Work unit control system

Abstract

To safely and smoothly handle a partial breakage of a plurality of wires supporting a work unit working at height.SOLUTION: A work unit control system has a first control unit 2, a second control unit 3, and a work unit 5 that performs works such as cleaning installed on a roof of a building 1, the system connects a winch 21 of the first control unit 2 and the work unit 5 with wire 41, connects a winch 31 of the second control unit 3 and the work unit 5 with wire 42, connects an auxiliary winch 22 of the first control unit 2 and a fixed part of the second control unit 3 with auxiliary wire 43, and suspends the work unit 5 on the auxiliary wire 43. Further, if the wire 41 breaks, the auxiliary wire 43 restricts the movement of the work unit so that the work unit 5 stops at a position midway between the auxiliary winch 22 of the first control unit 2 and the fixed part of the auxiliary wire 43 of the second control unit 3.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a work unit control system that can handle a situation safely and smoothly when a part of a plurality of wires supporting a gondola or a work device for an operator performing work at a high place (hereinafter referred to as a "work unit") breaks and the work unit is supported by an auxiliary wire.

Background Art

[0002] Conventionally, when automatically performing high-place work such as cleaning the walls and windows of a building, for example, a winch A and a winch B are provided at two points on the rooftop of the building, and the work unit is suspended by a wire A1 extending from the winch A and a wire B1 extending from the winch B. Then, by changing the winding amount and the feeding amount of the wire A1 extending from the winch A and the wire B1 extending from the winch B, the position of the work unit is controlled to move.

[0003] Here, if the wire A1 or the wire B1 breaks, there is a risk that the work unit may fall, and thus a technique for preventing the fall of the work unit is known. For example, Patent Document 1 discloses a global movement gondola that horizontally moves a work unit by the wire A1 and the wire B1, and after the work unit moves horizontally, an auxiliary winch C is moved to the upper part of the work unit, and the fall of the work unit is prevented by an auxiliary wire C1 extending from the winch C.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the case of the above-mentioned Patent Document 1, if wire A1 breaks while the work unit is being moved laterally by wires A1 and B1, the auxiliary wire C1 will not function properly, and the work unit will be supported only by wire B1. As a result, the work unit may swing violently like a pendulum and collide with walls or windows.

[0006] Furthermore, in the above-mentioned Patent Document 1, the auxiliary wire C1 is locked to prevent the work unit from falling, so the work unit has no choice but to be retrieved manually. Moreover, depending on the conditions of the building's rooftop, it may not be possible to install a movable auxiliary winch due to water tanks or penthouse structures (parts of the rooftop that protrude from the stairwell or elevator room, etc.).

[0007] Therefore, a crucial challenge is how to safely and smoothly deal with the situation when some of the multiple wires supporting a work unit performing work at height break.

[0008] The present invention was made to solve the problems (issues) of the above-mentioned prior art, and aims to provide a work unit control system that can safely and smoothly deal with the situation when a part of the multiple wires supporting a work unit performing work at height breaks. [Means for solving the problem]

[0009] To solve the above-mentioned problems and achieve the objective, the present invention provides a work unit for use in high-altitude work on a predetermined facility, having a joint and a suspension part at predetermined positions; a first winch provided at a first position of the predetermined facility for winding up or feeding out a first wire, one end of which is fixed to the joint of the work unit; a second winch provided at a second position of the predetermined facility for winding up or feeding out a second wire, one end of which is fixed to the joint of the work unit; and a device provided around the first position of the predetermined facility, with one end of which is fixed around the second position of the predetermined facility. butThe device is equipped with an auxiliary winch that is fixed in place and winds up or feeds out an auxiliary wire that is attached to the suspension section, and is characterized in that if the first wire or the second wire breaks, the movement of the work unit is restricted by the auxiliary wire.

[0010] Furthermore, the present invention is characterized in that, in the above invention, the present invention further comprises a terminal device held by an operator who operates the work unit, a first control device that is wirelessly capable of communicating with the terminal device and controls the first winch and the auxiliary winch according to the operation content of the terminal device, and a second control device that is wirelessly capable of communicating with the terminal device and controls the second winch according to the operation content of the terminal device.

[0011] Furthermore, the present invention is characterized in that, in the above invention, the present invention further comprises a wire control amount calculation means that calculates the wire length, winding amount, and feed-out amount of the first wire, the second wire, and the auxiliary wire based on the operation content of the terminal device.

[0012] Furthermore, the present invention is characterized in that, in the above invention, the wire control amount calculation means calculates the wire length of the auxiliary wire such that the tension of the auxiliary wire is within a predetermined range.

[0013] Furthermore, the present invention is characterized in that, in the above invention, the terminal device further comprises work instruction means for giving predetermined work instructions to a tool control device that controls a tool disposed in the work unit.

[0014] Furthermore, the present invention is characterized in that, in the above invention, the first control device comprises a first tension sensor for detecting the tension of the first wire, and a first break determination means for determining that the first wire has broken when the tension detected by the first tension sensor falls below a predetermined value, or when the amount of change of the tension detected by the first tension sensor per predetermined time exceeds a predetermined value, and the second control device comprises a second tension sensor for detecting the tension of the second wire, and a second break determination means for determining that the second wire has broken when the tension detected by the second tension sensor falls below a predetermined value, or when the amount of change of the tension detected by the second tension sensor per predetermined time exceeds a predetermined value.

[0015] Furthermore, the present invention is characterized in that, in the above invention, the terminal device further comprises a breakage receiving means for receiving notification of the breakage of the first wire or the second wire from the first control device or the second control device.

[0016] Furthermore, the present invention is characterized in that, in the above invention, the terminal device further comprises an automatic lowering instruction means that, upon receiving notification of the breakage of the first wire by the breakage receiving means, instructs the first control device and the second control device to automatically lower the work unit, and upon receiving notification of the breakage of the second wire by the breakage receiving means, instructs the first control device to automatically lower the work unit.

[0017] Furthermore, the present invention is characterized in that, in the above invention, the terminal device further comprises a movement instruction means that, upon receiving notification of the breakage of the first wire by the breakage receiving means, instructs the first control device and the second control device to move the work unit to a predetermined height, and upon receiving notification of the breakage of the second wire by the breakage receiving means, instructs the first control device to move the work unit to a predetermined height.

[0018] Further, in the present invention, in the above invention, a terminal device held by an operator who operates the work unit, a first control device capable of wireless communication with the terminal device and controlling the first winch according to the operation content for the terminal device, a second control device capable of wireless communication with the terminal device and controlling the second winch according to the operation content for the terminal device, and a third control device capable of wireless communication with the terminal device and controlling the auxiliary winch according to the operation content for the terminal device are further provided.

Advantages of the Invention

[0019] According to the present invention, when a part of a plurality of wires supporting a work unit performing high-altitude work breaks, it is possible to handle the situation safely and smoothly.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a diagram showing an overview of a work unit control system according to Embodiment 1. [Figure 2] FIG. 2 is a diagram showing an example of the structure of the work unit 5 shown in FIG. 1. [Figure 3] FIG. 3 is an explanatory diagram for explaining the behavior of the work unit 5 of the work unit control system according to Embodiment 1. [Figure 4] FIG. 4 is a diagram showing a calculation model for calculating the behavior of the work unit 5. [Figure 5] FIG. 5 is an explanatory diagram for explaining the behavior of the work unit 5 calculated by the calculation model shown in FIG. 4. [Figure 6] FIG. 6 is an explanatory diagram for explaining the configuration of the first control device 2 shown in FIG. 1. [Figure 7] FIG. 7 is an explanatory diagram for explaining the configuration of the second control device 3 shown in FIG. 1. [Figure 8] FIG. 8 is a functional block diagram showing the configuration of the work unit 5 of the work unit control system shown in FIG. 1. [Figure 9] FIG. 9 is a functional block diagram showing the configuration of the terminal device 10. [Figure 10] Figure 10 is a flowchart (part 1) showing the processing procedure of the terminal device 10 shown in Figure 9. [Figure 11] Figure 11 is a flowchart (part 2) showing the processing procedure of the terminal device 10 shown in Figure 9. [Figure 12] Figure 12 is a flowchart showing the processing procedure for movement control. [Figure 13] Figure 13 is a diagram showing an overview of the work unit control system according to Embodiment 2. [Figure 14] Figure 14 is an explanatory diagram illustrating the behavior of the work unit 5 of the work unit control system according to Embodiment 2. [Figure 15] Figure 15 is an explanatory diagram illustrating the configuration of the first control device 7 shown in Figure 13. [Figure 16] Figure 16 is an explanatory diagram illustrating the configuration of the second control device 8 shown in Figure 13. [Figure 17] Figure 17 is a functional block diagram showing the configuration of the terminal device 90 according to Embodiment 2. [Figure 18] Figure 18 is a flowchart showing the processing procedure of the emergency processing unit of the terminal device 90 shown in Figure 17. [Figure 19] Figure 19 shows an overview of the third modified example. [Modes for carrying out the invention]

[0021] The following describes in detail an embodiment of the work unit control system according to the present invention, based on the drawings. This description will primarily focus on the case where the work unit is a workpiece used for cleaning windows on a wall surface.

[0022] [Embodiment 1] <Overview of the work unit control system> First, an overview of the work unit control system according to Embodiment 1 will be described. Figure 1 is a diagram showing an overview of the work unit control system according to Embodiment 1. The work unit control system has a first control device 2, a second control device 3, and a work unit 5 that performs tasks such as cleaning, all installed on the roof of building 1. The first control device 2 also has a winch 21 and an auxiliary winch 22. The second control device 3 has a winch 31.

[0023] Furthermore, the work unit control system includes wires 41, 42, and auxiliary wires 43 to move the work unit 5 up, down, left, and right parallel to the wall surface of the building 1. Wire 41 connects the work unit 5 to a drum 21b driven by a motor 21a installed on the winch 21 of the first control device 2. Wire 42 connects the work unit 5 to a drum 31b driven by a motor 31a installed on the winch 31 of the second control device 3. And auxiliary wire 43 connects the work unit 5 to a drum 22b driven by an auxiliary motor 22a installed on the auxiliary winch 22 of the first control device 2 to the fixed part of the second control device 3.

[0024] As shown in Figure 2, wires 41 and 42 connected to the work unit 5 are fixed to a fixing fitting 51 installed on the top of the work unit 5 using a fixing ring 53 or the like. In addition, the auxiliary wire 43 connected to the drum 22b of the auxiliary winch 22 is fixed to the fixing part of the second control device 3 through a pulley 52 installed on the top of the work unit 5. The work unit 5 has cameras 54, 55, a sponge 56, a squeegee 57, and a motor 58, etc., for the operator to perform cleaning etc. by operating a terminal device 10 (not shown). Note that the fixing ring 53 corresponds to the "joint part" in the claims, and the pulley 52 corresponds to the "suspension part" in the claims.

[0025] The work unit control system controls the motor 21a that winds up or feeds out the wire 41 of the winch 21, the motor 31a that winds up or feeds out the wire 42 of the winch 31, and the auxiliary motor 22a that winds up or feeds out the auxiliary wire 43, by having the operator operate a terminal device 10 (not shown), thereby moving the work unit 5 up, down, left and right parallel to the wall surface of the building 1.

[0026] Next, the behavior of the work unit 5 of the work unit control system when the wire 41 breaks will be described. Figure 3 is an explanatory diagram for illustrating the behavior of the work unit 5 of the work unit control system according to Embodiment 1. As shown in Figure 3, when the wire 41 breaks, the work unit 5 of the work unit control system moves from the position of work unit 5a before the wire 41 broke to the position of work unit 5. This position is where the length from the work unit 5 of the auxiliary wire 43 to the drum 22b where the auxiliary wire 43 of the auxiliary winch 22 is wound is equal to the length from the work unit 5 of the auxiliary wire 43 to the fixing part that fixes the auxiliary wire 43 of the second control device 3. In addition, the work unit control system can prevent the work unit 5 from falling by the auxiliary wire 43 when the wire 41 or wire 42 breaks.

[0027] Furthermore, the work unit control system can safely lower the work unit 5 to the ground by controlling the auxiliary motor 22a of the auxiliary winch 22 and the motor 31a of the winch 31 in response to the operator's commands.

[0028] <Regarding the range of motion of work unit 5 in the event of wire breakage> Next, the movable range of the work unit 5 when the wire breaks will be described. FIG. 4 is a diagram showing a calculation model for calculating the behavior of the work unit 5. As position coordinates, xy coordinates are set with P1 as the origin, the horizontal right direction as the x-axis, and the vertical downward direction as the y-axis. As shown in FIG. 4, in the suspension model in which the work unit 5 is suspended by two wires, the position x and y of the wall surface of the work unit 5 are controlled by changing the wire lengths l1 and l2 using a winch for winding installed on the rooftop of the building 1 or the like.

[0029] In the wire drive system, the number of wires m for realizing the degree of freedom of movement n needs to satisfy m > n. Here, by regarding gravity as the third wire, movement with a degree of freedom of 2 in x and y can be realized.

[0030] In the suspension model of FIG. 4(a), when one wire breaks, it operates as a simple pendulum with the position of the winch of the remaining wire as the fulcrum. In this case, since the work unit 5 can move greatly up, down, left, and right, there is a risk of collision with the ground, wall surface, and window. In order to eliminate these risks of collision, when the wire breaks, the position of the work unit 5 needs to remain stationary without moving greatly by the remaining wire.

[0031] On the other hand, as shown in FIG. 4(b), a suspension model will be described in which an auxiliary wire for suspending the work unit 5 is added by arranging one wire between the position P1 of the auxiliary winch 22 and the position P2 of the fixed part of the second control device 3. Here, since the suspension model is a symmetric system with respect to the intermediate position (x = L / 2) between the positions of the auxiliary winch 22 and the second fixed part, the movable range of the work unit 5 when the wire connected to the position P1 breaks at the position (x < L / 2) of the work unit 5 will be described.

[0032] In the case of the suspension model of FIG. 4(a) without the auxiliary wire 43, the trajectory of the change in the position of the work unit 5 draws an arc centered on the position P2 and satisfies the following relationship.

[0033]

Equation

[0034] In the suspension model shown in Figure 4(b), with the auxiliary wire 43 added, we assume that the radius of the suspension pulley of the work unit 5 is sufficiently small that it is acceptable to approximate it as a right angle. Furthermore, assuming that the fixing points of the auxiliary wire 43 coincide with positions P1 and P2, the auxiliary wire length l3 can be expressed by equation (2).

[0035]

number

[0036]

number

number

[0037]

number

[0038] Next, we will explain the behavior of the work unit 5 when the wire breaks. Figure 5 is an explanatory diagram for illustrating the behavior of the work unit 5 calculated using the calculation model shown in Figure 4. Here, position P1 indicates the position where the auxiliary winch 22 is installed, and position P2 indicates the position where the fixing part of the second control device 3 is installed. The distance L between the auxiliary winch 22 and the fixing part of the second control device 3 is 10m, and the position of the work unit 5 when the break occurs is (x, y) = (0.0, 5.0).

[0039] As shown in Figure 5, without the auxiliary wire 43, the working unit 5's range of motion in the left-right direction (x-axis direction) extends beyond the fixed position P2 of the second control device 3. In wall work, it is undesirable for the working unit 5 to move beyond the working area (between the auxiliary winch 22 and the fixed position of the second control device 3) from a safety standpoint.

[0040] On the other hand, when the auxiliary wire 43 is added (with auxiliary wire 43), the range of motion in the x-axis direction is contained between the auxiliary winch 22 and the fixed part of the second control device 3. Furthermore, it can be seen that in the height direction as well, positional fluctuations are suppressed when the auxiliary wire 43 is present compared to when the auxiliary wire 43 is not present.

[0041] <Configuration of the first control device 2> Next, the configuration of the first control device 2 shown in Figure 1 will be described. Figure 6 is an explanatory diagram illustrating the configuration of the first control device 2 shown in Figure 1. As shown in Figure 6, the first control device 2 includes a winch 21, an auxiliary winch 22, a control unit 23, and a transmitting / receiving unit 24. The winch 21 also includes a motor 21a and a drum 21b, and the auxiliary winch 22 includes an auxiliary motor 22a and a drum 22b.

[0042] The motor 21a of the winch 21 and the drum 21b driven by the motor 21a are responsible for winding or feeding out the wire 41 for moving the work unit 5. The auxiliary motor 22a of the auxiliary winch 22 and the drum 22b driven by the auxiliary motor 22a are responsible for winding or feeding out the auxiliary wire 43.

[0043] The control unit 23 receives the winding or unwinding amount of the wire 41 and the winding or unwinding amount of the auxiliary wire 43 from the terminal device 10 via the transmitting / receiving unit 24, and performs winding or unwinding control using the motor 21a and auxiliary motor 22a.

[0044] The transmitting / receiving unit 24 connects to the terminal device 10 via wireless communication and receives data such as the amount of wire 41 and auxiliary wire 43 wound or unwound based on the operator's operation. The wireless communication method is, for example, Wi-Fi (registered trademark).

[0045] <Configuration of the second control device 3> Next, the configuration of the second control device 3 shown in Figure 1 will be described. Figure 7 is an explanatory diagram illustrating the configuration of the second control device 3 shown in Figure 1. As shown in Figure 7, the second control device 3 has a winch 31, a control unit 32, and a transmitting / receiving unit 33. The winch 31 also has a motor 31a and a drum 31b.

[0046] The motor 31a of the winch 31 and the drum 31b driven by the motor 31a are responsible for winding or unwinding the wire 42 for moving the work unit 5. The control unit 32 receives the amount of wire 42 wound or unwound from the terminal device 10 via the transmitting / receiving unit 33 and controls the winding or unwinding of the motor 31a.

[0047] The transmitting / receiving unit 33 connects to the terminal device 10 via wireless communication and receives data on the amount of wire 42 wound or unwound based on the operator's operation. The wireless communication method is, for example, Wi-Fi. The second control device 3 also has a fixing part for fixing an auxiliary wire 43 (not shown).

[0048] <Configuration of work unit 5> Next, the configuration of the work unit 5 will be described. Figure 8 is a functional block diagram showing the configuration of the work unit 5 shown in Figure 1. As shown in Figure 8, the work unit 5 includes a camera 54, a camera 55, a sponge 56, a squeegee 57, a motor 58, a motor 59, a communication I / F unit 60, a storage unit 61, and a control unit 62.

[0049] Cameras 54 and 55 are imaging devices that capture images of the window cleaning work status of the work unit 5. The sponge 56 is a tool used to remove dirt from windows by wiping with water or applying detergent. The squeegee 57 is a tool used to wipe off detergent and water droplets from windows.

[0050] The motor 58 is connected to the sponge 56. By using, for example, a pantograph-type jig, the motor 58 can be rotated forward to push out the sponge 56, and reversed to retract the sponge 56. The motor 58 also controls the orientation of the sponge 56.

[0051] The motor 59 is connected to the squeegee 57. By using, for example, a pantograph-type jig, the motor 59 can be rotated forward to push out the squeegee 57, and reversed to retract it. The motor 59 also controls the orientation of the squeegee 57.

[0052] The communication I / F unit 60 is an interface unit for communicating with the terminal device 10. The storage unit 61 is a storage device such as a hard disk drive or non-volatile memory.

[0053] The control unit 62 is a control unit that controls the entire work unit 5 and includes a tool control reception unit 62a, a motor control unit 62b, and a camera image transmission unit 62c. In practice, by loading these programs into the CPU and executing them, the tool control reception unit 62a, the motor control unit 62b, and the camera image transmission unit 62c are made to execute the processes corresponding to them.

[0054] The tool control reception unit 62a receives tool control data transmitted from the terminal device 10 via the communication I / F unit 60 and transmits the data to the motor control unit 62b, which controls the motors 58 and 59.

[0055] The motor control unit 62b controls the forward / reverse rotation of motor 58 and motor 59 according to the data from the tool control reception unit 62a. The motor control unit 62b also controls the orientation of the sponge 56 and squeegee 57 by controlling motors 58 and 59. The camera image transmission unit 62c processes the images captured by cameras 54 and 55 and transmits them to the terminal device 10.

[0056] <Configuration of terminal device 10> Next, the configuration of the terminal device 10 will be described. Figure 9 is a functional block diagram showing the configuration of the terminal device 10. As shown in Figure 9, the terminal device 10 has an input unit 11, a display unit 12, a communication I / F unit 13, a storage unit 14, and a control unit 15.

[0057] The input unit 11 is an input device such as a keyboard, mouse, or operation buttons, and the display unit 12 is a display device such as an LCD panel or display device. The communication I / F unit 13 is an interface unit for wireless communication with other devices such as the first control unit 2, the second control unit 3, and the work unit 5. The storage unit 14 is a storage device such as a hard disk drive or non-volatile memory.

[0058] The control unit 15 is a control unit that controls the entire terminal device 10, and includes a movement operation reception unit 15a, a wire control amount calculation unit 15b, a wire control amount transmission unit 15c, a tool control processing unit 15d, and a display processing unit 15e. In practice, by loading these programs into the CPU and executing them, the movement operation reception unit 15a, the wire control amount calculation unit 15b, the wire control amount transmission unit 15c, the tool control processing unit 15d, and the display processing unit 15e are made to execute the processes corresponding to each of them.

[0059] The movement operation reception unit 15a processes the operation instruction given by the operator to move the work unit 5. The operation instruction here may be, for example, pressing a movement direction button or using a stick to indicate the direction of movement.

[0060] The wire control amount calculation unit 15b is a processing unit that calculates the wire winding amount or feed-out amount for the motor 21a of the winch 21 of the first control device 2 and the auxiliary motor 22a of the auxiliary winch 22, and the motor 31a of the winch 31 of the second control device 3, based on the operator's operation instructions. For example, when moving the work unit 5 parallel to the right, the wire control amount calculation unit 15b calculates the feed-out amount of wire 41 and auxiliary wire 43 to be transmitted to the motor 21a and auxiliary motor 22a of the first control device 2, and calculates the winding amount of wire 42 to be transmitted to the motor 31a of the second control device 3. Furthermore, when calculating the winding amount or feed-out amount of the auxiliary wire 43, the wire length of the auxiliary wire 43 is calculated so that the tension is within a predetermined range so that the auxiliary wire 43 does not sag.

[0061] Here, the amount of wire to be wound or fed out is calculated based on the operator's instructions (for example, moving the work unit 1m to the left from its current position). Specifically, if the current position coordinates of work unit 5 are known in advance, the position coordinates to which work unit 5 will move are identified from the instructions. Then, the wire length is determined from each position coordinate using the Pythagorean theorem, and the amount to be wound or fed out is calculated from the difference in those wire lengths.

[0062] The wire control amount transmission unit 15c performs the process of transmitting the winding amount or feed-out amount of wire 41, wire 42, and auxiliary wire 43, calculated by the wire control amount calculation unit 15b, to the first control device 2 and the second control device 3 via the communication I / F unit 13.

[0063] When the operator presses the tool button for cleaning the window of the work unit 5 selected by the operator, the tool control processing unit 15d performs the process of pushing out the selected tool and sending data to store other tools via the communication I / F unit 13.

[0064] The display processing unit 15e receives images from cameras 54 and 55 installed in the work unit 5 via the communication I / F unit 13 and controls the display on a predetermined display unit 12.

[0065] <Processing procedure for terminal device 10> Next, the processing procedure of the terminal device 10 will be described. Figures 10 and 11 are flowcharts showing the processing procedure of the terminal device 10 as shown in Figure 9. As shown in Figure 10, the terminal device 10 receives the camera image transmitted from the work unit 5 (step S101). Then, the terminal device 10 controls the display of the received camera image on a predetermined display unit 12 (step S102).

[0066] Subsequently, the terminal device 10 controls the movement of the work unit 5 based on the operator's input (step S103). The terminal device 10 then determines whether or not the cleaning button has been pressed (step S104). If the cleaning button has not been pressed, the process proceeds to step S103 (step S104; No). Conversely, if the cleaning button has been pressed (step S104; Yes), the terminal device 10 sends data to the work unit 5 to push out the sponge 56 in order to apply detergent to the window glass (step S105).

[0067] Subsequently, the terminal device 10 controls the movement of the work unit 5 based on the operator's input (step S106). The terminal device 10 then determines whether or not the wiping button has been pressed (step S107). If the wiping button has not been pressed, the process proceeds to step S106 (step S107; No). If the wiping button has been pressed (step S107; Yes), the terminal device 10 transmits data to store the sponge 56, and then transmits data to the work unit 5 to push out the squeegee 57 in order to perform wiping (step S108).

[0068] Then, the terminal device 10 controls the movement of the work unit 5 based on the operator's input (step S109). After that, the terminal device 10 determines whether or not the wiping is complete (step S110). If the wiping is not complete, the process proceeds to step S109 (step S110; No). On the other hand, if the wiping is complete (step S110; Yes), the terminal device 10 transmits data to store the squeegee 57 to the work unit 5 (step S111).

[0069] The terminal device 10 then determines whether the cleaning is complete or not (step S112). If the cleaning is not complete, the process proceeds to step S103 (step S112; No), and the cleaning continues. On the other hand, if the cleaning is complete (step S112; Yes), the series of processes ends.

[0070] Next, the processing procedure for movement control shown in Figures 10 and 11 will be described. Figure 12 is a flowchart of the processing procedure for movement control. As shown in Figure 12, the terminal device 10 determines whether or not an operation instruction has been given (step S201). If no operation instruction has been given, the process returns to the main flow shown in Figures 10 and 11 (step S201; No).

[0071] In response to this, if an operation instruction is given (step S201; Yes), the terminal device 10 calculates control amounts such as the winding amount or feed-out amount of the wire 41 of winch 21, the wire 42 of winch 31, and the auxiliary wire 43 of auxiliary winch 22 based on the direction of movement (step S202).

[0072] Subsequently, the terminal device 10 transmits the calculated control amounts, such as the winding or unwinding amounts, of the wires 41, 42, and auxiliary wires 43 to the first control device 2 and the second control device 3 (step S203). Then, the process proceeds to step S201.

[0073] As described above, in this embodiment 1, the work unit control system has a first control device 2, a second control device 3, and a work unit 5 that performs cleaning and other tasks, installed on the roof of building 1. The winch 21 of the first control device 2 and the work unit 5 are connected by a wire 41, the winch 31 of the second control device 3 and the work unit 5 are connected by a wire 42, and the auxiliary winch 22 of the first control device 2 and the fixed part of the second control device 3 are connected by an auxiliary wire 43, from which the work unit 5 is suspended. If the wire 41 breaks, the auxiliary wire 43 restricts the movement of the work unit so that it stops at an intermediate position between the auxiliary winch 22 of the first control device 2 and the fixed part of the auxiliary wire 43 of the second control device 3. Therefore, if a part of the multiple wires supporting the work unit performing work at height breaks, it is possible to deal with the situation safely and smoothly.

[0074] In the above embodiment 1, the case where wire 41 breaks was described, but the work unit 5 behaves similarly when wire 42 breaks. The terminal device 10 controls the motor 21a of the winch 21 and the auxiliary motor 22a of the auxiliary winch 22 of the first control device 2, and by feeding out wire 41 and auxiliary wire 43, the work unit 5 can be safely lowered to the ground.

[0075] <Example 1> In Embodiment 1 described above, the case in which the wire control amount is calculated in the terminal device 10 was explained, but the present invention is not limited thereto. Therefore, in Modification 1, the case in which the wire control amount is calculated in the first control device 2 will be explained.

[0076] In the modified work unit control system according to Modified Example 1, when the terminal device 10 receives an input (for example, 1m to the left from the current position), this input is transmitted to the first control device 2 via the communication I / F unit 13 of the terminal device 10. The first control device 2 then calculates the coordinates of the destination of the work unit 5 according to the current coordinates of the work unit 5 and the received input. From the calculated coordinates of the destination of the work unit 5, the wire length of the wire 41 at the destination of the work unit 5 is calculated.

[0077] Subsequently, the difference between the current wire length of wire 41 and the wire length of wire 41 at the destination of the work unit 5 is calculated, and the control amount (winding amount or feed-out amount) of wire 41 is calculated according to this difference.

[0078] Similarly, the second control device 3 calculates the wire length of the wire 42 at the destination of the work unit 5, and then calculates the control amount (winding amount or feed amount) of the wire 42 according to the difference between the wire length of the wire 42 at the current time and the wire length of the wire 42 at the destination of the work unit 5.

[0079] In the above modified example 1, the case in which the wire control amount is calculated in the first control device 2 and the second control device 3 respectively was described, but the present invention is not limited thereto, and the control amounts of wire 41 and wire 42 can also be calculated in the first control device 2 or the second control device 3.

[0080] In the above embodiment 1, the case in which the wire length is calculated using the position information of the work unit 5 was described, but the present invention is not limited to this. Angle sensors can be installed on winches 21 and 31, and the wire lengths of wires 41 and 42 can be calculated using trigonometric functions from the angle information of winches 21 and 31, respectively. In addition, the wire length can be calculated from the rotation amount of a motor installed on the winch.

[0081] Furthermore, while Embodiment 1 described a case in which the auxiliary winch 22 is provided to the first control device 2, the present invention is not limited thereto, and the auxiliary winch 22 can also be provided to an independent control device separate from the first control device 2.

[0082] [Embodiment 2] <Overview of the work unit control system> By the way, in Embodiment 1 described a case where the operator manually retrieves the work unit 5 when the wire 41 or wire 42 breaks, but in Embodiment 2, a case will be described in which the breakage of the wire 41 or wire 42 is detected and the work unit 5 is automatically retrieved.

[0083] The outline of the work unit control system according to Embodiment 2 will now be described. Figure 13 is a diagram showing the outline of the work unit control system according to Embodiment 2. Note that the same reference numerals are used for parts similar to those in Embodiment 1, and their detailed descriptions are omitted.

[0084] As shown in Figure 13, the work unit control system includes a first control device 7, a second control device 8, and a work unit 5 that performs tasks such as cleaning, all installed on the roof of building 1. The first control device 7 also includes a winch 75 and an auxiliary winch 22. The second control device 8 includes a winch 85.

[0085] Furthermore, the work unit control system includes wires 41, 42, and auxiliary wires 43 to move the work unit 5 up, down, left, and right parallel to the wall surface of the building 1. Wire 41 connects the work unit 5 to a drum 21b driven by a motor 21a to which a tension sensor 71, located on the winch 75 of the first control device 7, is connected. Wire 42 connects the work unit 5 to a drum 31b driven by a motor 31a to which a tension sensor 81, located on the winch 85 of the second control device 8, is connected. The auxiliary wire 43 is fixed to a fixed part of the second control device 8 and to a drum 22b driven by an auxiliary motor 22a, located on the auxiliary winch 22 of the first control device 7.

[0086] Next, the behavior of the work unit 5 of the work unit control system when the wire 41 breaks will be described. Figure 14 is an explanatory diagram for illustrating the behavior of the work unit 5 of the work unit control system according to Embodiment 2. As shown in Figure 14, when the wire 41 breaks, the work unit control system detects the break with a tension sensor 71 connected to the motor 21a that winds or feeds out the wire 41 of the winch 75 of the first control device 7, and notifies a terminal device 90 (not shown). Specifically, when the tension of the tension sensor 71 falls below a predetermined value, or when the amount of change of the tension of the tension sensor 71 per predetermined time exceeds a predetermined value, the break determination unit 73a of the control unit 73 (not shown) determines that the wire 41 has broken, and notifies a terminal device 90 (not shown) via a transmitting / receiving unit 24 (not shown).

[0087] When the wire 41 breaks, the work unit 5 of the work unit control system moves from the position of work unit 5a, which was the position before the wire 41 broke, to the position of work unit 5b. This position is where the length from the work unit 5 of the auxiliary wire 43 to the drum 22b on which the auxiliary wire 43 of the auxiliary winch 22 is wound is equal to the length from the work unit 5 of the auxiliary wire 43 to the fixing part that secures the auxiliary wire 43 of the second control device 8.

[0088] Subsequently, the work unit control system receives the wire feed amounts of the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8 from a terminal device 90 (not shown), and can automatically lower the work unit 5 to the ground.

[0089] <Configuration of the first control device 7> Next, the configuration of the first control device 7 shown in Figure 13 will be described. Figure 15 is an explanatory diagram illustrating the configuration of the first control device 7 shown in Figure 13. As shown in Figure 15, the first control device 7 includes an auxiliary winch 22, a transmitting / receiving unit 24, a control unit 73, and a winch 75. The winch 75 also includes a tension sensor 71, a motor 21a, and a drum 21b.

[0090] The tension sensor 71 of the winch 75 is a device connected to the motor 21a that measures the tension of the wire 41. The control unit 73 receives the winding or unwinding amount of the wire 41 and the winding or unwinding amount of the auxiliary wire 43 from the terminal device 90 via the transmitting / receiving unit 24, and controls the winding or unwinding using the motor 21a and the auxiliary motor 22a.

[0091] Furthermore, the control unit 73 has a break detection unit 73a. The break detection unit 73a determines whether the wire 41 has broken, and if the wire 41 has broken, it notifies the terminal device 90 of the wire 41's breakage via the transmitting / receiving unit 24. Specifically, if the tension from the tension sensor 71 falls below a predetermined value, or if the amount of change in the tension from the tension sensor 71 per predetermined time exceeds a predetermined value, the break detection unit 73a determines that the wire 41 has broken and notifies the terminal device 90 of the wire 41's breakage.

[0092] <Configuration of the second control device 8> Next, the configuration of the second control device 8 shown in Figure 13 will be described. Figure 16 is an explanatory diagram illustrating the configuration of the second control device 8 shown in Figure 13. As shown in Figure 16, the second control device 8 has a transmitting / receiving unit 33, a control unit 82, and a winch 85. The winch 85 has a tension sensor 81, a motor 31a, and a drum 31b.

[0093] The tension sensor 81 of the winch 85 is a device connected to the motor 31a that measures the tension of the wire 42. The control unit 82 receives the amount of wire 42 being wound up or unwound from the terminal device 90 via the transmitting / receiving unit 33 and controls the winding or unwinding of the motor 31a.

[0094] Furthermore, the control unit 82 has a break detection unit 82a. The break detection unit 82a determines whether the wire 42 has broken, and if the wire 42 has broken, it notifies the terminal device 90 of the wire 42's breakage via the transmitting / receiving unit 33. Specifically, if the tension from the tension sensor 81 falls below a predetermined value, or if the amount of change in the tension from the tension sensor 81 per predetermined time exceeds a predetermined value, the break detection unit 82a determines that the wire 42 has broken and notifies the terminal device 90 of the wire 42's breakage.

[0095] <Configuration of terminal device 90> Next, the configuration of the terminal device 90 will be described. Figure 17 is a functional block diagram showing the configuration of the terminal device 90 according to Embodiment 2. As shown in Figure 17, the terminal device 90 has an input unit 11, a display unit 12, a communication I / F unit 13, a storage unit 14, and a control unit 95.

[0096] The control unit 95 is a control unit that controls the entire terminal device 90 and includes a movement operation reception unit 15a, a wire control amount calculation unit 15b, a wire control amount transmission unit 15c, a tool control processing unit 15d, a display processing unit 15e, a break notification reception unit 95a, and an emergency processing unit 95b. In practice, by loading these programs into the CPU and executing them, the movement operation reception unit 15a, the wire control amount calculation unit 15b, the wire control amount transmission unit 15c, the tool control processing unit 15d, the display processing unit 15e, the break notification reception unit 95a, and the emergency processing unit 95b will each execute the corresponding processes.

[0097] The break notification receiving unit 95a processes a wire break notification from the first control device 7 or the second control device 8 via the communication I / F unit 13. When the emergency processing unit 95b receives a break notification from the first control device 7, it determines that the wire 41 has broken and transmits the amount of auxiliary wire 43 from the first control device 7 and the amount of wire 42 from the second control device 8 to the first control device 7 and the second control device 8, respectively, via the communication I / F unit 13, in order to automatically lower the work unit 5 to the ground.

[0098] Furthermore, if the emergency processing unit 95b receives a breakage notification from the second control device 8 via the communication I / F unit 13, it determines that the wire 42 has broken and transmits the amount of wire 41 and auxiliary wire 43 to be fed out by the first control device 7 via the communication I / F unit 13 in order to automatically lower the work unit 5 to the ground.

[0099] <Processing procedure for emergency processing unit 95b> Next, the processing procedure of the emergency processing unit 95b will be described. Figure 18 is a flowchart showing the processing procedure of the emergency processing unit 95b of the terminal device 90 shown in Figure 17. As shown in Figure 18, the emergency processing unit 95b waits for notification of wire breakage (step S301; No).

[0100] Then, if the emergency processing unit 95b receives a wire breakage notification (step S301; Yes), it determines whether the broken wire is wire 41 or not (step S302). If the broken wire is wire 41 (step S302; Yes), it sends control data to the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8 (step S303). Specifically, it sends the amount of wire 42 to be fed to the motor 31a of the second control device 8, and the amount of auxiliary wire 43 to the auxiliary motor 22a of the first control device 7.

[0101] Subsequently, the emergency processing unit 95b determines whether or not the work unit 5 has reached the ground (step S304). If the work unit 5 has not reached the ground (step S304; No), the process proceeds to step S303 and the descent of the work unit 5 continues. On the other hand, if the work unit 5 has reached the ground (step S304; Yes), control data for stop (feed amount 0) is transmitted to the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8 (step S305), and the series of processes ends.

[0102] In contrast, if the broken wire is not wire 41 (step S302; No), it is determined whether the broken wire is wire 42 or not (step S306). If the broken wire is wire 42 (step S306; Yes), control data is transmitted to the motor 21a and auxiliary motor 22a of the first control device 7 (step 307). Specifically, data on the amount of wire 41 to be fed is transmitted to the motor 21a of the first control device 7, and data on the amount of auxiliary wire 43 to be fed is transmitted to the auxiliary motor 22a.

[0103] Subsequently, the emergency processing unit 95b determines whether or not the work unit 5 has reached the ground (step S308). If the work unit 5 has not reached the ground (step S308; No), the process proceeds to step S307, and the descent of the work unit 5 continues. On the other hand, if the work unit 5 has reached the ground (step S308; Yes), control data for stop (feed amount 0) is transmitted to the motor 21a and auxiliary motor 22a of the first control device 7 (step S309), and the series of processes ends.

[0104] In contrast, if the broken wire is not wire 42 (step S306; No), there is a high possibility that the break notification was sent in error, so error processing is performed (step S310) and the series of processes is terminated. The error processing is controlled to display text such as "Break Notification Error" on a predetermined display unit 12 of the terminal device 90, for example.

[0105] As described above, in this second embodiment, the work unit control system includes a first control device 7, a second control device 8 installed on the roof of building 1, a work unit 5 that performs cleaning and other tasks, and a terminal device 90 operated by an operator. A tension sensor 71 is connected to a motor 21a that adjusts the length of wire 41, and a tension sensor 81 is connected to a motor 31a that adjusts the length of wire 42. Upon receiving breakage notifications from these tension sensors 71 and 81, the terminal device 90 sends control data to the first control device 7 or the first control device 7 and the second control device 8 to feed out the wire, enabling the work unit 5 to be automatically lowered to the ground. This allows for safe and smooth handling of situations where a portion of the multiple wires supporting a work unit performing work at height breaks.

[0106] <Modification 2> In the above embodiment 2, a case was described in which it is determined that the wire 41 has broken based on the measurement value of the tension sensor 71 installed on the winch 75. In modification 2, a case is described in which the breakage of the wire 41 is determined based on the measured angle of the wire 41, by providing an angle sensor for measuring the angle of the wire 41 on the first control device.

[0107] In the modified work unit control system according to Modification 2, an angle sensor for measuring the angle of the wire 41 is provided on the winch 75 of the first control device 7. Then, the control unit 73 of the first control device 7 estimates the tension value that should be measured by the tension sensor 71 from the angle information measured by the angle sensor. Subsequently, the control unit 73 compares the estimated tension value with the tension value measured by the tension sensor 71, and if the difference is outside a predetermined range, it determines that the wire 41 has broken.

[0108] In the above modified example 2, the case where wire 41 breaks was described, but even if wire 42 breaks, an angle sensor for measuring the angle of wire 42 is provided on the winch 85 of the second control device 8, and the breakage of wire 42 can be determined in the control unit 82 of the second control device 8 in the same way as when wire 41 breaks.

[0109] <Variation 3> In Embodiments 1 and 2 described above, the work unit control system describes a case where, if the wire 41 breaks, the work unit 5 is suspended by the auxiliary wire 43 and comes to rest at a position where the length of the drum 22b from which the auxiliary wire 43 of the first control device 7 is wound is equal to the length of the auxiliary wire 43 from the work unit 5 to the fixing part that secures the auxiliary wire 43 of the second control device 8. However, if the position where the work unit 5 comes to rest is a window of the building 1, the work unit 5 with the broken wire will be visible from inside the building 1 through the window. Therefore, in Modification 3, if the work unit control system detects a wire break, it controls the motor to adjust the wire length of the first control device 7 or the first control device 7 and the second control device 8, and temporarily stops the work unit 5 on the wall between the windows.

[0110] The following describes the case where the wire 41 of the work unit control system according to Modification 3 breaks. Figure 19 is a diagram showing an overview of Modification 3. The same reference numerals are used for parts that are the same as in Embodiment 1 and Embodiment 2, and their detailed descriptions are omitted.

[0111] As shown in Figure 19, the work unit control system includes a first control device 7, a second control device 8, and a work unit 5 that performs tasks such as cleaning, all of which are installed on the roof of building 1.

[0112] When wire 41 breaks, the first control device 7 detects the break of wire 41 based on the tension of a tension sensor 71 connected to the motor 21a that winds or feeds out wire 41, and transmits a break notification to a terminal device 90 (not shown). Upon receiving the break notification, the terminal device 90 calculates the amount of wire 42 and auxiliary wire 43 to be fed out to the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8 so that the work unit 5 moves from the position of work unit 5a before the break to the position of work unit 5c between the windows of building 1, and transmits the amount of feed to the first control device 7 and the second control device 8. Subsequently, the terminal device 90 transmits the amount of wire to be fed out to the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8 so that the work unit 5 descends to the ground.

[0113] As a result, even if the wire 41 breaks, the work unit control system can safely retrieve the work unit 5 without observing its unstable behavior from inside the building 1.

[0114] In the above modified example 3, the case where wire 41 breaks was described, but even if wire 42 breaks, the motor 21a and auxiliary motor 22a of the first control device 7 can be controlled from the terminal device 90, allowing the work unit 5 to be safely retrieved without its unstable behavior being observed from inside the building 1.

[0115] <Modification 4> In the above modification 3, the case in which the work unit 5 stops on the wall between the windows was described. In modification 4, however, the case in which the work unit 5 is raised for a certain period of time to reduce the risk of falling when the wire 41 breaks is described.

[0116] In the modified version 4 of the work unit control system, when the breakage of the wire 41 is detected, the terminal device 90 calculates the amount to be wound up the wire 42 and auxiliary wire 43 so that the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8 raise the work unit 5, and transmits the winding amount to the first control device 7 and the second control device 8. Subsequently, the terminal device 90 transmits the amount to be fed out the wire so that the work unit 5 descends to the ground to the auxiliary motor 22a of the first control device 7 and the motor 31a of the second control device 8.

[0117] In the above modified example 4, the case where wire 41 breaks was described, but even if wire 42 breaks, the terminal device 90 controls the motor 21a and auxiliary motor 22a of the first control device 7, resulting in similar behavior, and the work unit control system can safely retrieve the work unit 5.

[0118] In the above embodiment 2, a case was described in which a tension sensor is used to detect the breakage of wire 41 or wire 42. However, the present invention is not limited to this, and an angle sensor for measuring the angle of wire 41 can be provided on the first control device 7, and an angle sensor for measuring the angle of wire 42 can be provided on the second control device 8. In this case, it will be determined that wire 41 or wire 42 has broken if the angle detected by these angle sensors changes rapidly.

[0119] The configurations illustrated in each of the above embodiments are functional schematics and do not necessarily have to be physically represented as shown. In other words, the distributed and integrated forms of each device are not limited to those shown, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads and usage conditions. [Industrial applicability]

[0120] The work unit control system according to the present invention is suitable for safely and smoothly dealing with the situation when a portion of the multiple wires supporting a work unit performing work at height breaks. [Explanation of Symbols]

[0121] 1 Building 2. First control device 3. Second control device 5, 5a, 5b, 5c Work Units 7. First control device 8. Second control device 10 Terminal devices 11 Input section 12 Display section 13 Communication I / F Section 14 Storage section 15 Control Unit 15a Movement operation reception unit 15b Wire control amount calculation unit 15c Wire control amount transmission unit 15d Tool control processing unit 15e Display Processing Unit 21 Winch 21a Motor 21b Drums 22 Auxiliary winch 22a Auxiliary motor 22b Drums 23 Control Unit 24 Transmitter / Receiver Unit 31 Winch 31a motor 31b Drums 32 Control Unit 33 Transmitter / Receiver 41 wires 42 wires 43 Auxiliary wire 51 Fixing bracket 52 Pulley 53 Fixing ring 54, 55 Camera 56 sponges 57 Squeegee 58 59 Motor 60 Communication I / F section 61 Storage section 62 Control Unit 62a Tool control reception unit 62b Motor control unit 62c Camera Image Transmission Unit 71, 81 Tension Sensor 73, 82 Control Unit 73a, 82a Fracture determination section 75, 85 winches 90 Terminal devices 95 Control Unit 95a Breakage Notification Reception Department 95b Emergency Processing Unit

Claims

1. A work unit used for working at heights in a designated facility, with joints and suspension parts provided at designated locations, A first winch, provided at a first location in the predetermined facility, which winds up or feeds out a first wire, one end of which is fixed to the joint portion of the work unit, A second winch, provided at a second location in the predetermined facility, which winds up or feeds out a second wire, one end of which is fixed to the joint portion of the work unit, An auxiliary winch is provided around the first position of the predetermined facility, with one end fixed around the second position of the predetermined facility, and is used to wind up or release the auxiliary wire that is attached to the suspension part. Equipped with, If the first wire or the second wire breaks, the auxiliary wire will restrict the movement of the work unit. A work unit control system characterized by the following:

2. A terminal device held by the operator operating the aforementioned work unit, A first control device that can communicate wirelessly with the terminal device and controls the first winch and the auxiliary winch according to the operation content of the terminal device, A second control device that can communicate wirelessly with the terminal device and controls the second winch according to the operation content of the terminal device, The work unit control system according to claim 1, further comprising the features described above.

3. The work unit control system according to claim 2, further comprising wire control amount calculation means for calculating the wire length, winding amount, and feed amount of the first wire, the second wire, and the auxiliary wire based on the operation content of the terminal device.

4. The wire control amount calculation means is The work unit control system according to claim 3, characterized in that the wire length of the auxiliary wire is calculated so that the tension of the auxiliary wire is within a predetermined range.

5. The aforementioned terminal device is The work unit control system according to claim 3, further comprising work instruction means for giving predetermined work instructions to a tool control device that controls a tool installed in the work unit.

6. The first control device is A first tension sensor for detecting the tension of the first wire, A first break determination means determines that the first wire has broken when the tension detected by the first tension sensor falls below a predetermined value, or when the amount of change in the tension detected by the first tension sensor per predetermined time exceeds a predetermined value. Equipped with, The second control device is A second tension sensor for detecting the tension of the second wire, A second break determination means determines that the second wire has broken when the tension detected by the second tension sensor falls below a predetermined value, or when the amount of change in the tension detected by the second tension sensor per predetermined time exceeds a predetermined value. A work unit control system according to any one of claims 2 to 5, characterized by comprising:

7. The aforementioned terminal device is The work unit control system according to claim 6, further comprising a breakage receiving means for receiving notification of breakage of the first wire or the second wire from the first control device or the second control device.

8. The aforementioned terminal device is The work unit control system according to claim 7, further comprising an automatic lowering instruction means that, upon receiving notification of the breakage of the first wire by the breakage receiving means, instructs the first control device and the second control device to automatically lower the work unit, and upon receiving notification of the breakage of the second wire by the breakage receiving means, instructs the first control device to automatically lower the work unit.

9. The aforementioned terminal device is The work unit control system according to claim 7, further comprising a movement instruction means that, upon receiving notification of the breakage of the first wire by the breakage receiving means, instructs the first control device and the second control device to move the work unit to a predetermined height, and upon receiving notification of the breakage of the second wire by the breakage receiving means, instructs the first control device to move the work unit to a predetermined height.

10. A terminal device held by the operator operating the aforementioned work unit, A first control device that can communicate wirelessly with the terminal device and controls the first winch according to the operation content of the terminal device, A second control device that can communicate wirelessly with the terminal device and controls the second winch according to the operation content of the terminal device, A third control device that can communicate wirelessly with the terminal device and controls the auxiliary winch according to the operation content of the terminal device, The work unit control system according to claim 1, further comprising the features described above.

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