JPH10151588A - Overhead wire working device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To practice work by efficiently using a teaching data set by using a standard assembling even when it is work for an overhead wire which is different from the standard assembling. SOLUTION: It is furnished with a boom position data input part 1 for teaching each of positional data of a manipulator and a boom suitable for work under an engineering method by using standard assembling, a manipulator positional data input part 2 and a teaching data memory part 3, a correction indication input part 6 to indicate a different point against the standard assembling and a correction data input part 4, a teaching data correction processing part 5 to correct each of the positional data taught in accordance with contents of this indication and a playback practice processing part 7 to practice work of the manipulator and the boom against the assembling slipped out of the above-mentioned standard assembling in accordance with each of the corrected positional data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an overhead electric wire working apparatus used in facilities for construction of overhead electric wires such as distribution lines, transmission lines and telephone lines.

[0002]

2. Description of the Related Art In recent construction methods for overhead electric wires, there is a method in which a manipulator is used in place of manual labor. In this method, the manipulator is usually arranged at the tip of a boom of an aerial work vehicle, and the operator remotely operates the manipulator using a manipulator operating device from an operation room installed on the boom or on the ground.

[0003] Standard values such as dimensions of overhead electric wires and electric poles are determined in advance according to construction standards, and construction methods are also standardized on the basis of standard poles having standard dimensions and the like set.

[0004] However, there has been proposed an apparatus which shortens the working time by using a manipulator having a teaching playback function and using teaching data obtained by performing the work using a standard mounting column as a model. . If you use this teaching playback function,
Even a beginner can easily use one skilled operator's operation technology, and can increase work efficiency.

[0005]

However, in an actual overhead line, the number of the same type as the standard pole, such as the position of the electric wire and the insulator being shifted, is rather few, and the rate at which the teaching data can be effectively used. Was low.

[0006] The present invention has been made in view of the above-described circumstances, and effectively utilizes teaching data set using standard poles even when work is performed on overhead electric wires slightly different from standard poles. It is an object of the present invention to provide an overhead wire working device capable of performing work.

[0007]

According to the first aspect of the present invention,
In an overhead power line working device for working on overhead power lines with an aerial work vehicle equipped with a boom equipped with a manipulator at the tip, each position of the manipulator and boom suitable for work on the construction method using standard poles Teaching means for teaching data, indicating means for indicating a difference from the standard mounting, correcting means for correcting each position data taught by the teaching means according to the contents of the indicating means, Playback means for executing the operation of the manipulator and the boom for a pillar deviating from the standard pillar based on each position data corrected by the means.

[0008] With this configuration, it is possible to execute the work on a column different from the standard column by effectively utilizing the data taught by the standard column. According to a second aspect of the present invention, in the first aspect of the present invention, the indicating means instructs a shift angle of the overhead electric wire with respect to a standard pole, and the correcting means sets each position data by a shift angle of the overhead wire. Is corrected using a vector operation.

With this configuration, in addition to the operation of the first aspect of the present invention, the teaching data for a column different from the standard column can be corrected by a relatively simple calculation. .

According to a third aspect of the present invention, in the first aspect of the invention, the correction means determines whether or not the content of the instruction means exceeds a limit value which can be corrected, and the determination means. And a notifying means for notifying that the operation is hindered when it is determined that the value exceeds the limit value which can be corrected by the control unit.

With this configuration, in addition to the operation of the first aspect of the present invention, the boom and the manipulator are out of the operation range with respect to a column different from the standard column so as not to be corrected. Can be quickly determined and the operator can be notified.

According to a fourth aspect of the present invention, in the third aspect of the present invention, further, a storage means for storing in advance a recommended work pattern different from the position data to be taught by the teaching means, and a notification by the notification means. Output means for reading out and outputting the recommended work pattern from the storage means when the operation is performed.

With this configuration, in addition to the operation of the third aspect of the present invention, when the boom or the manipulator is out of the operation range due to the correction, it is notified that the work cannot be executed. In addition, another recommended work pattern can be automatically provided to the operator as a compensation, and the work can be continued quickly and smoothly.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the displacement of the relative positional relationship between the manipulator and the mounting column caused by the movement of the aerial work vehicle is further corrected. And a movement correcting means for providing the corrected manipulator position data to the playback means.

According to this structure, in addition to the operation of the invention described in any one of the first to third aspects, even when the stop position of the aerial work vehicle moves, the relative positional relationship with the mounting pillar can be accurately determined. Work can be carried out.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the functional configuration. Both the boom and manipulator position data taught for each operation with the standard pillar input by the boom position data input unit 1 and the manipulator position data input unit 2 are both teaching data. The information is stored and stored in the storage unit 3.

The teaching data composed of the boom position data and the manipulator position data stored in the teaching data storage unit 3 is read out to the teaching data correction processing unit 5 at any time. In the teaching data correction processing unit 5, the correction data for the actual mounting input from the correction data input unit 4 and the correction instruction input unit 6 for the teaching data of the standard mounting read from the teaching data storage unit 3. By performing a correction process based on the input instruction content, teaching data for positioning the boom and the manipulator on the actual pillar is generated, and transmitted to the playback execution processing unit 7.

The playback execution processing section 7 controls and drives the manipulator driving section 8 and the boom driving section 9 based on the corrected teaching data sent from the teaching data correction processing section 5, respectively. The boom is moved to a desired position.

FIG. 2 shows the external appearance of an aerial work vehicle equipped with an overhead wire working device having the functional configuration as shown in FIG.
Reference numeral 8 denotes an aerial work vehicle.
2 and the manipulator 10 are mounted, and work on the mounting column 17 is performed.

That is, a manipulator 10 and a slide mechanism 11 for moving the manipulator 10 forward and backward are provided at the tip of the boom 12 installed on the aerial work vehicle 18.
And a camera 13 for monitoring the work environment. The operator 15 operates the manipulator 10, the slide mechanism 11, and the boom 12 by operating the operating device 14 while watching the monitor 19 that outputs an image obtained by the camera 13 on the aerial work vehicle 18. Execute

When the electric wire 16 (16a to 16c) attached in parallel to the arm 20 passes through the mounting column 17, and the work point WP is a predetermined work place on the electric wire 16 (16a in the figure). It is preferable that the manipulator 10 is located at a position sufficient for immediately accessing the work point WP. Therefore, the position of the boom 12 and the position of the manipulator 10 at that time are input as teaching data by the boom position data input unit 1 and the manipulator position data input unit 2 in FIG. 1 and stored in the teaching data storage unit 3. , Boom 1 to the stored position
By playing back the manipulator 2 and the manipulator 10, it is possible to easily access the work point WP.

FIG. 3 illustrates the motor functions of the boom 12 and the manipulator 10 of FIG. Here, the boom 12 includes a swiveling part 21, an undulating part 22, a telescopic part 23,
A horizontal base unit 24 and a swing unit 25 are provided, and a working base 33 is provided at a further tip side of the swing unit 25.

The sliding mechanism 11 is attached to the working base 33, and the manipulator 10 is installed at the tip of the sliding mechanism 11.
Here, the manipulator 10 has a first axis 26 and a second axis 2
7, the sixth axis 3, the fourth axis 29, the fifth axis 30, and the sixth axis 31.
It is assumed that an end effector 32 for performing an actual operation is provided at one end.

When the boom 12 and the manipulator 10 shown in the figure are at the optimum positions with respect to the work point WP, the position data of all these axes are input to the boom position data input unit 1 and the manipulator position data input unit 2 Is input as teaching data, and is stored in the teaching data storage unit 3 or the position of the end effector 32 is stored.
, The boom 12, the manipulator 10, and the slide mechanism 11 are moved.

An outline of a control configuration for teaching to the above-described boom 12 and each axis, which is a movable portion of the manipulator 10, will be described with reference to FIG. As shown in FIG.
The position is detected by a position sensor 36.

Assuming that the teaching position is the target value θobj and the value detected by the position sensor 36 is the current value θcur, these are both the comparator 37 at the preceding stage of the driver 34.
The current value θcur is subtracted from the target value θobj, and the difference is given to the driver 34 again as the speed command θ.

The comparator 37 is provided in a computer 38 having the functional configuration shown in FIG. 1 and executes an operation with a digital value. Here, a signal detected by the position sensor 36 is used. And the means for converting the calculated speed command θ into an analog signal and giving it to the driver 34 are omitted from illustration and description.

If the speed command θ, which is the difference between the target value θobj and the current value θcur, is too large and exceeds the input range of the driver 34, the target value θobj is set stepwise as appropriate. What should I do?

FIG. 5 shows an example in which the position of the end effector 32 is calculated. The current point of the end effector 32 is designated as PP. Assuming that the position vector is A and the target position vector is B, a movement vector C may be calculated to drive each axis of the manipulator 10.

The control method of the manipulator 10 is described in detail in Japanese Patent Application No. 3-143374.
Here, the description is omitted. Manipulator 1
Since not only 0 but also the boom 12 has a mechanically link structure, the method required for control is the same as that of the manipulator 10, and a description thereof will be omitted. The above slide mechanism 1
1 may be controlled independently, or may be integrally controlled as a part of the manipulator 10.

FIG. 6 shows the correction performed when working on a column different from the standard column. FIG. 6A shows the arm 20a and the electric wires 16a to 16c when the standard column 17a is viewed from above. FIG. In this case, the electric wires 16a to 16
c are laid vertically, and when the target position vector B from the reference coordinate Σ0 to the work point WP1 shown in FIG. 5 is given as teaching data, the work point WP1 is not corrected. The desired operation can be performed by moving the end effector 32 to this position.

On the other hand, FIG. 6B shows the mounting column 17
This illustrates a state of the arm bar 20b and the electric wires 16d to 16f when the mounting column 17b different from a is viewed from above. In this case, the electric wire 1 extends in the longitudinal direction of the arm 20b.
6d to 16f are all laid at a position shifted from the vertical by an angle α, and the working point WP is shifted from the reference coordinate Σ0.
In order to obtain the target position vector E up to 2 in FIG.
The correction vector D must be added to the target position vector B in the case of the standard pillar 17a shown in FIG. Therefore, by obtaining this correction vector D and adding it to the target position vector B as the initial teaching data,
The target position vector E corresponding to the mounting pillar 17b can be set.

FIG. 7 illustrates a method of setting the corrected target position vector E. FIG. 7 (a) illustrates a case where the operator 15 estimates the deviation angle α, and
The input deviation angle αe is processed by the teaching data correction processing unit 5. If the number of operations is large and there are many points to input teaching data,
Should be measured.

FIG. 7B shows an example of a method for obtaining the deviation angle α. The vector F from the reference coordinate Σ0 to the bending point FP on the electric wire 16d, the target position vector B, and the corrected target position vector E Is calculated, the correction vector D and the distance 1 can be calculated.
And the distance l, the shift angle α can be calculated.

Therefore, it is possible to know how the state of the electric wire 16d has changed from the state of the electric wire 16a of the standard mounting column 17a. Although the number and positions of the work points WP differ depending on each work, as a result of grasping the state change of the electric wire 16, by calculating the target position vector B and the corrected target position vector E for all the work points WP, The data can be played back using the data taught by the standard mounting pillar 17a.

In the above, not only the control on the link mechanism of the manipulator 10 but also the same control on the link mechanism of the boom 12 are performed, and the description thereof will be omitted. Next, the operation when the work is actually performed will be described below.

FIG. 8 exemplifies a series of work steps to be taught by pairing the work name and the work point. Here, in the first work step S1, the work is moved to the work point WP1 in order to carry out wire stripping. I do. Thereafter, in a second operation step S2, the operation moves to the operation point WP2 in order to brush the electric wire.

Hereinafter, in the same manner, the n-th work step Sn
In order to move to the work point WPn, a total of n work points are required, and all the work points are corrected by calculating the shift angle α first as shown in FIG. Is what you can do.

FIG. 9 exemplifies the contents of a case where correction processing of another work is performed using the deviation angle α once measured. Here, work 3 at work point WP3 to work at work point WP4 are shown. It is assumed that the teaching is performed in advance by the standard mounting pillar 17a as the one to be moved to No. 4. Therefore, in the standard mounting 17a, the inter-work correction vector G is required to move from the work point WP3 to the work point WP4.

The distance lb in FIG.
And the distance la from the turning point FP to the working point WP3
And the deviation angle α
And the correction vector Db can be calculated. As a result, playback may be performed so as to move from the work point WP3 of work 3 to the work point WP4 of work 4 using the correction vector Db.

FIG. 10 is a flowchart showing a processing procedure for actually performing the correction. At first, it is determined whether or not the electric wire 16 to be worked is bent around the arm 20 (step A1). .

When the electric wire 16 is not bent as shown in FIG. 6A, the mounting column 17 is replaced with the standard mounting column 17a.
It is possible to perform the operation of the taught data as it is and it is not necessary to perform the correction, so this processing is terminated.
When it is determined that the electric wire 16 is bent around the arm 20 as shown in (1), the teaching data correction processing unit 5 first determines whether or not to measure the deviation angle α (step A2).

If it is determined that measurement is to be performed,
Further, the position of the bending point FP is measured (Step A3),
Subsequently, the position of the new work point WP is measured (step A4). In this manner, the shift angle α can be obtained as described with reference to FIG. 6B and used to calculate each work point WP as correction data.

If it is determined in step A2 that the deviation angle α is not to be measured, the process proceeds to step A3.
Instead of the process of A4, the operator 15 directly inputs the shift angle α by the correction data input unit 4.

FIG. 11 shows the shift angle α obtained as described above.
This is a process that is performed for each work step during the execution of a work that has been corrected on the basis of the manipulator 1 at the beginning.
It is determined whether or not the work point WP has not been completely corrected based on whether or not the operation limit position has exceeded the zero operation limit position (step B1).

Here, the work point WP that cannot be completely corrected
If it is determined that the work point WP has not been corrected, the process is terminated and the work is continued, but if it is determined that the work point WP cannot be completely corrected, that is, as shown in FIG. If such a situation has occurred, an alarm is displayed to the operator 15 (step B2).

That is, in FIG. 12A, the electric wire 16d is bent around the bending point FP, and the working point WP4 on the standard mounting column 17a is
FIG. 2B shows a state in which it has moved to the position indicated by WP ′ in the figure.

However, if the end of the end effector 32 can only move to the position indicated by 32a in the figure due to the operation limit of the manipulator 10, the distance lf will be insufficient.

In such a case, the teaching data correction processor 5 displays an alarm to the operator 15 as described above, for example, an alarm lamp installed near the monitor 19 as shown in FIG. 41 is blinked and displayed.

As means for displaying an alarm to the operator 15, not only the alarm lamp 41, but also a shortage is displayed on the monitor 19, or the state is displayed on the screen as a diagram. Is also good.

After the warning indicating that the correction cannot be made is displayed as described above, it is determined whether or not another work recommendation method is prepared in advance (step B3). This is stored as spare teaching data in, for example, the teaching data storage unit 3 or a dedicated storage unit not shown in FIG. 1, and if there is no other work recommendation method, this processing is performed at that time. However, if it is determined that there is, the work recommendation method is read out and displayed on the monitor 19 to present its contents (step B4).

As the work recommendation method, specifically, the drive of the swinging part 25, the movement of the aerial work vehicle 18, and the like are presented. By presenting another work recommendation method in this manner, even if the state of the standard pillar 17a and the actual pillar 17b are so different that they cannot be corrected, the instruction is promptly given without being affected by the skill of the operator 15. It is possible to shift to another work and execute the work efficiently.

However, when the aerial work vehicle 18 is moved in accordance with the above work recommendation method, the relative position between the aerial work vehicle 18 and the mounting pillar 17 naturally changes. Such a relative position is determined.

That is, as shown in FIG. 13, the aerial work vehicle 18 is first installed near the pole 17 as shown in FIG. 2 and within a range where the work is possible (step C1). After selecting the mounting pillar 17 (step C2), what is to be executed from the work previously taught is selected by the display contents of the monitor 19 and the operation of the operation device 14 (step C3).

Next, when the position of the selected pillar 17 is measured (step C4), the relative position between the pillar 17 and the manipulator 10 is determined (step C5). Is completed. It is needless to say that the present invention is not limited to the above embodiment, and can be variously modified and implemented without departing from the gist thereof.

[0056]

According to the first aspect of the present invention, a work different from the standard mounting can be executed by effectively utilizing the data taught by the standard mounting. According to the second aspect of the invention, in addition to the effect of the first aspect of the present invention, the teaching data can be corrected for a column different from the standard column by a relatively simple calculation.

According to the third aspect of the present invention, in addition to the effects of the first aspect of the present invention, the boom and the manipulator may be out of the operating range for a column different from the standard column so that it cannot be corrected. Can be quickly determined and the operator can be notified.

According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is notified that the boom and the manipulator are out of the operating range due to the correction, and that the work cannot be executed. In this case, other work recommendation patterns can be automatically provided to the operator as a compensation,
Work can be continued quickly and smoothly.

According to the fifth aspect of the present invention, in addition to the effects of the first to third aspects, even when the stop position of the aerial work vehicle is moved, the relative positional relationship with the mounting pillar is changed. Work can be performed with accuracy maintained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a functional configuration according to an embodiment of the present invention.

FIG. 2 is a view showing the appearance of the aerial work vehicle according to the embodiment;

FIG. 3 is a diagram showing motor functions of the boom and the manipulator of FIG. 2 in particular.

FIG. 4 is a block diagram showing a control configuration for each axis of the boom and the manipulator of FIG. 3;

FIG. 5 is an exemplary view for explaining the position calculation method of the end effector according to the embodiment;

FIG. 6 is an exemplary view for explaining correction for a column different from the standard column according to the embodiment;

FIG. 7 is an exemplary view for explaining a method of setting a corrected target position vector according to the embodiment;

FIG. 8 is a diagram exemplifying work contents for the overhead electric wire according to the embodiment.

FIG. 9 is a view exemplifying a correction process using a shift angle α according to the embodiment;

FIG. 10 is a flowchart showing correction processing according to the embodiment;

FIG. 11 is a flowchart showing processing contents after correction according to the embodiment;

FIG. 12 is an exemplary view for explaining an alarm display for an uncorrectable operation according to the embodiment;

FIG. 13 is a flowchart showing processing contents for movement of the aerial work vehicle according to the embodiment;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Boom position data input unit 2 ... Manipulator position data input unit 3 ... Teaching data storage unit 4 ... Correction data input unit 5 ... Teaching data correction processing unit 6 ... Correction instruction input unit 7 ... Playback execution processing unit 8 ... Manipulator drive Unit 9 Boom drive unit 10 Manipulator 11 Slide mechanism 12 Boom 13 Camera 14 Operating device 15 Operator 16, 16 a to 16 f Electric wires 17, 17 a, 17 b Mounting column 18 High work vehicle 19 Monitor 20, 20a, 20b Arms 32 End effector 33 Working base 34 Driver 35 Actuator 36 Position sensor 37 Comparator 38 Computer 41 Alarm lamp

Claims (5)

[Claims] An overhead electric wire working device for performing an operation on an overhead electric wire by an aerial work vehicle equipped with a boom having a manipulator mounted at a tip thereof, the manipulator being suitable for a work in a construction method using a standard pole. Teaching means for teaching each position data of the boom and the boom; indicating means for indicating a difference from the standard mounting column; and correction for correcting each position data taught by the teaching means according to the contents of the indicating means. Means, and playback means for executing the operation of the manipulator and the boom on the pillar deviating from the standard pillar based on each position data corrected by the correcting means. Electric wire working equipment. 2. The method according to claim 1, wherein the indicating means indicates a shift angle of the overhead electric wire with respect to a standard pole, and the correcting means corrects each position data using a vector operation based on the shift angle of the overhead wire. The overhead electric wire working device according to claim 1, wherein 3. A correction means for determining whether or not the content of the instruction means exceeds a limit value at which correction is possible, and when the determination means determines that the content exceeds the limit value at which correction is possible. 2. An overhead wire working device according to claim 1, further comprising a notifying unit for notifying that the work is hindered. 4. A storage means for storing in advance a work recommendation pattern different from the position data to be taught by the teaching means, and a work recommendation pattern from the storage means when the notification is made by the notification means. 4. The overhead wire working device according to claim 3, further comprising output means for reading and outputting. 5. A movement correction unit for correcting a displacement of a relative positional relationship between the manipulator and a mounting pillar caused by the movement of the aerial work vehicle, and providing the corrected position data of the manipulator to the playback unit. The overhead wire working device according to any one of claims 1 to 4, further comprising means.