Excavation depth detection device for hole-digging and pole-erecting vehicle

Abstract

To provide an excavation depth detection device for a hole-digging and pole-erecting vehicle that can improve work safety and work efficiency by accurately detecting an excavation depth.SOLUTION: An excavation depth detection device includes: a height calculation unit 103 that calculates a height position of an auger device; a reset switch 34 that is operated in order to set an excavation reference position; a reference position setting unit 104 that sets, as the excavation reference position, the height position of the auger device of when the reset switch 34 is operated; a depth calculation unit 105 that calculates a distance in a height direction from the excavation reference position to the auger device thereby calculating the distance as an excavation depth of the auger device; and a display device 35 that displays the excavation depth calculated by the depth calculation unit 105.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to an excavation depth detection device for a hole digging pole erection vehicle equipped with an auger device for excavating the ground. [Background technology]

[0002] A known pole-setting hole digger, which is a type of work vehicle, includes a swivel base mounted on the vehicle body so that it can rotate freely, a boom mounted on the swivel base so that it can be raised and lowered and extended, and an auger device that swings down from the tip of the boom and excavates a pole-setting hole for erecting a utility pole (see, for example, Patent Document 1). When using this pole-setting hole digger to excavate a pole-setting hole in the ground, a pole-setting hole of a predetermined depth can be formed in the ground by rotating the earth auger (auger screw) of the auger device while moving the auger device vertically downward using a combination of lowering and retracting movements of the boom. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 5-27190 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, when checking whether the excavation depth of an earth auger had reached the target excavation depth, the worker had to insert a scale (ruler) into the post hole to measure the excavation depth. This posed a risk of the worker falling while peering into the post hole to insert the scale or measure. Furthermore, when excavating soft ground, soil, stones, water, etc. could accumulate at the bottom of the post hole during excavation, preventing the worker from visually checking the hole bottom, making it difficult to accurately measure the excavation depth. Furthermore, because the excavation depth was measured after the excavation work was temporarily interrupted, if the measured excavation depth was too deep or too deep, the excavation work and measurement work had to be alternately repeated (requiring the excavation depth to be measured multiple times), resulting in a problem of reduced work efficiency.

[0005] The present invention has been made in consideration of such problems, and aims to provide an excavation depth detection device for a hole-digging pole-setting vehicle that can accurately detect the excavation depth, thereby improving work safety and work efficiency. [Means for solving the problem]

[0006] In order to solve the above problems, the excavation depth detection device for a hole-digging pole-setting vehicle according to the present invention comprises a travelable vehicle body, a boom mounted on the vehicle body so as to be capable of raising and lowering and extending, an auger device mounted on the tip of the boom and hanging down from the tip to excavate the ground, an operating device for operating the boom and the auger device, and an operation control unit for operating the boom and the auger device in response to the operation of the operating device, the excavation depth detection device for a hole-digging pole-setting vehicle comprises an auger height detection unit (for example, height calculation unit 103 in the embodiment) that detects the height position of the auger device, and a control unit for controlling the start of excavation by the auger device. The excavation depth calculation unit is characterized by comprising a setting switch (for example, reset switch 34 in the embodiment) that is operated to set a reference position in the height direction when the auger is in the operating position; a reference position setting unit that sets the height position of the auger device detected by the auger height detection unit when the setting switch is operated as the reference position; an excavation depth calculation unit that calculates the height distance from the reference position to the auger device based on the height position of the auger device detected by the auger height detection unit and calculates this distance as the excavation depth of the auger device; and a display device that displays the excavation depth calculated by the excavation depth calculation unit.

[0007] In the excavation depth detection device for a hole-digging pole erection vehicle of the above configuration, it is preferable to include an alarm device that outputs a predetermined alarm and an alarm control unit that activates the alarm device, and the alarm control unit causes the alarm device to output the predetermined alarm when the excavation depth calculated in the excavation depth calculation unit reaches a predetermined excavation depth.

[0008] Furthermore, in the excavation depth detection device for the hole digging pole erection vehicle configured as described above, it is preferable that the excavation depth detection device is provided with a target excavation depth setting unit that sets a target excavation depth, and the alarm control unit outputs a first alarm from the alarm device when the excavation depth calculated by the excavation depth calculation unit reaches a specific excavation depth that is a predetermined distance shallower than the target excavation depth, and outputs a second alarm from the alarm device when the excavation depth calculated by the excavation depth calculation unit reaches the target excavation depth.

[0009] In addition, in the excavation depth detection device for a hole-digging pole erection vehicle of the above configuration, it is preferable that the operation control unit stops the operation of the boom when the excavation depth calculated by the excavation depth calculation unit reaches the target excavation depth. [Effects of the Invention]

[0010] The excavation depth detection device for a pole hole excavator vehicle according to the present invention calculates the excavation depth based on the height of the auger device and displays it on the display device in real time, allowing workers to continue excavation work while checking the current excavation depth in real time on the display device. This eliminates the need to interrupt excavation work to measure the current excavation depth and repeatedly repeat excavation and measurement operations. It also eliminates the need for workers to perform dangerous tasks such as peering into the post hole being excavated or inserting a scale, thereby improving work safety and work efficiency. Furthermore, even in work sites where the bottom of the hole cannot be visually observed, such as in soft ground, it is possible to accurately excavate a post hole of the specified depth without relying on skilled technique or intuition (reducing variation in excavation depth), thereby improving work quality and reducing the need for skilled workers.

[0011] In addition, according to the excavation depth detection device for the hole digging pole erection vehicle of the present invention, by outputting a predetermined alarm sound from the alarm device when the excavation depth reaches a predetermined excavation depth, even if the worker misreads or overlooks the display device, the current progress of the excavation depth can be properly notified to the worker through his or her hearing, thereby further improving the safety and quality of the work.

[0012] In addition, according to the excavation depth detection device of the hole digging pole erection vehicle of the present invention, by outputting a first alarm when the excavation depth reaches a specific excavation depth, the worker can easily understand that the excavation depth is approaching the target excavation depth, and by outputting a second alarm when the excavation depth reaches the target excavation depth, the worker can easily understand that the post erection hole being excavated has reached the specified depth (target excavation depth), thereby further improving the workability of excavation work.

[0013] In addition, according to the excavation depth detection device of the hole-digging pole-setting vehicle of the present invention, the excavation operation is automatically stopped when the excavation depth reaches the target excavation depth, thereby reliably preventing the pole-setting hole being excavated from becoming deeper than the specified depth (target excavation depth), and making it possible to avoid situations where unnecessary work such as re-digging or backfilling the pole-setting hole occurs. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 2 is a side view of the gripping-type hole-digging pole-setting vehicle according to the present embodiment. [Figure 2] FIG. 2 is a plan view of the above-mentioned gripping-type hole digging and pole erection vehicle. [Figure 3] FIG. 2 is a schematic diagram showing the use state of the above-mentioned gripping-type hole digging pole erection vehicle. [Figure 4] FIG. 2 is a perspective view of an auger device provided on the grip-type hole digging pole erection vehicle. [Figure 5] FIG. 2 is a perspective view of a gripping device provided on the gripping-type hole-digging pole-setting vehicle. [Figure 6] FIG. 2 is a perspective view of the main part of the gripping device as seen from the right. [Figure 7] FIG. 2 is a perspective view of the main part of the gripping device as seen from the left. [Figure 8] FIG. 2 is a cross-sectional view of the gripping device. [Figure 9] FIG. 2 is a longitudinal sectional view of the gripping device. [Figure 10] FIG. 2 is a functional block diagram of the excavation depth detection device of the first embodiment. [Figure 11]FIG. 10 is a schematic diagram for explaining a method for detecting an excavation depth. [Figure 12] FIG. 10 is a schematic diagram showing a state in which an excavation reference position is set (a state in which the excavation depth is zero). [Figure 13] FIG. 10 is a schematic diagram showing a state in which the excavation depth has reached a specific excavation depth. [Figure 14] FIG. 10 is a schematic diagram showing a state in which the excavation depth has reached a target excavation depth. [Figure 15] FIG. 10 is a functional block diagram of the installation depth detection device of the second embodiment. [Figure 16] FIG. 10 is a schematic diagram for explaining a method for detecting the installation depth. [Figure 17] This is a schematic diagram showing the state in which the installation reference position has been set (installation depth is zero). [Figure 18] This is a schematic diagram showing the state when the installation depth has reached the specific installation depth. [Figure 19] A schematic diagram showing the state when the installation depth has reached the target installation depth. [Figure 20] FIG. 10 is a functional block diagram of a depth detection device (excavation depth detection device, construction depth detection device) of a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described with reference to the drawings. First, the overall configuration of a grip-type hole digging and pole erection vehicle 1 according to this embodiment will be described with reference to FIGS.

[0016] As shown in Figure 1, the grip-type hole-digging and pole-setting vehicle 1 has a driver's cabin 7 at the front of the vehicle body 2, and is constructed based on a truck vehicle that can travel on a pair of left and right tires and wheels 5 arranged at the front and rear of the vehicle body 2. Jacks 9 for lifting and supporting the vehicle body 2 are arranged at four locations on the front, rear, left and right of the vehicle body 2. Each jack 9 lifts and supports the vehicle body 2 by driving a jack cylinder (not shown) installed inside it and extending it downward, thereby stabilizing the entire vehicle body 2. The jacks 9 are operated by operating a jack operating device (not shown) installed at the rear of the vehicle body 2.

[0017] A swivel base 12 is provided in a mounting area behind the driver's cabin 7 on the vehicle body 2, and is driven by a swivel motor 14 (see FIG. 10) to rotate horizontally about a vertical axis. The swivel base 12 includes a substantially disk-shaped turntable 12a supported on the vehicle body 2 so as to rotate horizontally, and a support column 12b erected on the turntable 12a. The base end of a boom 13 is pivotally connected to the support column 12b of the swivel base 12 via a foot pin (swing fulcrum) 12c so as to be swingable (raise and lower) in the vertical direction.

[0018] The boom 13 has a configuration in which, from the swivel base 12 side, a base boom 13a, an intermediate boom 13b, and a tip boom 13c are nested together, and the boom 13 can be extended and retracted in the axial direction (longitudinal direction) by the extension and retraction drive of a telescopic cylinder 15 (see Figure 10) installed inside. In addition, a hoisting cylinder 16 is installed between the base boom 13a and the swivel base 12, and by driving the hoisting cylinder 16 to extend and retract, the entire boom 13 can be raised and lowered in the vertical plane.

[0019] An auger bracket 17 is attached to the boom 13, and can be selectively connected to the boom base end 13a and the boom tip end 13c. As shown in FIG. 4, a connecting rod member 27 is pivotally connected to the auger bracket 17 via a bracket pin 27a so as to be swingable left and right (in the width direction of the boom 13). An auger device 20 for excavating the ground is pivotally connected to the lower end of the connecting rod member 27 via an auger pin 27b so as to be swingable forward and backward (in the axial direction of the boom 13). The auger device 20 includes an auger motor unit 21 pivotally connected to the connecting rod member 27 and an earth auger (auger screw) 25 that is rotated about its axis by operating the auger motor unit 21. The auger motor unit 21 includes an auger motor 22 that is hydraulically rotated, an auger reducer 23 connected to the output shaft of the auger motor 22, and an auger housing 24 that houses the auger motor 22 and the auger reducer 23. A drive shaft 23a connected to the auger reducer 23 protrudes from the lower end of the auger housing 24, and an auger shaft 25a of the earth auger 25 is connected to the drive shaft 23a. The drive shaft 23a is formed in the shape of a long rectangular column and is inserted into a shaft hole of the auger shaft 25a for attachment. The drive shaft 23a also has a plurality of set holes (not shown) formed at equal intervals along the axial direction. By connecting a set pin 25b of the earth auger 25 to one of these set holes, the earth auger 25 is attached in a state where it is positioned axially relative to the drive shaft 23a. Therefore, by switching the connection position between the drive shaft 23a and the auger shaft 25a (by switching the connection position between the set pin 25b and the set hole), the earth auger 25 can be extended or retracted in the axial direction (up and down) relative to the drive shaft 23a, and the maximum digging depth of the earth auger 25 can be adjusted in stages (for example, five stages).

[0020] Additionally, an auger storage device 18 that holds the auger device 20 in a stored state is disposed on the side of the base boom 13a. The auger device 20 is attached to the auger bracket 17 via a connecting rod member 27 so as to be able to swing up and down in a vertical plane, and can be swung between a stored position in which the auger device 20 is stored along the side of the base boom 13a by the auger storage device 18, and a working position in which the auger device 20 is removed from the auger storage device 18 and the earth auger 25 is lowered toward the ground. When the auger device 20 is in the working position, the auger device 20 is suspended from the tip of the boom 13 so as to be able to swing back and forth and left and right about upper and lower pins 27a, 27b of the connecting rod member 27 as fulcrums, so that the earth auger 25 assumes a vertical position aligned with the direction of gravity (vertical direction) regardless of the attitude of the boom 13.

[0021] When the auger device 20 is in use, as shown in I of FIG. 3, the auger bracket 17 is connected to the distal boom 13c, and the auger device 20, detached from the auger storage device 18, is swung to the working position (with the earth auger 25 in a substantially vertical position relative to the ground). Then, the earth auger 25 is rotated while the boom 13 is lowered and retracted in conjunction with each other to move the boom 13 vertically downward, thereby enabling excavation of a pole hole GN (see FIG. 11, etc.). On the other hand, when the auger device 20 is not in use, as shown in II of FIG. 3, the auger bracket 17 is connected to the proximal boom 13a, and the auger storage device 18 stores and holds the auger device 20 in a storage position along the side of the proximal boom 13a. When the auger device 20 is in the storage position, various operations, such as erecting a utility pole P or relocating an obstacle, can be performed using the gripping device 50, which will be described later.

[0022] A boom head 19 is fixed to the tip of the tip boom 13c. A gripping device 50 is attached to this boom head 19, which grips an object (pillar-shaped object), such as a utility pole P or a tree. The configuration of this gripping device 50 will be described with additional reference to Figs. 5 to 9. Note that hatching indicating cross sections has been omitted in Figs. 8 and 9 to make the drawings easier to see. Furthermore, for the sake of convenience, the following description will refer to the front-rear, left-right, and up-down arrow directions shown as the front-rear direction, left-right direction, and up-down direction, with the attitude of the gripping device 50 shown in Fig. 5 as the reference.

[0023] The gripping device 50 is configured to include an arm 51 attached to the boom head 19 so as to be able to swing up and down (bend and stretch), a first joint member 60 attached to the tip of the arm 51 so as to be able to swing up and down (pivot), a second joint member 70 attached to the first joint member 60 so as to be able to swing left and right (pivot horizontally), and a gripper 80 attached to the second joint member 70 so as to be able to rotate. In this embodiment, a support mechanism that changes the posture of a gripping portion 81 of the gripper 80 is configured by the arm 51, the first joint member 60, the second joint member 70, an arm cylinder 55 (described later), a vertical pivot cylinder 62, a horizontal pivot cylinder 71, a gripper motor 79, etc.

[0024] One axial (longitudinal) end of the arm 51 is pivotally connected to the boom head 19 via a connecting pin 52, and the other axial (longitudinal) end is pivotally connected to a first joint member 60 via a connecting pin 53. An arm cylinder 55 is attached between the boom head 19 and the arm 51. The rod side end of the arm cylinder 55 is pivotally connected to the boom head 19 via a connecting pin 56. The bottom side end of the arm cylinder 55 is pivotally connected to the arm 51 via a connecting pin 57. By driving the arm cylinder 55 to extend and retract, the arm 51 can be freely swung up and down (bend and extend) around the connecting pin 52 relative to the boom head 19.

[0025] The first joint member 60 is bifurcated, with the tip end open, and the second joint member 70 is pivotally connected to both ends of the bifurcated member via a pair of upper and lower connecting pins 61. A vertical oscillating cylinder 62 is provided between the first joint member 60 and the arm 51. The bottom end of the vertical oscillating cylinder 62 is pivotally connected to the base end of the arm 51 via a connecting pin 63. The rod end of the vertical oscillating cylinder 62 is pivotally connected to the upper end of the first joint member 60 via a connecting pin 64. By driving the vertical oscillating cylinder 62 to extend and retract, the first joint member 60 can be freely swung up and down relative to the arm 51 around the connecting pin 53 (vertical oscillating).

[0026] The second joint member 70 is supported by the first joint member 60 so as to be sandwiched from above and below. A horizontal swing cylinder 71 is provided at the upper end of the first joint member 60. The bottom side end of the horizontal swing cylinder 71 is pivotally connected to the tip end of the first joint member 60, and the rod side end is pivotally connected to the rear end of the second joint member 70. By driving the horizontal swing cylinder 71 to extend and retract, the second joint member 70 can be freely swung left and right relative to the first joint member 60 around the connecting pin 61 (horizontal swing operation is possible).

[0027] The gripper 80 comprises a gripping portion 81 for gripping an object, a gripper housing 86 that supports the gripping portion 81 and is rotatably mounted on the second joint member 70, and an opening / closing mechanism 93 that opens and closes the gripping portion 81.

[0028] The gripping unit 81 includes a pair of gripping claws 82 and a pair of upper and lower support plate portions 83 that support the pair of gripping claws 82 so that they can open and close in directions that move them toward or away from each other (opening and closing directions). The gripping claws 82 are configured to be able to grip various objects (pillar-shaped objects), such as utility poles P and trees. The base ends of the gripping claws 82 are pivotally connected to the upper and lower support plate portions 83 via connecting pins 84. Alternating notches 82a and 82b are formed in the tips of the gripping claws 82, and these tips are configured to be able to intersect (overlap) with each other. A flat bracket 85 is provided on the support plate portion 83 to detachably mount an attachment (not shown, for example, a tree felling device for felling trees).

[0029] The gripper housing 86 includes a support cylinder portion 87 connected to the upper and lower support plate portions 83 and rotatably supported on the second joint member 70, and a cylinder bracket portion 92 fixed to the base end side of the support cylinder portion 87 and disposed between the first joint member 60 and the second joint member 70.

[0030] The support cylinder 87 has a double structure including an inner cylinder 88 formed in the shape of a hollow rectangular cylinder and an outer cylinder 89 formed in the shape of a hollow cylinder and provided on the outer periphery of the inner cylinder 88. A sliding member 95 of an opening / closing mechanism 93 (described later) is attached to the inner periphery of the inner cylinder 88 so as to be slidable in the front-rear direction. A worm wheel 90 is attached to the outer periphery of the outer cylinder 89 concentrically with the outer cylinder 89. The worm wheel 90 is engaged with a worm pinion 91 rotatably supported inside the second joint member 70. A gripper motor 79 is attached to the upper end of the second joint member 70, and the worm pinion 91 is connected to the output shaft of the gripper motor 79 via a reducer. When the gripper motor 79 is rotated in the forward direction, the entire gripper 80 rotates in a predetermined direction around the rotation axis J (see FIG. 8) via the worm pinion 91 and the worm wheel 90. On the other hand, when the gripper motor 79 is driven to rotate in the reverse direction, the entire gripper 80 rotates in the opposite direction to the predetermined direction around the rotation axis J (see FIG. 8) via the worm pinion 91 and the worm wheel 90. In the posture of the gripping device 50 shown in FIG. 5, the direction of the rotation axis J of the gripper 80 (gripping portion 81) corresponds to the front-rear direction, and the opening / closing direction (gripping direction) of the gripping portion 81 corresponds to the left-right direction.

[0031] The opening / closing mechanism 93 includes a pair of link members 94, a sliding member 95 linked and connected to the pair of link members 94, and a gripper cylinder 99 that slides the sliding member 95 back and forth. One end of each link member 94 is pivotally connected to an intermediate portion of the gripping jaw 81 via a connecting pin 96. The pair of link members 94 are pivotally connected to the tip end of the sliding member 95 via a connecting pin 97 with the other end of each link member 94 stacked vertically. The sliding member 95 is inserted into the hollow portion of the inner cylindrical portion 88 and is attached so as to be slidable (reciprocating) along the inner circumferential surface of the inner cylindrical portion 88. A slider 98 made of synthetic resin is attached between the outer circumferential surface of the sliding member 95 and the inner circumferential surface of the inner cylindrical portion 88 to guide the sliding (reciprocating movement) of the sliding member 95. The rod side end of the gripper cylinder 99 is connected to the base end of the sliding member 95. The bottom end of the gripper cylinder 99 is connected to a cylinder bracket portion 92 of the gripper housing 86. When the gripper cylinder 99 is extended, the sliding member 95 slides in the extension direction, causing the link members 94 to swing in directions away from each other. As a result, the gripping claws 82 swing in the opening direction around the connecting pin 84 as a fulcrum (the gripping claws 82 act in the opening direction (opening operation)), thereby enabling the gripping of a pole-shaped object (object) such as a utility pole P. On the other hand, when the gripper cylinder 99 is retracted, the sliding member 95 slides in the retracting direction, causing the link members 94 to swing in directions approaching each other. As a result, the gripping claws 82 swing in the closing direction around the connecting pin 84 as a fulcrum (the gripping claws 82 act in the closing direction (closing operation)), enabling the gripping of a pole-shaped object (object) such as a utility pole P. Since the opening / closing mechanism 93 is configured to be symmetrical, the pair of gripping claws 82 are adapted to open and close symmetrically.

[0032] An operator's seat 30 for operating the various working devices (swivel 12, boom 13, auger device 20, and gripping device 50) is provided immediately behind the driver's cabin 7 on the vehicle body 2 and in front of the swivel 12. In front of this operator's seat 30 is provided an operating device 31 that can be operated by an operator while remaining seated. As shown in FIG. 10, the operating device 31 is provided with a boom rotation / hoisting operation lever 32a for rotating and raising / lowering the boom 13, a boom extension / retraction / extension operation lever 32b for extending / retracting the boom 13 and bending / extending the arm 51, an auger operation lever 32c for rotating the earth auger 25, a gripper vertical swing operation lever 32d for vertically swinging the gripper 81, a gripper horizontal swing operation lever 32e for horizontally swinging the gripper 81, a gripper rotation operation lever 32f for rotating the gripper 81, and a gripper opening / closing operation lever 32g for opening and closing the gripper 81.

[0033] The operating device 31 is also provided with a mode selection switch 33, as shown in FIG. 10 . The mode selection switch 33 is configured as a toggle switch that can be switched between a neutral position, a forward position, and a rearward position (the selected operating position is maintained even if the operator releases the switch). When the mode selection switch 33 is in the neutral position, the normal mode is selected. When the mode selection switch 33 is in the forward position, the vertical auger operation mode is selected. When the mode selection switch 33 is in the rearward position, the vertical gripper operation mode is selected. The normal mode is a mode in which the hydraulic actuators are independently operated in response to the operation of the operating levers 32 a to 32 g to independently perform the following operations: raising, retracting, and rotating the boom 13; rotating the auger device 20 (earth auger 25); bending and extending the arm 51; and swinging vertically, horizontally, rotating, and opening and closing the gripper 81. The vertical auger operation mode is a mode in which the hoisting cylinder 16 and the telescopic cylinder 15 are linked in response to operation of the boom rotation / hoisting control lever 32a, thereby moving the auger device 20 (earth auger 25) linearly in the vertical direction (up and down).The vertical gripper operation mode is a mode in which the hoisting cylinder 16, the telescopic cylinder 15, and the vertical swing cylinder 62 are linked in response to operation of the boom rotation / hoisting control lever 32a, thereby moving the gripper 81 linearly in the vertical direction (up and down).

[0034] As shown in FIG. 10, the operating mechanisms of the swivel base 12, boom 13, auger device 20, gripping device 50, etc., are configured with a controller 100 that receives operation signals from an operating device 31 and controls the swivel motor 14, telescopic cylinder 15, hoisting cylinder 16, auger motor 22, arm cylinder 55, vertical swing cylinder 62, horizontal swing cylinder 71, gripper motor 79, and gripper cylinder 99 (hereinafter collectively referred to as "hydraulic actuators"), and a hydraulic unit 115 that supplies hydraulic oil to drive these hydraulic actuators.

[0035] An operation signal output by operating the operation device 31 (operation levers 32a to 32g) is input to the controller 100. The controller 100 outputs a command signal corresponding to the operation signal to the hydraulic unit 115 (control valve 117).

[0036] The hydraulic unit 115 is composed of a hydraulic pump 116 that discharges hydraulic oil, and a control valve 117 that controls the supply direction and amount of hydraulic oil supplied from the hydraulic pump 116 to each hydraulic actuator. The hydraulic pump 116 is driven by power extracted from the vehicle's engine via a PTO mechanism (not shown). The control valve 117 includes an electromagnetic proportional control valve V1 corresponding to the swing motor 14, an electromagnetic proportional control valve V2 corresponding to the telescopic cylinder 15, an electromagnetic proportional control valve V3 corresponding to the hoisting cylinder 16, an electromagnetic proportional control valve V4 corresponding to the auger motor 22, an electromagnetic proportional control valve V5 corresponding to the arm cylinder 55, an electromagnetic proportional control valve V6 corresponding to the vertical swing cylinder 62, an electromagnetic proportional control valve V7 corresponding to the horizontal swing cylinder 71, an electromagnetic proportional control valve V8 corresponding to the gripper motor 79, and an electromagnetic proportional control valve V9 corresponding to the gripper cylinder 99. Based on a command signal from the controller 100, this control valve 117 electromagnetically drives the spools of each electromagnetic proportional control valve V1 to V9 to control the supply direction and amount of hydraulic oil supplied from the hydraulic pump 116 to each hydraulic actuator, and controls the drive direction and drive speed of each hydraulic actuator (controlling the operating direction and operating speed of the swivel base 12, boom 13, auger device 20, and gripping device 50).

[0037] [First embodiment] Next, a depth detection device (excavation depth detection device) according to a first embodiment of the present invention will be described with additional reference to FIGS.

[0038] As shown in Figure 10, the excavation depth detection device of the first embodiment is mainly composed of a boom derrick angle detector 120, a boom extension amount detector 121, a boom rotation angle detector 122, an arm bending / extension angle detector 123, a gripper vertical swing angle detector 124, a gripper horizontal swing angle detector 125, a gripper tilt angle detector 126, a reset switch 34, a display device 35, an input device 36, an alarm device 37, and a controller 100.

[0039] The boom hoist angle detector 120 is provided inside the boom base end 13a and detects the hoist angle of the boom 13. The boom extension detector 121 is provided at the base end of the boom base end 13a and detects the length (extension amount) of the boom 13. The boom swing angle detector 122 is provided on the vehicle body 2 and detects the swing angle of the boom 13 (swivel base 12) relative to the vehicle body 2. The arm bending / extension angle detector 123 is provided near the connection (connecting pin 52) between the boom head 19 and the arm 51 and detects the bending / extension angle of the arm 51 relative to the boom head 19 (the sandwiching angle formed by the boom head 19 and the arm 51). The gripper pitch angle detector 124 is provided near the connection (connecting pin 53) between the arm 51 and the first joint member 60 and detects the pitch swing angle (swing angle) of the first joint member 60 relative to the arm 51. The gripper horizontal swing angle detector 125 is provided near the connection (connecting pin 61) between the first joint member 60 and the second joint member 70, and detects the horizontal swing angle (swing angle) of the second joint member 70 relative to the first joint member 60. These detectors 120 to 125 are electrically connected to the controller 100, and output voltage signals (detection signals) to the controller 100 according to the detected information (boom 13 elevation angle, extension amount, swivel angle, bending / extension angle of the arm 51, vertical swing angle and horizontal swing angle of the gripper 81).

[0040] The grip portion inclination angle detector 126 is attached to the upper surface of the grip portion 81 (support plate portion 83). This grip portion inclination angle detector 126 is a two-axis inclination angle detector that detects the left-right inclination angle and the front-back inclination angle as the inclination angle of the grip portion 81 with respect to the horizontal plane. This grip portion inclination angle detector 126 is electrically connected to the controller 100, detects the left-right inclination angle and the front-back inclination angle of the grip portion 81, and outputs a voltage signal (detection signal) corresponding to the detected inclination angle to the controller 100. Note that, as a modified example, instead of this grip portion inclination angle detector 126, a grip portion rotation angle detector that detects the rotation angle of the grip portion 81 about the rotation axis J may be provided.

[0041] The reset switch 34 is configured, for example, as a push-button switch (hardware switch) that can be pressed, and is mounted on the operation panel of the operation device 31. The reset switch 34 is an operation switch that sets and stores in the controller 100 the height position of the auger pins 27b at the start of excavation (an excavation reference position, described below), as information for specifying the position at which excavation by the auger device 20 starts. When the reset switch 34 is turned on, an on signal (reset signal) is output to the controller 100 as an operation signal. The reset switch 34 may also be a software switch that is displayed on the display device 35.

[0042] The display device 35 is configured by, for example, a liquid crystal display or an organic EL display, and is mounted on the operation panel of the operation device 31 (installed in a position visible from the operation seat 30). This display device 35 displays various information required for excavation work, such as the excavation depth ΔHA and the target excavation depth TA, which will be described later.

[0043] The input device 36 is composed of, for example, a touch panel, button switches, a keyboard, etc., and is mounted on the operation panel of the operation device 31. This input device 36 allows an operator to input numerical values ​​(that is, the operator can input a target excavation depth TA, which will be described later, as a numerical value). Note that this input device 36 may be integrated with the display device 35. For example, a setting input screen of the input device 36 may be displayed with a numeric keypad or with display buttons (such as △ and ▽ buttons) that instruct the operator to increase or decrease numerical values, thereby enabling numerical value input via the touch panel.

[0044] The alarm device 37 is composed of an audio output device such as a buzzer or speaker that emits an alarm sound, and is mounted on the operation panel of the operation device 31. This alarm device 37, which will be described in detail later, outputs an alarm sound such as a predetermined electronic sound to notify that the excavation depth HA is approaching the target excavation depth TA or has reached the target excavation depth TA.

[0045] As shown in FIG. 10, the controller 100 includes a position calculation unit 101, an operation control unit 102, a height calculation unit 103, a reference position setting unit 104, a depth calculation unit 105, a target depth setting unit 106, a display control unit 107, an alarm control unit 108, and a regulation unit 109.

[0046] The position calculation unit 101 calculates the position of the tip of the boom 13 relative to the vehicle body 2 based on detection information from the boom hoisting angle detector 120, the boom extension amount detector 121, and the boom swing angle detector 122. The position of the tip of the boom 13 is the position of the tip of the boom 13 expressed in an XYZ coordinate system (a Cartesian triaxial coordinate system) in which the center of rotation of the turntable 12a is the origin, the vehicle width direction (left and right direction) of the vehicle body 2 is the X axis, the vehicle length direction (front and rear direction) of the vehicle body 2 is the Y axis, and the vehicle height direction (up and down direction) of the vehicle body 2 is the Z axis.

[0047] Furthermore, the position calculation unit 101 calculates the position of the auger device 20 (earth auger 25) relative to the vehicle body 2 based on detection information from the boom hoisting angle detector 120, the boom extension amount detector 121, and the boom swing angle detector 122. The position of the auger device 20 is the position of the auger device 20 (more specifically, the position of the auger pin 27b shown in FIG. 4) expressed in an XYZ coordinate system (an orthogonal three-axis coordinate system) in which the rotation center of the turntable 12a is the origin, the vehicle width direction (left and right direction) of the vehicle body 2 is the X axis, the vehicle length direction (front and rear direction) of the vehicle body 2 is the Y axis, and the vehicle height direction (up and down direction) of the vehicle body 2 is the Z axis. The position of the auger pin 27b relative to the tip of the boom 13 is calculated using information such as the axial length of the connecting rod member 27 and the relative angle (clamping angle) between the boom 13 and the connecting rod member 27.

[0048] Furthermore, the position calculation unit 101 calculates the position of the gripper 81 relative to the vehicle body 2 based on detection information from the boom hoisting angle detector 120, the boom extension amount detector 121, the boom rotation angle detector 122, the arm bending / extension angle detector 123, the gripper vertical swing angle detector 124, the gripper horizontal swing angle detector 125, and the gripper tilt angle detector 126. The position of the gripper 81 is the position of the gripper 81 (more specifically, the position of the connecting pin 53 shown in FIG. 5 etc.) expressed in an XYZ coordinate system (an orthogonal three-axis coordinate system) in which the rotation center of the turntable 12a is the origin, the vehicle width direction (left and right direction) of the vehicle body 2 is the X axis, the vehicle length direction (front and rear direction) of the vehicle body 2 is the Y axis, and the vehicle height direction (up and down direction) of the vehicle body 2 is the Z axis. Note that the position of the gripper 81 is not limited to the position of the connecting pin 53, and the position of the center C of the gripper 81 shown in FIG. 8 may also be calculated.

[0049] The operation control section 102 controls the driving of each hydraulic actuator in accordance with the operation signal (operation command) output from the operation device 31, based on the operation mode selected by the mode selection switch 33. Each operation mode will be described below.

[0050] When the mode selector switch 33 is set to the normal mode and the control levers 32a-32g are operated, the operation control unit 102 independently drives the corresponding hydraulic actuators in accordance with the operation of each control lever 32a-32g. Specifically, when the boom rotation / hoisting control lever 32a is tilted forward (in the front-to-back, left-to-right, and right-to-left directions relative to the operator operating the boom; the same applies below), the operation control unit 102 retracts the hoisting cylinder 16 to lower the boom 13, and when the boom rotation / hoisting control lever 32a is tilted backward, the operation control unit 102 extends the hoisting cylinder 16 to raise the boom 13. When the boom extension / retraction control lever 32b is tilted forward, the operation control unit 102 extends the telescopic cylinder 15 to extend the boom 13, and when the boom extension / retraction control lever 32b is tilted backward, the operation control unit 102 retracts the telescopic cylinder 15 to retract the boom 13. Furthermore, when the boom swing / hoisting operation lever 32a is tilted leftward, the swing motor 14 is driven to rotate in the forward direction to swing the boom 13 counterclockwise, and when the boom swing / hoisting operation lever 32a is tilted rightward, the swing motor 14 is driven to rotate in the reverse direction to swing the boom 13 clockwise. Furthermore, when the auger operation lever 32c is tilted forward, the auger motor 22 is driven to rotate in the reverse direction to rotate the earth auger 25 in the reverse direction, and when the auger operation lever 32c is tilted backward, the auger motor 22 is driven to rotate in the forward direction to rotate the earth auger 25 in the forward direction. Furthermore, when the boom extension / contraction bending / extension operation lever 32b is tilted leftward, the arm cylinder 55 is driven to contract, causing the arm 51 to bend and extend downward relative to the tip of the boom 13, and when the boom extension / contraction bending / extension operation lever 32b is tilted rightward, the arm cylinder 55 is driven to extend, causing the arm 51 to bend and extend upward relative to the tip of the boom 13. Furthermore, when the gripper vertical swing operation lever 32d is tilted forward, the vertical swing cylinder 62 is driven to extend, causing the gripper 81 to swing downward (vertical swing operation), and when the gripper vertical swing operation lever 32d is tilted backward, the vertical swing cylinder 62 is driven to contract, causing the gripper 81 to swing upward (vertical swing operation).Furthermore, when the gripper horizontal swing operation lever 32e is tilted leftward, the horizontal swing cylinder 71 is driven to extend, causing the gripper 81 to swing leftward (horizontal swing operation), and when the gripper horizontal swing operation lever 32e is tilted rightward, the horizontal swing cylinder 71 is driven to contract, causing the gripper 81 to swing rightward (horizontal swing operation). Furthermore, when the gripper rotation operation lever 32f is tilted forward, the gripper motor 79 is driven to rotate forward, causing the gripper 81 to rotate clockwise, and when the gripper rotation operation lever 32f is tilted backward, the gripper motor 79 is driven to rotate counterclockwise. In addition, when the gripping unit opening / closing operation lever 32g is tilted forward, the gripper cylinder 99 is driven to contract, causing the gripping unit 81 to operate in the closing direction (in the direction to grip the object), and when the gripping unit opening / closing operation lever 32g is tilted backward, the gripper cylinder 99 is driven to extend, causing the gripping unit 81 to operate in the opening direction (in the direction to release the grip on the object).

[0051] Furthermore, when the mode selector switch 33 is set to the vertical auger operation mode and the boom swing / hoisting control lever 32a (in the vertical auger operation mode, the boom swing / hoisting control lever 32a functions as a vertical control lever) is operated, the operation control unit 102 moves the earth auger 25 vertically (up and down) in response to the operation of the boom swing / hoisting control lever 32a by interlocking the extension and retraction of the hoisting cylinder 16 with the extension and retraction of the telescopic cylinder 15 based on the position information (current position) of the tip of the boom 13 calculated by the position calculation unit 101. Specifically, when the boom swing / hoisting control lever 32a is tilted forward, the earth auger 25 is moved vertically downward by interlocking the retraction of the hoisting cylinder 16 with the retraction of the telescopic cylinder 15, and when the boom swing / hoisting control lever 32a is tilted backward, the earth auger 25 is moved vertically upward by interlocking the extension of the hoisting cylinder 16 with the extension of the telescopic cylinder 15. When the earth auger 25 is moved vertically downward, if the boom 13 has a depression angle relative to the horizontal, the telescopic cylinder 15 switches from retraction to extension, and when the earth auger 25 is moved vertically upward, if the boom 13 has a elevation angle relative to the horizontal, the telescopic cylinder 15 switches from retraction to extension (the retraction and extension operations of the telescopic cylinder 15 are reversed at the horizontal).

[0052] Furthermore, when the mode selection switch 33 is set to the gripper vertical operation mode and the boom rotation / hoisting operation lever 32a (in the gripper vertical operation mode, the boom rotation / hoisting operation lever 32a functions as a vertical operation lever) is operated, the operation control unit 102 moves the gripper 81 (the object gripped by the gripper 81) vertically within the hoisting plane in accordance with the operation of the boom rotation / hoisting operation lever 32a by linking the telescopic drive of the hoisting cylinder 16, the telescopic drive of the telescopic cylinder 15, and the telescopic drive of the vertical swing cylinder 62 based on the position information (current position) of the gripper 81 relative to the vehicle body 2 calculated by the position calculation unit 101 and the inclination angle of the gripper 81 relative to the horizontal plane detected by the gripper inclination angle detector 126. For example, when the boom rotation / hoisting control lever 32a is tilted forward, the retraction drive of the hoisting cylinder 16, the retraction drive of the telescopic cylinder 15, and the retraction drive of the vertical swing cylinder 62 are all linked together to move the gripping part 81 vertically downward, and when the boom rotation / hoisting control lever 32a is tilted backward, the extension drive of the hoisting cylinder 16, the extension drive of the telescopic cylinder 15, and the extension drive of the vertical swing cylinder 62 are all linked together to move the gripping part 81 vertically upward. Specifically, the vertical operation control of the gripper 81 is performed by combining control to move the gripper 81 vertically within the hoisting surface by combining the extension and contraction drive of the derrick cylinder 16 and the extension and contraction drive of the telescopic cylinder 15 based on the position information of the gripper 81 relative to the vehicle body 2 calculated by the position calculation unit 101, and control to maintain the gripper 81 (rotation axis J of the gripper 81) in a horizontal state by extending and contracting the vertical swing cylinder 62 based on the inclination angle of the gripper 81 relative to the horizontal plane detected by the gripper inclination angle detector 126. Here, in the vertical operation control of the gripper 81, control to bend and extend the arm 51 is not performed, and the arm 51 is held at the maximum bending and extension angle relative to the tip of the boom 13.In other words, in controlling the vertical operation of the gripping portion 81, when the boom 13 is operated to raise or lower while the bending / extending angle of the arm 51 is kept constant (maximum bending / extending angle), the position of the tip of the boom 13 relative to the vehicle body 2 within the raising / lowering surface moves in the fore-and-aft direction, and as the angle of the arm 51 relative to the horizontal plane changes, the position of the gripping portion 81 relative to the tip of the boom 13 within the raising / lowering surface also moves in the fore-and-aft direction.Therefore, by combining the extension and retraction operation of the boom 13 to compensate for the fore-and-aft movement (amount of deviation) of the tip of the boom 13 and the gripping portion 81, the gripping portion 81 is controlled to move linearly in the vertical direction.

[0053] As shown in FIG. 11 , the height calculation unit 103 calculates the height HA of the auger pin 27b (auger device 20) based on the vertical position (Z coordinate value) of the auger device 20 calculated by the position calculation unit 101. The height HA of the auger pin 27b is the height relative to the foot pin 12c (the height from the foot pin 12c to the auger pin 27b). Specifically, the height calculation unit 103 calculates the height HA of the auger pin 27b by subtracting the known height from the turntable 12a to the foot pin 12c from the Z coordinate value of the auger device 20 (the vertical distance from the turntable 12a to the auger pin 27b) calculated by the position calculation unit 101. In this embodiment, the height HA of the auger pin 27b is a positive value (HA>0) when the auger pin 27b is located higher than the foot pin 12c, and is a negative value (HA<0) when the auger pin 27b is located lower than the foot pin 12c.

[0054] When an operation signal (reset signal) is input from the reset switch 34, the reference position setting unit 104 stores the height HA of the auger pin 27b at the time this reset signal was input (here, height HA is referred to as the "reference height HA0") and sets the position of this reference height HA0 as the reference position (zero point position) for detecting an excavation depth ΔHA, which will be described later. Hereinafter, this reference position (zero point position) for the excavation depth ΔHA will be referred to as the "excavation reference position." This excavation reference position is set at a position where the lower end of the earth auger 25 contacts the ground (ground surface), and therefore corresponds to the excavation start position of the earth auger 25 (the position where excavation starts).

[0055] Based on the height HA of auger pin 27b calculated by height calculation unit 103, depth calculation unit 105 calculates the amount of vertical displacement of auger pin 27b relative to the excavation reference position (the vertical distance from the excavation reference position to auger pin 27b), and calculates the amount of vertical displacement of auger pin 27b relative to this excavation reference position as excavation depth ΔHA. That is, in this embodiment, the difference between the reference height HA0 of auger pin 27b at the time the reset signal is input (the reference height HA0 of auger pin 27b at the excavation reference position) and the current height HA of auger pin 27b (the height HA of auger pin 27b at the current position) is calculated as excavation depth ΔHA. In this embodiment, when auger pin 27b is lower than the excavation reference position, excavation depth ΔHA is a positive value (ΔHA>0), and when auger pin 27b is higher than the excavation reference position, excavation depth ΔHA is a negative value (ΔHA<0). In other words, the direction in which the auger pin 27b becomes lower than the excavation reference position (i.e., the direction in which the excavation depth ΔHA becomes deeper) is defined as the positive direction of the excavation depth ΔHA, and the direction in which the auger pin 27b becomes higher than the excavation reference position (i.e., the direction in which the excavation depth ΔHA becomes shallower) is defined as the negative direction of the excavation depth ΔHA.

[0056] The target depth setting unit 106 sets a target value (target excavation depth TA) of the excavation depth ΔHA based on numerical information input via the input device 36. For example, if the numerical value "2.6" is input via the input device 36, the target excavation depth TA is set to "2.6 m." The target depth setting unit 106 also calculates a depth shallower than the target excavation depth TA by a predetermined distance (e.g., 0.3 m) and sets this depth as a specific excavation depth (alarm start excavation depth) KA. This specific excavation depth KA is depth information indicating that the remaining distance to the target excavation depth TA is a predetermined distance (e.g., 0.3 m). In this embodiment, if the target excavation depth TA is "2.6 m," the specific excavation depth KA is "2.3 m" (KA = TA - predetermined distance).

[0057] The display control unit 107 controls the display of the display device 35 to display data required for the excavation work on the display device 35. The display control unit 107 displays, as data required for the excavation work, the current excavation depth ΔHA calculated by the depth calculation unit 105 and the target excavation depth TA set by the target depth setting unit 106. In this embodiment, as shown in FIG. 13 , the display device 35 displays the current excavation depth ΔHA ("2.3 m" in the illustrated example) as the numerator and the target excavation depth TA ("2.6 m" in the illustrated example) as the denominator, and displays the current excavation depth ΔHA and the target excavation depth TA as a fraction, "2.3 m / 2.6 m." This allows the operator to intuitively grasp, by checking the display device 35, how far the current excavation depth ΔHA has come relative to the target excavation depth TA (the sense of distance remaining until the target excavation depth TA is reached). In this embodiment, in accordance with the positive and negative directions of the excavation depth ΔHA described above, the excavation depth ΔHA when the height HA of the auger pin 27b is lower than the excavation reference position is displayed as a positive value, and the excavation depth ΔHA when the height HA of the auger pin 27b is higher than the excavation reference position is displayed as a negative value.

[0058] The alarm control unit 108 outputs a first alarm sound from the alarm device 37 when the excavation depth ΔHA calculated by the depth calculation unit 105 reaches the specific excavation depth KA. The first alarm sound is composed of, for example, an intermittent alarm sound (buzzer sound) such as "beep, beep, beep..." and notifies that the remaining distance until the excavation depth ΔHA reaches the target excavation depth TA has approached a predetermined distance (0.3 m). Furthermore, the alarm control unit 108 outputs a second alarm sound from the alarm device 37 when the excavation depth ΔHA calculated by the depth calculation unit 105 reaches the target excavation depth TA. This second alarm sound is composed of, for example, a continuous alarm sound (buzzer sound) such as "beep beep beep..." and notifies that the excavation depth ΔHA has reached the target excavation depth TA.

[0059] The regulating unit 109 outputs a deceleration command signal to the operation control unit 102 when the excavation depth ΔHA calculated by the depth calculation unit 105 reaches the specific excavation depth KA. When the operation control unit 102 receives a deceleration command signal from the regulating unit 109, it controls the operation speed of the boom 13 (the lowering operation speed and the retraction operation speed in the auger vertical operation mode) to gradually slow down the vertical downward movement speed (excavation speed) of the earth auger 25. Furthermore, the regulating unit 109 outputs a restriction signal to the operation control unit 102 when the excavation depth ΔHA calculated by the depth calculation unit 105 reaches the target excavation depth TA. When the operation control unit 102 receives a restriction signal from the regulating unit 109, it forcibly (automatically) stops the operation of the boom 13, regardless of whether the operating device 31 is operated, and temporarily stops the excavation operation of the earth auger 25 (the rotation operation and vertical movement of the earth auger 25). That is, when the excavation depth ΔHA reaches the target excavation depth TA, the excavation operation of the earth auger 25 is temporarily stopped to temporarily restrict the excavation operation of the earth auger 25 from proceeding beyond the target excavation depth TA. After the excavation operation of the earth auger 25 is temporarily stopped, operation of the boom 13 in response to operation of the operating device 31 is again permitted, and it becomes possible to resume the excavation operation of the earth auger 25 to fine-tune the excavation depth ΔHA (to excavate the post hole GN a little deeper) or to retract the earth auger 25 upward from the post hole GN.

[0060] If the desired target excavation depth TA cannot be reached at the current connection position between the set pin 25b of the earth auger 25 and the set hole of the drive shaft 23a, it is necessary to extend the auger shaft 25a downward relative to the drive shaft 23a in order to increase the excavation depth ΔHA of the earth auger 25. However, since this changes the distance between the auger pin 27b and the lower end of the earth auger 25 (because the height HA of the auger pin 27b changes when the lower end of the earth auger 25 is brought into contact with or close to the ground), the reset switch 34 must be turned on again at that position to reset the excavation reference position (zero point position) and then excavation operation can be resumed.

[0061] Next, as an operation of the excavation depth detection device of the first embodiment, the procedure for excavation work (hole digging work) will be described with reference to Figures 12 to 14. In the following description, unless otherwise specified, it is assumed that the mode selection switch 33 is set to the normal mode.

[0062] First, before starting excavation work with the grip-type hole digging pole erection vehicle 1, the worker operates the input device 36 to input the target excavation depth TA as a numerical value (in this embodiment, the numerical value "2.6" is input). This causes the target depth setting unit 106 of the controller 100 to set the target excavation depth TA ("2.6 m" in this embodiment) according to the numerical value input by the worker. Furthermore, once this target excavation depth TA is set, the display device 35 displays "2.6 m" as the target excavation depth TA. Note that the excavation depth ΔHA is not displayed on the display device 35 (for example, "---" indicating a null value is displayed) until the reset switch 34 is turned on.

[0063] Next, excavation work is started using the grip-type hole digging and pole erection vehicle 1. To start this excavation work, first, the auger bracket 17 is connected to the tip boom 13c, and then the operating device 31 is operated to raise and lower the boom 13 by a predetermined angle (for example, 60 degrees). In this state, the auger device 20 is removed from the auger storage device 18 so that the auger device 20 is suspended vertically downward (vertically downward) from the tip of the boom 13. Next, the operating device 31 is operated to raise and lower, extend and retract the boom 13, and rotate the boom 13 to move the earth auger 25 above the excavation position (position the earth auger 25 above the excavation position).

[0064] Next, the mode selection switch 33 is switched from the normal mode to the vertical auger operation mode. After switching to the vertical auger operation mode, the boom rotation / hoisting operation lever 32a is tilted forward, which links the lowering and retracting operations of the boom 13 and moves the earth auger 25 vertically downward.

[0065] Next, as shown in Figure 12, the earth auger 25 is moved vertically downward until the bottom end of the earth auger 25 is positioned in contact with or close to the ground (just above the ground). Next, with the bottom end of the earth auger 25 positioned in contact with or close to the ground, the reset switch 34 is turned on. When the reset switch 34 is turned on, the height HA of the auger pin 27b at the current time (the position where the bottom end of the earth auger 25 is in contact with or close to the ground) is set as the digging reference position (zero point position). Furthermore, when the reset switch 34 is turned on, the display device 35 displays the initial value "0.0 m" as the current digging depth ΔHA.

[0066] Next, by tilting the auger operation lever 32c rearward and tilting the boom swing / hoisting operation lever 32a forward, the earth auger 25 is rotated forward and moved vertically downward, causing the earth auger 25 to dig down vertically into the ground. At this time, the current digging depth ΔHA is displayed in real time on the display device 35. This allows the operator to proceed with the digging work while checking the current digging depth ΔHA on the display device 35 in real time.

[0067] As shown in FIG. 13 , as the excavation operation of the earth auger 25 progresses and the excavation depth ΔHA reaches a specific excavation depth KA (2.3 m) that is a predetermined distance (0.3 m) before the target excavation depth TA, the display device 35 displays the value “2.3 m” indicating the current excavation depth ΔHA, and the alarm device 37 outputs an intermittent sound “beep, beep, beep...” as a first alarm sound. This notifies the user that the remaining distance until the excavation depth ΔHA reaches the target excavation depth TA is the predetermined distance (0.3 m). Note that this first alarm sound continues to be output until the excavation depth ΔHA reaches the target excavation depth TA. Furthermore, when the excavation depth ΔHA reaches the specific excavation depth KA, the operation control unit 102 gradually slows down the lowering operation speed and the retraction operation speed of the boom 13, automatically slowing down the vertical downward movement speed (excavation speed) of the earth auger 25. The vertically downward deceleration of the earth auger 25 is controlled by, for example, reducing the valve opening of the electromagnetic proportional control valve V2 corresponding to the telescopic cylinder 15 and the electromagnetic proportional control valve V3 corresponding to the elevation / depression cylinder 16 in accordance with a predetermined deceleration.

[0068] 14, as the excavation operation of the earth auger 25 continues, when the excavation depth ΔHA reaches the target excavation depth TA, the excavation operation of the earth auger 25 is automatically stopped regardless of the operation of the operating device 31. At this time, the display device 35 displays the value "2.6 m" (the same value as the target excavation depth TA) indicating the current excavation depth ΔHA, and the alarm device 37 outputs a continuous sound "beep beep beep..." as a second alarm sound, thereby notifying that the excavation depth ΔHA has reached the target excavation depth TA. This reliably prevents the excavation operation of the earth auger 25 from exceeding the target excavation depth TA, making it possible to accurately and safely excavate a post hole GN of the specified depth (target excavation depth TA) without relying on the skill or intuition of an expert.

[0069] As described above, according to the excavation depth detection device of the first embodiment, the excavation depth ΔHA is detected based on the height HA of the auger pin 27b and displayed in real time on the display device 35. This allows the worker to proceed with the excavation work while checking the current excavation depth ΔHA in real time on the display device 35. Therefore, there is no need to interrupt the excavation work and repeatedly repeat the excavation work and measurement work to measure the current excavation depth ΔHA. Furthermore, there is no need for the worker to perform dangerous tasks such as peering into the post hole GN being excavated or inserting a scale, thereby improving work safety and work efficiency. Furthermore, even at work sites where the bottom of the hole cannot be visually observed during excavation, such as in soft ground, the post hole GN can be accurately excavated to a specified depth without relying on skilled techniques or intuition (because variation in the excavation depth ΔHA can be reduced), thereby improving work quality and eliminating the need for skilled workers.

[0070] In addition, according to the excavation depth detection device of the first embodiment, when the excavation depth ΔHA reaches a predetermined excavation depth (specific excavation depth KA, target excavation depth TA), a predetermined alarm sound is output from the alarm device 37. Therefore, even if the worker misreads or overlooks the display device 35, the progress of the current excavation depth ΔHA can be properly notified to the worker through his or her hearing, thereby further improving the safety and quality of the work.

[0071] In addition, according to the excavation depth detection device of the first embodiment, by outputting a first alarm sound when the excavation depth ΔHA reaches a specific excavation depth KA, the worker can easily understand that the excavation depth ΔHA is approaching the target excavation depth TA, and by outputting a second alarm sound when the excavation depth ΔHA reaches the target excavation depth TA, the worker can easily understand that the post hole GN being excavated has reached the specified depth (target excavation depth TA), thereby further improving the workability of excavation work.

[0072] In addition, according to the excavation depth detection device of the first embodiment, the excavation operation is automatically stopped when the excavation depth ΔHA reaches the target excavation depth TA, thereby reliably preventing the post hole GN being excavated from becoming deeper than the specified depth (target excavation depth TA), and making it possible to avoid situations where unnecessary work such as re-digging or backfilling the post hole GN occurs.

[0073] [Second embodiment] Next, a depth detection device (installation depth detection device) according to a second embodiment of the present invention will be described with reference to Figures 15 to 19. In the following description, the same components (or components having the same functions) as those in the first embodiment will be denoted by the same reference numerals, and duplicate explanations will be omitted. The following description will mainly focus on the parts that differ from the first embodiment.

[0074] As shown in Figure 15, the second embodiment of the construction depth detection device is mainly composed of a boom hoisting angle detector 120, a boom extension amount detector 121, a boom rotation angle detector 122, an arm bending / extension angle detector 123, a gripper vertical swing angle detector 124, a gripper horizontal swing angle detector 125, a gripper tilt angle detector 126, a reset switch 234, a display device 35, an input device 36, an alarm device 37, and a controller 100.

[0075] The reset switch 234 is configured, for example, by a push-button switch (hardware switch) that can be pressed, and is mounted on the operation panel of the operation device 31. This reset switch 234 is an operation switch for setting and storing in the controller 100 the height position of the gripping portion 81 at the start of erection (the erection reference position described below), as information for specifying the position at which to start erecting the utility pole P gripped by the gripping portion 81. When this reset switch 234 is turned on, an on signal (reset signal) is output to the controller 100 as the operation signal. Note that this reset switch 234 may also be a software switch that is displayed on the display device 35.

[0076] The display device 35 is composed of, for example, a liquid crystal display or an organic EL display, and is mounted on the operation panel of the operation device 31 (installed in a position visible from the operation seat 30). This display device 35 displays various information required for the erection work of the utility pole P, such as the erection depth ΔHB and the target erection depth TB, which will be described later.

[0077] The input device 36 is composed of, for example, a touch panel, button switches, keyboard, etc., and is mounted on the operation panel of the operation device 31. This input device 36 can be operated by a worker to input numerical values ​​(i.e., the worker can input the target construction depth TB, which will be described later, as a numerical value).

[0078] The alarm device 37 is composed of an audio output device such as a buzzer or speaker that emits an alarm sound, and is mounted on the operation panel of the operation device 31. This alarm device 37, which will be described in detail later, outputs an alarm sound such as a predetermined electronic sound to notify that the installation depth HB is approaching the target installation depth TB or has reached the target installation depth TB.

[0079] As shown in FIG. 15, the controller 100 includes a position calculation unit 101, an operation control unit 102, a height calculation unit 203, a reference position setting unit 204, a depth calculation unit 205, a target depth setting unit 206, a display control unit 207, an alarm control unit 208, and a regulation unit 209.

[0080] 16, the height calculation unit 203 calculates the height HB of the connecting pin 53 (grip 81) based on the vertical position (Z coordinate value) of the gripper 81 calculated by the position calculation unit 101. The height HB of the connecting pin 53 is the height relative to the foot pin 12c (the height from the foot pin 12c to the connecting pin 53). Specifically, the height calculation unit 203 calculates the height HB of the connecting pin 53 by subtracting the known height from the turntable 12a to the foot pin 12c from the Z coordinate value of the gripper 81 (the vertical distance from the turntable 12a to the connecting pin 53) calculated by the position calculation unit 101. In this embodiment, the height HB of the connecting pin 53 is a positive value (HB>0) when the connecting pin 53 is located higher than the foot pin 12c, and is a negative value (HB<0) when the connecting pin 53 is located lower than the foot pin 12c. Furthermore, when the utility pole P held by the holding portion 81 is erected into the pole erection hole GN in the ground, the above-mentioned holding portion vertical operation mode is controlled so that the connecting pin 53 and the holding portion 81 are positioned on the same horizontal plane, and therefore the height HB of the connecting pin 53 becomes the same as the height of the holding portion 81 (the height HB of the connecting pin 53 can be considered to be the height of the holding portion 81).

[0081] When an operation signal (reset signal) is input from the reset switch 234, the reference position setting unit 204 stores the height HB of the connecting pin 53 at the time this reset signal was input (here, height HB is referred to as the "reference height HB0") and sets the position of this reference height HB0 as the reference position (zero point position) for detecting the installation depth ΔHB, which will be described later. Hereinafter, this reference position (zero point position) for the installation depth ΔHB will be referred to as the "installation reference position." This installation reference position is set to the position where the bottom end of the utility pole P gripped by the gripping unit 81 comes into contact with the ground (ground surface), and therefore corresponds to the installation start position of the utility pole P (the position where installation of the utility pole P into the installation hole begins).

[0082] Based on the height HB of the connecting pin 53 calculated by the height calculation unit 203, the depth calculation unit 205 calculates the vertical displacement of the connecting pin 53 relative to the installation reference position (the vertical distance from the installation reference position to the connecting pin 53), and calculates the vertical displacement of the connecting pin 53 relative to this installation reference position as the installation depth ΔHB. That is, in this embodiment, the difference between the reference height HB0 of the connecting pin 53 at the time the reset signal is input (the reference height HB0 of the connecting pin 53 at the installation reference position) and the current height HB of the connecting pin 53 (the height HB of the connecting pin 53 at the current position) is calculated as the installation depth ΔHB. In this embodiment, when the connecting pin 53 is lower than the installation reference position, the installation depth ΔHB is a positive value (ΔHB > 0), and when the connecting pin 53 is higher than the installation reference position, the installation depth ΔHB is a negative value (ΔHB < 0). In other words, the direction in which the connecting pin 53 becomes lower than the installation reference position (i.e., the direction in which the installation depth ΔHB becomes deeper) is defined as the positive direction of the installation depth ΔHB, and the direction in which the connecting pin 53 becomes higher than the installation reference position (i.e., the direction in which the installation depth ΔHB becomes shallower) is defined as the negative direction of the installation depth ΔHB. Also, in this embodiment, by setting the installation reference position (zero point position) to a position where the bottom end of the utility pole P abuts on or is close to the ground (by turning on the reset switch 234 when the bottom end of the utility pole P abuts on or is close to the ground), this installation depth ΔHB can be detected as the distance from the ground to the bottom end of the utility pole P (the length of the part of the utility pole P that is installed in the ground).

[0083] The target depth setting unit 206 sets a target value for the building depth ΔHB (target building depth TB) based on the numerical information input via the input device 36. For example, if the numerical value "2.6" is input via the input device 36, the target building depth TB is set to "2.6 m." The target depth setting unit 206 also calculates a depth shallower than the target building depth TB by a predetermined distance (e.g., 0.3 m) and sets this depth as the specific building depth (alarm start building depth) KB. This specific building depth KB is depth information indicating that the remaining distance to the target building depth TB is a predetermined distance (e.g., 0.3 m). In this embodiment, if the target building depth TB is "2.6 m," the specific building depth KB is "2.3 m" (KB = TB - predetermined distance).

[0084] The display control unit 207 controls the display of the display device 35 to display data required for the erection work (pole erection work) of the utility pole P on the display device 35. This display control unit 207 displays the current erection depth ΔHB calculated by the depth calculation unit 205 and the target erection depth TB set by the target depth setting unit 206 as data required for the erection work of the utility pole P. In this embodiment, as shown on the display device 35 in FIG. 18, the current erection depth ΔHB ("2.3 m" in the illustrated example) is used as the numerator and the target erection depth TB ("2.6 m" in the illustrated example) is used as the denominator, and the current erection depth ΔHB and the target erection depth TB are displayed as a fraction of "2.3 m / 2.6 m." This allows the worker to intuitively grasp, by checking the display device 35, how far the current erection depth ΔHB has come relative to the target erection depth TB (the sense of distance to reach the target erection depth TB). In this embodiment, in accordance with the positive and negative direction of the installation depth ΔHB described above, the installation depth ΔHB when the height HB of the connecting pin 53 is lower than the installation reference position is displayed as a positive value, and the installation depth ΔHB when the height HB of the connecting pin 53 is higher than the installation reference position is displayed as a negative value.

[0085] The alarm control unit 208 outputs a first alarm sound from the alarm device 37 when the building depth ΔHB calculated by the depth calculation unit 205 reaches the specific building depth KB. The first alarm sound is composed of an intermittent alarm sound (buzzer sound), for example, "beep, beep, beep...", and alerts that the remaining distance until the building depth ΔHB reaches the target building depth TB has approached a predetermined distance (0.3 m). Furthermore, the alarm control unit 208 outputs a second alarm sound from the alarm device 37 when the building depth ΔHB calculated by the depth calculation unit 205 reaches the target building depth TB. This second alarm sound is composed of a continuous alarm sound (buzzer sound), for example, "beep beep beep...", and alerts that the building depth ΔHB has reached the target building depth TB.

[0086] The regulating unit 209 outputs a deceleration command signal to the operation control unit 102 when the erection depth ΔHB calculated by the depth calculation unit 205 reaches the specific erection depth KB. When the operation control unit 102 receives a deceleration command signal from the regulating unit 209, it decelerates the operation speed of the boom 13 and the operation speed of the gripper unit 81 (the hoisting operation speed, telescopic operation speed, and vertical swing operation speed in the gripper unit vertical operation mode), gradually slowing down the vertical downward movement speed (erecting speed) of the gripper unit 81. In addition, the regulating unit 209 outputs a restriction signal to the operation control unit 102 when the erection depth ΔHB calculated by the depth calculation unit 205 reaches the target erection depth TB. When the operation control unit 102 receives a restriction signal from the restriction unit 209, it forcibly (automatically) stops the operation of the support mechanism of the boom 13 and the gripping device 50, regardless of the operation of the operating device 31, and temporarily halts the vertical downward movement of the gripping unit 81 (the erection of the utility pole P into the pole hole GN). In other words, when the erection depth ΔHB reaches the target erection depth TB, it temporarily stops the operation of the support mechanism of the boom 13 and the gripping device 50, and temporarily restricts the erection of the utility pole P into the pole hole from going beyond the target erection depth TB (the erection work from continuing even though the lower end of the utility pole P is abutting the hole bottom). Furthermore, after the operation of the support mechanism of the boom 13 and the gripping device 50 is temporarily stopped, the operation of the support mechanism of the boom 13 and the gripping device 50 is again permitted in response to the operation of the operating device 31, and the utility pole P gripped by the gripping portion 81 can be moved up and down to fine-tune the excess or deficiency of the installation depth ΔHB.

[0087] Next, as an operation of the installation depth detection device of the second embodiment, the procedure for installation work (pole erection work) of a utility pole P will be described with reference to Figures 17 to 19. In the following description, unless otherwise specified, it is assumed that the mode selection switch 33 is set to the normal mode.

[0088] First, before starting the installation work (pole erection work) of the utility pole P using the grip-type hole digging pole erection vehicle 1, the worker operates the input device 36 to input the target installation depth TB as a number (in this embodiment, the number "2.6" is input). The number of the target installation depth TB input here corresponds to the specified depth (target excavation depth TA) of the pole erection hole GN formed in the excavation work described above. As a result, the target depth setting unit 206 of the controller 100 sets the target installation depth TB ("2.6 m" in this embodiment) according to the number input by the worker. Once this target installation depth TB is set, the display device 35 displays "2.6 m" as the target installation depth TB. Note that the installation depth ΔHB is not displayed on the display device 35 (for example, "---" indicating a null value is displayed) until the reset switch 234 is turned on.

[0089] Next, the work of erecting the utility pole P (pole erection work) is started using the gripping-type hole-digging pole erection vehicle 1. To start this pole erection work, the worker first operates the operating device 31 to operate the boom 13, and also bends and extends the arm 51 and swings the gripping part 81 vertically, horizontally, and rotates it, thereby moving the gripping part 81 to near the center of gravity of the utility pole P (utility pole P placed horizontally on the ground at the work site) and aligning the gripping part 81 with the center of gravity of the utility pole P. Next, the worker operates the gripping part opening / closing operation lever 32g to operate the pair of gripping claws 82 in the closing direction (closing operation), thereby causing the gripping part 81 to grip the center of gravity of the utility pole P. Next, the operating device 31 is operated to appropriately activate the support mechanism of the boom 13 and the gripping device 50, lifting the utility pole P held by the gripping portion 81 to a vertical position relative to the ground, and then moving the utility pole P in this vertical position to a position above the pole hole GN (the pole hole GN excavated in the excavation work described above) and positioning it.

[0090] Next, in order to move the utility pole P in this vertical position vertically downward toward the pole hole GN, the mode selection switch 33 is operated to switch from normal mode to gripper vertical operation mode. After switching the mode selection switch 33 to the gripper vertical operation mode, the boom rotation / hoisting operation lever 32a is tilted forward, linking the hoisting and extension operations of the boom 13 with the vertical swing operation of the gripper 81, and moving the utility pole P gripped by the gripper 81 vertically downward.

[0091] Next, as shown in Figure 17, the utility pole P held by the gripping portion 81 is moved vertically downward until the bottom end of the utility pole P is positioned so that it abuts on or is close to the ground (just above the ground). Next, with the bottom end of the utility pole P positioned so that it abuts on or is close to the ground, the reset switch 234 is turned on. When the reset switch 234 is turned on, the height HB of the connecting pin 53 at the current point (the position where the bottom end of the utility pole P abuts on or is close to the ground) is set as the installation reference position (zero point position). Furthermore, when the reset switch 234 is turned on, the display device 35 displays the initial value "0.0 m" as the current installation depth ΔHB.

[0092] Next, by tilting the boom rotation hoisting operation lever 32a forward, the hoisting and extension operations of the boom 13 are linked with the vertical swing operation of the gripping part 81, and the utility pole P held by the gripping part 81 is moved vertically downward, and the utility pole P held by the gripping part 81 is inserted into the pole erection hole GN. At this time, the current erection depth ΔHB is displayed in real time on the display device 35. This allows the worker to proceed with the erection work of the utility pole P while checking the current erection depth ΔHB on the display device 35 in real time.

[0093] 18, as the utility pole P held by the gripping portion 81 is inserted into the pole hole GN, when the installation depth ΔHB reaches the specific installation depth KB (2.3 m), a predetermined distance (0.3 m) before the target installation depth TB, the display device 35 displays the number "2.3 m" indicating the current installation depth ΔHB, and the alarm device 37 outputs an intermittent sound "beep, beep, beep..." as the first alarm sound. This notifies the user that the remaining distance until the installation depth ΔHB reaches the target installation depth TB is the predetermined distance (0.3 m). Note that this first alarm sound continues to be output until the installation depth ΔHB reaches the target installation depth TB. Furthermore, when the erection depth ΔHB reaches the specific erection depth KB, the operation control unit 102 gradually slows down the derricking operation speed and telescopic operation speed of the boom 13 and the vertical swing operation speed of the gripper unit 81, automatically slowing down the vertical downward movement speed (erecting speed) of the gripper unit 81. This vertical downward deceleration control of the gripper unit 81 is performed, for example, by reducing the valve openings of the electromagnetic proportional control valve V2 corresponding to the telescopic cylinder 15, the electromagnetic proportional control valve V3 corresponding to the derricking cylinder 16, and the electromagnetic proportional control valve V6 corresponding to the vertical swing cylinder 62 in accordance with a predetermined deceleration.

[0094] 19, the utility pole P held by the gripping portion 81 is further inserted into the pole hole, and when the installation depth ΔHB reaches the target installation depth TB, the operation of the support mechanism of the boom 13 and the gripping device 50 is forcibly stopped, regardless of the operation of the operating device 31, and the vertical downward movement of the gripping portion 81 (the utility pole held by the gripping portion 81) is automatically and temporarily stopped. In other words, when the lower end of the utility pole P held by the gripping portion 81 abuts against the bottom of the pole hole GN, the vertical downward movement of the gripping portion 81 (the utility pole P held by the gripping portion 81) is automatically stopped, and the lower end of the utility pole P is positioned at the bottom of the pole hole GN. At this time, the display device 35 displays the value "2.6 m" (the same value as the target erection depth TB) indicating the current erection depth ΔHB, and the alarm device 37 outputs a continuous sound "beep beep beep..." as a second alarm sound, thereby notifying that the erection depth ΔHB has reached the target erection depth TB (that the lower end of the utility pole P has reached the bottom of the erection hole GN). This allows the utility pole P held by the gripping portion 81 to be erected accurately and safely to the specified depth (target erection depth TA) without relying on the skill or sense of an expert.

[0095] After the utility pole P has been erected to the bottom of the pole hole GN in this way, the gap between the utility pole P and the pole hole GN can be filled with soil and sand and compacted (by backfilling with excavated soil, broken stone, etc.), thereby burying and compacting the lower end of the utility pole P in the pole hole GN. This completes the pole erection work of installing the utility pole P in the pole hole GN (the erection work of the utility pole P).

[0096] As described above, according to the installation depth detection device of the second embodiment, the installation depth ΔHB of the utility pole P is detected based on the height HB of the connecting pin 53 and displayed in real time on the display device 35. This allows the worker to proceed with the pole installation work while checking the current installation depth ΔHB in real time on the display device 35. This prevents the worker from continuing to move the utility pole P downward without realizing that the lower end of the utility pole P held by the gripping portion 81 has reached the bottom of the hole (which would cause the lower end of the utility pole P to be pressed excessively against the bottom of the hole), thereby preventing an excessive load from being applied to the gripping portion 81 or the utility pole P, which could result in damage, thereby improving the safety of the installation work of the utility pole P. Furthermore, even at work sites where the bottom of the pole installation hole GN cannot be visually observed, such as on soft ground, the utility pole P can be accurately installed to the specified depth without relying on skilled techniques or intuition (because variation in the installation depth ΔHB can be reduced), which makes it possible to improve work quality and eliminate the need for skilled workers.

[0097] In addition, according to the second embodiment of the installation depth detection device, when the installation depth ΔHB reaches a predetermined installation depth (specific installation depth KB, target installation depth TB), a predetermined alarm sound is output from the alarm device 37, so that even if the worker misreads or overlooks the display device 35, the progress of the current installation depth ΔHB can be properly notified to the worker through his or her hearing, thereby further improving the safety and quality of the work.

[0098] In addition, according to the second embodiment of the installation depth detection device, by outputting a first alarm sound when the installation depth ΔHB reaches the specific installation depth KB, the worker can easily understand that the installation depth ΔHB is approaching the target installation depth TB, and by outputting a second alarm sound when the installation depth ΔHB reaches the target installation depth TB, the worker can easily understand that the utility pole P has been installed to the specified depth (target installation depth TB), thereby further improving the workability of the installation work of the utility pole P.

[0099] In addition, according to the second embodiment of the installation depth detection device, when the installation depth ΔHB reaches the target installation depth TB, the operation of the support mechanism of the boom 13 and the gripping device 50 is automatically stopped (by automatically stopping the vertical downward movement of the gripping portion 81), thereby reliably preventing the lower end of the utility pole P from being pressed excessively against the bottom of the installation pole hole GN and being damaged.

[0100] [Third embodiment] Next, a depth detection device (excavation depth detection device, installation depth detection device) according to a third embodiment of the present invention will be described with reference to Figure 20. This depth detection device of the third embodiment has the functions of both the excavation depth detection device of the first embodiment and the installation depth detection device of the second embodiment. In the following description, the same reference numerals will be used for configurations that are the same as those in the first and second embodiments (or configurations that have the same functions), and duplicate explanations will be omitted. The following description will mainly focus on the parts that differ from the first and second embodiments.

[0101] As shown in Figure 20, the depth detection device of the third embodiment is mainly composed of a boom derrick angle detector 120, a boom extension amount detector 121, a boom rotation angle detector 122, an arm bending / extension angle detector 123, a gripper vertical swing angle detector 124, a gripper horizontal swing angle detector 125, a gripper tilt angle detector 126, a reset switch 34, a reset switch 234, an excavation depth memory switch 334, a display device 35, an input device 36, an alarm device 37, and a controller 100.

[0102] The excavation depth memory switch 334 is configured, for example, by a push-button switch (hardware switch) that can be operated by pressing, and is mounted on the operation panel of the operation device 31. This excavation depth memory switch 334 is a switch for storing the excavation depth ΔHA of the earth auger 25 at the time when the excavation depth memory switch 334 is turned on as the target installation depth TB in the controller 100. Note that this excavation depth memory switch 334 may also be a software switch that is displayed on the display device 35.

[0103] The controller 100 includes a position calculation unit 101, an operation control unit 102, a height calculation unit 103, 203, a reference position setting unit 104, 204, a depth calculation unit 105, 205, a target depth setting unit 106, 206, a display control unit 107, 207, an alarm control unit 108, 208, and a restriction unit 109, 209. In other words, the controller 100 of the third embodiment is configured to include the functions of both the controller 100 of the first embodiment and the controller 100 of the second embodiment.

[0104] When the target depth setting unit 206 receives an operation signal (ON signal) from the excavation depth memory switch 334, it sets the excavation depth ΔHA at the time this ON signal was received (the excavation depth ΔHA calculated by the depth calculation unit 105) as the target installation depth TB. This makes it possible to set the target value for the installation depth ΔHB (target installation depth TB) based on the actual detected value of the excavation depth ΔHA, thereby preventing discrepancies from occurring between the target installation depth TB and the actual depth of the post holes.

[0105] As described above, the depth detection device of the third embodiment can achieve the same effects as those of the first and second embodiments. Furthermore, the depth detection device of the third embodiment sets the final excavation depth ΔHA when the pole hole GN is excavated by the auger device 20 as the target installation depth TB of the utility pole P, thereby preventing discrepancies between the actual depth of the pole hole GN and the target installation depth TB, further improving safety and work quality, and reducing the burden on the worker, who must record the final value of the excavation depth ΔHA and input the target installation depth TB using the input device 36. This makes it possible to improve the efficiency of the entire series of work from excavation work to installation work (pole erection work).

[0106] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention.

[0107] In the above embodiment, the height HA of the auger pin 27b was calculated as the height of the auger device 20, but this is not limited to this configuration, and the height of another portion, such as the base end of the drive shaft 23a, may be calculated. Also, the height HB of the connecting pin 53 was calculated as the height of the gripping portion 81, but this is not limited to this configuration, and the height of another portion, such as the center C of the gripping portion 81, may be calculated. Furthermore, these heights HA and HB may be calculated based on the center of the turntable 12a of the swivel base 12 or any position on the vehicle body 2, rather than on the foot pin 12c.

[0108] Furthermore, in the above embodiment, the operation device 31 is provided on the operation seat 30 on the vehicle body 2, but this is not limited to this configuration, and for example, the operation device 31 may be configured as a wired or wireless remote control operation device (portable operation device). When a remote control operation device is employed, it is preferable that the remote control operation device is equipped with a display device 35, an input device 36, an alarm device 37, reset switches 34, 234, an excavation depth memory switch 334, and the like.

[0109] Furthermore, in the above embodiment, an example was given of a case where the auger vertical operation mode was selected with the mode selection switch 33 to excavate a post hole GN, but even when the normal mode was selected to excavate a post hole GN, the excavation depth ΔHA and the like can be displayed on the display device 35, and the same effects as those of the above embodiment can be achieved. Similarly, in the above embodiment, an example was given of a case where the gripper vertical operation mode was selected with the mode selection switch 33 to erect a utility pole P, but even when the normal mode was selected to erect a utility pole P, the erection depth ΔHB and the like can be displayed on the display device 35, and the same effects as those of the above embodiment can be achieved.

[0110] In addition, in the above embodiment, an audio output device (buzzer) is used as the alarm device 37, but this configuration is not limited to this, and the alarm device 37 may be, for example, an alarm lamp (which issues an alarm using an LED's light color or flashing cycle, etc.).

[0111] In addition, in the above embodiment, a PTO-driven gripper-type hole-digging pole-setting vehicle was exemplified, in which engine power is extracted by a PTO mechanism (power take-off mechanism) to drive a hydraulic pump, but this configuration is not limited to this, and it may also be an electrically driven (battery-driven) gripper-type hole-digging pole-setting vehicle, or a hybrid gripper-type hole-digging pole-setting vehicle that has both an electrically driven (battery-driven) and an electrically driven (battery-driven) gripper-type hole-digging pole-setting vehicle that can selectively switch between power sources. [Explanation of symbols]

[0112] 1 Grasping type hole digging pole erecting vehicle 2. Body 12 Swivel table 12c Footpins 13. Boom 27b Auger Pin 31 Operating device 34 Reset switch 50 Gripping device 51 Arm (support mechanism) 53 Connecting pin 60 First joint member (support mechanism) 70 Second joint member (support mechanism) 81 Gripping part 100 Controllers 101 Position calculation section 102 Operation control section 103 Height calculation unit 104 Reference position setting section 105 Depth calculation section 106 Target depth setting section 107 Display control unit 108 Alarm control section 109 Regulatory Department 203 Height calculation unit 204 Reference position setting section 205 Depth calculation section 206 Target depth setting section 207 Display control unit 208 Alarm control section 209 Regulatory Department 234 Reset Switch 334 Drilling depth memory switch P Utility pole (pillar-shaped object) GN post hole ΔHA Drilling depth ΔHB Construction depth TA Target drilling depth TB Target construction depth KA specific drilling depth KB Specific construction depth

Claims

1. A drivable vehicle body, a boom provided on the vehicle body so as to be capable of raising and lowering and extending; an auger device provided at the tip of the boom and suspended from the tip to excavate the ground; an operating device for operating the boom and the auger device; An excavation depth detection device for a hole digging pole erection vehicle, comprising an operation control unit that operates the boom and the auger device in response to operation of the operating device, an auger height detection unit that detects the height position of the auger device; a setting switch that is operated to set a reference position in the height direction when excavation is started by the auger device; a reference position setting unit that sets the height position of the auger device detected by the auger height detection unit when the setting switch is operated as the reference position; an excavation depth calculation unit that calculates a height distance from the reference position to the auger device based on the height position of the auger device detected by the auger height detection unit, and calculates the distance as an excavation depth of the auger device; An excavation depth detection device for a hole digging pole erection vehicle, characterized in that it is configured to include a display device that displays the excavation depth calculated by the excavation depth calculation unit.

2. an alarm device that outputs a predetermined alarm; an alarm control unit that activates the alarm device, The excavation depth detection device for a hole-digging pole-setting vehicle described in claim 1, characterized in that the alarm control unit outputs a predetermined alarm from the alarm device when the excavation depth calculated in the excavation depth calculation unit reaches a predetermined excavation depth.

3. A target excavation depth setting unit is provided for setting a target excavation depth, The alarm control unit When the excavation depth calculated by the excavation depth calculation unit reaches a specific excavation depth that is shallower than the target excavation depth by a predetermined distance, a first alarm is output from the alarm device; An excavation depth detection device for a hole-digging pole-setting vehicle as described in claim 2, characterized in that when the excavation depth calculated in the excavation depth calculation unit reaches the target excavation depth, a second alarm is output from the alarm device.

4. The excavation depth detection device for a hole-digging pole-setting vehicle described in claim 3, characterized in that the operation control unit stops the operation of the boom when the excavation depth calculated in the excavation depth calculation unit reaches the target excavation depth.

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