Method and device for preventing collision of aerial work platform with upward obstacle
During raising of a deck, a floor surface of the deck is irradiated, in a parallel-plane shape, with laser light serving as a planar beam from a prescribed height on one end side of the deck, and a laser-light-passing surface, which is a surface through which the planar beam passes, is produced. The laser-light-passing surface is imaged at an oblique angle from below a laser generator by an imaging device capable of capturing an image of light having the wavelength of the laser light. When an upward obstacle reaches the laser-light-passing surface, a reflected part of the planar beam appears in the image due to the upward obstacle, and the appearance of the reflected part with respect to a detection region that includes a position above the deck is monitored, whereby the approach of the upward obstacle toward the deck can be reliably detected.
1. A method for preventing collision with an upper obstacle for an aerial work platform provided with an undercarriage, a deck raising and lowering above the undercarriage, and an elevating mechanism to cause the deck to raise and lower, comprising:
irradiating laser light as a planar beam which is diffused in a planar shape parallel to a floor surface of the deck from a laser light irradiation position located at a position with a predetermined height with respect to an upper end of the deck at either end side of the deck during raising movement of the deck, and generating a laser light passing surface which is a surface through which the irradiated planar beam passes;
capturing an image of the laser light passing surface from a bottom surface side of the laser light passing surface by an image capturing device capable of capturing an image of light having wavelength of the laser light from a lower side of the laser light irradiation position at the end side of the deck; and
setting a predetermined range of the captured image including a portion above the deck and corresponding to the floor surface of the deck as a detection area and stopping the raising movement of the deck when a reflecting portion of the planar beam appears in the detection area.
2. The method for preventing collision with the upper obstacle for the aerial work platform according to claim 1 comprising:
monitoring approach of the upper obstacle to the laser light irradiation position; and
stopping the raising movement of the deck not only when the reflecting portion appears in the detection area but also when the upper obstacle approaches to a predetermined position with respect to the laser light irradiation position.
3. The method for preventing collision with the upper obstacle for the aerial work platform according to claim 2 , wherein
the laser light is invisible light, and visible light is irradiated from a position adjacent to the laser light irradiation position in the planner shape parallel to the floor surface of the deck.
4. The method for preventing collision with the upper obstacle for the aerial work platform according to claim 1 , wherein
the laser light is invisible light, and visible light is irradiated from a position adjacent to the laser light irradiation position in the planner shape parallel to the floor surface of the deck.
5. A device for preventing collision with an upper obstacle for an aerial work platform provided with an undercarriage, a deck raising and lowering above the undercarriage, and an elevating mechanism to cause the deck to raise and lower, comprising:
a laser light generator for irradiating laser light as a planar beam diffused in a planner shape parallel to a floor surface of the deck from a laser light irradiation position at a position with a predetermined height with respect to an upper end of the deck at either end side of the deck during raising movement of the deck to generate a laser light passing surface which is a surface through which the irradiated planar beam passes;
an image capturing device capable of capturing an image of light having wavelength of the laser light, which is provided below the laser light generator at the end side of the deck for capturing an image of the laser light passing surface from a bottom surface side of the laser light passing surface;
a reflecting portion detector setting a predetermined range of the image captured by the image capturing device, including a portion above the deck and corresponding to the floor surface of the deck as a detection area and detecting appearance of a reflecting portion of the planar beam in the detection area; and
a raising movement regulator for stopping the raising movement of the deck when the reflecting portion detector detects that the reflecting portion of the planar beam appears.
6. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 5 , wherein
a sensor for detecting proximity or contact of the upper obstacle is attached to the laser light generator; and
the raising movement regulator stops the raising movement of the deck not only when the reflecting portion detector detects that the reflecting portion appears in the detection area, but also when the sensor detects proximity or contact of the upper obstacle.
7. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 6 , wherein
the deck is an extension deck having a movable floor surface that slides on a fixed floor surface, and an area of the floor surface is expanded by sliding the movable floor surface;
the deck is provided with a sliding position detector for detecting a sliding position of the movable floor surface, and also provided with a detection area setting unit for changing a setting range of the detection area corresponding to the sliding position of the movable floor surface detected by the sliding position detector.
8. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 7 , wherein
the laser light generator is an invisible light laser generator; and
a visible light generator to diffuse and irradiate visible light in a planner shape parallel to the floor surface of the deck is provided adjacent to the laser light generator.
9. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 6 , wherein
the laser light generator is an invisible light laser generator; and
a visible light generator to diffuse and irradiate visible light in a planner shape parallel to the floor surface of the deck is provided adjacent to the laser light generator.
10. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 4 , wherein
the deck is an extension deck having a movable floor surface that slides on a fixed floor surface, and an area of the floor surface is expanded by sliding the movable floor surface;
the deck is provided with a sliding position detector for detecting a sliding position of the movable floor surface, and also provided with a detection area setting unit for changing a setting range of the detection area corresponding to the sliding position of the movable floor surface detected by the sliding position detector.
11. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 10 , wherein
the laser light generator is an invisible light laser generator; and
a visible light generator to diffuse and irradiate visible light in a planner shape parallel to the floor surface of the deck is provided adjacent to the laser light generator.
12. The device for preventing collision with the upper obstacle for the aerial work platform according to claim 5 , wherein
the laser light generator is an invisible light laser generator; and
a visible light generator to diffuse and irradiate visible light in a planner shape parallel to the floor surface of the deck is provided adjacent to the laser light generator.