BOOM POSITIONING DEVICE FOR HIGH-POSITION WORKING

摘要

A boom positioning device for high-position working, capable of ensuring a desired positional accuracy even in positioning a work location at the tip end of a boom from a distant place, the device comprising an imaging means (4) having a multi-axis driving unit and provided with a boom tip-end position computing means (2) for computing the position and attitude of the boom tip-end from positions of respective axes of the boom detected by a boom respective-axis-position detecting means (1) and with a distance measuring means (3) for detecting the distance from the boom tip-end position to a work object, a first boom working amount calculating means (11) for calculating, from an output from the distance measuring means (3) and an output from a measuring error judging means (10), a boom working amount up to an approach enabled area where the measuring accuracy of the distance measuring means (3) is guaranteed, and a second boom working amount calculating means (15) for calculating, from a distance from the boom tip-end position detected by the distance measuring means (3) up to a work object and from a specified work location and boom tip-end position with respect to the work object in the approach enabled area, a boom working amount up to a specified work location with respect to the work object.