Obstacle detection device for high-altitude work vehicles

Abstract

To provide an obstacle detection device for a high-place work vehicle, which can suppress operation restriction from being imposed more than necessary.SOLUTION: In an obstacle detectable area AR of work bench obstacle detection sensors 201a and 201b attached to a work bench 140, a valid detection area VAR corresponding to the moving direction of the work bench 140 can be set. In the valid detection area VAR, when obstacles are detected by the work bench obstacle detection sensors 201a and 201b, operations of a travel body 110 and a lifting device are restricted.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an obstacle detection device for an aerial work vehicle having a work platform movably supported by a lifting device provided on a running body. [Background technology]

[0002] A vehicle for working at height is configured with a mobile running body, a lifting device mounted on the running body, and a work platform movably supported by the lifting device. The running body of such a vehicle for working at height includes those based on truck vehicles, and self-propelled types equipped with wheels or crawler mechanisms. The lifting device also includes boom types that can rotate, elevate, and extend, and vertical lifting types equipped with a scissor link mechanism or an extendable post. Various vehicles for working at height are known that combine these running body and lifting device configurations (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-189534 Summary of the Invention [Problem to be solved by the invention]

[0004] In a vehicle for working at height, when the traveling body or the lifting device is operated to move the work platform, if there is a building, tree, or the like on the path of movement, these may become obstacles that hinder the movement of the work platform and come into contact with the work platform, causing problems for the work.Therefore, there is also known a vehicle for working at height that is equipped with a control device (also referred to as an "obstacle detection device") that is configured to attach a sensor (also referred to as an "obstacle detection sensor") to the work platform to detect such obstacles and to restrict the operation of the traveling body or the lifting device, slow down the movement speed of the work platform, or stop the work platform when the obstacle detection sensor detects an obstacle.

[0005] Conventional obstacle detection devices are configured to detect obstacles over a wide area around the work platform. For example, obstacle detection sensors are attached to multiple locations on the work platform, and if an object enters the detection area of ​​any of the sensors, it is detected as an obstacle and operation of the lifting device or the like is restricted. When detecting obstacles over a wide area around the work platform in this way, there is a problem in that even objects in positions that do not interfere with the movement of the work platform may be detected as obstacles, resulting in operation restriction even in situations where operation restriction is not necessary.

[0006] The present invention has been made in consideration of such problems, and aims to provide an obstacle detection device for an aerial work vehicle that can reduce the detection of objects that do not hinder the movement of the work platform as obstacles, thereby preventing unnecessary operation restrictions. [Means for solving the problem]

[0007] In order to solve the above problems, the obstacle detection device for a vehicle for working at height according to the present invention comprises a traveling body that operates to be able to travel, a lifting device that is provided on the traveling body and supports a work platform and operates to move the work platform relative to the traveling body, a movement direction detection device (for example, the movement direction detection unit 151 in the first embodiment) that detects the movement direction of the work platform when the traveling body and / or the lifting device are operating, and Multiple aspects of to Each is established Detects obstacles when the work platform moves Multiple Work platform obstacle detection sensor (For example, the workbench obstacle detection sensors 201a and 201b in the first embodiment) and, selecting one work platform obstacle detection sensor from the plurality of work platform obstacle detection sensors based on the movement direction of the work platform; The aforementioned Selected Within the area where obstacles can be detected by the work platform obstacle detection sensor, Of the entire area of ​​the detection area corresponding to the direction of movement of the work table Some areas Effective detection area as Set up At the same time, the area other than the part of the entire area is set as an invalid detection area.The system is configured to include a detection area control device (for example, the detection area control unit 152 in the first embodiment) and an operation control device (for example, the operation regulation unit 153 in the first embodiment) that regulates the operation of the running body and / or the lifting device when an obstacle is detected by the work platform obstacle detection sensor within the effective detection area set by the detection area control device.

[0008] In the obstacle detection device of the present invention, it is preferable that the movement direction detection device detects the movement direction of the work platform based on the relative movement direction of the work platform with respect to the running body when the lifting device is operating and the running movement direction of the running body when the running body is operating.

[0009] In addition, in the obstacle detection device of the present invention, it is preferable that when an obstacle is detected by the work platform obstacle detection sensor within the effective detection area set by the detection area control device, the operation control device performs operation regulation to slow down the operating speed of the running body and / or the lifting device depending on the distance between the detected obstacle and the work platform obstacle detection sensor.

[0010] In addition, in the obstacle detection device of the present invention, when the movement of the work platform is stopped due to the operation restriction of the running body and / or the lifting device, it is preferable that the operation control device then allows the operation of the running body and / or the lifting device only when the work platform is moved in a direction that increases the distance between the detected obstacle and the detected work platform obstacle detection sensor.

[0011] In addition, in the obstacle detection device of the present invention, it is preferable to provide an alarm device that, when an obstacle is detected by the work platform obstacle detection sensor within the effective detection area set by the detection area control device, issues an alarm depending on the distance between the detected obstacle and the work platform obstacle detection sensor.

[0012] Furthermore, in the obstacle detection device of the present invention, a vehicle obstacle detection sensor is attached to the vehicle and detects obstacles when the vehicle is traveling, and the detection area control device preferably sets an effective detection area corresponding to the direction of travel of the vehicle within an area in which obstacles can be detected by the vehicle obstacle detection sensor, and restricts the operation of the vehicle when an obstacle is detected by the vehicle obstacle detection sensor within the set effective detection area. [Effects of the Invention]

[0013] In the obstacle detection device for an aerial work vehicle according to the present invention, an effective detection area corresponding to the direction of movement of the platform is set within an area where obstacles can be detected by the platform obstacle detection sensor attached to the platform, and if the platform obstacle detection sensor detects an obstacle within that effective detection area, operation of the traveling body and / or the lifting device is restricted. Objects within a range corresponding to the direction of movement of the platform are likely to become obstacles to the movement of the platform, while objects within a range not corresponding to the direction of movement of the platform are unlikely to become obstacles to the movement of the platform. Therefore, according to the present invention, it is possible to reduce the detection of objects within a range not corresponding to the direction of movement of the platform that do not hinder the movement of the platform as obstacles, and to prevent unnecessary operation restriction of the traveling body or the lifting device.

[0014] In the obstacle detection device according to the present invention, a running body obstacle detection sensor is provided which is attached to the running body and detects obstacles when the running body is traveling, and an effective detection area corresponding to the running direction of the running body is set within an area where obstacles can be detected by the running body obstacle detection sensor, and when an obstacle is detected by the running body obstacle detection sensor within the set effective detection area, the operation of the running body is restricted. This reduces the number of objects that are not in correspondence with the range and do not hinder the running movement of the running body being detected as obstacles, thereby making it possible to prevent unnecessary operation restrictions on the running body. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a side view of a boom-type vehicle for working at height that is equipped with an obstacle detection device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing an operation control configuration of the boom type aerial work vehicle. [Figure 3] FIG. 2 is a block diagram showing the configuration of the obstacle detection device according to the first embodiment. [Figure 4] FIG. 2 is a side view for explaining a function of an obstacle detection sensor in the obstacle detection device according to the first embodiment. [Figure 5] FIG. 2 is a plan view for explaining a function of an obstacle detection sensor in the obstacle detection device according to the first embodiment. [Figure 6] 4 is a schematic diagram for explaining a method for detecting the moving direction of a work platform in the obstacle detection device according to the first embodiment. FIG. [Figure 7] 3 is a plan view illustrating a method for setting an effective detection area of ​​an obstacle detection sensor in the obstacle detection device according to the first embodiment. FIG. [Figure 8] 3A to 3C are side views illustrating a method for setting an effective detection area of ​​an obstacle detection sensor in the obstacle detection device according to the first embodiment. [Figure 9] 5A and 5B are side views illustrating a case where the effective detection area of ​​the obstacle detection sensor in the obstacle detection device according to the first embodiment is changed. [Figure 10] FIG. 4 is a side view for explaining a function of an obstacle detection sensor in an obstacle detection device according to a first modified example of the first embodiment. [Figure 11] FIG. 4 is a plan view for explaining a function of an obstacle detection sensor in an obstacle detection device according to a first modified example of the first embodiment. [Figure 12] FIG. 10 is a side view for explaining the function of an obstacle detection sensor in an obstacle detection device according to a second modified example of the first embodiment. [Figure 13]FIG. 10 is a plan view for explaining the function of an obstacle detection sensor in an obstacle detection device according to a second modified example of the first embodiment. [Figure 14] FIG. 10 is a perspective view of a vertical lifting type aerial work platform equipped with an obstacle detection device according to a second embodiment of the present invention. [Figure 15] FIG. 2 is a block diagram showing an operation control configuration of the vertical lifting type aerial work platform. [Figure 16] FIG. 10 is a block diagram showing the configuration of the obstacle detection device according to the second embodiment. [Figure 17] FIG. 10 is a side view for explaining the function of an obstacle detection sensor in the obstacle detection device according to the second embodiment. [Figure 18] FIG. 10 is a plan view for explaining the function of an obstacle detection sensor in the obstacle detection device according to the second embodiment. [Figure 19] FIG. 10 is a side view for explaining the function of an obstacle detection sensor in an obstacle detection device according to a first modified example of the second embodiment. [Figure 20] FIG. 10 is a plan view for explaining the function of an obstacle detection sensor in an obstacle detection device according to a first modified example of the second embodiment. [Figure 21] FIG. 10 is a side view for explaining the function of an obstacle detection sensor in an obstacle detection device according to a second modified example of the second embodiment. [Figure 22] FIG. 10 is a plan view for explaining the function of an obstacle detection sensor in an obstacle detection device according to a second modified example of the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a self-propelled telescopic boom type vehicle for aerial work 101 equipped with an obstacle detection device according to a first embodiment of the present invention. This vehicle for aerial work 101 will be described with reference to FIGS. 1 and 2. 1 is configured to include a running body 110 configured to be able to run, a rotating body 120 provided on the upper part of the running body 110 so as to be able to rotate horizontally, a boom 130 provided on the upper part of the rotating body 120 so as to be able to rise and fall, and a work platform 140 provided at the tip of the boom 130. The rotating body 120 and the boom 130 form a lifting device.

[0017] The running vehicle 110 has a pair of left and right front wheels 112 and rear wheels 113 rotatably mounted on a running vehicle frame 111. The running vehicle 110 has two front-wheel traveling motors 116 that rotate the left and right front wheels 112, respectively, and two rear-wheel traveling motors 117 that rotate the left and right rear wheels 113, respectively. The running vehicle 110 is configured to rotate the left and right front wheels 112 and rear wheels 113 using the front-wheel and rear-wheel traveling motors 116, 117, respectively, and to travel in a desired direction by steering the front wheels 112 and rear wheels 113, respectively. Note that the left and right front wheels 112 may be steered wheels, and the left and right rear wheels 113 may be driven wheels driven by the traveling motors. Alternatively, the left and right rear wheels 113 may be steered wheels, and the left and right front wheels 112 may be driven wheels driven by the traveling motors.

[0018] A swivel mechanism 115 is provided at the center of the upper part of the running body frame 111. The swivel mechanism 115 has an outer wheel fixed to the running body frame 111, an inner wheel fixed to the rotating body 120 and engaged with the outer wheel, a swivel motor 126 provided on the rotating body 120, and a rotary center joint (not shown) for supplying hydraulic oil from a hydraulic pump P provided on the rotating body 120 to the front-wheel and rear-wheel traveling motors 116, 117 provided on the running body 110. The swivel mechanism 115 attaches the swivel body 120 to the running body frame 111 so as to be able to swivel horizontally, and is configured to be able to swivel left and right relative to the running body 110 by operating the swivel motor 126 in the forward or reverse direction.

[0019] A boom 130 is mounted on the upper part of the revolving unit 120 via a pivot pin 134 so as to be able to swing freely in the vertical direction (raise and lower). The boom 130 can be raised and lowered relative to the revolving unit 120 by a boom hoisting cylinder 135 mounted between the revolving unit 120 and the boom 130. The boom 130 is configured to be able to extend and retract, and has a base boom 131 pivotally mounted to the revolving unit 120, as well as an intermediate boom 132 and a tip boom 133 telescopically combined with the base boom 131. The boom 130 can be extended and lowered by a boom telescopic cylinder 136 mounted within the boom 130.

[0020] A vertical post 137 is attached to the tip of the tip boom 133 by a pivot pin so that it can swing up and down. A work platform 140 is attached to the top of the vertical post 137 so that it can swivel (pivot) left and right. An upper leveling cylinder (not shown) is installed between the tip of the tip boom 133 and the vertical post 137. A closed circuit is formed by a hydraulic hose between this upper leveling cylinder and a lower leveling cylinder (not shown) installed between the base boom 131 and the rotating body 120. The upper leveling cylinder extends and retracts in response to the extension and retraction of the lower leveling cylinder, causing the vertical post 137 to swing up and down relative to the tip boom 133, thereby keeping the floor surface of the work platform 140 always horizontal regardless of the angle at which the boom 130 is raised and lowered.

[0021] The work platform 140 is configured to be able to rotate (swing) left and right relative to the vertical post 137 by a swing motor 146 provided on the work platform 140. The work platform 140 has a substantially rectangular work floor 141 on which a worker can stand, and handrails 142 erected around the periphery of the work floor 141. The work platform 140 is provided with an operating device 170 for operating the traveling body 110, operating the boom 130, etc.

[0022] As shown in FIG. 2, the operating device 170 includes a travel operation lever 171 for starting and stopping the traveling object 110 and for switching between forward and reverse motion, and a steering operation lever 172 for steering the traveling object 110 (front wheels 112 and rear wheels 113). 113), a swing operation lever 174 for operating the swing of the swing body 120, a boom operation lever 175 for operating the raising and lowering and retracting of the boom 130, and a swing operation lever 176 for operating the swing (swing) of the work platform 140. The aerial work vehicle 101 is configured so that an operator gets on the work platform 140 and travels it to a desired work position by operating the travel operation lever 171 and the steering dial 172, etc., and can raise or lower the work platform 140 to a desired high position by operating the swing operation lever 174 and the boom operation lever 175, etc.

[0023] The left and right front wheels 112 and rear wheels 113 and the steering dial 172 are interlocked via a steering device (not shown). The steering device has a front wheel steering mechanism connected to the left and right front wheels 112, a front wheel steering cylinder 192 that drives the front wheel steering mechanism to change the steering angle of the left and right front wheels 112, a rear wheel steering mechanism connected to the left and right rear wheels 113, a rear wheel steering cylinder 194 that drives the rear wheel steering mechanism to change the steering angle of the left and right rear wheels 113, a front wheel steering angle detector 196 that detects the steering angle of the left and right front wheels 112, and a rear wheel steering angle detector 197 that detects the steering angle of the left and right rear wheels 113.

[0024] The vehicle 110 is provided with two front wheel brake cylinders 118 for braking the rotation of the left and right front wheels 112, respectively, and two rear wheel brake cylinders 119 for braking the rotation of the left and right rear wheels 113, respectively.

[0025] The rotating body 120 is provided with a hydraulic unit 180 that serves as a drive source for left and right front wheel travel motors 116, left and right rear wheel travel motors 117, left and right front wheel brake cylinders 118, left and right rear wheel brake cylinders 119, front wheel steering cylinder 192, rear wheel steering cylinder 194, swing motor 126, boom derrick cylinder 135, boom telescopic cylinder 136, and swing motor 146, and supplies hydraulic oil to these hydraulic actuators. The hydraulic unit 180 includes an engine E, a hydraulic pump P driven by the engine E, a hydraulic oil tank T, and a control valve unit 185 that controls the supply direction and amount of hydraulic oil supplied from the hydraulic pump P to each hydraulic actuator. The control valve unit 185 includes a plurality of control valves V1 to V10 that are provided corresponding to each hydraulic actuator.

[0026] The revolving body 120 is provided with a controller 150 to which an operation signal is input from an operation device 170 provided on the work platform 140. When the controller 150 receives an operation signal from the operation device 170, it outputs a command signal corresponding to the operation signal to a control valve unit 185 of the hydraulic unit 180. For example, when an operation signal is input from a swing operation lever 174 of the operation device 170, a command signal corresponding to the tilt operation direction and operation amount of the swing operation lever 174 is output to the swing control valve V7 of the control valve unit 185 to control the spool movement direction and valve opening of the swing control valve V7, and drive the swing motor 126 to rotate the revolving body 120 relative to the traveling body 110.

[0027] When an operation signal is input from the boom operation lever 175, the controller 150 outputs a command signal corresponding to the tilt operation direction and amount of operation of the boom operation lever 175 to the hoist and extension and contraction control valves V8, V9 of the control valve unit 185, thereby controlling the spool movement direction and valve opening of the hoist and contraction control valves V8, V9, and driving the boom hoist cylinder 135 and the boom telescopic cylinder 136 to hoist and contract the boom 130. In addition, when an operation signal is input from the swing operation lever 176, the controller 150 outputs a command signal corresponding to the tilt operation direction and amount of operation of the swing operation lever 176 to the swing control valve V10 of the control valve unit 185, thereby controlling the spool movement direction and valve opening of the swing control valve V10, and driving the swing motor 146 to swing the work platform 140 relative to the vertical post 137.

[0028] In order to control the operation of the revolving structure 120, the boom 130, and the work platform 140 in this manner, the aerial work vehicle 101 has a revolving angle detector 161 that detects the revolving angle of the revolving structure 120 relative to the traveling structure 110, a boom hoisting angle detector 162 that detects the hoisting angle of the boom 130 relative to the revolving structure 120, a boom extension amount detector 163 that detects the extension amount of the boom 130, a swing angle detector 164 that detects the swing angle (swing angle) of the work platform 140 relative to the boom 130 (vertical post 137), and an inclination angle detector 165 that detects the inclination angle of the traveling structure frame 111 relative to the horizontal plane, and detection signals from each of these detectors are input to the controller 150. The controller 150 constantly determines and stores the relative movement position of the work platform 140 relative to the traveling structure 110 based on the detection signals from each of these detectors.

[0029] When an operation signal is input from the travel operation lever 171, the controller 150 outputs a command signal corresponding to the operation signal to the front wheel travel control valve V1, rear wheel travel control valve V2, front wheel brake control valve V5, and rear wheel brake control valve V6 of the travel control valve unit 185, thereby controlling the rotational operation of the front wheel travel motors 116, 116 and rear wheel travel motors 117, 117, i.e., the drive of the front wheels 112, 112 and rear wheels 113, 113.

[0030] When a steering signal is input from the steering dial 172, the controller 150 outputs a command signal corresponding to the steering signal to the front wheel steering control valve V3 and the rear wheel steering control valve V4, and operates the front wheel steering cylinder 192 and the rear wheel steering cylinder 194 to steer the front wheels 112, 112 and the rear wheels 113, 113 so that the steering angles detected by the front wheel and rear wheel steering angle detectors 196, 197 become the target steering angles corresponding to the steering signal.

[0031] Next, the obstacle detection device in the aerial work platform vehicle 101 will be described with additional reference to Figures 3 to 9. As shown in Figure 3, this obstacle detection device is mainly composed of a travel operation lever 171, a steering dial 172, a swing operation lever 174, a boom operation lever 175, a swing operation lever 176, a swing angle detector 161, a boom hoisting angle detector 162, a boom extension amount detector 163, a swing angle detector 164, a tilt angle detector 165, a front wheel steering angle detector 196, a rear wheel steering angle detector 197, work platform obstacle detection sensors 201a, 201b, traveling body obstacle detection sensors 211a, 211b, an alarm 215, and a controller 150 (in particular, a movement direction detection unit 151, a detection area control unit 152, an operation restriction unit 153, and an alarm control unit 154).

[0032] The work platform obstacle detection sensors 201a, 201b and the running body obstacle detection sensors 211a, 211b are configured by LiDAR (an abbreviation for Light Detection and Ranging or Laser Imaging Detection and Ranging) that can detect the presence of an object (obstacle) and measure the distance to the object by emitting laser light and receiving reflected light from the object. As shown in Figures 4 and 5, the work platform obstacle detection sensor 201a is provided at the front of the work platform 140, and the work platform obstacle detection sensor 201b is provided at the rear of the work platform 140. In addition, the running body obstacle detection sensor 211a is provided at the front of the running body 110, and the running body obstacle detection sensor 211b is provided at the rear of the running body 110.

[0033] The functions of the work platform obstacle detection sensors 201a, 201b and the traveling object obstacle detection sensors 211a, 211b will be explained using the work platform obstacle detection sensor 201b as an example. The work platform obstacle detection sensor 201b has a wide detectable area AR (shown as a fan shape with dashed lines in Figures 4 and 5), and is able to detect any intruding object within this detectable area AR as an obstacle. Furthermore, the work platform obstacle detection sensor 201b is able to set an effective detection area VAR (the range indicated by the arc-shaped double arrows in Figures 4 and 5) within the detectable area AR. Once this effective detection area VAR is set, the work platform obstacle detection sensor 201b will detect whether or not there is an intruding object within the effective detection area VAR. If an object enters the work platform, it will be detected as an obstacle, while an intrusion within an area that is within the detectable area AR but not set as the effective detection area VAR will not be detected. The effective detection area VAR can be set in any direction within the detectable area AR. The range of the effective detection area VAR can also be set to have a radial spread of, for example, 5 to 30 degrees in both the vertical and horizontal directions. The work platform obstacle detection sensor 201a and the traveling object obstacle detection sensors 211a and 211b have the same functions as the work platform obstacle detection sensor 201b.

[0034] The alarm 215 is configured to be able to issue an alarm (for example, by sound or light) to warn the worker when operation restrictions (operation restrictions of the traveling body 110 and the work platform 140) described below are implemented. The alarm 215 is installed, for example, on the work platform 140.

[0035] The movement direction detection unit 151 of the controller 150 detects the movement direction of the running object 110 and the movement direction of the work platform 140. This detection of the movement direction is performed, for example, as follows. First, the movement direction detection unit 151 detects the running movement direction of the running object 110 based on each operation signal from the running operation lever 171 and the steering dial 172, and each detection signal from the tilt angle detector 165, the front wheel steering angle detector 196, and the rear wheel steering angle detector 197. This running movement direction is obtained as a vector V in an XYZ three-axis Cartesian coordinate system (where the X axis is along the left-right direction, the Y axis is along the front-rear direction, and the Z axis is along the up-down direction) fixed to the road surface, as shown in FIG. 6, for example. If the X-axis component, Y-axis component, and Z-axis component of this vector V are Vx, Vy, and Vz, respectively, Vx is related to the left-right turning of the running body 110, Vy is related to the forward-backward running of the running body 110, and Vz is related to the inclination of the running body 110 when running on a slope, etc.

[0036] Furthermore, the movement direction detector 151 detects the relative movement direction of the work platform 140 with respect to the traveling body 110 based on the operation signals from the swing operation lever 174, the boom operation lever 175, and the swing operation lever 176, and the detection signals from the swing angle detector 161, the boom hoist angle detector 162, the boom extension amount detector 163, and the swing angle detector 164. This relative movement direction can be calculated as a vector U in an XYZ three-axis Cartesian coordinate system (when the traveling body 110 is considered not to be traveling) as shown in FIG. 6. If the X-axis component, Y-axis component, and Z-axis component of this vector U are Ux, Uy, and Uz, respectively, Ux is related to the swing of the boom 130 and the swing of the work platform 140, Uy is related to the swing, extension, and hoisting of the boom 130, and Uz is related to the extension and hoisting of the boom 130.

[0037] Then, the movement direction detection unit 151 detects the movement direction of the work table 140 (movement direction in three-dimensional space) based on the relative movement direction of the work table 140 with respect to the running body 110 and the running movement direction of the running body 110. The movement direction of the work table 140 is obtained as a resultant vector W obtained by combining a vector U and a vector V, for example, as shown in FIG.

[0038] The detection area control unit 152 of the controller 150 sets an effective detection area VAR in the work platform obstacle detection sensor 201a or 201b so as to correspond to the moving direction of the work platform 140 detected by the moving direction detection unit 151. The detection area control unit 152 also sets an effective detection area VAR in the running object obstacle detection sensor 211a or 211b so as to correspond to the running direction of the running object 110 detected by the moving direction detection unit 151. For example, as shown in FIG. 7, when the running object 110 turns right backward and moves forward, and the work platform 140 does not move relative to the running object 110, the running direction of the running object 110 (vector V) becomes the direction of the backward right turn, and the moving direction of the work platform 140 (composite vector W) becomes the same direction as the running direction of the running object 110. Therefore, the detection area control unit 152 sets an effective detection area VAR in the running object obstacle detection sensor 211a or 211b so as to correspond to the running direction of the running object 110 within the detectable area AR of the running object obstacle detection sensor 211b. The effective detection area VAR is set so as to correspond to the direction of movement of the work platform 140 (within a range of about 10 degrees to the left and right of the vector V). The detection area control unit 152 also sets the effective detection area VAR (within a range of about 10 degrees to the left and right of the resultant vector W) within the detectable area AR of the work platform obstacle detection sensor 201b.

[0039] 8, when the running object 110 moves straight backward on an uphill road surface and the work platform 140 does not move relative to the running object 110, the running movement direction (vector V) of the running object 110 is diagonally upward and rearward, and the movement direction (resultant vector W) of the work platform 140 is the same direction as the running movement direction of the running object 110. Therefore, the detection area control unit 152 sets the effective detection area VAR within the detectable area AR of the running object obstacle detection sensor 211b so as to correspond to the running movement direction of the running object 110. In addition, the detection area control unit 152 sets the effective detection area VAR within the detectable area AR of the work platform obstacle detection sensor 201b so as to correspond to the movement direction of the work platform 140.

[0040] When an obstacle is detected within the effective detection area VAR of the platform obstacle detection sensor 211a or 211b, the operation regulating unit 153 of the controller 150 regulates the operation of the platform 110. That is, regardless of the amount of operation of the travel control lever 171, the operation regulating unit 153 regulates the rotational operation of the front wheel travel motors 116, 116 and the rear wheel travel motors 117, 117, thereby slowing down the travel speed of the platform 110. Furthermore, when an obstacle is detected within the effective detection area VAR of the platform obstacle detection sensor 201a or 201b, the operation regulating unit 153 regulates the operation of the platform 110 and also regulates the operation of the lifting device (the revolving unit 120 and the boom 130). That is, regardless of the amount of operation of the swing operation lever 174, the operation of the swing motor 126 is restricted, thereby slowing down the swing speed of the swing body 120; regardless of the amount of operation of the boom operation lever 175, the operation of the boom derrick cylinder 135 and the boom telescopic cylinder 136 is restricted, thereby slowing down the boom derrick and telescopic operation speed of the boom 130; and regardless of the amount of operation of the swing operation lever 176, the operation of the swing motor 146 is restricted, thereby slowing down the swing operation speed of the work platform 140.

[0041] This operation restriction is performed according to the distance between the sensor that detected the obstacle and the obstacle. For example, if an obstacle is detected by the work platform obstacle detection sensor 201b, when the distance between the work platform obstacle detection sensor 201b and the obstacle becomes, for example, within 1 meter, the operation speed of the running body 110 and the lifting device begins to decrease, and when the distance becomes, for example, within 30 cm, the operation of the running body 110 and the lifting device is stopped. When the operation of the running body 110 or the lifting device is stopped due to the operation restriction, the operation restriction unit 153 allows the restart of operation of the running body 110 and the lifting device only if the operation of the running body 110 and the work platform 140 is performed so that the running body 110 and the work platform 140 move in a direction that increases the distance between the sensor that detected the obstacle and the obstacle.

[0042] When the operation restriction unit 153 restricts operation, the alarm control unit 154 of the controller 150 causes the alarm device 215 to issue an alarm to alert the worker. The content of the alarm may be changed depending on the distance between the sensor that detected the obstacle and the obstacle. For example, the volume of the sound used in the alarm may be increased or the color of the lamp used in the alarm may be changed as the distance between the sensor that detected the obstacle and the obstacle becomes shorter.

[0043] It is also possible to change the effective detection area of ​​one obstacle detection sensor when an obstacle is detected by another obstacle detection sensor. Figure 9 shows a situation in which the running vehicle 110 is moving straight backward on a level road surface and the running vehicle obstacle detection sensor 211b detects a change in road surface conditions in the traveling direction (in this case, the road surface changing from horizontal to an upward slope). In this case, the effective detection area VAR of the platform obstacle detection sensor 201b is set to face backward (within the range indicated by the arc-shaped double-headed arrow α1) before the change in road surface conditions is detected, but after the change in road surface conditions is detected, the setting is changed to expand to a range diagonally downward and rearward (to the range indicated by the arc-shaped double-headed arrow α2).

[0044] As described above, with the obstacle detection device in the aerial work platform 101, an effective detection area VAR is set in a range corresponding to the direction of travel of the running body 110 and the direction of travel of the work platform 140, and operation of the running body 110 and the lifting device is restricted when an obstacle is detected within this effective detection area VAR. This reduces the number of objects that do not interfere with the running direction of the running body 110 or the direction of travel of the work platform 140 and that are not detected as obstacles, and prevents unnecessary operation restrictions from being imposed.

[0045] Modifications of the first embodiment will be described below with additional reference to FIGS. 10 to 14. A vehicle for aerial work 101A as a first modification of the first embodiment is shown in FIGS. 10 and 11. This vehicle for aerial work 101A differs from the vehicle for aerial work 101 in that it is equipped with platform obstacle detection sensors 202a, 202b and traveling object obstacle detection sensors 212a, 212b in its obstacle detection device, but the other configurations are substantially the same. The platform obstacle detection sensors 202a, 202b and traveling object obstacle detection sensors 212a, 212b are configured using LiDAR. As shown in FIGS. 10 and 11, the platform obstacle detection sensor 202a is provided at the front of the platform 140, and the platform obstacle detection sensor 202b is provided at the rear of the platform 140. Furthermore, the running object obstacle detection sensor 212a is provided at the front of the running object 110, and the running object obstacle detection sensor 212b is provided at the rear of the running object 110.

[0046] The functions of the work platform obstacle detection sensors 202a, 202b and the traveling object obstacle detection sensors 212a, 212b will be described using the work platform obstacle detection sensor 202b as an example. The work platform obstacle detection sensor 202b has a detectable area AR (shown as a fan-shaped dashed line in FIGS. 10 and 11) that is narrower than those of the work platform obstacle detection sensors 201a, 201b and the traveling object obstacle detection sensors 211a, 211b, and is able to detect any intrusion within the detectable area AR. The work platform obstacle detection sensor 202b is mounted so that it can swing up and down and left and right within a predetermined swingable range (the range indicated by the arc-shaped double arrows in FIGS. 10 and 11), and can be swung by an electric actuator (not shown) to set the detectable area AR to any orientation within the swingable range. The work platform obstacle detection sensor 202a and the traveling object obstacle detection sensors 212a and 212b have the same functions as the work platform obstacle detection sensor 202b.

[0047] The detection area control unit 152 of the controller 150 in this modification changes the orientation of the detectable area AR of the work platform obstacle detection sensor 202a or 202b so as to correspond to the movement direction of the work platform 140 detected by the movement direction detection unit 151, and sets the detectable area AR with the changed orientation as the effective detection area. The detection area control unit 152 also changes the orientation of the detectable area AR of the running object obstacle detection sensor 212a or 212b so as to correspond to the running movement direction of the running object 110 detected by the movement direction detection unit 151, and sets the detectable area AR with the changed orientation as the effective detection area.

[0048] A vehicle for aerial work 101B as a second modified example of the first embodiment is shown in Figures 12 and 13. This vehicle for aerial work 101B differs from the vehicle for aerial work 101 in that the obstacle detection device is equipped with platform obstacle detection sensors 203a, 203b, 203c, 203d, 203e, 203f, 203g, 203h, 203i, and 203j and traveling object obstacle detection sensors 213a and 213b, but the other configurations are substantially the same. The platform obstacle detection sensors 203a to 203j and traveling object obstacle detection sensors 213a and 213b are configured by LiDAR. As shown in FIGS. 12 and 13, the work platform obstacle detection sensor 203a is provided at the front of the work platform 140, the work platform obstacle detection sensor 203b is provided at the rear of the work platform 140, and the work platform obstacle detection sensor 203c is provided at the top of the work platform 140. Detection sensor 203d is provided at the bottom of the work platform 140. Work platform obstacle detection sensor 203e is provided on the right side of the work platform 140, and work platform obstacle detection sensor 203f is provided on the left side of the work platform 140. Work platform obstacle detection sensor 203g is provided at the front right corner of the work platform 140, work platform obstacle detection sensor 203h is provided at the front left corner of the work platform 140, work platform obstacle detection sensor 203i is provided at the rear right corner of the work platform 140, and work platform obstacle detection sensor 203j is provided at the rear left corner of the work platform 140. In addition, running object obstacle detection sensor 213a is provided at the front of the running object 110, and running object obstacle detection sensor 212b is provided at the rear of the running object 110.

[0049] The functions of the work platform obstacle detection sensors 203a-203j and the traveling object obstacle detection sensors 213a, 213b will now be described. The work platform obstacle detection sensors 203a-203j and the traveling object obstacle detection sensors 213a, 213b are configured so that their detectable areas AR (shown as dashed sectors in FIGS. 12 and 13) are narrower than those of the work platform obstacle detection sensors 201a, 201b and the traveling object obstacle detection sensors 211a, 211b described above, and any intrusion within the detectable area AR can be detected as an obstacle. Furthermore, the work platform obstacle detection sensors 203a-203j and the traveling object obstacle detection sensors 213a, 213b are attached in different positions so that their respective detectable areas AR face different directions.

[0050] In this modification, the detection area control unit 152 of the controller 150 selects at least one obstacle detection sensor from among the work platform obstacle detection sensors 203a-203j so as to correspond to the movement direction of the work platform 140 detected by the movement direction detection unit 151, and sets the detectable area AR of the selected obstacle detection sensor as the effective detection area. For example, if the movement direction of the work platform 140 is upward, the work platform obstacle detection sensor 203c is selected, and if the movement direction of the work platform 140 is diagonally rearward to the right, the work platform obstacle detection sensor 203i is selected. The detection area control unit 152 also selects the running object obstacle detection sensor 213a or 213b so as to correspond to the running direction of the running object 110 detected by the movement direction detection unit 151, and sets the detectable area AR of the selected obstacle detection sensor as the effective detection area. For example, if the running object 110 is moving forward, the running object obstacle detection sensor 213a is selected, and if the running object 110 is moving backward, the running object obstacle detection sensor 213b is selected. In addition, obstacle detection sensors for the running object may also be provided at each corner of the running object 110 so as to be able to handle various running directions.

[0051] Next, a second embodiment of the present invention will be described. Fig. 14 shows a self-propelled vertical lifting vehicle for aerial work 1 equipped with an obstacle detection device according to the second embodiment of the present invention. This vehicle for aerial work 1 will be described with reference to Figs. 14 and 15. The vehicle for aerial work 1 comprises a running body 10 having four tires and wheels 11 provided on the front, rear, left and right sides, a lifting device 20 provided on the running body 10, and a work platform 30 supported by the lifting device 20.

[0052] The running vehicle 10 has left and right travel motors 12a, 12b that respectively rotate and drive a pair of left and right front wheels 11a, 11b of the tire-wheel assembly 11, a steering mechanism (not shown) that connects the left and right front wheels 11a, 11b, and a steering cylinder 17 that drives the steering mechanism to change the steering angle of the left and right front wheels 11a, 11b (the deflection angle with respect to the longitudinal center axis of the running vehicle 10). The pair of left and right rear wheels 11c, 11d of the tire-wheel assembly 11 are non-drive wheels connected by an axle. The running vehicle 10 is configured to be able to travel in a desired direction by rotating and driving the left and right front wheels 11a, 11b with the left and right travel motors 12a, 12b and changing the steering angle of the left and right front wheels 11a, 11b with the steering cylinder 17. Note that the left and right front wheels 11a, 11b may be steered wheels, and the left and right rear wheels 11c, 11d may be driven wheels driven by the travel motors.

[0053] The lifting device 20 is configured by a scissors link mechanism in which two X-shaped link members 20a are arranged side by side in the left-right direction of the running body 10, and the central parts of the two link members 20a are connected by a first pivot rod 20b, and these are further arranged side by side in three stages in the vertical direction and each stage is pivotally connected by a second pivot rod 20c, and a lifting cylinder 21 is installed between this scissors link mechanism and the running body 10.

[0054] The lowermost link member 20a constituting the scissors link mechanism has its lower end located in front of the running body 10 pivotally connected to the upper part of the running body 10, and its lower end located in the rear side is provided with a roller 20e that rolls on a rail provided on the upper part of the running body 10. The uppermost link member 20a constituting the scissors link mechanism has its upper end located in front of the running body 10 pivotally connected to the lower part of the work platform 30, and its upper end located in the rear side is provided with a roller 20f that rolls on a rail provided on the lower part of the work platform 30. The lifting device 20 is configured so that the scissors link mechanism can be extended and retracted in the vertical direction by extending and retracting the lifting cylinder 21, thereby lifting and lowering the work platform 30 in the vertical direction.

[0055] The work platform 30 has a work floor 31 on which a worker can board, handrails 32 erected at the front, rear, left, and right ends of the work floor 31, and an operating device 40 provided on the top of the front handrail 32. As shown in Fig. 15, the operating device 40 has a travel operation lever 41 for starting and stopping the running body 10 and for operating the running body 10 to travel forward and backward, a steering dial 42 for steering the running body 10 (for steering the left and right front wheels 11a, 11b which are the steering wheels), and a lift operation lever 43 for raising and lowering the work platform 30. The vehicle for working at height 1 is configured so that a worker on the work platform 30 can operate the travel operation lever 41, the steering dial 42, and the lift operation lever 43 to cause the running body 10 to travel and the work platform 30 to rise and fall, thereby moving to a desired work position.

[0056] The travel control lever 41 is positioned in a neutral position in a vertical position when not in operation, and is configured to be tiltable forward and backward relative to this neutral position. The operating state of the travel control lever 41 (the direction and amount of operation relative to the neutral position) is detected by a travel control detector 41a, such as a potentiometer, provided in the operating device 40, and the detection signal is input to the controller 50. Tilting the travel control lever 41 forward corresponds to a command to drive the vehicle 10 forward, and the greater the amount of tilt operation, the greater the target speed for forward travel set in the controller 50. Tilting the travel control lever 41 backward corresponds to a command to drive the vehicle 10 backward, and the greater the amount of tilt operation, the greater the target speed for reverse travel set in the controller 50. Returning the travel control lever 41 to the neutral position corresponds to a command to stop the vehicle 10.

[0057] When not in operation, the steering dial 42 is located in a neutral position (as shown in FIG. 15, a position where the mark on the steering dial 42 and the mark on the surface of the operation device 40 are aligned), and is configured to be able to be twisted to the right (clockwise) and left (counterclockwise) with respect to this neutral position. The operation state of the steering dial 42 (the direction and amount of operation with respect to the neutral position) is detected by a steering operation detector 42a, such as a potentiometer, provided in the operation device 40, and the detection signal is input to the controller 50. Twisting the steering dial 42 to the right corresponds to a command to steer the front wheels 11a, 11b to the right, and the greater the amount of twisting, the greater the value of the target steering angle to the right set in the controller 50. A counterclockwise twist of the steering dial 42 corresponds to a command to steer the front wheels 11a, 11b to the left, and the greater the amount of twist, the greater the target steering angle to the left set in the controller 50. An operation to return the steering dial 42 to the neutral position corresponds to a command to set the steering angle of the front wheels 11a, 11b to zero (a straight-ahead driving command for the vehicle 10).

[0058] The lift control lever 43 is positioned in a neutral position in a vertical position when not in operation, and is configured to be tiltable forward and backward with this neutral position as the reference. The operation state of the lift control lever 43 (the direction and amount of operation with the neutral position as the reference) is detected by a lift control operation detector 43a formed of a potentiometer or the like provided in the operation device 40, and the detection signal is input to the controller 50. Tilting the lift control lever 43 forward from the neutral position corresponds to a command to lower the work platform 30, and tilting it backward from the neutral position corresponds to a command to raise the work platform 30. Returning the lift control lever 43 to the neutral position corresponds to a command to stop the work platform 30.

[0059] The traveling vehicle 10 is provided with a battery B and an inverter IV that converts DC power from the battery B into AC power and supplies it to the left and right traveling motors 12a, 12b. The inverter control section 56 of the controller 50 supplies power to the left and right traveling motors 12a, 12b via the inverter IV so that the left and right traveling motors 12a, 12b rotate in a direction and at a speed that corresponds to the operating state of the travel operation lever 41, thereby controlling the rotation of the left and right traveling motors 12a, 12b.

[0060] Furthermore, the traveling vehicle 10 is equipped with a pump drive motor MT that is rotationally driven by power from a battery B, a hydraulic pump P that is driven by the pump drive motor MT, a hydraulic oil tank T, a steering control valve 71 that switches the supply direction of hydraulic oil to the steering cylinder 17, and a lift control valve 72 that switches the supply direction (including whether or not to supply) of hydraulic oil to the lift cylinder 21. The pump drive motor MT is rotationally driven only when the work platform 30 is raised using the lift operation lever 43 and when steering is performed using the steering dial 42. Hydraulic oil discharged from the hydraulic pump P is supplied to the steering cylinder 17 via the steering control valve 71, and to the lift cylinder 21 via the lift control valve 72.

[0061] The steering control section 57 of the controller 50 is configured to electromagnetically drive the spool of the steering control valve 71 in response to operation of the steering dial 42, thereby switching the direction of supply of hydraulic oil to the steering cylinder 17, and to extend and retract the steering cylinder 17 to change the steering angle of the left and right front wheels 11a, 11b. The lift control section 58 of the controller 50 is configured to electromagnetically drive the spool of the lift control valve 72 in response to operation of the lift operation lever 43, thereby switching the direction of supply of hydraulic oil to the lift cylinder 21, and to extend and retract the lift cylinder 21 to lift and move the work platform 30 up and down by the lift device 20.

[0062] The lifting device 20 is equipped with a lifting position detector 61 that detects the lifting position (height position) of the work platform 30 from the extension amount of the lifting cylinder 21. Information on the lifting position of the work platform 30 detected by the lifting position detector 61 is input to the lifting control section 53 of the controller 50. Note that the lifting position detector 61 may be configured to detect the lifting position of the work platform 30 from the extension amount of the lifting cylinder 21, or may be configured with an optical or ultrasonic reflective distance sensor to detect the lifting position of the work platform 30. Also, the height of the work platform 30 may be calculated by detecting the angle of the scissor link.

[0063] Next, the obstacle detection device in the aerial work platform 1 will be described with additional reference to Figures 16 to 18. As shown in Figure 16, this obstacle detection device is mainly composed of a travel operation lever 41, a steering dial 42, a lift operation lever 43, a lift position detector 61, a steering angle detector 62, platform obstacle detection sensors 81a, 81b, traveling body obstacle detection sensors 86a, 86b, an alarm 91, and a controller 50 (particularly, a movement direction detection unit 51, a detection area control unit 52, an operation restriction unit 53, and an alarm control unit 54). The steering angle detector 62 detects the steering angle of the left and right front wheels 11a, 11b, which are steered wheels, and outputs a detection signal to the controller 50.

[0064] The work platform obstacle detection sensors 81a, 81b and the traveling vehicle obstacle detection sensors 86a, 86b are configured with LiDAR. As shown in FIGS. 17 and 18, the work platform obstacle detection sensor 81a is provided at the front of the work platform 30, and the work platform obstacle detection sensor 81b is provided at the rear of the work platform 30. The traveling vehicle obstacle detection sensor 86a is provided at the front of the traveling vehicle 10, and the traveling vehicle obstacle detection sensor 86b is provided at the rear of the traveling vehicle 10. Note that in FIG. 18, the traveling vehicle 10 and the work platform 30, which would normally be positioned overlapping each other in a plan view, are shown side by side for convenience. This also applies to FIGS. 20 and 22, which will be referred to below.

[0065] The work platform obstacle detection sensors 81a, 81b and the traveling object obstacle detection sensors 86a, 86b have the same functions as the work platform obstacle detection sensors 201a, 201b and the traveling object obstacle detection sensors 211a, 211b of Embodiment 1. That is, within the detectable area AR (shown as a fan shape with a dashed line in Figures 17 and 18), an effective detection area VAR (the range indicated by the arc-shaped double-headed arrow in Figures 17 and 18) can be set, and if an object enters this effective detection area VAR, it will be detected as an obstacle.

[0066] The alarm device 91 has the same function as the alarm device 215 of the first embodiment. That is, when the operation of the traveling body 10 and the work platform 30 is restricted, the alarm device 91 issues an alarm to warn the worker of this fact. The alarm device 91 is installed, for example, on the work platform 30.

[0067] The movement direction detection unit 51 of the controller 50 detects the movement direction of the running body 10 and the movement direction of the work platform 30. For example, the movement direction detection unit 51 detects the traveling movement direction of the running body 10 based on each operation signal from the running operation lever 41 and the steering dial 42 (more specifically, each detection signal from the running operation detector 41a and the steering operation detector 42a) and a detection signal from the steering angle detector 62. The movement direction detection unit 51 also detects the relative movement direction of the work platform 30 with respect to the running body 10 based on the operation signal from the lifting operation lever 43 (more specifically, the detection signal from the lifting operation detector 43a) and a detection signal from the lifting position detector 61. The movement direction detection unit 51 then detects the movement direction of the work platform 30 (movement direction in three-dimensional space) based on the relative movement direction of the work platform 30 with respect to the running body 10 and the traveling movement direction of the running body 10.

[0068] The detection area control unit 52 of the controller 50 sets the effective detection area VAR in the work platform obstacle detection sensor 81a or 81b so as to correspond to the movement direction of the work platform 30 detected by the movement direction detection unit 51. The detection area control unit 52 also sets the effective detection area VAR in the running body obstacle detection sensor 86a or 86b so as to correspond to the traveling movement direction of the running body 10 detected by the movement direction detection unit 51. For example, if the running body 10 moves forward and the work platform 30 moves upward relative to the running body 10, the traveling movement direction of the running body 10 is forward, and the movement direction of the work platform 30 is diagonally upward and forward. Therefore, the detection area control unit 52 sets the effective detection area VAR within the detectable area AR of the running body obstacle detection sensor 86a so as to correspond to the traveling movement direction (forward) of the running body 10. The detection area control unit 52 also sets the effective detection area VAR within the detectable area AR of the work platform obstacle detection sensor 81a so as to correspond to the movement direction of the work platform 30 (diagonally upward and forward).

[0069] The operation regulating unit 53 of the controller 50 regulates the operation of the running body 10 when an obstacle is detected within the effective detection area VAR of the running body obstacle detection sensor 86a or 86b. That is, the operation regulating unit 53 regulates the rotational operation of the traveling motors 12a, 12b regardless of the operation amount of the travel operation lever 41, thereby slowing down the traveling speed of the running body 10. In addition, when an obstacle is detected within the effective detection area VAR of the platform obstacle detection sensor 81a or 81b, the operation regulating unit 53 regulates the rotational operation of the traveling motors 12a, 12b regardless of the operation amount of the travel operation lever 41, thereby slowing down the traveling speed of the running body 10. When the operation of the lifting cylinder 21 is stopped, the operation of the running body 10 is restricted, and the operation of the lifting device 20 is restricted. That is, regardless of the amount of operation of the lifting operation lever 43, the operation of the lifting cylinder 21 is restricted, and the lifting speed of the work platform 30 is reduced. This operation restriction is performed according to the distance between the sensor that detected the obstacle and the obstacle, similar to the operation restriction unit 153 of the first embodiment (description thereof will be omitted here).

[0070] When the operation restriction unit 53 restricts operation, the alarm control unit 54 of the controller 50 causes the alarm device 91 to issue an alarm to alert the operator.

[0071] As described above, with the obstacle detection device of the aerial work platform 1, an effective detection area VAR is set in a range corresponding to the travel direction of the traveling body 10 and the travel direction of the work platform 30, and when an obstacle is detected within this effective detection area VAR, operation of the traveling body 10 and the lifting device 20 is restricted. Therefore, it is possible to reduce the number of objects that do not interfere with the travel direction of the traveling body 10 or the travel direction of the work platform 30 and that are not detected as obstacles, and to prevent unnecessary operation restrictions from being imposed.

[0072] Modifications of the second embodiment will be described below with additional reference to FIGS. 19 to 22. A vehicle for aerial work 1A as a first modification of the second embodiment is shown in FIGS. 19 and 20. This vehicle for aerial work 1A differs from the vehicle for aerial work 1 in that it is equipped with platform obstacle detection sensors 82a, 82b, and 82c and traveling object obstacle detection sensors 87a and 87b in its obstacle detection device, but the other configurations are substantially the same. The platform obstacle detection sensors 82a to 82c and traveling object obstacle detection sensors 87a and 87b are configured using LiDAR. As shown in FIGS. 19 and 20, the platform obstacle detection sensor 82a is provided at the front of the platform 30, the platform obstacle detection sensor 82b is provided at the rear of the platform 30, and the platform obstacle detection sensor 82c is provided below the platform 30. The running object obstacle detection sensor 87a is provided at the front of the running object 10, and the running object obstacle detection sensor 87b is provided at the rear of the running object 10.

[0073] The configurations and functions of the work platform obstacle detection sensors 82a to 82c and the vehicle obstacle detection sensors 87a, 87b are similar to those of the work platform obstacle detection sensors 202a, 202b and the vehicle obstacle detection sensors 212a, 212b in the first variant of the first embodiment, and therefore will not be described here.

[0074] The detection area control unit 52 of the controller 50 in this modification changes the orientation of the detectable area AR of the work platform obstacle detection sensor 81a, 81b or 81c so as to correspond to the movement direction of the work platform 30 detected by the movement direction detection unit 51, and sets the detectable area AR with the changed orientation as the effective detection area. The detection area control unit 52 also changes the orientation of the detectable area AR of the running object obstacle detection sensor 87a or 87b so as to correspond to the running movement direction of the running object 10 detected by the movement direction detection unit 51, and sets the detectable area AR with the changed orientation as the effective detection area.

[0075] A vehicle for aerial work 1B as a second modified example of the second embodiment is shown in Figures 21 and 22. This vehicle for aerial work 1B differs from the vehicle for aerial work 1 in that the obstacle detection device is equipped with platform obstacle detection sensors 83a, 83b, 83c, 83d, 83e, 83f, 83g, 83h, 83i, and 83j and traveling object obstacle detection sensors 88a and 88b, but the other configurations are substantially the same. The platform obstacle detection sensors 83a to 83j and traveling object obstacle detection sensors 88a and 88b are configured using LiDAR. As shown in Figures 21 and 22, the platform obstacle detection sensor 83a is provided at the front of the platform 30, the platform obstacle detection sensor 83b is provided at the rear of the platform 30, the platform obstacle detection sensor 83c is provided at the top of the platform 30, and the platform obstacle detection sensor 83d is provided at the bottom of the platform 30. The platform obstacle detection sensor 83e is provided on the right side of the work platform 30, and the work platform obstacle detection sensor 83f is provided on the left side of the work platform 30. The work platform obstacle detection sensor 83g is provided on the front right corner of the work platform 30, the work platform obstacle detection sensor 83h is provided on the front left corner of the work platform 30, the work platform obstacle detection sensor 83i is provided on the rear right corner of the work platform 30, and the work platform obstacle detection sensor 83j is provided on the rear left corner of the work platform 30. In addition, the running object obstacle detection sensor 88a is provided on the front of the running object 10, and the running object obstacle detection sensor 88b is provided on the rear of the running object 10.

[0076] The configurations and functions of the work platform obstacle detection sensors 83a to 83j and the moving object obstacle detection sensors 88a, 88b are similar to those of the work platform obstacle detection sensors 202a, 202b and the moving object obstacle detection sensors 203a to 203j and the moving object obstacle detection sensors 213a, 213b in the second variant of the first embodiment, and therefore will not be described here.

[0077] In this modification, the detection area control unit 52 of the controller 50 selects at least one obstacle detection sensor from among the work platform obstacle detection sensors 83a-83j so as to correspond to the movement direction of the work platform 30 detected by the movement direction detection unit 51, and sets the detectable area AR of the selected obstacle detection sensor as the effective detection area. For example, if the movement direction of the work platform 30 is downward, the work platform obstacle detection sensor 83d is selected, and if the movement direction of the work platform 30 is diagonally forward to the right, the work platform obstacle detection sensor 83g is selected. The detection area control unit 52 also selects the running object obstacle detection sensor 88a or 88b so as to correspond to the traveling direction of the running object 10 detected by the movement direction detection unit 51, and sets the detectable area AR of the selected obstacle detection sensor as the effective detection area. For example, if the traveling direction of the running object 10 is forward, the running object obstacle detection sensor 88a is selected, and if the traveling direction of the running object 10 is backward, the running object obstacle detection sensor 88b is selected. In addition, obstacle detection sensors for the running body may also be provided at each corner of the running body 10 so as to be able to handle various running directions.

[0078] Although preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments. For example, in the above-described embodiments, LiDAR is used as an example of an obstacle detection sensor, but the obstacle detection method is not limited to a specific one. Various detection methods can be used, such as a method of detecting obstacles using an ultrasonic sensor or a method of detecting obstacles by image recognition.

[0079] In the first embodiment described above, a telescoping boom type vehicle for aerial work is shown as the boom type vehicle for aerial work to which the present invention is applied, but it can also be applied to a bending boom type vehicle for aerial work. Furthermore, in the second embodiment described above, a scissor link type vehicle for aerial work is shown as the vertical lifting type vehicle for aerial work to which the present invention is applied, but it can also be applied to a mast type vehicle for aerial work. Furthermore, the present invention can also be applied to aerial work vehicles equipped with roller jacks and non-self-propelled vehicles for aerial work. [Explanation of symbols]

[0080] 1,101 aerial work platforms 10,110 running body 20 Lifting device 30,140 Workbench 50,150 Controller 51,151 Movement direction detection unit 52,152 Detection area control unit 53,153 Operation control part 54,154 Alarm control unit 120 Rotating body 130 Boom

Claims

1. a traveling body that can travel and move; a lifting device that is provided on the traveling body and supports a work platform, and that operates to move the work platform relative to the traveling body; a movement direction detection device that detects the movement direction of the work platform when the traveling body and / or the lifting device is operating; a plurality of work platform obstacle detection sensors provided on a plurality of side surfaces of the work platform, respectively, for detecting obstacles when the work platform moves; a detection area control device that selects one work platform obstacle detection sensor from the plurality of work platform obstacle detection sensors based on the movement direction of the work platform, and within an area in which obstacles can be detected by the selected work platform obstacle detection sensor, sets a partial area of ​​the entire detectable area that corresponds to the movement direction of the work platform as an effective detection area, and sets the entire area other than the partial area as an ineffective detection area; an operation control device that regulates the operation of the running body and / or the lifting device when an obstacle is detected by the work platform obstacle detection sensor within the effective detection area set by the detection area control device.

2. The obstacle detection device for a high-altitude work vehicle described in claim 1, characterized in that the movement direction detection device detects the movement direction of the work platform based on the relative movement direction of the work platform to the running body when the lifting device is operating and the running movement direction of the running body when the running body is operating.

3. An obstacle detection device for a high-altitude work vehicle as described in claim 1 or 2, characterized in that when an obstacle is detected by the work platform obstacle detection sensor within the effective detection area set by the detection area control device, the operation control device performs operation regulation to slow down the operating speed of the running body and / or the lifting device depending on the distance between the detected obstacle and the detected work platform obstacle detection sensor.

4. The obstacle detection device for aerial work vehicles as described in claim 3, characterized in that when the movement of the work platform is stopped due to the operation restriction of the running body and / or the lifting device, the operation control device subsequently allows the operation of the running body and / or the lifting device only if the work platform is moved in a direction that increases the distance between the detected obstacle and the detected work platform obstacle detection sensor.

5. An obstacle detection device for an aerial work vehicle as described in any one of claims 1 to 4, characterized in that it is equipped with an alarm device that, when an obstacle is detected by the work platform obstacle detection sensor within the effective detection area set by the detection area control device, issues an alarm depending on the distance between the detected obstacle and the detected work platform obstacle detection sensor.

6. a running body obstacle detection sensor attached to the running body and configured to detect obstacles when the running body is traveling, The obstacle detection device for an aerial work vehicle described in any one of claims 1 to 5, characterized in that the detection area control device sets an effective detection area corresponding to the direction of travel of the vehicle within an area in which obstacles can be detected by the vehicle obstacle detection sensor, and restricts the operation of the vehicle when an obstacle is detected by the vehicle obstacle detection sensor within the set effective detection area.

Images