JPH11217198A - Controller of working vehicle provided with boom - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a boom from interfering with an obstacle, in a working vehicle provided with a boom, for performing the redundant operation. SOLUTION: A controller finds control values of a position calculating means 32 for calculating present positions of first and second reference points and a control point; a regulating range calculating means 31 for calculating the projecting distance between the reference points on the basis of position signals of respective reference points in the start of the operation by taking the projecting distance as the regulating range or for reading out the preset projecting distance A0 by taking it as the regulating range; and respective driving means 11, 12, 13 for supposing a plurality of driving means groups and in the movement. Moreover, the controller is provided with an operation control means 34 for finding the projecting distance A1 to An among respective reference points as the moving ranges, comparing the set projecting range A0 with respective moving ranges A1 to An, selecting a driving means group corresponding to A1 to An>A0 and determining the priority of the operation to the driving means groups; and a control value output means 35 for outputting the control values to respective driving means belonging to respective driving means groups according to the priority of the operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a working machine with a boom, such as a crane and an aerial work vehicle.

[0002]

2. Description of the Related Art In a conventional work machine with a boom such as an aerial work vehicle, when a work table is moved, regulation of work posture based on the stability performance of the work machine or control of obstacles around the work environment is required. Regulations for controlling the working posture to avoid interference are performed.

[0003] In this case, since the boom provided in the conventional working machine is a telescopic boom that expands and contracts in the axial direction, the posture of the working machine is uniquely determined with respect to the position of the worktable. That is, when the workbench is set at a certain position, the boom length, the up-and-down angle, and the turning angle can take only specific values, respectively. Therefore, the restriction control other than the above-described posture control is performed. Not.

[0004]

By the way, the working machine is
In the case of a boom having a telescopic / bending structure driven in the bending direction, in addition to the telescopic movement in the axial direction, the working machine is moved with respect to the position of the work table provided at the tip of the boom. Various postures can be taken (that is, a redundant operation is performed).

[0005] As shown in FIG. 8, the boom 50 is moved to a point P _01.
Boom member 51 that can be driven up and down with respect to the center and that can be driven to expand and contract in the axial direction, and bend drive with respect to a point P ₀₂ (hereinafter referred to as a reference point P ₀₂ ) at the tip of the first boom 51 The following is a description of an example of a working machine including a boom 50 including a second boom member 52 that is freely connected and that can be driven to expand and contract in the axial direction.

[0006] the tip of the boom 50, i.e., the control points P ₀₃ set at the tip of the second boom member 52, from the position at the current time of the solid line shown in the figure, the point P ₀₃ along the vertical line Q ′, Even if the control point P ₀₃ is set to the same control point P ₀₃ ′, the reference point P ₀₂ ′ is
In projection position onto a horizontal plane, toward the reference point P ₀₁ than the original reference points P ₀₂ (inside the working radius direction,
Is "A '<A") position, but outside in the direction away from the reference point P ₀₁ than the initial reference point P ₀₂ of the (working radius direction "the reference point P ₀₂ in the case shown in" code 50 Then, "A
<A ")). In other words, the position of the reference point _P02 changes depending on which one of the plurality of driving units involved in the linear movement is driven, thereby providing a redundant operation.

In the case of such a redundant operation, in particular, as shown by reference numeral 50 "in FIG.
_{If the operation of 02} is located outside the position on the initial working radius, the operator moves the control point _{P03 out} of the moving position of the control point P03 when the operator actually operates the work machine. , it is necessary to prevent the this gazing at the position of the reference point P ₀₂ interferes with the obstacle around the work environment, the operation becomes extremely complicated, thus leaving a problem in terms of operability.

Accordingly, the present invention provides a method for operating a working machine that performs a redundant operation to move a control point set at the distal end of the boom to a target position. It is an object of the present invention to provide a control device for a working machine with a boom that can reliably prevent interference with the boom.

[0009]

Means for Solving the Problems In the present invention, the following configuration is adopted as specific means for solving such problems.

According to the first aspect of the present invention, the first boom member 41 is attached to the base 1 so as to be swivelable and undulating and is driven to turn by the turning drive means 11 and is driven to be raised and lowered by the up and down drive means 12. And a second boom member 42 which is attached to the distal end of the first boom member 41 so as to be able to bend with respect to the first boom member 41 and is driven to bend by the bending drive means 13. Prepared,
The control point P ₃ set on the tip side of the second boom member 42
In the control device for a working machine with a boom, the driving means 11, 12, and 13 are appropriately driven to move the first boom member 41 to the target position designated by the target position input means 20. A first reference point P ₁ is set at the center, and a second reference point P ₂ is set at the center of the bending of the first boom member 41 and the second boom member 42. Operating state detecting means 6 for detecting the operating state of the first and second reference points P ₁ , P ₂ and the current position of the control point P ₃ in response to a signal from the operating state detecting means 6. And a position signal of the first reference point P ₁ from the position calculating means 32 when the operation start signal is received and the second reference point first, based on the position signal P ₂ And it calculates the projection distance A ₀ of the horizontal plane between the semi points P ₁ and the second reference point P ₂ and the regulating range this, or the regulation range which reads the projection distance A ₀ set in advance And the position signals of the first and second reference points P ₁ and P ₂ and the control point P ₃ from the position calculating means 32 and the target position inputting means 20.
And the target position signal from the driving means 11,
12 and 13 are combined to form a plurality of driving means groups G _{1 to} Gn.
Assuming, respective drive means 1 the control point P ₃ by driving the respective driving means 11, 12 and 13 belonging to the respective drive means group G ₁ ～Gn when moving to the target position
With obtaining the control value of 1,12,13, projected on a horizontal plane between the reference point P ₁ of the first each of the one drive means group G ₁ ～Gn in case the second reference point P ₂ Distance A
A moving range calculating means 33 for obtaining _{1 to} An as a moving range for each of the driving means groups G _{1 to} Gn; a restricting range A ₀ from the restricting range calculating means 31 and a moving range A from the moving range calculating means 33. receiving an ₁ .about.An compare these, within the respective movement range a ₁ .about.An, driving means group G ₁ to which the movement range a ₁ .about.An correspond to smaller than the regulating range a ₀
To Gn, and the operation control means 34 for determining the operation priority order for the selected drive means groups G _{1 to} Gn under certain conditions, and the operation priority order determined by the operation control means 34. Based on the above, each of the driving means groups G _{1 to} Gn
Is characterized in that a control value output means 35 for outputting the control value to the respective drive means 11, 12 and 13 belonging to the respective drive means group G ₁ ~Gn to sequentially actuate the.

In the second invention of the present application, the first boom member 41 is attached to the base 1 so as to be swivelable and undulating, and is driven to turn by the turning drive means 11 and is driven to be raised and lowered by the up and down drive means 12. And a second boom member 42 which is attached to the distal end of the first boom member 41 so as to be able to bend with respect to the first boom member 41 and is driven to bend by the bending drive means 13. Prepared,
The control point P ₃ set on the tip side of the second boom member 42
In the control device for a working machine with a boom, the driving means 11, 12, and 13 are appropriately driven to move the first boom member 41 to the target position designated by the target position input means 20. A first reference point P ₁ is set at the center, and a second reference point P ₂ is set at the center of the bending of the first boom member 41 and the second boom member 42. Operating state detecting means 6 for detecting the operating state of the first and second reference points P ₁ , P ₂ and the current position of the control point P ₃ in response to a signal from the operating state detecting means 6. And a position signal of the first reference point P ₁ from the position calculating means 32 when the operation start signal is received and the second reference point first, based on the position signal P ₂ And it calculates the projection distance A ₀ of the horizontal plane between the semi points P ₁ and the second reference point P ₂ and the regulating range this, or the regulation range which reads the projection distance A ₀ set in advance And the position signals of the first and second reference points P ₁ and P ₂ and the control point P ₃ from the position calculating means 32 and the target position inputting means 20.
Receiving the target position signal from the
Of the plurality of driving means groups G _{1 to} Gn set in combination of 1, 12, and 13, driving means 11, 12, and 13 belonging to any one driving means group Gx are driven to control the control point P _3. the respective drive means 11, 12, 13 of the control value Ex and the reference point P ₁ of the first of said first drive means group Gx when a second reference point P ₂ in the case of moving to the target position Is determined as the moving range of the one driving means group Gx, and the moving range Ax is compared with the regulation range A ₀ to obtain “A _x <A.
If “ ₀ ”, the control value Ex is output, and “Ax>
A ₀ in the case "is the operation control means 36 for performing the processing for the other drive means group G ₁ ~Gn without outputting the control value Ex, said operation control means each drive unit group from 36 G ₁ ＧGn to receive the control values E ₁ ＥEn output for each of the driving means groups G ₁ ＧGn to sequentially operate the driving means groups G ₁ ＧGn.
It is characterized in that control value output means 37 for outputting the control values E _{1 to} En are provided in 12 and 13.

In a third aspect of the present invention, the first or second aspect
In the control device for a working machine with a boom according to the invention of the present invention,
It said first boom member 41 expands and contracts driven by the first elastic drive means 14, with the length fixed to the second boom member 42, the first elastic drive means 14 the drive means group G ₁ ~ It is characterized in that it is a component of Gn.

In the fourth invention of the present application, the first or the second
In the control device for a working machine with a boom according to the invention of the present invention,
The first boom member 41 has a fixed length, and the second boom member 41 has a fixed length.
The boom member 42 while stretchable driven by a second elastic drive means 15, the second telescopic drive means 5 is characterized in that the components of the drive means group G ₁ ~Gn.

In the fifth invention of the present application, the first or the second
In the control device for a working machine with a boom according to the invention of the present invention,
The first boom member 41 is driven to expand and contract by the first telescopic drive means 14 and the second boom member 42 is driven to expand and contract by the second telescopic drive means 15. It is characterized in that both of the means 15 are constituent elements of the driving means groups G _{1 to} Gn.

In the sixth invention of the present application, the first, third,
In the control device for a working machine with a boom according to the fourth or fifth aspect of the present invention, the operation control means 34 determines the priority of operation by the selected _{one of the} drive means groups G _{1 to} Gn.
Way to compare the movement range A ₁ .about.An in precedence to the ascending order of the values corresponding to the respective method for priority in the order set in advance, or drive unit group G ₁ close to the operator operating the working machine ~Gn The method is characterized in that it is performed by any of the methods in which priority is given in order from the first.

[0016]

According to the present invention, the following effects can be obtained by adopting such a configuration.

According to the control device for a working machine with a boom according to the first invention of the present application, the movement of the control point P ₃ set on the end side of the second boom member 42 in the boom 4 by operating the target position input means 20. When a target position to be designated is specified, an operation start signal is received, and first, in the regulation range calculating means 31, the first reference point P from the position calculating means 32 is set.
Projection distance A ₀ is restricted range onto a horizontal plane between the reference point P ₁ of the first and second reference point P ₂ on the basis of the _first position signal and the second position signal of the reference point P ₂ It is calculated, or in advance projection distance A ₀ set is read as restricting the scope as.
The position calculating means 32 receives a signal relating to the current operating state of the boom 4 from the operating state detecting means 6 and receives the first and second reference points P ₁ and P ₂ and the control point. calculating the respective current position of P _3.

On the other hand, in the moving range calculating means 33,
Upon receiving the position signals of the first and second reference points P ₁ and P ₂ and the control point P ₃ from the position calculating means 32 and the target position signal from the target position input means 20, each drive A plurality of driving means groups G by combining the means 11, 12 and 13;
₁ ～Gn assumed, this drives the respective drive means group G ₁ each drive means 11, 12 and 13 belonging to ～Gn by the control point P
₃ together with control values of the respective drive means 11, 12 and 13 in the case of moving to the target position is determined, the reference point P ₁ of the first each of the one drive means group G ₁ ～Gn in case determined as the projection distance a ₁ .about.An movement range of each respective drive unit group G ₁ ~Gn on a horizontal plane between the second reference point P _2.

Thereafter, the operation control means 34
These are compared by receiving the movement range A ₁ .about.An from regulating range A ₀ and the moving range calculation unit 33 from the regulating range calculation unit 31, among the respective movement range A ₁ .about.An,
Driving means groups G ₁ -Gn corresponding to the moving ranges A ₁ -An smaller than the regulation range A ₀ are selected, and the priority of the operation of the selected driving means groups G ₁ -Gn under certain conditions. The order is determined, and the control value output means 3
5, based on the operation priority determined by the operation control means 34, each of the driving means groups G _{1 to} G _1.
to sequentially operate the n control values to the respective drive means 11, 12 and 13 belonging to the respective drive means group G ₁ ~Gn is output.

By executing this control, the control point P ₃ is set to the current position under the condition that the reference position P ₂ is regulated to be within the regulation range defined by the position at the start of the operation. It is moved from the position to the target position. As a result, despite performs a working working machine is a redundant, interference with the obstacle around the work environment the boom 4 is prevented, the operator only the position of the control point P ₃ Work while checking the
For example, improvement in operability and workability can be expected as compared with the case where attention must be paid to interference between the boom and obstacles around the work environment as in the related art.

According to the control device for a working machine with a boom according to the second invention of the present application, the movement of the control point P ₃ set on the end side of the second boom member 42 in the boom 4 by operating the target position input means 20. When a target position to be designated is specified, an operation start signal is received, and first, in the regulation range calculating means 31, the first reference point P from the position calculating means 32 is set.
Projection distance A ₀ is restricted range onto a horizontal plane between the reference point P ₁ of the first and second reference point P ₂ on the basis of the _first position signal and the second position signal of the reference point P ₂ It is calculated, or in advance projection distance A ₀ set is read as restricting the scope as.
The position calculating means 32 receives a signal relating to the current operating state of the boom 4 from the operating state detecting means 6 and receives the first and second reference points P ₁ and P ₂ and the control point. calculating the respective current position of P _3.

On the other hand, in the operation control means 36, the position signals of the first and second reference points P ₁ and P ₂ and the control point P ₃ from the position calculation means 32 and the target position input means 20 receiving a target position signal from among the combinations set plurality of drive means group G ₁ ~Gn of each drive means 11, 12 and 13, each drive means belonging to any one of the drive means group Gx above the one drive means group Gx in which case the control values Ex of the respective drive means 11, 12 and 13 in the case of 11, 12, 13 a by driving moving the control point P ₃ to the target position No. Projection distance Ax on the horizontal plane between the _first reference point P ₁ and the second reference point P ₂
Together with obtaining a movement range of the one of the drive means group Gx, compares the said moving range Ax and the regulating range A _0.
If “A _x <A ₀ ”, the control value Ex is output as it is because there is no possibility of interference between the boom 4 and obstacles around the work environment. In contrast, "Ax
> A ₀ ”, there is a risk of the interference,
The control value Ex is not output, and then the one driving means group G
The same processing as described above is performed for another driving means group among the driving means groups G _{1 to} Gn other than x. The control value output means 37 receives the control values E _{1 to} En output from the operation control means 36 and receives the control values E _{1 to} En so as to sequentially operate the drive means groups G _{1 to} Gn. The control values E _{1 to} En are output to the driving means 11, 12, and 13 belonging to _{1 to} Gn.

By executing such control, the control point P ₃ is set to the current position under the condition that the reference position P ₂ is regulated to be within the regulation range defined by the position at the start of the operation. It is moved from the position to the target position. As a result, despite performs a working working machine is a redundant, interference with the obstacle around the work environment the boom 4 is prevented, the operator only the position of the control point P ₃ Work while checking the
For example, improvement in operability and workability can be expected as compared with the case where attention must be paid to interference between the boom and obstacles around the work environment as in the related art.

According to the control device for a working machine with a boom according to the third invention of the present application, the following specific effects can be obtained in addition to the effects described above or above. That is, according to the present invention, the first boom member 41 is driven to expand and contract by the first expansion and contraction drive means 14, the second boom member 42 is fixed in length, and the first expansion and contraction drive means 14 is Since it is a component of the driving means groups G _{1 to} Gn,
By operating the first telescopic boom 41 telescopically, high operability and operability are ensured in spite of the work machine having higher operational redundancy.

According to the control device for a working machine with a boom according to the fourth aspect of the present invention, the following specific effects can be obtained in addition to the effects described above or above. That is, in the present invention, the first boom member 41 is of a fixed length type, and the second boom member 42 is connected to the second telescopic drive unit 15.
And the second telescopic driving means 5 is a component of the driving means groups G _{1 to} Gn.
By operating the second telescopic boom 42 telescopically, high operability and operability are ensured, despite the fact that the working machine has a higher operational redundancy.

According to the control device for a working machine with a boom according to the fifth aspect of the present invention, the following specific effects can be obtained in addition to the effects described above or above. That is, in the present invention, the first boom member 41 is driven to expand and contract by the first expansion and contraction driving means 14, and the second boom member 42 is driven to expand and contract by the second expansion and contraction driving means 15. Since the first and second telescopic booms 41 and the second telescopic boom 42 are both driven as telescopic components because the first telescopic drive unit 14 and the second telescopic drive unit 15 are both components of the driving unit groups G _{1 to} Gn. However, high operability and workability are ensured in spite of the higher working machine.

According to the control device for a working machine with a boom according to the sixth aspect of the present invention, the following specific effects can be obtained in addition to the effects described above. That is, in the present invention, the determination of the operation priority order in the operation control means 34 is performed by the selected drive means group G _1.
To Gn corresponding to each of the moving ranges A _{1 to} An, and prioritizing the moving ranges A _{1 to} An in descending order of the value (first method).
Method), a method of prioritizing in a preset order (second
) Or a method (third deciding method) of prioritizing the driving means groups G _{1 to} Gn closer to the operator who operates the work machine (third deciding method).
Therefore, according to the first determination method, since the driving means is driven first from a group of driving means having a low risk of interference between the boom 4 and an obstacle around the work environment, the above-described interference can be avoided more reliably. According to the second determination method, the driving means groups are driven in a preset order, so that the operator can predict the movement of the work machine, and the sense of security in operation is improved. Further, according to the third determination method, since the driving means is driven first from the driving means group close to the operator, the operator can confirm the operation and the actual movement close to each other, and the reliability of the operation is improved. .

[0028]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be specifically described based on preferred embodiments. First Embodiment FIG. 1 shows an aerial work vehicle Z provided with a control device according to a first embodiment of the present invention. This aerial work vehicle Z
Is mounted on a crawler-type base 1 via a swivel seat 3 so as to be able to swivel, and is constituted by a swivel driving means 11 constituted by a hydraulic motor.
The boom 4 is attached to the swivel table 2 which is swivel-driven so as to be able to move up and down.

The boom 4 is constituted by a hydraulic cylinder located at the base end thereof and driven by a first telescopic drive means 14 constituted by a hydraulic cylinder and disposed between the boom 4 and the swivel 2. A first telescopic boom 41 driven up and down by the raising and lowering drive means 12;
Is bent and driven by bending drive means 13 which is connected to the rear side of the first telescopic boom 41 so as to be freely bendable and is provided with a hydraulic cylinder disposed between the front end and the first telescopic boom 41. And a second telescopic boom 42 which is driven to expand and contract by a second telescopic drive means 15 which is constituted by a hydraulic cylinder built therein. Further, a worktable 5 is attached to a distal end of the second telescopic boom 42, that is, a distal end of the boom 4 via a leveling mechanism 7 and a swing mechanism 8. In addition, this worktable 5
Above the joystick type target position input means 20 is disposed, and when the operator operates the target position input means 20, a target position for movement of the work table 5 is indicated.

In the aerial work vehicle Z, a turning angle “φ” of the swivel 2 (ie, the boom 4) is provided as operating state detecting means 6 for detecting the current operating state of the boom 4. a turning angle detecting means 21 for detecting a "detects the hoisting angle detecting means 22 for detecting a" theta ₁ "hoisting angle of the first telescopic boom 41, the length of the first telescopic boom 41 to" L ₁ " The first boom length detecting means 24 and the bending angle “θ ₂ ” of the second telescopic boom 42 with respect to the first telescopic boom 41
Angle detecting means 23 for detecting the second telescopic boom 4
Second boom length detecting means 2 for detecting the length “L ₂ ” of the second boom
5 are provided.

Further, in this aerial work vehicle Z, a reference point “P ₁ ” is set at the fulcrum of the first telescopic boom 41 as a reference point for operation control, and the first telescopic boom 41 and the second telescopic boom are used. The reference point “P ₂ ” is set at the bending fulcrum with the reference point 42, and the control point “P ₃ ” to be subjected to the movement control is set at an appropriate position on the distal end side of the second telescopic boom 42. (Note that the control point “P ₃ ” indirectly indicates the position of the work table 5. Therefore, in another embodiment, the control point “P ₃ ” is set on the work table 5. That you can do).

In the control device for the aerial work vehicle Z according to the present embodiment, the drive points are moved to move the control point "P ₃ " to the target position indicated by the target position input means 20. In this case, in this embodiment, each of the driving units 11 to 15 is provided as a driving unit having a different driving target, and the control point “P ₃ ” Since the position of the reference point “P ₂ ” performs a redundant operation that cannot be uniquely determined with respect to the position of
Highest position risk of interfering with an obstacle near the working environment by actuation with a redundancy, that is, the position of the reference point "P _2" in the above boom 4, the reference point in the operation start point "P _2" The driving means 11 to 15 are selected and driven so as not to protrude beyond the position in the working radial direction from the position, thereby preventing the boom 4 and the obstacle from interfering with each other beforehand and reliably. The basic idea is to realize operation control with good workability and workability.

More specifically, as shown in FIG. 4, when the posture (initial posture) of the boom 4 at the start of the operation is shown by a solid line, the control point “P ₃ ” in this initial posture is for example 'when moving up, reference numeral 4 in the drawing control point "P _3"' by a vertical linear movement in the boom position shown, the reference point the reference point "P ₂ '" is in the initial attitude from "P _2" Is located on the inner side in the working radial direction (that is, the movement range “A ₀ ′” represented by a projected line segment on the horizontal plane between the reference point “P ₁ ” and the reference point “P ₂ ′” The operation is permitted because it is smaller than the regulation range “A ₀ ” represented by the projection line segment in the initial posture). In contrast, "in the boom position shown in the above reference point" P ₂ "code 4 in figure" is located in the working radially outward from the reference point "P _2" in the initial position (i.e. A movement range “A ₀ ” represented by a projected line segment on the horizontal plane between the reference point “P ₁ ” and the reference point “P ₂ ″” is restricted by a projected line segment in the initial posture. Since the range is larger than “A ₀ ”, the operation is restricted.

This operation control is performed by a control unit 30 described below. Therefore, as shown in FIG. 1, the control unit 30 is provided with a target position signal from the target position input means 20. In addition, detection signals from the detection means 21 to 25 are input to the control unit 30. The control unit 30 calculates control values of the drive means 11 to 15 based on the input signals, and calculates the control values. This is output to each of the driving means 11 to 15. And such control unit 3
In the operation control by 0, as described below, each of the driving units 11 to 15 is divided into a plurality of driving units separately for each combination whose operation amount can be uniquely determined from the position of the control point “P ₃ ”. A group of means is set, and a priority of operation is given to each group of driving means under a certain condition, and each group of driving means is sequentially driven in the order of the priority. Hereinafter, the details of the operation control will be specifically described based on the control block diagram shown in FIG. 2 and the control flowchart shown in FIG.

First, the basic concept of control in the control unit 30 will be described. In a vehicle having five driving means 11 to 15 like the aerial work vehicle Z of this embodiment, these five units are used. When three specific driving amounts among the driving units 11 to 15 are determined, the control point “P
The position of " ₃ " is uniquely determined. Therefore, as a combination of driving means capable of such a unique position determination,
The following six cases, that is, six driving means groups are conceivable.

A first driving means group G ₁ : a first expansion / contraction driving means 14, an up / down driving means 12, and a turning driving means 11;

Second drive means group G ₂ : a _second drive means group G _{2 comprising a} second expansion / contraction drive means 15, a bending drive means 13 and a turning drive means 11.

Third drive means group G ₃ : a first expansion / contraction drive means 14, a bending drive means 13 and a turning drive means 11.

Fourth drive means group G ₄ : a second drive means group G _{4 comprising a} second expansion / contraction drive means 15, an up / down drive means 12 and a turning drive means 11.

Fifth driving means group G ₅ : first driving means 14, second driving means 15, and turning driving means 11.

Sixth drive means group G ₆ : undulation drive means 12
And bending driving means 13 and turning driving means 11.

In this embodiment, since the five driving means are provided as described above, the above six combinations can be considered as a driving means group constituted by these five driving means. The number of driving means groups differs depending on the number of the driving means. For example, when the second telescopic boom 42 is of a fixed length type, the second telescopic drive means 15 does not exist.
The first telescopic drive unit 14, the up-down drive unit 12, and the turning drive unit 11, the first telescopic drive unit 14, the bend drive unit 13, and the turn drive unit 11, the up-down drive unit 12, and the bend Driving means 13 and turning drive means 1
There are three of the ones. When the first telescopic boom 41 is of a fixed type, the first telescopic drive means 14 does not exist, so the driving means group includes the second telescopic drive means 15, the bending drive means 13 and the turning drive. Means 1
1; the second expansion / contraction drive unit 15; the undulation drive unit 12 and the turning drive unit 11; and the three unit consisting of the undulation drive unit 12, the bending drive unit 13, and the turn drive unit 11.

On the other hand, the priority order for sequentially operating the driving means groups G _{1 to} G ₆ is, for example, assuming that the operation of the driving means groups G _{1 to} G ₆ is permitted. A _first determination method for comparing the moving ranges A _{1 to} A ₆ corresponding to the driving means groups G _{1 to} G ₆ and giving priority to the smaller ones, or a second determination for giving priority to a preset order. For example, a third determination method that gives priority to the driving means groups G _{1 to} G _{6 that} are closer to the operator operating the working machine can be considered.

Next, the configuration and function of the control unit 30 will be described with reference to FIG. The control unit 30 includes a regulation range calculating unit 3.
1, a position calculating means 32, a moving range calculating means 33, an operation controlling means 34 and a control value outputting means 35 are provided.

When the target position input means 20 is operated, the control range calculating means 31 controls the control range of the boom 4 at the time of the operation ("A ₀ " in FIG. 4).
For calculating the restriction range calculating means 3.
The operation start signal from the target position input unit 20 to 1, the reference point from the position calculating means 32 which will be described next "P _1" and the reference point the current position "P _2" (position on the orthogonal coordinates) Is calculated based on the input signals, and calculates the regulation range “A ₀ ”.
Is output to

The position calculating means 32 receives the detection signals from the detecting means 21 to 25 constituting the operating state detecting means 6 and receives the reference point "P ₁ " set on the boom 4 as a reference. Calculate the current position (position on rectangular coordinates) of the point “P ₂ ” and the control point “P ₃ ”, and output the calculated values to the above-described restricted range calculating means 31 and the following moving range calculating means 33. It is.

The movement range calculating means 33 calculates the target position of the movement of the control point “P ₃ ” inputted from the target position input means 20 and the reference point “P ₁ ” inputted from the position calculating means 32. ”, The reference point“ P ₂ ”, and the information on the current position of the control point“ P ₃ ”.
Every ₁ ~G _6, a respective control value of the driving means in the case where the drive means to thereby drive the driving means belonging group is moved to the target position the control point "P _3" from the current position,
A movement range “A _{1 to} A ₆ ” represented by a projected line segment on the horizontal plane between the reference point “P ₁ ” and the reference point “P ₂ ” in each of the driving means groups is calculated. , And outputs these control values and the movement range to the operation control means 34 described below.

The operation control means 34 outputs the control values of the respective driving means 11 to 15 from the movement range calculation means 33 to the control value output means 35 described below, while Of the above driving means groups G _{1 to} G ₆
The movement range “A _{1 to} A ₆ ” for each of the
Receiving the regulation range “A ₀ ” from 1 and comparing them, respectively. Then, first, of the moving ranges “A _{1 to} A ₆ ”, those whose values are larger than the value of the above-mentioned restricted range “A ₀ ” are extracted, and a driving means group corresponding to the extracted restricted range is extracted. In addition to being excluded from the operation control targets, the other driving means groups determine the priority of operation based on their movement ranges, and output this to the control value output means 35 described below. It should be noted that the above-mentioned three methods are conceivable as a method of assigning the priority, and which method is adopted is appropriately selected according to the use situation of the aerial work vehicle Z, the operational preference of the operator, and the like.

The control value output means 35 receives the control values from the operation control means 34 for each of the drive means 11 to 15 belonging to each of the drive means groups, and the priority of each drive means group. In order of priority, the driving means groups G ₁
~G respectively belonging to each drive means 11 to 15 ₆ are those allowed to drive it and outputs the control value.

The operation control in the control unit 30 will be described in more detail with reference to the flowchart shown in FIG. That is, after the start of the control, first, in step S1, it is determined whether or not the target position has been input (in other words, whether or not the target position input means 20 has been operated), and when the target position has been input, the flow proceeds to step S2. Transition.

In step S2, signals (θ ₁ , θ ₂ , L ₁ , L ₂ , φ) relating to the current state of the work machine detected by the detection means 21 to 25 are read. Further, in step S3, based on the current state of the work implement, the reference points “P ₁ ” and “P ₂ ” and the control point “P
₃₎ Calculate the position. The processing in steps S2 and S3 corresponds to the processing in the position calculating means 32.

Next, in step S4, the control range "A ₀ " is determined from the positions of the reference point "P ₁ " and the reference point "P ₂ ".
(The processing in step S4 corresponds to the processing in the regulation range calculating means 31).

Further, in step S5, the target position, each of the reference points "P ₁ ", "P ₂ " and the control point "P ₃ " are set.
From the position information, the control values of the driving units 11 to 15 belonging to the respective driving unit groups G _{1 to} G _{6 and} the respective driving unit groups G
Moving range A ₁ when each of _{1 to} G ₆ is operated
ＡA ₆ are calculated respectively (the processing in step S5 corresponds to the processing in the moving range calculation means 33).

Thereafter, in step S6, each of the moving ranges A _{1 to} A ₆ is compared with the restricting range A _0, and a group of driving means whose operation is permitted, that is, the value of the moving range is restricted. A driving means group smaller than the value of the range is selected, and in step S7, the priority order of the driving is determined for each of the selected driving means groups (the processing in steps S6 and S7 is performed by the operation control means). 34).

Next, in step S8, each of the driving means 1 belonging to each of the driving means groups G _{1 to} G ₆ based on the priority order.
And sequentially outputting control values to 15 to drive it, and realizes a movement to the target position of the control point "P _3" (process in step S8 is processed in the control value output means 35 Applicable).

By performing the above control continuously, even if the aerial work vehicle Z is configured to perform a redundant operation, the operator can control the boom 4 and obstacles around the work environment. The operation of moving the control point “P ₃ ” to the target position can be performed without concern for interference.

Second Embodiment FIG. 5 is a control block diagram of a control device according to a second embodiment of the present invention. In this embodiment, the basic configuration is the same as that in the first embodiment. In the first embodiment, each of the driving units 11 to 15 is combined. Priorities are given to the driving means groups G _{1 to} Gn under certain conditions, and the driving means groups G _{1 to} Gn are sequentially driven in accordance with the priorities. In the second embodiment, the target position input means 2 provided by the operator is not provided with such a priority order.
When 0 is operated and a predetermined target position is designated, the movement range Ax and the control values E of the driving means 11 to 15 belonging to the driving means group Gx among the driving means groups G _{1 to} Gn are determined first.
x is calculated and the movement range Ax is defined as the regulation range A _0.
The driving means group Gx smaller than the first driving means is driven first. Then, the driving means group G driven first
movement of the control point P ₃ by x is, when no longer satisfy the "Ax <A _0" is the driving condition, stops driving of the drive means group Gx, its moving range for the other drive means group and calculating a control value and to compare with its moving range and the regulating range, by driving the driving means group satisfies the conditions in which to continue the movement of the control point P _3. This processing is performed by the operation control means 36 in the control unit 30 shown in FIG. Therefore, the operation control means 36 includes a target position signal from the target position input means 20, the reference points P ₁ and P and the control point P ₃ from the position calculation means 32, and the regulation range calculation means. The restriction range A ₀ from 31 is input respectively.

Then, the control values E _{1 to} E ₅ from the operation control means 36 are output to the respective driving means 11 to 15 via the control value output means 37, and the movement of the control point P ₃ is controlled by the movement of the boom. 4 is performed without causing interference with the surrounding obstacles.

The control in the control unit 30 will be described below with reference to FIGS. 6 and 7.

In FIG. 6, after starting the control, it is first determined in step S1 whether or not a target position has been input (in other words, whether or not the target position input means 20 has been operated), and the target position has been input. At this point, the process proceeds to step S2.

In step S2, signals (θ ₁ , θ ₂ , L ₁ , L ₂ , φ) relating to the current state of the work machine detected by the detection means 21 to 25 are read. Further, in step S3, based on the current state of the work implement, the reference points “P ₁ ” and “P ₂ ” and the control point “P
Calculates the position of the ₃ ", in step S4 calculates the range" A ₀ "regulating the position of the reference point to the reference point" P ₁ "," P ₂ ".

Further, in step S5, the target position, the reference points "P ₁ ", "P ₂ " and the control point "P ₃ " are set.
From one of the driving means groups G _{1 to} G ₆ , for example, the driving means ₁ to 15 when the driving means 11 to 15 belonging to the first driving means group G ₁ are driven from the position information of
A control value E ₁ to E ₅ of 15, the first driving means group G ₁
Request and the movement range A ₁ in. Then, in step S6, the movement range A ₁ and the regulating range A ₀
And if "A ₀ > A ₁ ", it is determined that there is no risk of interference, and the control values E _{1 to} E ₅ are output (step S7). The output of the control value E ₁ to E ₅ is
As long as the condition of “A ₀ > A ₁ ” is satisfied, the output is stopped when this condition is not satisfied, and the process proceeds to step S 9 in FIG. Step S
In step 6, if it is determined that the above condition is not satisfied from the beginning, the process directly proceeds to step S9.

[0063] In step S9 in FIG. 7, the next drive means group, for example, the second drive means group G ₂ and the control of the object, the driving means belonging to the drive unit group G ₂ of the second 11
15 when each of the driving means 11 to 15 is driven.
Determining a control value E ₁ to E ₅ in, and the movement range A ₂ in the drive unit group G ₂ of the second. Then, step S10
In compares this movement range A ₂ and the regulating range A _0, the control values E ₁ to E ₅ determines that there is no risk of interference if "A _0> A _2" Output (Step S
11). The outputs of the control values E _{1 to} E ₅ to the respective driving units 11 to 15 of the second driving unit group G ₂ are “A ₀
> A ₂ ”is satisfied, and the output is stopped when this condition is not satisfied.

The transition of the control from one driving means group to another driving means group is performed by each of the driving means groups G _1.
Are intended to be carried out at random in the in the ~G ₅ (see step S13~ step S16). As described above, even if the driving means groups G _{1 to} G ₅ are randomly driven without giving any priority to them, as in the case of the first embodiment, for example, the aerial work vehicle Z Has a redundant operation, the operator can move the control point “P ₃ ” to the target position without worrying about interference between the boom 4 and obstacles around the work environment. Is what you can do.

Others (1) In each of the above embodiments, the boom 4 folds the second boom member 42 on the distal end side of the boom 4 toward the rear side of the first boom member 41 on the proximal end side. The boom 4 according to the present invention is not limited to such a structure, but the boom 4 according to the present invention is, for example, the second boom member opposite to the above embodiments. A structure in which the first member 42 can be bent so as to be bent toward the abdominal surface of the first boom member 41 can also be applied.

(2) In each of the above embodiments, the regulation range calculating means 31 is controlled based on the position signal of the first reference point P _{1 and} the position signal of the second reference point P _{2 at} the start of the operation. Although the projection distance _A0 is calculated to be the regulation range, the regulation range calculation means 31 in the present invention is not limited to such a configuration. made in advance setting the projection distance a _0, in which it is also possible to receive an operation start signal configured to the this by reading the projection distance a ₀ which is the setting regulating range.

(3) In addition, the regulation range calculating means 31
As a method of outputting an operation start signal to the device, in addition to the method of employing the operation signal of the target position input means 20 as in the above embodiments, for example, a dedicated operation start signal output means is provided, and the operation start signal is output. It is also possible to configure so as to output an operation signal from the means.

[Brief description of the drawings]

FIG. 1 is an overall view of an aerial work vehicle equipped with a control device according to a first embodiment of the present invention.

FIG. 2 is a control block diagram in the control device according to the first embodiment of the present invention.

FIG. 3 is a control flowchart in the control device according to the first embodiment of the present invention.

FIG. 4 is an operation explanatory diagram at the time of vertical linear movement by the control device according to the first control device of the present invention;

FIG. 5 is a control block diagram of a control device according to a second embodiment of the present invention.

FIG. 6 is a control flowchart in a control device according to a second embodiment of the present invention.

FIG. 7 is a control flowchart in a control device according to a second embodiment of the present invention.

FIG. 8 is an explanatory view of an operation at the time of conventional vertical linear movement.

[Explanation of symbols]

1 is a base, 2 is a swivel table, 3 is a swivel seat, 4 is a boom, 5 is a workbench, 6 is a boom operating state detecting means, 11 is a swivel drive means, 12 is an up-and-down drive means, and 13 is a bending drive means. , 14
Is a first telescopic driving means, 15 is a second telescopic driving means, 20 is a target position inputting means, 21 is a turning angle detecting means, 22 is an undulation angle detecting means, 23 is a bending angle detecting means, and 24 is a first boom length. 25, a second boom length detecting means, 30 a control unit, 31 a regulation range calculating means, 32
Is a position calculation means, 33 is a movement range calculation means, 34 is an operation control means, 35 is a control value output means, 36 is an operation control means, 37 is a control value output means, 41 is a first telescopic boom,
Reference numeral 2 denotes a second telescopic boom, and Z denotes an aerial work vehicle.

Claims (6)

[Claims] The first boom member is mounted on the base (1) side so as to be swivelable and undulating, and is swiveled by a swing driving means (11) and driven up and down by an up and down driving means (12). 41) and a second boom which is attached to the tip of the first boom member (41) so as to be able to bend with respect to the first boom member (41) and is driven to bend by bending drive means (13). A control point (P ₃ ) set on the tip side of the second boom member (42) to a target position designated by the target position input means (20). Each of the driving means (11, 1
2. A control device for a working machine with a boom, wherein the first boom member (41) has a first reference point (P ₁ ) at an undulating center and a first reference point (P ₁ ). Boom member (41) and the second
The second reference point (P
₂ ) is set, respectively, while operating state detecting means (6) for detecting the current operating state of the boom (4), and receiving the signal from the operating state detecting means (6), the first
Position calculating means (32) for calculating the current position of each of the second reference points (P ₁ ) and (P ₂ ) and the control point (P ₃ ) and outputting the calculated position as a position signal; Receiving the first reference point (P ₁ ) from the position calculation means (32) and the second reference point (P ₂ ) based on the position signal of the first reference point (P ₂ ). A projection distance (A ₀ ) on the horizontal plane between the point (P ₁ ) and the second reference point (P ₂ ) is calculated and set as a regulation range, or a predetermined projection distance (A ₀ ) is set. A regulation range calculating means (31) for reading and setting this as a regulation range; the first and second reference points (P ₁ ) and (P ₂ ) from the position calculating means (32) and the control point (P position signal ₃₎ and receives the target position signal from the target position input means (20), each drive means (11, 12 13) a combination of assuming a plurality of driving means group the (G ₁ ~Gn),
Each drive means group (G ₁ ~Gn) to thereby drive the respective drive means (11, 12, 13) belonging the control point (P ₃₎
Along with determining the control value of the respective drive means (11,12,13) (E ₁ ~En) when moved to the target position, the above-mentioned drive means group when (G ₁ ~
Gn), the projected distances (A _{1 to} An) on the horizontal plane between the first reference point (P ₁ ) and the second reference point (P ₂ ) are determined by the driving means groups (G _{1 to} Gn). a moving range calculation means (33) for determining a) the movement range of each regulation range (a ₀ from the regulating range calculating means (31))
And the moving range (A ₁ ) from the moving range calculating means (33).
To An) and compare them to obtain the respective moving ranges (A
_{1 to} An), the driving unit group (G ₁ ) corresponding to the moving range (A _{1 to} An) smaller than the regulation range (A ₀ ).
～Gn) Select, determined these selected driving means group and (G ₁ ~Gn) to operation control means for determining the priority of the operation (34), by the operation control means (34) under certain conditions based on the operation priority of which is, each drive means group (G ₁ ~Gn) sequentially actuated to order respective drive means group (G ₁ ~Gn) belonging each drive means (11, 12, 13) To the control value (E ₁
To En), and a control value output means (35) for outputting a boom-operated working machine. 2. A first boom member (1) which is mounted on the base (1) side so as to be swivelable and undulating and is swiveled by a swing drive means (11) and driven up and down by an up and down drive means (12). 41) and a second boom which is attached to the tip of the first boom member (41) so as to be able to bend with respect to the first boom member (41) and is driven to bend by bending drive means (13). A control point (P ₃ ) set on the tip side of the second boom member (42) to a target position designated by the target position input means (20). Each of the driving means (11, 1
A control device for a working machine with a boom, wherein the first boom member (41) has a first reference point (P ₁ ) at an undulating center of the first boom member (41). Boom member (41) and the second
The second reference point (P
₂ ) is set, respectively, while operating state detecting means (6) for detecting the current operating state of the boom (4), and receiving the signal from the operating state detecting means (6), the first
Position calculating means (32) for calculating the current position of each of the second reference points (P ₁ ) and (P ₂ ) and the control point (P ₃ ) and outputting the calculated position as a position signal; Receiving the first reference point (P ₁ ) from the position calculation means (32) and the second reference point (P ₂ ) based on the position signal of the first reference point (P ₂ ). A projection distance (A ₀ ) on the horizontal plane between the point (P ₁ ) and the second reference point (P ₂ ) is calculated and set as a regulation range, or a predetermined projection distance (A ₀ ) is set. A regulation range calculating means (31) for reading and setting this as a regulation range; the first and second reference points (P ₁ ) and (P ₂ ) from the position calculating means (32) and the control point (P position signal ₃₎ and receives the target position signal from the target position input means (20), previously each drive means (11, 2,13)
A plurality of driving means groups (G _{1 to} G
n), each driving means (11, 12, 13) belonging to any one driving means group (Gx) is driven to move the control point (P ₃ ) to the target position. The control value (Ex) of the means (11, 12, 13) and the first reference point (P ₁ ) and the second reference point (P ₂ ) of the one drive means group (Gx) in that case. The projection distance (Ax) on the horizontal plane between the two is obtained as the moving range of the one driving means group (Gx), and the moving range (Ax) is compared with the regulation range (A ₀ ) to obtain “A _x < If A ₀ ”, the control value (Ex) is output. If“ Ax> A ₀ ”, the control value (Ex) is not output and the other driving means groups (G ₁ ) to (G ₁ ) are output. (Gn), an operation control means (36) for performing the above-mentioned processing, and the operation control means (36) The above control values (E ₁ ) to (G ₁ ) to (Gn) output for each
Receiving (En) each drive means group (G ₁ ~Gn) said control value to sequentially actuated to order respective drive means group the (G ₁ ~Gn) belonging each drive means (11, 12, 13) (E
A control device for a working machine with a boom, comprising: control value output means (37) for outputting _{1 to} En). 3. The telescopic drive means (1) according to claim 1, wherein the first boom member (41) is a first telescopic drive means (1).
4), the second boom member (4)
2) is a fixed length type, and the first telescopic drive means (1)
4) the control device of the boom with the working machine, characterized in that it is a component of the drive means group (G ₁ ~Gn). 4. The first boom member (41) according to claim 1, wherein the first boom member (41) is of a fixed length type, and the second boom member (42) is a second telescopic drive means (1).
5) and driven by the second telescopic drive means (1).
5) the control device of the boom with the working machine, characterized in that it is a component of the drive means group (G ₁ ~Gn). 5. The device according to claim 1, wherein the first boom member is a first telescopic drive unit.
4), and the second boom member (42)
The first extension / contraction driving means (14) and the second extension / contraction driving means (15) are driven to extend and contract together by the extension / contraction driving means (15).
There are both control device for a boom with working machine, characterized in that it is a component of the drive means group (G ₁ ~Gn). 6. The operation control means (34) according to claim 1, wherein the operation control means (34) determines a priority order of operation corresponding to each of the selected drive means groups (G _{1 to} Gn). Of moving ranges (A _{1 to} An) to be compared and prioritizing in ascending order of values, a method of prioritizing in a preset order, or a group of driving means (G
A control device for a working machine with a boom, wherein the control is performed by a method of prioritizing in order from _{1 to} Gn).