Boom positioning device for high-position working

Abstract

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 ( ) having a multi-axis driving unit and provided with a boom tip-end position computing means ( ) 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 ( ) and with a distance measuring means ( ) for detecting the distance from the boom tip-end position to a work object, a first boom working amount calculating means ( ) for calculating, from an output from the distance measuring means ( ) and an output from a measuring error judging means ( ), a boom working amount up to an approach enabled area where the measuring accuracy of the distance measuring means ( ) is guaranteed, and a second boom working amount calculating means ( ) for calculating, from a distance from the boom tip-end position detected by the distance measuring means ( ) 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.