JPH07125997A - Robot vehicle for high lift work - Google Patents

Abstract

PURPOSE:To provide a robot vehicle for high lift work capable of improving the maintenance property of working base internal apparatuses, capable of reducing the weight of the whole working base, and capable of performing work via remote control quickly, accurately, and safely. CONSTITUTION:A monitoring camera 11 arranged at the upper section of a crane arm 8 for monitoring the work subject position and the tripod head moving mechanism 10 of the monitoring camera 11 are fitted to the rotary fixed shaft 18 of the crane arm 8. The rotary fixed shaft 18 of the crane arm 8 is formed into a hollow shape, and video and driving distribution cables 19a, 19b of the monitoring camera 11 and the pan head moving mechanism 10 are guided through it.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work robot vehicle capable of safely performing live work on overhead distribution lines by remote control.

[0002]

2. Description of the Related Art The live work of overhead power distribution lines involves the danger of human beings working close to the high-voltage line outdoors in high places, and recently, the live power distribution work by remote control is performed. Attempts have been made to use construction robots.

6 and 7 of a conventional aerial power distribution construction robot (also called an aerial work robot vehicle, which has a manipulator or a working robot mounted at the boom tip of the aerial work vehicle). Explain. Figure 6
It is a figure which shows this whole structure, and FIG. 7 is a figure which shows the one part (each component mounted on the working base).

In this aerial power distribution construction robot, a working base 3 having a frame 3a is attached to an end of a boom 2 supported by a vehicle 1 so as to be able to extend, contract, swivel, and rise and fall via an insulator.

A pair of manipulators 5 each having a dedicated tool 4 attached to the tip thereof are provided on both lower sides of the frame 3a of the working base 3 as shown in detail in FIG. 7, and are attached to both sides of the frame 3a. The manipulator moving mechanism 6 is supported so as to be movable in the front-back direction with respect to the work target.

A frame 3a below each manipulator 5
A lower monitoring camera 7a is attached to the frame, and left and right monitoring cameras 7b are attached to the frame 3a above each manipulator 5. Therefore, the work place can be monitored from the left and right sides and from the lower front.

Further, the frame 3a of the working base 3
A crane arm 8 is attached to almost the center of the upper surface of the crane so that heavy objects such as a switch can be handled. The crane arm 8 can be extended and retracted. A tool changing device 9 accommodating equipment is attached. Further, a monitoring camera 7c is attached to the most distal end of the crane arm 8 so that the work site can be seen in plan view from above.

Further, the pan / tilt head moving mechanism 10 having the supporting legs 10a on the uppermost portion of the frame 3a allows the stereoscopic camera 11 to move.
Is attached, and the stereoscopic camera 11 is movable on the working base 3 in a direction orthogonal to the front direction of the working base 3.

On the other hand, a workstation 13 is arranged in the passenger seat portion of the driver's seat 12 of the vehicle 1. The workstation 13 includes a boom 2, a manipulator moving mechanism 6, monitoring cameras 7a to 7c, a crane arm 8, a tool changing device 9, a platform moving mechanism 10, and a stereoscopic camera 11.
It is equipped with all operating devices for operating a robot system having a.

Further, the vehicle 1 is provided with a hydraulic unit 14 as a power source of constituent equipment. The hydraulic unit 14 is driven by the vehicle engine, and the generated hydraulic power is supplied to the boom 2, the crane arm 8, and the tool changing device 9.

Further, oil is sent from the hydraulic unit 14 to the hydraulic power generator 15a installed in the vehicle 1 and the hydraulic power generator 15b installed in the frame 3a of the working base 3 to obtain generated power.

Further, transmission of power between the working base 3 and the vehicle 1, control signals, and video signals from the monitoring cameras 7a to 7c and the stereoscopic camera 11 are carried out through the inside of the boom 2 by a hydraulic hose (not shown) which is piped and wired. It is performed by an air hose and an optical fiber line.

Video signals from the surveillance cameras 7a to 7c and the stereoscopic camera 11 are sent to the workstation 1 of the vehicle 1.
It is designed to be displayed on a TV monitor provided in the inside of the unit 3. In addition, 16 in the figure is a utility pole for construction, and 17
Is an electric wire.

On the other hand, the aerial work robot vehicle described above is
Since the power source for moving the robot converts the rotational operation of the vehicle engine or the separately mounted engine into hydraulic pressure or electricity and supplies the hydraulic power or electricity, it is not usually necessary to externally supply the power source.

[0015]

However, the conventional aerial work robot vehicle has the following problems. (1) When the working target portion of the tip end portion of the manipulator 5 is viewed by the stereoscopic camera 11, the visibility is better from an obliquely upper side than from a front view. Therefore, the stereoscopic camera 1
1 is arranged on the upper part of the crane arm 8, but in order to avoid interference with the crane arm 8, the stereoscopic camera 11 and the platform moving mechanism 10 are supported and mounted by a plurality of bent support legs 10a. Installed on top. Therefore, in order to maintain and inspect the devices such as the controller housed inside the working base 3, it is necessary to remove the stereoscopic camera 11 and the platform moving mechanism 10 once, and the maintainability is poor.

(2) Stereoscopic camera 11 and platform moving mechanism 1
Since the center of gravity position of 0 and the support position of the support leg 10a are deviated, it is necessary to make the strength of the support leg 10a sufficient to withstand an eccentric load, resulting in a heavy weight.

(3) In order to perform the work remotely and quickly and safely by the manipulator 5, not only the visual information of the target work place but also the relative positional relationship between the target mounting column, the manipulator 5, and the working base 3 is used. Must be always recognized, but the stereoscopic camera 11, the left and right monitoring cameras 7b, the lower camera 7a, and the crane monitoring camera 7c are not sufficient. Furthermore, voice information is also an important element for confirming the operation of the operating device on the working base 3 or finding an abnormality during work, and this is necessary.

On the other hand, in recent years, one aerial work robot vehicle tends to be designed to satisfy a series of work functions. Therefore, the function of the robot portion at the tip of the boom increases and the mass becomes heavy. Therefore, the operating range of the boom is limited, and it becomes impossible to access a wide range of work places. When it is absolutely necessary, the working area will be secured by moving the parking position of the car. In this case, not only will the work efficiency be lowered, for example, by storing and reopening the boom, but it will also hinder the passage of roads and the like.

Although a work area can be secured by using a large-sized work platform for aerial work, which can bear a large load at the tip of the boom, the size of the work vehicle becomes large and its use on narrow roads is restricted, obstructing passage and practical use. Solution cannot be an effective solution.

Since the function of the boom tip is increased, the load on the boom tip is increased, and the operation range of the boom is limited, which hinders the work. If you try to widen the boom operating range under heavy load, the size of the vehicle will become large and will interfere with parking spaces and narrow roads.

The first object of the present invention is to improve the maintainability of the internal equipment of the working base, to reduce the weight of the entire working base, and to perform the work quickly, accurately and safely by remote control. To provide a work robot car.

A second object of the present invention is to avoid an increase in weight and an increase in size of a vehicle, which are caused by concentrating functions on one vehicle.
The system can be composed of small and lightweight vehicles,
This makes it possible to provide parking work on a narrow road, and to provide an aerial work robot vehicle that can take an extremely wide working range at a high place by reducing the load on the boom.

[0023]

In order to achieve the above object, the invention according to claim 1 is provided in a vehicle, and is capable of expanding and contracting and turning up and down, and a boom attached to the tip of this boom for power distribution work. A working base for attaching work performing means for performing high-altitude work, and a hollow fixed shaft whose one end is fixed to the frame of this working base,
A crane arm rotatably supported by the fixed shaft and supporting a tool changing device necessary for performing the work at high altitude, and a platform fixed to the other end of the fixed shaft and above the crane arm. A moving mechanism and a monitoring camera that is supported by the platform moving mechanism and that monitors the state of work at high altitudes,
A video cable for the surveillance camera and a drive wiring cable for the pan head moving mechanism that are inserted into the hollow portion of the fixed shaft and have one end connected to a working station installed in the driver's seat of the vehicle by a communication device. It is an aerial work robot car.

In order to achieve the above object, the invention corresponding to claim 2 is such that the following structure is added to claim 1.
That is, a sound collecting device that is installed on the working base and collects drive sound of the work performing means and the like, and is installed in the driver's seat of the vehicle, and transmits an audio signal collected by the sound collecting means, And it is an audio output device that outputs this.

In order to achieve the above object, the invention according to claim 3 is provided in a vehicle and is capable of expanding and contracting and turning up and down, and a boom attached to the tip of the boom for performing work at high places such as power distribution work. A working base for attaching the work performing means, a hollow fixed shaft having one end fixed to the frame of the working base, and a tool which is rotatably supported by the fixed shaft and is necessary for performing the work in high places. A crane arm that supports the exchanging device, a platform moving mechanism that is fixed to the upper end of the crane arm at the other end of the fixed shaft, and is supported by the platform moving mechanism, and monitors the state of work at high altitudes. Of the surveillance camera for insertion into the hollow portion of the fixed shaft, and one end of the surveillance camera connected by a communication device to a working station installed in the driver's seat of the vehicle. The image cable and the wiring cable for driving the pan head moving mechanism, the work base installed at the uppermost part of the working base, the work performing means, and the relative position of the front part of the working base are monitored from above. It is an aerial work robot vehicle equipped with a general surveillance camera.

In order to achieve the above object, the invention corresponding to claim 4 is such that the following configuration is added to claim 1.
That is, a sound collecting device that is installed on the working base and collects drive sound of the work performing means and the like, and is installed in the driver's seat of the vehicle, and transmits an audio signal collected by the sound collecting means, And it is an audio output device that outputs this.

In order to achieve the above-mentioned object, the invention according to claim 5 is a manipulator for work or a work robot required for work at a high place with one aerial work robot vehicle, and a power for giving power to these. A source and a control means for controlling, a supply device for supplying work tools and work equipment,
The operation device for giving an operation command to the work manipulator or the work robot is dispersedly arranged in a vehicle constituting a plurality of aerial work robot vehicles, and each aerial work robot vehicle is connected to each other by a communication device. However, it is an aerial work robot vehicle in which a command from the operating device can be transmitted to each aerial work robot vehicle.

[0028]

According to the invention according to claim 1, since the surveillance camera and the surveillance camera platform moving mechanism are attached to the fixed rotation axis of the crane arm, interference with the crane arm can be avoided, and the supporting legs have a neat shape. Can be
The surveillance camera mounted on the working base is placed and installed so as not to interfere with the crane arm, avoiding duplication of the functions of the components, and the support legs do not need to be mounted on the working base. Equipment maintainability is also improved. Moreover, since the crane pivot and the support leg are shared, the weight of the working base as a whole can be reduced.

According to the inventions corresponding to claims 2 and 4, since the driving sound of the work performing means is transmitted to the operator in the driver seat as voice information, the safety and accuracy of the remote operation work , Productivity is improved.

According to the third aspect of the invention, by installing the overall monitoring camera, the relative positional relationship between the target mounting column, the manipulator, and the working base can be always recognized.

According to the invention corresponding to claim 5, a plurality of functional devices of different types required for aerial work in one aerial work robot vehicle are installed in a vehicle constituting a plurality of aerial work robot vehicles. Since it is distributed, the weight increase caused by concentrating functions on one vehicle, avoiding the enlargement of the vehicle, it is possible to configure the system with a small and lightweight vehicle group, which makes it possible to Parking work is possible and the work load at high places can be made extremely wide by reducing the load on the boom.

[0032]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing the essential parts of a first embodiment of an aerial work robot vehicle according to the present invention, that is, only the components mounted on the working base of a robot for overhead power distribution work. FIG. 2 is a detailed cross-sectional view of a crane arm swinging portion of the robot for overhead power distribution work of FIG.

In FIGS. 1 and 2, the surveillance camera 11 is shown.
The platform moving mechanism 10 is attached to the fixed rotation shaft 18 of the crane arm 8 via the support legs 10a. The swivel fixed shaft 18 and the support leg 10a are formed by a hollow member, and the monitoring camera 11 and the overall monitoring camera 7d are provided inside the hollow fixed member.
The video cable 19a, the platform moving mechanism 10 and the drive cable 19b for the whole surveillance camera moving mechanism 20 are passed through. These cables 19a and 19b are electrically connected to a controller arranged inside the working base 3 (not shown).

The swing drive of the crane arm 8 is performed by rotating a worm wheel 22 meshed with a worm gear 21 connected to a drive motor (not shown). The fixed shaft 18 of the crane arm 8 is fixed to the frame 3a of the working base 3, and the supporting leg 10a is not affected even if the crane arm 8 pivots. In addition, the whole surveillance camera moving mechanism 2 is provided at the rear of the platform moving mechanism 10a.
0 is attached and fixed.

The overall monitoring camera moving mechanism 20 moves the overall monitoring camera 7d up and down, and raises the overall monitoring camera 7d to a height at which the manipulator 5 and the working base 3 can be monitored during the pillar mounting work. Further, when the vehicle is traveling, the overall surveillance camera 7d is lowered so as to be within the vehicle height limit value. The operation of the whole surveillance camera moving mechanism 20 can be performed remotely from a workstation (not shown).

A sound collecting microphone 23 is provided inside the front surface of the working base 3. This sound collection microphone 23 is
The drive sound of the dedicated tool and the operation sound of the components on the working base 3 are transmitted to the operator as voice information, which is transmitted to the operator by a speaker arranged in a workstation (not shown).

According to the first embodiment described above, the following effects can be obtained. a) Since the surveillance camera 11 and the platform moving mechanism 10 of the surveillance camera 11 are attached to the rotating fixed shaft 18 of the crane arm 8, interference with the crane arm 8 can be avoided and the support leg 10a also has a neat shape. be able to.

B) The monitoring camera 11 mounted on the working base 3 is arranged and mounted so as not to interfere with the crane arm 8, the function of the constituent elements is avoided from overlapping, and the supporting leg 10a is mounted on the working base 3. Since it is not necessary to attach it, the maintainability of the internal equipment of the working base 3 is also improved.

C) Since the support leg 10a is also used as the crane pivot, it is possible to reduce the weight of the entire working base 3 portion. d) By installing the overall monitoring camera 7d, the relative positional relationship between the target mounting column, the manipulator 5, and the working base 3 can always be recognized.

E) By installing the sound collecting microphone 23, the voice information of the device operation of the working base 3 can be obtained, so that the work can be performed remotely, quickly, accurately and safely.

Next, a second embodiment of the present invention will be described with reference to FIG. In FIG. 3, the work robot 3 includes a loading platform of the vehicle 31, a work tool 45 provided at the tip of an arm 44 at the tip of a boom 34 fixed thereby, and a surveillance TV camera 46 fixed at the robot body.
3 is mounted, and an engine generator 47 and an air compressor 48 are mounted on the bed of the vehicle 31, which constitutes an aerial work robot vehicle.

The loading platform of the vehicle 32 is equipped with an automatic exchange device 37 for the tools 35 and equipment 36 at the tip of the boom 39 fixed thereby, and the automatic exchange device 37 has the monitoring camera 3 attached thereto.
8 is attached to form an aerial work robot vehicle.

Further, the two vehicles 31, 32 are provided with a communication cable 40 for transmitting signals for control, monitoring, operation and the like.
Are electrically coupled between the engine generator 37 and the operation room 42. In addition, since the engine generator 47, which is a power source, is commonly used, the power cable
1 is electrically coupled.

The operation room 42 mounted on the vehicle 32 is
The vehicles 31 and 32 can be centrally controlled, and the television monitor 43 can monitor the robot 33, the work tool 35, and the like.

Then, the work robot 33 of the vehicle 31 is
The operation can be performed from a control room 42 of the vehicle 32 to perform work at a high place. Work robot 33
The work tool 45 at the tip of the arm 44 may be replaced depending on the work, and the equipment 36 such as bolts required for the work must be supplied to the work tool 45 each time. The tool 35 and the equipment 36 stored in the robot arm 44 are supplied to the robot arm 44, and the old tool 35 and the equipment 36 are stored in the automatic exchange device 37. As a result, various kinds of work can be continuously performed at a high place, and the labor of lowering the boom 39 to the ground every time the tool 35 or the equipment 36 is replaced can be omitted, and the work can be performed extremely efficiently.

Further, since the weights of the tool 35 and the equipment 36 can be dispersed, the load acting on one boom 34 can be reduced and the operating range of the boom 34 can be widened. Further, the work robot 33 of the vehicle 31 has a monitoring TV camera 46, and the operator can monitor the working condition at a high place by the monitor TV 43 in the operation room 42. The visual information only from the work robot 33 side indicates that the tool 3
5 and the equipment 36 may be shadowed and may not be monitored well, but in that case, the monitoring camera 38 of the vehicle 32 can be used to check the approach status of the tool 35 and the equipment 36 from another angle and interference check. Has become. The video of the surveillance camera 38 is also displayed on the monitor television 43, and a plurality of types of camera information can be selected by an operation such as switching the video input.

According to the second embodiment of the present invention described above, a plurality of functional devices of different types required for aerial work by one aerial work robot vehicle, that is, a manipulator for work or a work machine. The robot 33, an engine generator 47 and an air compressor 48 that power the robot 33, an automatic changer 37 that supplies the tools 35 and the equipment 36, and a work manipulator or a work robot 33 are given operation commands. The operation room 42 is distributed and arranged in the two vehicles 31, 32.

Specifically, the work robot 33 is mounted on the tip of the boom 34 of the vehicle 31, the engine generator 47 and the air compressor 48 are mounted, and the boom 39 of the vehicle 32 has tools 35 and equipment 36. Control room 4 equipped with a television monitor 43 and equipped with an automatic exchange device
Since 2 is mounted, the load acting on the booms 34, 39 can be reduced, so that the operating range of the booms 34, 39 can be widened and the working range can be widened.

Further, since the monitoring television camera 46 and the monitoring camera 38 are mounted on the booms 34 and 39, respectively,
The working states of the vehicles 31 and 32 can be monitored mutually, and mutual interference can be prevented.

Further, since a large number of tools 35 and equipments 36 can be stored in the automatic exchange device 37 mounted on the vehicle 32 (compared to those equipped with a tool and equipment exchange device for each vehicle), it can be installed at a high place. Since the tools 35 and the equipment 36 can be exchanged and the operation of lowering them to the ground is not necessary, the work efficiency is improved.

FIG. 4 shows a third example of an aerial work robot vehicle according to the present invention.
In the vehicle 49, a control device is centrally mounted on a vehicle 49 together with a power source such as a generator, a hydraulic pump, and an air compressor, so that the vehicles 31, 32 can be centrally controlled. Vehicle 49 and vehicle 31,
32 are mechanically connected by a power cable 50.
The communication line for control and the like can be wired. In this embodiment, the information communication is performed by the wireless communication means 51 that can be used in a close distance.

FIG. 5 shows a fourth example of the aerial work robot vehicle of the present invention.
This is an embodiment in which two or more sets of aerial work robot vehicles whose work places 52 and 53 are separated are collectively controlled. The vehicle 31,
32 is arranged, and another vehicle 31, 3 is installed in the work place 53.
2 are placed and work in high places. For this control, the media of satellite communication 54 is used, and vehicles 31, 32
It is received by the communication equipment 55 installed in the and controlled. In this case, the place to be controlled does not matter as long as it can communicate.

By using the remote communication means such as the satellite communication 54 as in the present embodiment, it becomes possible to operate the parked aerial work robot vehicle without an operator at the actual work place, and a skilled operator can operate it. It is possible to work at multiple locations. The remote communication means may be optical LAN, wireless, infrared communication, wire connection, or the like, but can be sufficiently realized by existing technology.

[0054]

According to the invention described above, the maintainability of the internal equipment of the working base can be improved, the weight of the entire working base can be reduced, and the remote operation can be performed quickly, accurately and safely. A work robot robot can be provided, and the present invention configures a system with a small and lightweight vehicle group, avoiding an increase in weight caused by concentrating functions on one vehicle and an increase in size of the vehicle. As a result, it is possible to provide a work robot for aerial work that enables parking work on a narrow road, and can reduce the load on the boom to make the work range at a high place extremely wide.

[Brief description of drawings]

FIG. 1 is a side view of each component mounted on a working base, which is a main part of a first embodiment of an aerial work robot vehicle according to the present invention.

FIG. 2 is a detailed cross-sectional view of a claim arm swivel unit in FIG.

FIG. 3 is a diagram showing a schematic configuration of a second embodiment of an aerial work robot vehicle according to the present invention.

FIG. 4 is a diagram showing a schematic configuration of a third embodiment of an aerial work robot vehicle according to the present invention.

FIG. 5 is a diagram showing a schematic configuration of a fourth embodiment of an aerial work robot vehicle according to the present invention.

FIG. 6 is a side view showing the overall configuration of a conventional aerial power distribution construction robot.

FIG. 7 is a side view of each component mounted on the working base of the conventional aerial power distribution construction robot.

[Explanation of symbols]

3 ... Working base, 3a ... Frame, 4
… Dedicated tool, 5… Manipulator,
6 ... Manipulator moving mechanism, 7a ... Lower monitoring camera, 7b ... Left and right monitoring camera, 7c ... Crane monitoring camera, 7d ... Overall monitoring camera, 8 ... Crane arm, 9 ... Tool changer, 10
… Platform moving mechanism, 10a… Support legs, 1
1 ... Surveillance camera, 18 ... Fixed axis, 1
9a ... video cable, 19b ... drive cable,
20 ... Whole surveillance camera moving mechanism, 21 ... Warm,
22 ... Worm wheel, 23 ... Microphone, 31 ... Vehicle, 32 ... Vehicle, 3
3 ... Work robot, 34 ... Boom, 35 ...
Tools, 36 ... Equipment, 37 ... Automatic exchange device, 38 ... Surveillance camera, 39 ... Boom, 40 ... Communication cable, 41 ... Power cable, 42 ... Control room, 43 ... Television monitor, 44 ... Arm, 45 ... Work tool,
46 ... surveillance television camera, 47 ... engine generator, 48 ... air compressor,
49 ... Vehicle, 50 ... Power cable, 51 ... Wireless communication, 52 ... Work place, 53 ... Work place, 54 ... Satellite communication, 55 ... Wireless communication.

Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location B66F 9/06 Q 7515-3F 11/04 H02G 1/02 C (72) Inventor Tadashi Ogawa Tsurumi, Yokohama, Kanagawa Prefecture 2-4, Suehiro-cho, Tokyo (72) Inventor Kazuo Aoyama Kazuo Aoyama 2-4, Suehiro-cho, Tsurumi-ku, Yokohama, Kanagawa (72) Inventor Shinichi Miyagawa Yokohama, Kanagawa 2-4 Suehiro-cho, Tsurumi-ku, Toshiba Keihin Office

Claims (5)

[Claims] 1. A boom which is provided in a vehicle and which can be expanded and contracted and swung up and down, a working base which is attached to a tip portion of the boom and which is for performing work at a high place such as power distribution work, and the working base. A hollow fixed shaft having one end fixed to the frame of the base, a crane arm rotatably supported by this fixed shaft and supporting a tool changing device necessary for performing the work at high places, and a fixed shaft of the fixed shaft. At the other end, a platform moving mechanism fixed to the upper part of the crane arm, a monitoring camera supported by the platform moving mechanism to monitor the state of work at high places, and inserted into the hollow portion of the fixed shaft. A cable for video of the surveillance camera and a wiring cable for driving the pan head moving mechanism, one end of which is connected to a workstation installed in the driver's seat of the vehicle by a communication device. A robot for working in high places equipped with 2. A boom which is provided on a vehicle and which can be expanded and contracted and swung up and down, and a working base which is attached to a tip portion of the boom and which is for performing work at a high place such as power distribution work. A hollow fixed shaft having one end fixed to the frame of the base, a crane arm rotatably supported by this fixed shaft and supporting a tool changing device necessary for performing the work at high places, and a fixed shaft of the fixed shaft. At the other end, a platform moving mechanism fixed to the upper part of the crane arm, a monitoring camera supported by the platform moving mechanism to monitor the state of work at high places, and inserted into the hollow portion of the fixed shaft. A cable for video of the surveillance camera and a wiring cable for driving the pan head moving mechanism, one end of which is connected to a workstation installed in the driver's seat of the vehicle by a communication device. A sound collecting device that is installed on the working base and collects driving sound of the work performing means and the like; and a sound collecting device that is installed in the driver's seat of the vehicle and transmits the sound signal collected by the sound collecting means. And a voice output device for outputting the same, and an aerial work robot vehicle. 3. A boom which is provided in a vehicle and which can be expanded and contracted and swung up and down, and a working base which is attached to a tip portion of the boom and which is provided with work performing means for performing work at a high place such as power distribution work. A hollow fixed shaft having one end fixed to the frame of the base, a crane arm rotatably supported by this fixed shaft and supporting a tool changing device necessary for performing the work at high places, and a fixed shaft of the fixed shaft. At the other end, a platform moving mechanism fixed to the upper part of the crane arm, a monitoring camera supported by the platform moving mechanism for monitoring the state of the work at high places, and a hollow portion of the fixed shaft. Video cable of the surveillance camera and a wiring for driving the platform moving mechanism that are inserted into the vehicle and have one end connected to a workstation installed in the driver's seat of the vehicle by a communication device. An aerial work robot equipped with a cable, an object installed in the uppermost part of the working base, to perform an aerial work, the work performing means, and an overall monitoring camera for monitoring the relative position of the front part of the working base from above. car. 4. A boom which is provided on a vehicle and is capable of expanding and contracting and turning up and down, a working base which is attached to a tip portion of the boom, and which is a work performing means for performing work at a high place such as power distribution work, and the working base. A hollow fixed shaft having one end fixed to the frame of the base, a crane arm rotatably supported by this fixed shaft and supporting a tool changing device necessary for performing the work at high places, and a fixed shaft of the fixed shaft. At the other end, a platform moving mechanism fixed to the upper part of the crane arm, a monitoring camera supported by the platform moving mechanism for monitoring the state of the work at high places, and a hollow portion of the fixed shaft. Video cable of the surveillance camera and a wiring for driving the platform moving mechanism that are inserted into the vehicle and have one end connected to a workstation installed in the driver's seat of the vehicle by a communication device. A cable, an uppermost monitoring camera that is installed on the uppermost part of the working base, monitors the relative position of the work performing means and the work performing means, and the front part of the working base from above, and is installed on the working base. A sound collecting device that collects a driving sound of the work performing means and the like, and a sound output device that is installed in the driver's seat of the vehicle, that transmits the sound signal collected by the sound collecting means, and that outputs the sound signal. An aerial work robot vehicle equipped with. 5. A work manipulator or a work robot required for work at a height in one aerial work robot vehicle,
A plurality of power supply units for supplying a power source and control for supplying power to these, a supply device for supplying work tools and work equipment, and an operation device for giving an operation command to the work manipulator or the work robot are provided. The high-altitude work robot vehicles are arranged in a distributed manner, and the high-rise work robot vehicles are connected to each other by a communication device so that a command from the operating device can be transmitted to the high-rise work robot vehicles. Office work robot car.