Patent Application
20220281730
The present invention relates to a method for preventing collision and a device for preventing collision (hereinafter the device is also referred simply to as “collision prevention device”) with obstacles (hereinafter referred to as “upper obstacles” in the present invention) existing above the deck on an aerial work platform, and more particularly to a method for preventing a deck, an equipment attached to the deck and a crew member, a load and the like on the deck from being collided with the upper obstacle in an aerial work platform equipped with a deck on which a crew member rides raising and lowering above an undercarriage equipped with a traveling device such as a wheel or a crawler, and an elevation mechanism such as a scissor link mechanism that raises and lowers the deck, and a device for executing the method.
As shown in
Such an aerial work platform 100 is, for example indoor use or work on the bottom of a bridge, etc., often used in a place where an obstacle (included in the upper obstacle) such as a ceiling or a bottom surface of a bridge exists above the aerial work platform 100.
When used in the presence of an upper obstacle in this way, or when the maximum ground clearance in case of the deck 130 to be raised to the maximum, exceeds the height of the upper obstacle such as the ceiling or the bottom of the bridge, if the deck 130 rises indefinitely, there is a risk that accidents may occur such as the head of a crew member on the deck 130 colliding with an upper obstacle such as the ceiling or the bottom of a bridge, or the crew member being caught between the safety rail 131 of the deck 130 and the upper obstacle.
Therefore, in order to prevent such accidents from occurring, it has been proposed that an aerial work platform 100 monitors the approach of an upper obstacle and, when the upper obstacle approaches to a predetermined distance from the deck 130, emits a warning sound to call the attention of the passengers, or emergently stops the raising movement of the deck 130 to prevent the aforementioned accidents from occurring.
As such an aerial work platform, the patent document 1 below proposes an aerial work platform 100 that detects an obstacle above by means of a proximity sensor 154 such as an ultrasonic sensor attached to the safety rail 131 of the deck 130, and when the obstacle above approaches a predetermined position, the proximity is notified to the passengers and the elevating operation of the deck 130 is emergently stopped [see
Although it does not disclose a method for detecting an obstacle above an aerial work platform, in Patent Document 2 described later, in order to prevent the head guard 232 provided on the upper part of the lift 240 from colliding with an upper obstacle when the lift 240 of the forklift 200 is raised, a forklift 200 in which the obstacle detection plate 282 is elastically arranged on the head guard 232 via an elastic body such as a spring 257 and a sensor 254 such as a limit switch or a pressure sensor that detects obstacles when a load exceeding a certain level of load is applied to the obstacle detection plate 282 is provided for stopping raising movement of the lift 240 by the detection signal from the sensor 254 is proposed (see
In the configuration of the aerial work platform 100 described in Patent Document 1 introduced above, when an upper obstacle such as a ceiling approaches due to the raising movement of the deck 130, a warning sound is given to the crew based on the detection signal from the proximity sensor 154 that detects the approach of the upper obstacle, and thanks to the emergency stop of the raising movement of the deck 130, the occurrence of accidents such as the head of a crew colliding with an upper obstacle or the crew being caught between the safety barrier 131 of the deck 130 and the upper obstacle is considered to be prevented.
However, in the aerial work platform 100 having the above configuration, when the upper obstacle exists as a surface such as a ceiling, the approach can be detected, yet among the upper obstacles, for example as shown by the broken line in
Therefore, when the deck 130 is raising, it is assumed that such an upper obstacle exists in the non-detection area generated between the detection areas of the adjacent proximity sensors 154 and 154, and the approach of such an upper obstacle cannot be detected, then the upper obstacle still comes into contact with the head of the crew member and the like, and there is a risk of accidents where the crew member is caught between the safety barrier 131 and the upper obstacle.
In this way, when trying to reliably detect the approach of an upper obstacle that protrudes downward from the ceiling and the like, it is considered that, for example, as shown in
Moreover, as shown in
On the other hand, in the forklift 200 described in Patent Document 2 described with reference to
Therefore, if a configuration is adopted in which the upper part of the deck of the aerial work platform is covered with the obstacle detection plate 282 described in Patent Document 2, whether it is the peripheral side or the central part of the deck 130, the approach of an upper obstacle existing above the deck can be detected without omission, and the safety of the crew members on the deck 130 can be protected.
However, if the configuration in which the upper part of the deck 130 of the aerial work platform 100 is covered with the obstacle detection plate 282 described above is adopted, the crew members on the deck 130 cannot work on the ceiling, or the bottom surface of the bridge, etc. above the deck 130 because they are obstructed by the obstacle detection plate 282, therefore the original function of the aerial work platform 100 will be greatly lost.
The present invention has been made to solve the shortcomings of the above-mentioned conventional art, so that the approach of an upper obstacle to the “surface” covering the upper part of the deck can be detected without omission, as in the obstacle detection plate 282 described in Patent Document 2 described above, and the objective is to provide a method for preventing the collision with upper obstacles and a collision prevention device for an aerial work platform which can reliably detect the approach of upper obstacles that partially exist above the deck 130, such as beams and lighting fixtures that protrude below the ceiling, and at the same time ensure workability above the deck 130.
Means for solving the problems are described below with reference numerals used in the detailed description of the preferred embodiments. These reference numerals are intended to clarify the correspondence between the descriptions in the claims and the descriptions in the detailed description of the preferred embodiments, and it is needless to say that these reference numerals should not be used to restrictively interpret the technical scope of the present invention.
In order to achieve the above objective, a method for preventing collision with an upper obstacle for an aerial work platform 1 provided with an undercarriage 10, a deck 30 raising and lowering above the undercarriage 10, and an elevating mechanism 20 to cause the deck 30 to raise and lower according to the present invention; comprises:
irradiating laser light such as infrared ray laser as a planar beam 81 which is diffused in a planar shape parallel to a floor surface 32 of the deck 30 from a laser light irradiation position “rp” located at a position with a predetermined height H1 with respect to an upper end of the deck 30 (an upper end of a safety barrier 31 of the deck 30 in the illustrated example) at either end side of the deck 30 (a side of one end 30a in the illustrated example) during raising movement of the deck 30, and generating a laser light passing surface 82 which is a surface through which the irradiated planar beam 81 passes;
capturing an image of the laser light passing surface 82 from a bottom surface side of the laser light passing surface 82 by an image capturing device 52 capable of capturing the image of light having wavelength of the laser light from a lower side of the laser light irradiation position rp at the end side of the deck 30 (a side of one end 30a in the illustrated example); and
setting a predetermined range of the captured image including a portion above the deck 30 and corresponding to the floor surface of the deck 30 as a detection area 85 and stopping the raising movement of the deck 30 when a reflecting portion [see
Preferably, in the method for preventing collision having the above configuration further comprises:
monitoring approach of the upper obstacle to the laser light irradiation position rp; and
stopping the raising movement of the deck 30 not only when the reflecting portion appears in the detection area 85 but also when the upper obstacle approaches to a predetermined position with respect to the laser light irradiation position rp (
Furthermore, preferably, when the laser light is invisible light such as infrared ray, visible light is irradiated, preferably, synchronously to irradiation of the planar beam 81, from a position adjacent to the laser light irradiation position rp in the planner shape parallel to the floor surface 32 of the deck 30 (
Moreover, a device 50 for preventing collision with an upper obstacle (collision prevention device) for an aerial work platform 1 provided with an undercarriage 10, a deck 30 raising and lowering above the undercarriage 10, and an elevating mechanism 20 such as a scissor linkage mechanism to cause the deck 30 to raise and lower according to the present invention; comprises:
a laser light generator 51 for irradiating laser light as a planar beam 81 diffused in a planner shape parallel to a floor surface 32 of the deck 30 from a laser light irradiation position rp at a position with a predetermined height H1 with respect to an upper end of the deck 30 at either end side of the deck 30 during raising movement of the deck 30 to generate a laser light passing surface 82 which is a surface through which the irradiated planar beam 81 passes;
an image capturing device 52 such as an infrared laser camera capable of capturing an image of light having wavelength of the laser light, which is provided below the laser light generator 51 at the end side of the deck 30 for capturing an image of the laser light passing surface 82 from a bottom surface side of the laser light passing surface 82;
a reflecting portion detecting means (hereinafter referred to as reflecting portion detector) 61 setting a predetermined range of the image captured by the image capturing device 52, including a portion above the deck 30 and corresponding to the floor surface of the deck 30 as a detection area 85 and detecting appearance of a reflecting portion of the planar beam 81 in the detection area 85; and
a raising movement regulating means (hereinafter referred to as raising movement regulator) 71 for stopping the raising movement of the deck 30 when the reflecting portion detector 61 detects that the reflecting portion in the laser passing surface 82 appears (
Preferably, in the device 50 for preventing collision with the upper obstacle with the above configuration, a sensor 54 such as an ultrasonic sensor or a limit switch for detecting proximity or contact of the upper obstacle is further attached to the laser light generator 51; and the raising movement regulator 71 stops the raising movement of the deck 30 not only when the reflecting portion detector 61 detects that the reflecting portion appears in the detection area 85, but also when the sensor 54 detects proximity or contact of the upper obstacle (
Furthermore, when the deck 30 is an extension deck having a movable floor surface 32a that slides on a fixed floor surface 32b, and an area of the floor surface 32 is expanded by sliding the movable floor surface 32a;
the deck 30 is provided with a sliding position detecting means (hereinafter referred to as sliding position detector) 56 for detecting a sliding position of the movable floor surface 32a; and may also be provided with a detection area setting means (hereinafter referred to as detection area setting unit) 62 for changing a setting range of the detection area 85 corresponding to the sliding position of the movable floor surface 32a detected by the sliding position detector 56 (
Furthermore, preferably, when the laser light generator 51 is a generator of an invisible light laser such as an infrared laser, a visible light generator 53 to diffuse and irradiate visible light in a planner shape parallel to the floor surface 32 of the deck 30, preferably, synchronously to irradiation of the planar beam 81 by the laser light generator 51, is provided adjacent to the laser light generator 51 (
With the configuration of the present invention described above, the following remarkable effects could be obtained, according to the method for preventing collision for upper obstacles and the collision prevention device 50 in the aerial work platform 1 of the present invention.
During the raising movement of the deck 30, by irradiating the planar beam 81 above the deck 30 with the laser light generator 51 to generate the laser light passing surface 82, as well as by capturing an image of the laser light passing surface 82 from below the laser light generator 51 with an image capturing device 52 capable of capturing an image of the light having the wavelength of the laser light, when an upper obstacle enters the laser light passing surface 82, the image capturing device 52 receives the laser light that collides with the upper obstacle and is reflected, and a reflecting portion that reflects the reflected laser light appears in the corresponding portion of the captured image.
Therefore, while capturing the above images, if a predetermined range including the upper position of the deck 30 of the captured image is set as the detection area 85, and the appearance of the reflecting portion in the detection area 85 is detected, it could be determined that the upper obstacle has approached the deck 30 to the position where the laser light passing surface 82 is generated, and also it was possible to prevent the collision of the upper obstacle with the deck 30 and the crew by stopping the raising movement of the deck 30 accompanying with the detection from the reflecting portion.
On the other hand, in the method of the present invention, since the upper obstacle is not detected by a “plate” such as the obstacle detection plate 282 (see
In the event that a sensor 54 such as an ultrasonic sensor or a limit switch for detecting the proximity or contact of an upper obstacle on the laser light generator 51 is provided, thereby the raising movement of the deck 30 is stopped by the raising movement regulator 71 even when the sensor 54 detects the proximity or contact of an upper obstacle, when an upper obstacle approaches or comes into contact with the sensor 54, therefore, when an upper obstacle approaches to a predetermined position with respect to the laser light generator 51 (laser light irradiation position rp) below the sensor 54, it was also possible to prevent the laser light generator 51 from colliding with an upper obstacle and being damaged by stopping the raising movement of the deck 30.
Further, when the deck 30 is raised, since an upper obstacle can enter the position where the laser light passing surface 82 is generated as described above, if the crew's body, materials attached on the deck 30 and the like protrude above the generation position of the laser light passing surface 82, they may collide with an upper obstacle during the raising movement of the deck 30.
However, if the laser light to be irradiated is invisible light, the crew cannot see the laser light with the naked eye, and even if a part of the body or materials protrudes onto the laser light passing surface 82, this cannot be discriminated by the naked eye.
On the other hand, in a configuration in which a visible light generator 53 is provided adjacent to the laser light generator 51 to irradiate visible light diffused in a planar shape parallel to the floor surface 32 of the deck 30, preferably, the laser light generator 51 and the visible light generator 53 are synchronized to control ON/OFF irradiation and stop the irradiation of the visible light at the same time as irradiation and stop of the irradiation of the planar beam 81, the visible light passing surface 83 (see
When the aerial work platform 1 is used near a vertical wall surface and the like, a “line of light” indicating the generation position of the laser light passing surface 82 (visible light passing surface 83) emerges on this wall surface, therefore the crew can grasp the generation position of the laser light passing surface 82.
When the deck 30 is an extension deck in which the movable floor surface 32a slides on the fixed floor surface 32b and the area of the floor surface 32 changes, if the detection area 85 remains small corresponding to the setting of the original deck size despite the extension of the floor 32 of the deck 30, even if an upper obstacle is approaching on the deck 30 outside the detection area 85, it cannot be detected and there is a risk that the deck 30 and the crew will collide with the upper obstacle.
However, in the event that the deck 30 is provided with a sliding position detector 56 for detecting the sliding position of the movable floor surface 32a, and that the detection area setting unit 62 for changing the setting range of the detection area 85 is provided corresponding to the sliding position detected by the sliding position detection means 56, it could be possible to prevent an accident such as forgetting to change the setting, by automatically changing the range of the detection area 85 in conjunction with the expansion and reduction of the floor surface 32 of the deck 30.
The aerial work platform equipped with the device for preventing collision with upper obstacles according to the present invention is described below with reference to the accompanying drawings.
In
A safety barrier 31 is provided on the deck 30 to prevent the crew members and luggage on the deck 30 from falling and the floor surface 32 of the deck 30 is composed of a movable floor surface 32a slidably attached on the fixed floor surface 32b, and also the movable floor surface 32a is configured as an extension deck in which the floor surface 32 is expanded to a side of one end 30a of the deck 30 by sliding the movable floor surface 32a. However, the floor surface 32 of the deck 30 could be a fixed type that does not slide.
At the side of the one end 30a of this deck 30, a control panel 33 is provided on the safety barrier 31, and by operating the switches, levers and the like provided on the control panel 33, it is configured to be able to input operation commands such as forward, backward, steering and other running operations of the aerial work platform 1, raising and lowering operation of the deck 30 of the aerial work platform 1, and the sliding operations of the floor surface 32.
As shown in
As an example, the travel controller 72 that receives the operation command input via the control panel 33 controls the travel motor and the steering device provided on the undercarriage according to the operation command to control the travel of the aerial work platform, and further, the elevation controller 73 controls the operation of a control valve (not shown) or a hydraulic pump (not shown) that controls the supply and discharge of hydraulic oil to, for example, a hydraulic cylinder (not shown) provided in the elevating mechanism 20 and performs the elevating operation of the deck 30 by the elevating mechanism 20 according to the operation command.
Further, the floor surface slide controller 74 slides the movable floor surface 32a to a position corresponding to the operation command by controlling the operation of the pinion motor (not shown) of the floor slide mechanism, for example, the rack mechanism (not shown) in response to the operation command.
In this embodiment, it should be noted that the side of the floor surface of the deck 30 is described as a configuration in which the floor slide controller 74 is performed on the floor slide mechanism according to the operation of the control panel 33 by the crew, however, instead of this configuration, or in combination with this configuration, the floor surface may be manually slid.
The aerial work platform 1 configured as described above is provided with the collision prevention device 50 that detects the approach of an upper obstacle to the deck 30 during the raising movement of the deck 30 and stops the raising movement of the deck 30.
As shown in
Also, as mentioned above, when the deck 30 is an extension deck in which the movable floor surface 32a slides and the area of the floor surface 32 changes, the collision prevention device 50 may be further provided with a sliding position detector 56 and a detection area setting unit 62.
Among the components of the collision prevention device 50, during the raising movement of the deck 30, at any end side (the side of one end 30a in the illustrated example) in the longitudinal direction of the deck 30, the above-mentioned laser light generator 51 is attached to laser light irradiation position rp at a position with a predetermined height H1 with respect to the deck 30 (safety barrier 31 of the deck 30 in the illustrated example), and irradiates a planar beam 81 of laser light such as an infrared laser diffused in a planar shape parallel to the floor surface 32 of the deck 30.
In this embodiment, this laser light generator 51 is attached to the tip of a support rod 58 erected on the deck 30 (erected on a safety barrier 31 in the illustrated example) of an aerial work platform, as a result, it is always held at a position with a predetermined height H1 as the deck 30 moves up.
As described above, the laser light generator 51 diffuses the laser light in a planar shape parallel to the floor surface 32 of the deck 30 and irradiates it as a planar beam 81, and by the irradiation of the planar beam 81, a laser light passing surface 82 which is a passing surface of the planar beam 81 is generated above the deck so as to cover the upper part of the deck 30 as shown in
In this embodiment, as such a laser light generator 51, one that irradiates an infrared laser having a wavelength of 940 nm is used, yet if the laser light generator 51 can irradiate the above-mentioned planar beam 81 to generate a laser light passing surface 82 that covers the upper part of the deck 30, various known laser light generators without being limited to the above could be used.
Further, in the present embodiment, as shown in
In the configuration of this embodiment which irradiates an infrared laser having a wavelength of 940 nm which is invisible light, as the laser light generator 51, as shown in
That is, by overlaying on the laser passing surface 82 generated by the laser light generator 51 described above, or, by generating a visible light passing surface 83 (see
When the aerial work platform 1 is used near a vertical wall surface and the like, on this wall surface, a “line of light” indicating the generation position of the laser light passing surface 82 (visible light passing surface 83) emerges, whereby the crew can grasp the generation position of the laser light passing surface 82.
In this embodiment, as shown in
In the illustrated embodiment, two laser light generators 51 and two visible light generators 53 are provided respectively, and the irradiation ranges of the two laser light generators 51 are combined to generate the above-mentioned laser light passing surface 82, and also the irradiation ranges of the two visible light generators 53 are combined to generate the visible light passing surface 83, however the laser light generator 51 and the visible light generator 53 may be provided one by one respectively, or may be provided in three or more.
In particular, when the laser light passing surface 82 is generated by a single laser light generator 51 using a wide-angle lens, there are advantages where not only can the cost be kept low by reducing the number of laser light generators 51 used, but also it is possible to prevent the variations in laser intensity that occur at the overlapping portion when the irradiation ranges of two or more laser light generators 51 are combined to generate the laser light passing surface 82, and to prevent the occurrence of vertical displacement of the laser light passing surface 82 caused by the individual difference between the two laser light generators 51.
Further, in the illustrated embodiment, although the above-mentioned support rod 58 is configured as a simple pole, the support rod 58 could be expandable and reducible in the height direction, for example, by having a telescopic structure, the arrangement height of the laser light generator 51 and the visible light generator 53 on the deck 30, that is, the height H1 of the laser light irradiation position rp could be made variable.
The laser light passing surface 82 generated by the above-mentioned laser light generator 51 is imaged obliquely from the bottom surface side thereof, with an image capturing device 52 (infrared camera in this embodiment) capable of capturing an image of light (with a wavelength of 940 nm in this embodiment) having the wavelength of the laser light of the planar beam 81 irradiated by the laser light generator 51 (see
As such an image capturing device 52, a known digital camera such as a CCD camera or a CMOS camera equipped with an image pickup element having sensitivity to light of the wavelength of the laser light described above can be used.
The image capturing device 52 is attached below the laser light generator 51, in the present embodiment, on the support rod 58 below the laser light generator 51 described above, so that the above-mentioned laser light passing surface 82 can be captured so as to look up from diagonally downward thereof.
Note that, reference numerals 54 in
In the illustrated embodiment, this sensor is a proximity sensor (ultrasonic sensor) 54, it is configured that the sensor 54 is attached to an upper surface of a casing 55 accommodating the laser light generator 51 and the visible light generator 53, and when an upper obstacle approaches within a detection distance (for example, 10 mm) of the proximity sensor 54 during the raising movement of the deck 30, the sensor detects the approach of the obstacle and output a detection signal.
The image data captured by the image capturing device 52 described above is sent to the image processing device 60, and in the reflecting portion detector 61 realized in the image processing device 60, as shown in
Then, the reflecting portion detector 61 determines whether or not there is a portion (reflecting portion) in which the planar beam 81 is reflected on the laser light passing surface 82 in the detection area 85 and detects the reflecting portion in the detection area 85, then, the detection signal is output to the raising movement regulator 71 of the control device 70 which will be described later.
As shown in
As shown in
As described above, when the floor surface 32 of the deck 30 is configured to be slidable and the floor surface 32 of the deck 30 is configured to be extendable to the side of one end 30a of the deck 30, it may be configured that a sliding position detector 56 including such as a limit switch (not shown) for detecting the sliding position of the movable floor surface 32a provided on the deck 30 is provided, and the sliding position of the movable floor surface 32a detected by the sliding position detector 56 may be input to the detection area setting unit 62 realized in the above described image processing device 60.
In this way, when the sliding position of the movable floor surface 32a detected by the sliding position detector 56 is input to the image processing device 60, the detection area setting unit 62 implemented in the image processing unit 60 determines whether the deck is in the expanded state or not based on the detection signal from the sliding position detector 56 as shown in
In this embodiment, the configuration in which the detection area 85 is changed into two stages of expansion and reduction has been described, yet the detection area 85 may be changed in two or more steps, or may be changed steplessly according to the sliding position of the movable floor surface 32a.
In the aerial work platform 1 provided with the device 50 for preventing collision with upper obstacles according to the present invention described above, when the raising operation of the deck 30 is started, the laser light generator 51 and the visible light generator 53 start irradiating the planar beam 81 and visible light, and at the same time, the image capturing device 52 captures an image of the laser light passing surface 82 diagonally from the bottom surface side from the lower side of the laser light generator 51, and the image data captured in this way is transmitted to the image processing device 60, then, by the reflecting portion detector 61 realized in the image processing apparatus 60, the appearance of the reflecting portion in the detection area 85 shown in
Further, at the same time as the deck 30 starts to rise, the proximity sensor 54 also starts to operate and the detection of the upper obstacles is started, and both the detection signal from the reflecting portion detector 61 and the detection signal from the proximity sensor 54 can be output to the raising movement regulator 71 of the control device 70.
If the raising movement of the deck 30 is continued in such a state, in the event that the upper obstacle above the deck 30 is composed of a ceiling and a lighting fixture projecting downward from the ceiling, for example, as shown in
When the lower end of this lighting fixture is above the position corresponding to the detection area 85 as shown in
When the formation space of the laser light passing surface 82 is captured by the image capturing device 52 placed below the laser light generator 51 so as to look up obliquely, at the laser light passing surface 82 of the portion where the lower end of the lighting fixture reaches, the laser light (infrared ray) of the planar beam 81 collides with the lower end of the lighting fixture and is reflected, and a portion (reflecting portion) where the planar beam 81 is reflected appears in the captured image, as shown in
Therefore, when the appearance of this reflecting portion is confirmed in the portion corresponding to the detection area 85 in the captured image, it can be determined that the upper obstacle is approaching the generation position of the laser light passing surface 82 on the deck 30.
Therefore, based on the detection signal that the reflecting portion detector 61 has detected the reflecting portion, the raising movement regulator 71 of the control device 70 cause the elevation controller 73 to perform a process for stopping the raising movement of the deck 30, thereby it can prevent the deck 30 and the crew from being collided with the upper obstacle by preventing the upper obstruct from approaching to the deck 30 any father.
In
On the other hand, as shown in
However, since the proximity sensor 54 is provided on the upper surface of the laser light generator 51, when an upper obstacle approaches the proximity sensor 54 by a predetermined distance (for example, 10 mm), the proximity sensor 54 outputs a detection signal which detected an upper obstacle.
Then, the raising movement regulator 71 that has received the detection signal from the proximity sensor 54 stops the raising movement of the deck 30 with respect to the elevation controller 73, and by stopping the raising movement of the deck 30, the collision of the upper obstacle to the laser light generator 51 can also be avoided.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-153997 | Aug 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/031878 | 8/24/2020 | WO |
