizing means 50.
The triangle MNO shown in FIG. 4 is obtained from the respective rotational positions of the sensors 31 and 32 recognized by
The angle of the direction Rp of the perpendicular OP with respect to is obtained. here,
The distance OM of the first sensor 31 in the direction R1 is L1, and the distance ON of the second sensor 32 in the direction R2 is L2. Since the first sensor 31 and the second sensor 32 are fixed by the fixing means 42 and the mounting angle of the third sensor 33 is always fixed, the angle ONQ = α and the angle NOQ = β in FIG. Is constant. The length x of the line segment MN is x ² = L1 ² + L2 ² -2L1 · L2 · cos ² α ∴ x = (L1 ² + L2 ² −2L1 · L2 · cos ² α) ^{1/2 according} to the cosine theorem. . Further, the following equation can be obtained from x and the sine theorem.

X / (sin α) = L1 / (sin γ) ∴sin γ = L1 · sin α / x Since the sum of the interior angles of the triangle is 180 °, the angle δ between the line segment OQ and the line segment PQ is γ + β. Since they are equal, the following equation holds.

Θ = 90 ° −δ = 90 ° −γ−β (1) That is, the direction Rp deviated from the direction R3 of the third sensor 33 by θ is the direction of the perpendicular line OP to the line segment MN.
The direction Rp of the perpendicular OP is the wall surface 14 (M
The direction Rs of the vertical line OS with respect to SRN) is approximated.

The perpendicular distance storage means 35 is
An appropriate perpendicular distance Lt3 (length of the line segment OS) determined based on the spraying strength of the cleaning liquid or the like is input in advance to the input device 1.
The data that is keyed in at 7 is stored.

When the length of the line segment OS is Lt3 obtained by the perpendicular distance storage means 35, the separation distance calculation means 36 calculates what the detection distance of the third sensor 33 should be. The desired length Lu of the line segment OR
3 becomes Lu3 = Lt3 * arccos [theta] = Lt3 * arccos (90 [deg.]-[Gamma]-[beta]) (2). As described above, since γ and β are constant values,
Lu3 is uniquely determined. Such Lu3 has a third sensor 3
The workbench 24 may be moved so that L3 measured in 3 is equal.

In the movement signal output means 38, the distance L3 detected by the third sensor 33 is L in the equation (2).
The workbench 24 is divided into the line OP (O) until it becomes equal to the value of u3.
A movement signal is output to the controller 19 so as to move in a direction Rs (Rp: a direction perpendicular to the line segment MN) in S).

Each means 3 in the distance adjusting device 26
Reference numerals 1 to 38 correspond to the respective functional blocks realized by the CPU according to the program stored in the memory in the arithmetic unit 18.

<Operation> The operation of the above-structured work vehicle will be described. Here, in order to efficiently wash the wall surface 14, the nozzle is always directed perpendicularly to the wall surface 14 and the distance between the wall surface 14 and the wall surface 14 is kept constant to perform the three-dimensional profile control. For that purpose, it is necessary to detect the position using the sensors 31, 32 and 33. In the present embodiment, first, as a preliminary step, an appropriate perpendicular distance Lt3 to the wall surface 14 is input by the input device 17 and stored in the perpendicular distance storage means 35. In the initial stage, the pointing direction of the nozzle 16 is set to the same direction as the third direction R3 of the third sensor 33.

Here, the first direction R of the first sensor 31
The second direction R2 of the 1st and 2nd sensors 32 is preset. In such a setting, each sensor 31, 32 is rotated (elevated) around the horizontal axis 41 to determine a desired rotation position, and then fixed by the fixing means 42. Thereafter, the turning position recognizing means 50 recognizes the turning positions of the respective sensors 31, 32. In addition, the angle adjustment is performed by each sensor 31,
It suffices to make adjustments depending on the sensing accuracy of 32, the curvature of the wall surface 14 to be worked, and the like. For example, when the sensing accuracy is high or the curvature is large, both sensors 31,
The angle difference α of 32 may be set small, and in the opposite case, the angle difference α of both sensors 31, 32 may be set large.

Next, as shown in FIG. 7, the workbench 24 is attached to the wall surface 14.
(Step S1), the first sensor 31
The distance L1 with the wall surface 14 in the direction R1 is detected, and the distance L2 with the wall surface 14 in the second direction R2 is detected with the second sensor 32 (step S).
2). Then, the measurement point distance x of the wall surface 14 is obtained from the detection results of the first sensor 31 and the second sensor 32 (step S3), and the angle γ shown in FIG. 4 is obtained.
Is calculated (step S4), and then the normal direction calculation means 34
Specifies the direction Rp based on the above equation (1) and adopts this as an approximate value of the direction Rs of the perpendicular OS to the wall surface 14 (step S5). After that, based on the perpendicular distance Lt3 stored in the perpendicular distance storage means 35 and the direction Rs of the perpendicular OS calculated by the perpendicular direction calculation means 34, the separation distance calculation means 36 determines the distance between the wall surface 14 in the third direction R3. The appropriate separation distance is calculated based on the equation (2) described above (steps S6 to S8).

Next, the third sensor 33 detects the distance L3 from the wall surface 14 in the third direction R3. Then, the comparison unit 37 compares the proper separation distance Lu3 calculated by the separation distance calculation unit 36 with the distance L3 detected by the third sensor 33. While repeating the comparison operation, the movement signal output unit 38 outputs the movement signal until the workbench 24 is positioned at the proper distance Lu3. As a result, the distance from the wall surface 14 is controlled to be always the constant separation distance Lu3 (steps S9 and S1).
0).

After the above operation is completed, the spraying angle adjusting means 27 rotates the angle of the nozzle 16 by θ (elevates) based on the signal from the perpendicular direction computing means 34,
It is set so as to be substantially perpendicular to the wall surface 14.
After that, a predetermined cleaning liquid is sprayed from the nozzle 16 onto the wall surface 14 to perform the cleaning work.

After the above operation is completed, the boom 23 is moved and the same work is repeated. In addition, it is desirable that such work is continuously sprayed in consideration of cleaning work efficiency. Then, the locus 14a of the workbench 24 at a position separated from the wall surface 14 by a substantially constant vertical distance Lt3.
Can be drawn. Therefore, it is possible to control the position of the workbench 24 in a state where the workbench 24 is kept perpendicular and equidistant to the wall surface 14, and three-dimensional profile control is possible.
Good quality wall work can be performed (step S1)
1). The normal direction R is calculated by the normal direction calculation means 34.
After obtaining s, the first sensor 31 and the second sensor 3
Although a proposal example in which positioning is performed only by 2 is possible, in the present embodiment, based on the actual measurement value (detection distance by the third sensor 33) in the third direction R3, which is relatively close to the perpendicular direction Rs. Since the positioning is performed, the error with respect to the proper position can be dramatically reduced as compared with the above proposed example. That is, the workbench 24 can be moved almost accurately to a position having a proper perpendicular distance. Specifically, the preferable control accuracy in actual use is about ± 100 mm.

{Second Embodiment} <Structure> FIG. 8 is a view showing a surface work apparatus for an aerial work vehicle according to a second embodiment of the present invention. The aerial work vehicle of the present embodiment is equipped with a work table 24 on a boom 23 which is mounted on a turntable 22 mounted on a bogie 21 so as to be undulated and extendable, as in the first embodiment, and the work table 24 is provided. The work means 16 for performing a predetermined work is mounted on the. And
The surface work apparatus of this embodiment includes the following (I) to (Q).

(I) Wall surface 14 in the first direction R1
First sensor 3 for detecting a distance L1 from the (target surface)
1, (J) a second sensor 32 for detecting a distance L2 between the wall surface 14 and a second direction R2 which is deviated from the first direction R1 by a predetermined angle difference α, a second sensor 32, (K) the first Third sensor 33 for detecting the distance between the wall surface 14 in the bisector direction of the direction R1 and the second direction R2, (L) the first sensor 31, the second sensor 32. And a holding means 51 for holding the third sensor 33, (M) A stepping motor 53 as a turning means for turning (raising) the holding means 51 with respect to the work table 24 about a turning shaft 52. , (N) The first sensor 3 is rotated by rotating (raising) the holding means 51.
1, a rotation amount adjusting means 54 for adjusting the rotation amount of the stepping motor 53 so that the detection distance of the first sensor 32 and the detection distance of the second sensor 32 may be the same. (O) A perpendicular line of the wall surface 14 in performing the cleaning liquid spraying work. The normal distance storage means 35 for storing an appropriate normal distance Lt3 with the wall surface 14 in the direction, (P) Detection detected by the third sensor 33 at the rotation position adjusted by the rotation amount adjustment means 54. Comparing means 37 for comparing the distance L3 with the proper perpendicular distance Lt3 stored in the perpendicular distance storing means 35, (Q) Based on the comparison result in the comparing means 37, the proper perpendicular distance Lt3 Workbench 24 in position
A movement signal output means 38 for outputting a movement signal to the boom 23 so that the position is positioned.

Here, the rotation amount adjusting means 54 detects the distance detected by the first sensor 31 and the second sensor 32.
And a comparison unit 55 that compares the detection distance in
The stepping motor 5 is attached to the sensor 31 or 32 side, whichever has the smaller detection distance, based on the comparison result in FIG.
Rotation direction instructing section 5 for instructing to rotate (prone) 3
6 and a rotation stop instruction unit 57 that stops rotation (depression) of the stepping motor 53 when the detection distances of the sensors 31 and 32 become equal based on the comparison result of the comparison unit 55. .

Further, as shown in FIG. 9, the nozzle 16 is fixed to the holding means 51, and the spraying direction (working direction) of the nozzle 16 is set in the same direction as the distance detecting direction of the third sensor 33. . Other configurations are the same as those of the first embodiment.

<Operation> The operation of the surface work apparatus in the aerial work vehicle having the above configuration will be described. First, as a preliminary step, as shown in FIG. 8, an appropriate vertical distance Lt3 between the wall surface 14 and the input device 17 is input and stored in the vertical distance storage means 35.

At the time of spraying the cleaning liquid, as shown in FIG. 10, the work table 24 is brought close to the wall surface 14 (step S2).
1). Then, as shown in FIG. 11, the first sensor 31 detects the distance L1 from the wall surface 14 in the first direction R1, and the second sensor 32 detects the distance L1 from the wall surface 14 in the second direction R2. The distance L2 between them is detected (step S22 in FIG. 10).

Next, as shown in FIG. 8, the comparison unit 55 of the rotation amount adjusting means 54 compares the detection distance of the first sensor 31 with the detection distance of the second sensor 32, and obtains the comparison result. Based on this, the rotation direction instructing unit 56 instructs the sensor 31, 32 side, whichever has the smaller detection distance, to rotate (suspend) the stepping motor 53. Then, the stepping motor 53 is rotated (elevated) by the angle α in the instructed rotation direction. In the meantime, both the sensors 31 and 32 continue to detect the distance. Then, when the detection distances of both the sensors 31 and 32 become equal, the comparison is recognized by the comparison unit 55, and the rotation stop instruction unit 57 outputs a stop signal to the stepping motor 53 (Fig. Step S23 in 10).

At this point, the third sensor 33 has the first direction R1 of the first sensor 31 and the second direction R2 of the second sensor 32.
If the curved shape of the wall surface 14 is a substantially arcuate cross-section, the third sensor 33 is attached to the wall surface because it is directed in the direction of the bisector of the direction R2 of FIG. 11 (ie, θ ₁ = θ ₂ in FIG. It means that it is oriented in a direction substantially perpendicular to 14. Therefore, the detection distance in this direction can be treated as the distance between the wall surface 14 and the workbench 24. Therefore, in this state, the distance is detected by the third sensor 33, and the detected distance L3 is compared with the proper perpendicular distance Lt3 previously stored in the perpendicular distance storage means 35 by the comparison means 37. Then, based on the comparison result, the movement signal output means 38 outputs a movement signal to the boom 23 so that the workbench 24 is located at the position of the proper perpendicular distance Lt3. As a result, the distance from the wall surface 14 is controlled to be always the constant separation distance Lu3 (step S24 in FIG. 10). After this operation is completed, the nozzle 1
A predetermined cleaning liquid is sprayed onto the wall surface 14 from 6 to perform the cleaning operation. After the above operation is completed, the spraying work may be continued while moving the boom 23 and drawing the trajectory of the workbench 24 at a position separated from the wall surface 14 by a constant perpendicular distance Lt3 (step S25 in FIG. 10). ).

{Modifications} (1) In each of the above-mentioned embodiments, the aerial work vehicle for washing the wall surface has been described as an example. However, other than this, for example, for painting a wall surface of a ship or an aircraft, It may be applied to a pipe for crack inspection. As a working means for wall coating, a sprayer for spraying paint is used in place of the nozzle of the above embodiment, or as a working means for crack inspection, a CCD for inspection is used instead of the nozzle. Is used.

(2) In each of the above embodiments, each sensor 31,
Although general ultrasonic sensors are used as 32 and 33, the present invention is not limited to this, and may be, for example, a distance sensor using a laser or a distance sensor using a CCD.

(3) In the above embodiment, an example in which a boom is used as the movable arm is shown, but it is also applicable to, for example, one using a combination of a vertical arm and a horizontal arm.

[0053]

According to the first aspect of the present invention, an appropriate perpendicular distance is stored in the perpendicular distance storing means in advance, and the first distance detecting means and the second distance detecting means respectively provide the target surface in the respective pointing directions. The distance between and is detected, the direction of the perpendicular to the target surface is approximately obtained from the detection result, and from the perpendicular distance stored in the perpendicular distance storage means and the direction of the perpendicular calculated by the perpendicular direction calculation means. The separation distance calculation means calculates an appropriate separation distance from the target surface in the distance detection direction (third direction) of the third distance detection means, and the distance actually detected by the third distance detection means While the comparison means compares the proper separation distance calculated by the separation distance calculation means with the comparison means, the work table can be positioned at the position of the proper separation distance, so that the target surface is formed of a curved surface. Even if there is a While maintaining a constant distance Te can perform predetermined operations. Therefore, there is an effect that the quality of work on a curved surface can be constantly and automatically maintained, and anyone can perform a certain level of work without requiring skill.

According to the second aspect of the present invention, the working direction adjusting means is configured to adjust the working direction of the working means in the direction of the perpendicular calculated by the perpendicular direction calculating means.
Even when the target surface is formed of a curved surface, the working direction of the working means can be always set to be perpendicular to the curved surface, and the work quality can be improved.

According to claim 3 of the present invention, the first distance detecting means and the second distance detecting means are rotated (elevated) depending on the distance detection accuracy of each distance detecting means, the curvature of the target surface, and the like. Since it is fixed and the distance detection direction is adjusted, the distance between the target surface and the workbench can be adjusted almost accurately.

According to claim 4 of the present invention, when the first distance detecting means and the second distance detecting means are fixed by being rotated (elevated) as in claim 3, the rotational position recognition means is used. Since the rotational positions of both distance detecting means can be recognized, the calculation in the normal direction calculating means and the separation distance calculating means can be performed almost accurately, and the distance between the target surface and the workbench can be calculated. The effect is that the adjustment can be performed almost accurately.

According to claim 5 of the present invention, an appropriate perpendicular distance is stored in the perpendicular distance storage means in advance, and the first distance detecting means and the second distance detecting means detect the distance between the target surface in each direction. The distance is detected, and the amount of rotation of the rotating means is adjusted by the amount of rotation adjusting means so that the two detected distances coincide with each other, and the holding means is rotated (elevated). The distance is detected by the third distance detecting means that points in the direction of the dividing line (third direction), and the detected distance in the third direction is set to an appropriate normal distance previously stored in the normal distance storing means. Since the movement signals are output so as to coincide with each other, even when the target surface is composed of a curved surface, it is possible to perform a predetermined work while always keeping the distance between the work table and the curved surface at a constant distance. Therefore, there is an effect that the quality of work on a curved surface can be constantly and automatically maintained, and anyone can perform a certain level of work without requiring skill.

According to claim 6 of the present invention, since the working direction of the working means is set in the same direction as the distance detecting direction of the third distance detecting means, the holding means is rotated with respect to the work table by the rotating means. The distance detection direction of the third distance detection means is perpendicular to the target surface by moving (elevating) to match the detection distance of the first distance detection means with the detection distance of the second distance detection means. At the same time, the working direction of the working means is always set to be perpendicular to the target surface. Therefore, there is no need to rotate (elevate) the working means again after the holding means pivots (elevates), and the processing efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a diagram schematically showing an aerial work vehicle according to a first embodiment of the present invention.

FIG. 2 is a control block diagram showing an aerial work vehicle according to the first embodiment of the present invention.

FIG. 3 is a block diagram showing a distance adjusting device of a surface work device in an aerial work vehicle according to the first embodiment of the present invention.

FIG. 4 is a diagram showing a distance detection principle of a surface work apparatus according to the first embodiment of the present invention.

FIG. 5 is a diagram showing the vicinity of the distance detecting means of the surface work apparatus according to the first embodiment of the present invention.

FIG. 6 is a sectional view showing a fixing means in the first embodiment of the present invention.

FIG. 7 is a flow chart showing an operation of a surface work device in an aerial work vehicle according to the first embodiment of the present invention.

FIG. 8 is a block diagram showing a distance adjusting device of a surface work device in an aerial work vehicle according to a second embodiment of the present invention.

FIG. 9 is a diagram showing a positional relationship between third nozzles and nozzles of a surface work device in an aerial work vehicle according to a second embodiment of the present invention.

FIG. 10 is a flowchart showing an operation of a surface work device in an aerial work vehicle according to a second embodiment of the present invention.

FIG. 11 is a diagram showing a distance detection principle of a surface work apparatus according to a second embodiment of the present invention.

FIG. 12 is a diagram showing a surface work apparatus in a conventional work platform for aerial work.

FIG. 13 is a diagram showing a surface work device in a conventional work platform for aerial work.

FIG. 14 is a schematic diagram showing a distance detection operation of a distance detector of a surface work device in a conventional work platform for high places.

FIG. 15 is a schematic diagram showing a distance detection operation of a distance detector of a surface work apparatus in a conventional work platform for high places.

FIG. 16 is a schematic diagram showing a distance detection operation of a distance detector of a surface work device in a conventional work platform for high places.

[Explanation of symbols]

 16 Working means 17 Input device 18 Computing device 19 Controller 21 Carriage 22 Turntable 23 Boom (movable arm) 24 Working platform 26 Distance adjusting device 27 Angle adjusting means 31 First distance detecting means 32 Second distance detecting means 33 Third Distance detecting means 34 Vertical direction calculating means 35 Vertical distance storing means 36 Distance calculating means 37 Comparing means 38 Movement signal output means 42 Fixing means 43 to 46 Work bench side screw holes 47, 48 Distance detecting means side screw holes 49 Fixing Screw 50 Rotation position recognition means 51 Holding means 52 Rotation shaft 53 Rotation means 54 Rotation amount adjustment means 55 Comparison section 56 Rotation direction instruction section 57 Rotation stop instruction section L3 Detection distance Lt3 Perpendicular distance Lu3 Separation distance

Claims (6)

[Claims] 1. An aerial work vehicle equipped with a work table on a movable arm attached to a trolley, and a work means for performing a predetermined work is mounted on the work platform, the work surface being in a first direction. First to detect the distance between
Distance detecting means, second distance detecting means for detecting a distance between the target surface in a second direction deviated from the first direction by a predetermined angle difference, the first direction and Third distance detecting means for detecting a distance to the target surface in the third direction between the second directions, and each detection in the first distance detecting means and the second distance detecting means From the result, a normal direction calculating means for approximately obtaining the direction of the normal to the target surface, and a normal distance memory for storing an appropriate normal distance between the target surface in the direction of the normal in performing the predetermined work. Means, from the normal distance stored in the normal distance storage means, and the direction of the normal calculated by the normal direction calculation means,
Separation distance calculation means for calculating an appropriate separation distance from the target surface in the third direction, the proper separation distance calculated by the separation distance calculation means, and detection by the third distance detection means And a movement signal output means for outputting a movement signal to the boom so that the workbench is located at the position of the proper separation distance based on the comparison result by the comparison means. Surface work equipment for aerial work vehicles equipped with. 2. The working means is rotatably supported by the work table, and further comprises working direction adjusting means for adjusting a working direction of the working means in a direction of the perpendicular calculated by the perpendicular direction calculating means. The surface work apparatus for an aerial work vehicle according to claim 1, comprising. 3. The first distance detecting means and the second distance detecting means.
The distance detecting means is rotatably supported at a predetermined position of the work table, and is fixed to position and fix the first distance detecting means and the second distance detecting means at a predetermined rotation position of the work table. The surface work apparatus for an aerial work vehicle according to claim 1, further comprising means. 4. A rotation position recognition means for recognizing the rotation positions of each of the first distance detection means and the second distance detection means when positioning and fixing by the fixing means. Surface work equipment for an aerial work vehicle described in 3. 5. An aerial work vehicle equipped with a work table on a movable arm attached to a trolley, and a work means for performing a predetermined work is mounted on the work platform, the work surface being in the first direction. First to detect the distance between
Distance detecting means, second distance detecting means for detecting a distance between the target surface in a second direction deviated from the first direction by a predetermined angle difference, the first direction and Third distance detecting means for detecting a distance to the target surface in the bisector direction of the second direction, the first distance detecting means, the second distance detecting means, and the third distance detecting means. Holding means for holding the distance detecting means, rotation means for rotating the holding means with respect to the work table about a rotation axis, and the first distance detecting means by rotating the holding means. Amount adjusting means for adjusting the amount of rotation of the rotating means so as to match the detected distance in the second distance detecting means with the detected distance in the second distance detecting means, and in performing the predetermined work, in the direction of the perpendicular line. Remember the proper perpendicular distance to the target surface A linear distance storage means, a detection distance detected by the third distance detection means at the rotation position adjusted by the rotation amount adjustment means, and the proper separation distance stored by the perpendicular distance storage means. And a movement signal output means for outputting a movement signal to the boom so that the workbench is located at the position of the proper separation distance based on the comparison result by the comparison means. Surface work equipment for work vehicles. 6. The surface work apparatus for an aerial work vehicle according to claim 5, wherein the work direction of the work means is set in the same direction as the distance detection direction of the third distance detection means.