JP2016117566A - Radio control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radio control device which has a structure having high versatility and economically advantageous.SOLUTION: An alternate remote controller 20 is provided with: a reception unit which intercepts radio signals transmitted from a remote controller 10; transmission format duplication processing means which acquires and holds a parameter for the transmission format from the radio signals received by the reception unit; and transmission means which transmits the radio signals to a reception device 2 in accordance with the transmission format duplicated on the basis of the parameter.SELECTED DRAWING: Figure 1

Description

  The present invention, for example, when remotely maneuvering large cranes installed in factories, cargo handling facilities, etc., construction machines such as power shovels and bulldozers installed at construction sites, and locomotives that pull freight cars in specific areas. The present invention relates to a radio control apparatus suitable for application.

  Handles heavy loads such as lifting machines such as large cranes and unloaders installed in factories and cargo handling facilities, construction machines such as excavators and bulldozers deployed at construction sites, and locomotives that pull freight cars in specific areas. In a wireless control device that remotely controls a machine with power (equipped as a power machine) provided in the facility and controls these control objects, if the equipment fails on the remote control side, the work is In addition to being delayed, there is a possibility of falling into a very dangerous situation in terms of safety, so various measures are taken to avoid danger and ensure safety.

  This type of radio control device includes a remote controller having an operation panel operated by an operator in an operation area separated from a power machine on the facility side, and a radio signal transmitted from the remote controller to control objects. And a receiving device that outputs a drive control signal for driving and controlling the power machine (see FIG. 1). Communication between the remote controller and the receiving device is realized by a weak radio wave type or low power type short-range, unidirectional ultra-high frequency band radio. The remote controller is a handy type or a shoulder type that is operated by an operator with a battery as an operating power source, and is operated by the operator at the top of the case. Are arranged, or a universal handle type operation panel having a switch mechanism operated by a joystick lever instead of a push button switch is provided (see FIGS. 4 and 5).

  The remote controller and the receiving apparatus are associated one-to-one, and communication parameters including unique individual identification information (referred to as ID), a communication channel (CH), and a transmission format are set for each pair. Unidirectional wireless communication between the remote controller and the receiving device is established according to the set parameters. A nameplate indicating the individual number (for example, crane number) of the power machine to be controlled by the receiving device of the transmission destination is attached to the housing of the remote controller, and the remote controller is specific to the receiving device of the transmission partner. It functions as a dedicated controller.

  In the radio control device having the above-described configuration, the frequency of failure occurrence due to abnormality of the switch of the operation unit that is provided on the operation panel of the remote controller and is manually operated with respect to the failure occurrence frequency of the radio device itself including the reception device. Is extremely high.

  The remote controller is provided with an emergency stop button as a safety measure against these failures, and an abnormal operation stop function that immediately stops the transmission output when an operation abnormality including a switch failure of the operation unit occurs. In the event of an abnormal operation stoppage, restart the operation using an alternative device prepared in advance in the storage room, or find the faulty part of the failed normal device as soon as possible. Means to carry out repair work to enable a safe resumption of operation.

  The means to prepare an alternative device in advance can restart operation in a relatively short time, but it is economical because a dedicated alternative device is prepared for each set and storage management is required in a fully charged state. The burden is large, especially in facilities equipped with multiple power machines, the increase in economic burden was significant.

In addition, the work for repairing the regular device has to be performed in accordance with a predetermined procedure for each case, and a lot of time and labor are required until the work is resumed. Specifically, check the device settings to be repaired, prepare a dedicated tool (for example, a dedicated PC), disassemble the housing, set the switch (for example, dip switch, jumper switch, switch with key), serial Since various operations such as connecting tools with cables, identifying faulty locations, and changing switch wiring with soldering operations are required, it was indispensable to deal with service personnel with specialized knowledge and skills.

  In this way, in the existing radio control device, in order to avoid the danger due to the failure of the remote controller, it is indispensable to prepare a dedicated alternative device for each set in advance or a service person to handle, In this case, there was a problem that the economic burden was large. In addition, there is a problem that it takes a lot of time to resume operation including emergency measures (temporary resumption of operation) for avoiding a dangerous state during operation.

JP 2000-177988 A JP 2000-177987 A Japanese Patent Laid-Open No. 04-243703

  As described above, in the existing radio control device, in order to avoid the danger due to the failure of the remote controller, it is indispensable to prepare a dedicated alternative device for each set in advance, or a serviceman is indispensable, In either case, there was a problem that the economic burden was large.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a radio control device that is highly versatile and economically advantageous, and that enables early resumption of operation.

  A wireless control device according to an embodiment of the present invention includes an operation panel and a transmission unit, and operation data obtained by operating the operation panel is transmitted from the transmission unit in a set transmission format by a wireless signal by unidirectional communication. A remote controller for transmitting, a receiver for receiving a radio signal transmitted from the remote controller, and outputting a control signal for driving and controlling the power machine based on the received radio signal, and functions of the remote controller A remote control device that replaces the radio signal, wherein the remote control device includes: a reception unit that intercepts the radio signal; and a parameter of the transmission format from the radio signal received by the reception unit. A transmission format duplication processing means for acquiring and holding the data, and a transmission means for sending a radio signal to the receiving device according to the transmission format duplicated by the parameters. It is characterized in.

  A radio control device according to an embodiment of the present invention includes an operation panel and a transmission unit, and the operation data obtained by operating the operation panel is a radio signal by one-way communication from the transmission unit in a set transmission format. A remote controller that transmits the wireless machine, a receiver that receives a radio signal transmitted from the remote controller, and outputs a control signal that controls driving of the power machine based on the received radio signal; and A wireless control device including an alternative remote controller that substitutes for a function, wherein the remote controller detects a plurality of operation units provided independently on the operation panel and a failure of the operation unit. A failure detection unit, a steering stop unit that stops transmission of the radio signal in accordance with the failure detection of the failure detection unit, and restarts transmission of the radio signal when the transmission of the radio signal is stopped due to the failure detection. Specific activation mode setting means, wherein the alternative remote controller is an operation panel that replaces the operation panel of the remote controller, and a receiving unit that receives the resuming radio signal transmitted from the remote controller A transmission format duplication processing unit that acquires and holds the transmission format parameter from the radio signal received by the receiving unit, and a transmission unit that transmits the radio signal to the reception device according to the transmission format duplicated by the parameter. It is characterized by comprising.

  Further, in the radio control apparatus according to the embodiment of the present invention, the transmission format duplication processing means includes a process of searching for a channel from the radio signal received by the receiver, and one frame from the radio signal received by the receiver. And processing for obtaining individual identification information from the cut out data, obtaining the data length of the cut out data, and data for two frames including the cut out data from the radio signal received by the receiving unit. When the data contents match when cut out and compared, the error test calculation is performed using either one of the data of the two frames, and the format format in use is determined from the calculation result And store the channel and individual identification information, the format and data length as the parameters. The features.

  According to the embodiment of the present invention, it is possible to provide a radio control apparatus that is highly versatile and economically advantageous and that enables early resumption of operation.

The block diagram which shows the structure of the radio control apparatus which concerns on embodiment of this invention. The block diagram which shows the structure of the remote controller (common remote controller) which concerns on the said embodiment. The block diagram which shows the structure of the alternative remote controller which concerns on the said embodiment. The top view which shows the operation panel surface of the remote controller which concerns on the said embodiment. The top view which shows the other operation panel surface of the remote controller which concerns on the said embodiment. The circuit diagram which shows the connection interface part between the operation part of the remote controller which concerns on the said embodiment, and a control part. State explanatory drawing which shows the example of a failure detection of the operation part which concerns on the said embodiment. The figure which shows an example of the transmission format which the remote controller which concerns on the said embodiment uses in a data stream format. The flowchart which shows the operation | movement flow of the remote controller which concerns on the said embodiment. The flowchart which shows the transmission format duplication processing procedure of the alternative remote controller which concerns on the said embodiment. 11 is a flowchart showing a detailed processing procedure of processing step S21) shown in FIG.

  A radio control apparatus according to an embodiment of the present invention includes, for example, a lifting and transporting machine such as a large crane or an unloader installed in a factory or a cargo handling facility, a construction machine such as a power shovel or a bulldozer installed in a construction site, a specific area Remote control is performed on large machinery, such as on-site locomotives that pull freight cars, in facilities that handle heavy loads. In this embodiment, large machinery to be controlled is called a power machine. In this embodiment, among the components constituting the radio control device, a regular remote controller that communicates with a receiving device arranged on the control target (power machine) side during normal operation is simply remote controlled. A remote controller that replaces the remote controller is referred to as an alternative remote controller. Regarding reception of radio signals in the alternative remote controller, reception of radio signals for remote control transmitted from the remote controller to the receiving device during remote control by the remote controller (ordinary) is called interception. .

  Embodiments of the present invention will be described below with reference to the drawings.

  As shown in FIG. 1, the radio control apparatus according to the embodiment of the present invention includes an operation panel and a transmission unit, and the operation data obtained by operating the operation panel is unidirectional from the transmission unit in a set transmission format. A remote controller (ordinary remote controller) 10 that transmits a wireless signal by communication and a drive that receives the wireless signal transmitted from the remote controller 10 and drives and controls the power machine 4 based on the received wireless signal. A radio control apparatus 1 including a receiving device 2 that outputs control signals (DS1, DS2,..., DSn) and an alternative remote controller 20 that replaces the function of the remote controller 10, Is a receiving unit that intercepts a radio signal transmitted from the remote controller 10, and a transmission format duplication processing unit that acquires and holds the parameters of the transmission format from the radio signal received by the receiving unit. Constituted by a transmitting means for transmitting a radio signal to the receiving apparatus 2 in accordance with the transmission format that is replicated by this parameter.

  With this configuration, for example, when a periodic inspection, a replacement operation of a push button constituting the operation unit, a charging operation of a battery power source or the like is required, an alternative remote controller can be used during operation using the remote controller 10. 20 intercepts the radio signal transmitted from the remote controller 10, acquires the parameter of the transmission format used in the remote controller 10 from the intercepted radio signal, holds it, and replicates the transmission using the held parameter. Since the wireless signal can be transmitted to the receiving device 2 in accordance with the format, the alternative remote controller 20 can be quickly and easily operated as an alternative to the remote controller 10.

  Also, in a factory or facility where there are a plurality of receiving devices 2 with different power machines 4 to be controlled, a plurality of receiving devices with different or all of communication channels, header information and data transmission formats. It is sufficient to prepare an alternative device for 2, 2,..., And an efficient and economical operation is possible.

  In particular, in the radio control device having the above-described configuration, as described above, the operation unit manually operated by an operator provided on the operation panel of the remote controller with respect to the frequency of failure of the radio device itself including the reception device. The frequency of malfunctions due to switch abnormalities is extremely high, and it is not necessary to leave repairs to specialists who have expertise in the event of malfunctions due to switch abnormalities associated with remote control, and it is necessary to prepare a dedicated substitute device for each radio Remote control with a general-purpose (shared) substitute can be resumed quickly and easily.

  In addition, the radio control device 1 according to the embodiment of the present invention includes a remote controller 10, a failure detection unit that detects a failure of each of the plurality of operation units provided independently on the operation panel, and the failure detection unit The operation stop means for stopping the transmission of the radio signal in response to the failure detection, and the specific activation mode setting means for restarting the transmission of the radio signal when the transmission is stopped are provided. The remote controller 10 is currently used from an operation panel that replaces the operation panel, a receiving unit that receives the restarting radio signal transmitted from the remote controller 10, and a radio signal received by the receiving unit. A transmission format duplication processing unit that acquires and holds parameters of the transmission format and a transmission unit that transmits a radio signal to the receiving device 2 in accordance with the duplicated transmission format are configured.

  With this configuration, it is not necessary to leave a repair to a technician having expertise to deal with the occurrence of a switch failure accompanied by an operator operation during remote control of the power machine 4, and a dedicated substitute device for each radio. Remote, using a general-purpose (shared) alternative, quickly and easily without the need to prepare the radio, the dedicated channel of the radio, the card's unique number (ID), and the transmission format used at each failure. You can resume maneuvering.

  In addition, the radio control device 1 according to the embodiment of the present invention uses the above-described transmission format duplication processing means to search for a channel from the radio signal received by the reception unit, and for one frame from the radio signal received by the reception unit. Is cut out, the individual identification information is searched from the cut out data, the data length of the cut out data is obtained, and the data for two frames including the cut out data is cut out from the radio signal received by the receiving unit. When the data contents match, the error test calculation is performed using either one of the data for the two frames, and the format format in use is determined from the calculation result. The communication channel and the individual identification information, the data format and the data length are stored as parameters. It has a management function.

  With this processing function, in the wireless control device 1 by unidirectional (unidirectional) wireless communication in which the response confirmation cannot be obtained, when the alternative remote controller 20 shared by the wireless control device 1 replaces the remote controller 10, the reliability is improved. High transmission format can be duplicated.

  FIG. 1 shows a configuration of a radio control device 1 according to an embodiment of the present invention, FIG. 2 shows a configuration of a remote controller (ordinary remote controller) 10, and FIG. 3 shows a configuration of an alternative remote controller 20.

  In the radio control device 1 shown in FIG. 1 described above, the receiving device 2 is provided in the facility A in which a power machine (for example, a large crane) to be controlled is provided, and is a drive that is generated by complexing received data. Control signals (DS1, DS2,..., DSn) are output to the relay board 3 constituting the drive control device. The relay board 3 outputs drive signals according to the drive control signals (DS1, DS2,..., DSn) to the corresponding drive units 4a, 4b,... Of the power machine 4, and each drive unit 4a, 4b,. Is controlled.

  The remote controller 10 has a battery-driven portable device configuration, and is used when an operator remotely operates the power machine 4 in an operation area separated from the power machine 4 on the facility A side.

  Communication between the remote controller 10 and the receiving device 2 is realized by a short-wave, unidirectional ultra-high frequency band radio device of weak radio wave type (notice distance of about 30 m) or low power type (notice distance of about 150 m). The

  As shown in FIG. 2, the remote controller 10 includes an operation panel 11, a channel setting unit (CH-SW) 12, an individual identification information setting unit (ID-SW) 13, a control unit 14, and an external memory 15. And a transmission unit 16.

  The operation panel 11 is operated by an operator to give a drive instruction to the power machine 4, for example, a plurality of operation units configured by push button switches, and a plurality of LED display units for displaying an operation state and a device state ( L1 to L4). A specific configuration example of the operation panel 11 will be described later with reference to FIGS. 4 and 5.

  The channel setting unit 12 and the individual identification information setting unit 13 are configured by using, for example, dip switches, each of which can set a predetermined digit digital value. In the channel setting unit 12, a communication channel (CH) unique to communication between the remote controller 10 and the receiving device 2 is set by a channel number, and in the individual identification information setting unit 13, the remote controller 10 and the reception are received. Individual identification information (ID) unique to the wireless control device 1 that is associated with the device 2 on a one-to-one basis is set.

  The control unit 14 controls the entire controller, and includes an internal memory that stores various programs for remote control and a microprocessor (not shown) that executes processing according to the program. As a main processing function for remote control, a failure detection processing unit 141 that detects a failure of a switch constituting the operation unit of the operation panel 11 by a self-diagnosis function, and a transmission format set in accordance with the operation of the operation panel 11 An operation information generation processing unit 142 that generates transmission data and sends it to the transmission unit 16 is included. Furthermore, when the failure detection signal (DTE) is output from the failure detection processing unit 141, the operation information generation processing unit 142 stops outputting the transmission data (operation of the crane operation push buttons (B1, B2,..., B8)). The operation output stop state that does not generate the operation output data (OUTi) associated with the operation output) and a specific operation input determined in advance (for example, simultaneous operation of a plurality of predetermined buttons) with the transmission output stopped And a processing function for canceling the transmission output stop state. In addition, some improved models include a transmission trigger button (GSS) configured by a push button switch, and when this transmission trigger button (GSS) is operated, all the data stored in the external memory 15 are stored. The communication mode switching processing unit 144 transmits the setting information (all parameters) from the transmission unit 16 in the stream transfer format.

  The external memory 15 is composed of a non-volatile storage unit, and is written and read by the control unit 14. The external memory 15 stores a device parameter setting table (PM) 15a and an operation assignment table 15b. In the device parameter setting table (PM) 15a, the channel number of the communication channel set by the channel setting unit 12, the individual identification information (ID) set by the individual identification information setting unit 13, and the format format of transmission data (format i ) And various device parameters including the data length are set. The parameters set in the device parameter setting table (PM) 15a are stored in a device parameter area set in an internal memory (not shown) of the control unit 14 at the start of operation accompanying power-on of the remote controller 10. The In the operation allocation table 15b, a plurality of operation units (Bi) configured by, for example, push button switches for driving and controlling the power machine 4 provided on the operation panel 11, and the operation contents of each of these operation units are provided. The operation assignment information (function assignment parameter) associated with (associated with) the operation output data (OUTi) is set.

  The transmission unit 16 modulates the transmission data generated by the operation information generation processing unit 142 according to the set transmission format into a radio signal in a high frequency band according to the channel number of the communication channel set in the channel setting unit 12, and the radio signal is modulated. It transmits from a transmission antenna (ANT) using the set communication channel.

  The remote controller 10 includes a shoulder type and a handy type. The operation panel 11 includes a push button type operation panel in which a plurality of push button switches are arranged, and a joystick lever instead of the push button switch. There is a universal handle type operation panel provided with four switch mechanisms around the lever. FIG. 4 shows a configuration example of the above-described push button type operation panel, and FIG. 5 shows a configuration example of the universal handle type operation panel. In this embodiment, the following description will be given by taking a shoulder-type push button type operation panel as an example. Accordingly, a plurality of operation units for driving and controlling the power machine 4 provided on the operation panel 11 are respectively referred to as push button switches or simply push buttons. The specific configuration of each operation panel will be described later with reference to FIGS.

  As shown in FIG. 3, the alternative remote controller 20 includes an operation panel 21, a control unit 22, a channel search unit 23, an external memory 24, and a transmission / reception unit 25. The transmission / reception unit 25 includes a reception unit that receives a radio signal transmitted from the remote controller 10 and a transmission unit that transmits a radio signal to the reception device 2, and a transmission / reception state (transmission mode, reception mode). Depending on the case, it is called a receiving unit or a transmitting unit.

  Although the operation panel 21 substitutes for the operation panel 11 of the remote controller 10, the operation panel 21 may not have the same configuration as the operation panel 11 including the button arrangement, and may have a configuration in which the number of operation units is different, for example. Alternatively, the operation panel 11 may be a push button type shown in FIG. 4, whereas the operation panel 21 may be a universal handle type shown in FIG. However, an operation function, such as a push button, provided on the operation panel 21 can be arbitrarily set, so an emergency stop button not directly related to remote control (see the emergency stop buttons shown in FIGS. 4 and 5). In addition, except for a transmission trigger button (reception trigger button on the alternative side; see the GSS button shown in FIGS. 4 and 5), etc. Yes. Here, for the sake of simplicity of explanation, the operation panel 21 has a configuration with the same button arrangement as the operation panel 11 of the configuration remote controller 10 in which the operation function is not clearly shown on the top of the button and the operation panel (CP). And Therefore, in this embodiment, a specific configuration example of the operation panel 21 is not shown and is omitted.

  Similar to the control unit 14, the control unit 22 includes an internal memory that stores various programs and a microprocessor (not shown) that executes processing according to the programs. The control unit 22 includes a transmission format replication processing unit 221, an operation information acquisition processing unit 222, and a communication mode switching processing unit 223 as processing function units realized by program processing.

  The transmission format duplication processing unit 221 acquires the channel number of the communication channel currently used by the remote controller 10 from the channel search unit 23 and demodulates the radio signal received by the reception unit 25 to obtain the transmission data obtained. Analyzing and obtaining parameters (individual identification information (ID), format and data length) that enable duplication of the transmission format of the remote controller 10 together with the channel number, and obtaining parameters for duplicating the transmission format carry out. The parameter acquisition process for duplicating the transmission format will be described later with reference to the flowcharts shown in FIGS.

  The operation information acquisition processing unit 222 retrieves the data body from the received data obtained by demodulating the received radio signal according to the retrieved transmission format, and the operation output data (OUTi) included in the retrieved data body and the operation data Operation information acquisition processing is performed in which operation assignment information (function assignment parameter) associated with (associated with) the push button (Bi) of the board 21 is written in the operation assignment table 24b of the external memory 24. The operation information acquisition processing unit 222 generates transmission data according to the transmission format copied using the parameters acquired by the transmission format replication processing unit 221 in accordance with the button operation on the operation panel 21, and sends the transmission data to the transmission unit 25. Performs operation information generation processing.

  The communication mode switching processing unit 223 includes a reception trigger operation unit (reception trigger button; see GSS shown in FIG. 4) configured by a push button switch on the operation panel 21, and the reception trigger button (GSS) is operated. Then, the stream data of the external memory 15 obtained by demodulating the radio signal transmitted and output from the remote controller 10 is copied onto the external memory 24 (that is, the setting parameters stored in the external memory 15a are copied). A communication mode switching process is performed.

  The channel search unit 23 searches the channel number of the currently used communication channel from the frequency band of the radio signal received by the receiving unit 25, and sets the value of the searched channel number to a parameter that enables replication of the transmission format. It is sent to the control unit 22 as a partial element.

  Similar to the external memory 15 of the remote controller 10, the external memory 24 includes a nonvolatile storage unit. When the external memory 24 is in an unused state, it is in a memory clear state. When the external memory 24 is used as an alternative device, the read / write control is performed by the control unit 22 and is acquired by the transmission format copy processing unit 221. Are stored in the device parameter setting table (PM) 24a, and the operation output data (OUTi) acquired by the processing of the operation information acquisition processing unit 222 is linked to the push button (Bi) of the operation panel 21. The assigned (associated) operation assignment information (function assignment parameter) is stored in the operation assignment table 24b.

  As described above, the transmission / reception unit 25 includes a function of a reception unit that receives a radio signal transmitted from the remote controller 10 and a function of a transmission unit that transmits a radio signal to the reception device 2. The transmission / reception mode is switch-controlled. In the reception mode, the received radio signal is demodulated to generate reception data. In the transmission mode, the transmission data is modulated into a radio signal and analyzed by the transmission format duplication processing unit 221. Is transmitted from a transmission / reception antenna (ANT).

  4 and 5 show a specific configuration example of the operation panel 11 in the remote controller 10 described above. FIG. 4 shows a configuration of a push button type operation panel in which a plurality of push button switches are arranged. A universal handle type operation panel in which a switch mechanism operated by a joystick lever instead of the push button switch is provided at four points around the lever. The configuration is shown in FIG. The push button type operation panel 11 applied to this embodiment is a control target for a large crane, and the operation panel (CP) includes a plurality of crane operation push buttons (B1, B2) that are targets for failure detection. ,..., B8) and the alarm push button (B9), the illumination push button (B10), the transmission trigger button (B11) and the emergency stop button (B12), which are not directly related to the drive control of the crane, are constant. Arranged at intervals. In addition, the operation panel (CP) has an LED display (L1) for displaying on / off of the operation power supply and a battery charge state as the operation power supply, and an LED display (L2) for displaying the operation state of the push button. And an LED display section (L3) for displaying the use state of the communication channel. Further, in some improved models, an LED display unit (L4) that displays an operation function (running direction, main winding, auxiliary winding state) by blinking four digits is arranged. Each LED display unit is individually controlled to be driven by the control unit 14 according to an event during operation.

  In the universal handle type operation panel shown in FIG. 5, each of the switch portions of the above-mentioned crane operation push buttons (B1, B2,..., B8) is divided into a traveling direction and a main winding auxiliary winding, and two joystick levers ( The configuration is substantially the same except for the configuration arranged at four points within the operation range of SL1, SL2).

  FIG. 6 shows a circuit configuration of a connection interface portion between the push button switch constituting the operation unit of the remote controller 10 and the control unit 14. The push button switches (B1, B2,..., B8) provided on the operation panel 11 have two circuit switching contacts (S1, S2) that are simultaneously turned on and off, and each switching contact (S1, S2). ) Is sent to the signal input interface unit 140 provided in the control unit 14 via two signal lines (T1, T2) for each circuit. Of the two signal lines (T1, T2) input to the signal input terminal of the signal input interface unit 140, the signal line (T1) is a data signal line for inputting a switch operation signal (S1). The line (T2) is a failure detection signal line for inputting the failure detection determination signal (S2).

  The failure detection processing unit 141 detects a failure of each of the push button switches (B1, B2,..., B8) based on the switch operation signal (S1) and the failure detection determination signal (S2). FIG. 7 shows a failure detection example of each of the push button switches (B1, B2,..., B8) in the failure detection processing unit 141. Here, among the push buttons (B1, B2,..., B8) that are subject to failure detection, the push button (push button switch) that has been pushed in is the operation button Bi, and the switch contact state (normal, abnormal state) of the operation button Bi. ) Are associated with the operation button Bi and four examples (1 to 4) are shown.

  7 (3) and 7 (4), one of the switching contacts (S1, S2) of the two circuits is in a malfunctioning state. 7 (1) and 7 (2) are considered normal in each of the switch-on and switch-off operation states. For example, the switch-on operation state (button pressed state) to the switch-off operation state. There is a case where the switching contact remains switched on when the state is changed to (a state where the button operation is released). Alternatively, when the switch-off operation state shifts to the switch-on operation state, the switching contact may remain switched off. The processing operation of the failure detection processing unit 141 will be described with reference to the failure detection example shown in FIG.

  The failure detection processing unit 141 determines whether the push button switches (B1, B2,..., B8) that are the failure detection targets are normal or not based on the signal state of the signal lines (T1, T2) received by the signal input interface unit 140. Perform failure determination. 7 (3) and (4), when a malfunction state is detected, a failure detection signal (DTE) is sent to the operation information generation processing unit 142, and the LED display unit (L2) is controlled to blink and drive at a constant cycle. Inform the operator of the occurrence of abnormal operation. When the failure detection signal (DTE) is input, the operation information generation processing unit 142 stops outputting transmission data.

  Further, immediately after the operation power is turned on (before the operation is started), any of the push button switches (B1, B2,..., B8) that is a failure detection target is in the switch-on state of FIG. It is determined that the switch has failed, and a failure detection signal (DTE) is sent to the operation information generation processing unit 142 and the LED display unit (L2) as in the case of the malfunction in FIGS. 7 (3) and (4). Is controlled to blink in a certain cycle to notify the operator of the occurrence of an operation abnormality.

  7A and 7B, the malfunction detection processing unit 141 cannot detect the malfunction state in which the switching operation of the switching contact does not follow the operation and release of the push button switch. . 7 (1) and 7 (2), the LED display (L2) that displays the operation state of the push button is displayed (even when the button operation is released, the state that remains lit, or the operation However, the failure of the operated button can be determined by the operator visually observing the movement of the drive units 4a, 4b,. When the operator presses the emergency stop button (B12) based on this determination, the control unit 14 stops outputting transmission data in the same manner as when the failure detection processing unit 141 detects a failure.

  Under the above-described failure detection state, for example, since the crane is in a dangerous state during traveling, a quick response is required. Under this fault detection condition, the alternative remote controller 20 is used.

  At this time, since the alternative remote controller 20 is not a dedicated substitute for the remote controller 10 but is a general-purpose device applicable to other remote controllers, a receiving device for substituting the remote controller 10 is used. 2 is required to establish wireless communication with the communication device 2.

  The alternative remote controller 20 acquires and holds the parameter of the transmission format of the faulty remote controller 10 from the radio signal received by the receiving unit 25, and duplicates the transmission format of the remote controller 10 with the parameter. Has a replication processing function.

  The processing procedure for realizing this transmission format duplication processing function is shown in FIG. 9, FIG. 10 and FIG. 11, and an example of the transmission format used by the remote controller 10 is shown in FIG.

  The transmission format of the remote controller 10 handled in this embodiment includes a format format (format 1) having data portions (Ta to Tg) as all format components shown in FIG. 8, and a data portion indicated by a broken line. It is assumed that there are two types, that is, the format format (format 2) of the excluded data portion (Tb to Te). In Format 2, Te (error verification unit) is the end of data and also serves as an end flag. Here, one length of each format is referred to as format data for one frame. A data part composed of Tc (header part), Td (data part), and Te (error test part) is called a data body. In the data part Tc in the data body, the individual identification information (ID) set by the individual identification information setting unit (ID-SW) 13 is incorporated as a header value, and the operated push button (Bi) is included in the data part Td. The operation output data (OUTi) assigned (linked) to () is incorporated as transmission target data. In the data portion Te in the data body, error check data (error detection code) by a check method (for example, horizontal / vertical parity check method and CRC check method) specific to each format format (format 1 or format 2) is incorporated. It is.

  Here, with reference to the flowcharts shown in FIG. 9 to FIG. 11, the work procedure and the processing procedure related to the transmission format duplication processing described above will be described.

  First, an operation procedure and a processing procedure before and after a failure of the remote controller 10 will be described with reference to a flowchart shown in FIG.

  The remote controller 10 serving as a regular device establishes unidirectional wireless communication with a receiving device 2 through a preset channel when the operation power is turned on, and is used for operation provided on the operation panel 11. When the push button (Bi) is pressed, the set output format (Tc) is the operation output data (OUTi) assigned (linked) to the operated push button (Bi). Transmission data of the format (format 1 or format 2) is generated, encoded, and transmitted to the receiving device 2 using the set channel (steps S31 and S32).

  When a failure of the push button (Bi) described above is detected during crane operation by the push button operation (Yes in step S33), the transmission output is stopped and the LED display unit (L2) blinks at a constant cycle. Drive control is performed to notify the operator of the occurrence of an operation abnormality due to the failure of the push button (Bi) (steps S34 and S35).

  When the operator is informed of the occurrence of an operation abnormality by blinking driving of the LED display unit (L2), the radio signal of the remote controller 10 does not reach the receiving device 2 and the normal remote controller 10 in which the failure has occurred. For example, in order to carry the substitute remote controller 20 in the storage room of the alternative remote controller 20 and prepare the alternative remote controller 20 so that the alternative remote controller 20 can be operated continuously, a transmission format that duplicates the transmission format of the remote controller 10 Perform the replication process. In this operation, first, the remote controller 10 in a state in which the transmission output is stopped is canceled by canceling the transmission output stop state by the above-described specific operation input (for example, predetermined simultaneous operation of a plurality of buttons). The setting operation of the specific activation mode to be resumed is performed, and the transmission output of the radio signal is resumed (steps S36 and S37). The transmission flow of the remote controller 10 at this time is shown in FIG. Subsequently, the operation power supply of the alternative remote controller 20 is turned on to place the alternative remote controller 20 in the operating state, and the transmission format duplication processing unit 221 is activated by simultaneous operation of a plurality of buttons that are determined in advance.

  The transmission format duplication processing unit 221 first sets the transmission / reception unit 25 to the reception mode (reception unit), activates the channel search unit 23, and uses it from the frequency band of the radio signal transmitted from the remote controller 10. A channel search process is performed (step S11). When the channel number is detected by this channel search, this channel number is held in the device parameter setting table (PM) 24a of the external memory 24 as parameter element data that duplicates the transmission format of the remote controller 10 (step S12). ). Subsequently, one frame of data from the start to the end is acquired from the data stream of the received data obtained by demodulating the received radio signal, the head data is searched, and the data body (Tc) starting from the header part (Tc) To Te) and stored as data 1 for determining the transmission format (steps S13 to S19). After acquiring the data 1, the data body (Tc to Te) is acquired again from the data stream of the received data, and held as data 2 for determining the transmission frame (steps S20, S14 to S18 Yes). The data acquisition process is repeated until all of the data 1 and 2 are acquired (steps S13 to S22, S13 to S21).

  After the data 1 and 2 are obtained, the data 1 and 2 are compared, and when the header value and the data length match, the header value (individual identification information; ID) and the data length are converted into the transmission format of the remote controller 10. Is stored in the device parameter setting table (PM) 24a of the external memory 24 as element data of a parameter to be copied, and then error test calculation is performed by the error test unit (Te) in the data body, and remote control is performed from the calculation result. It is determined whether the transmission format used in the device 10 is the format 1 or 2, and the parameter of the determined format is used as the element data of the parameter that duplicates the transmission format of the remote controller 10. It is stored in the parameter setting table (PM) 24a (step S21).

  A more detailed format determination processing procedure in step S21 will be described with reference to FIG. In this process, first, the header information (individual identification information; ID) of the header part (Tc) in the data 1 and 2 described above is compared. The lengths are compared (steps S211 Yes, S212).

  After confirming that the header information and the data length of the data 1 and 2 are consistent with each other, an error test calculation is performed on the data 1 by the error test unit (Te). From the difference, it is determined whether the transmission format used in the remote controller 10 is the format 1 or 2 (steps S213 to S217). The determined format parameters are held in the device parameter setting table (PM) 24a of the external memory 24 as element data of parameters for duplicating the transmission format of the remote controller 10, and the format determination process is terminated (step S218).

  If the header information does not match (No in step S211), the data length does not match (No in step S212), or the format cannot be determined (No in step S216), the data 1 and 2 are acquired again. The above processing (steps S211 to S218) is repeatedly performed.

  By this transmission format duplication processing, the channel number of the communication channel, the individual identification information (ID), the format type, and the data length of the transmission format used by the remote controller 10 are respectively copied to the transmission format of the remote controller 10. Can be set in the device parameter setting table (PM) 24a.

  By using the transmission format duplication processing described above, the alternative remote controller 20 uses the transmission format duplicated according to the parameters set in the device parameter setting table (PM) 24a, so that the remote controller 10 can communicate with the receiving device 2 instead of the remote controller 10. Communication is possible. Thereby, the operation allocation information (OUTi) acquired by the operation information acquisition processing unit 222 and the push button (Bi) of the operation panel 21 associated (associated) with the operation allocation table 24b. By setting the function assignment parameter), the alternative remote controller 20 can be operated as an alternative to the remote controller 10.

  As described above, according to the embodiment of the present invention, the alternative remote controller 20 receives the radio signal transmitted from the remote controller 10 and the transmission from the radio signal received by the receiver. By including a transmission format duplication processing means for acquiring and holding a format parameter and a transmission means for sending a radio signal to the receiving device 2 in accordance with the transmission format duplicated by this parameter, for example, periodic inspection, operation unit The wireless signal transmitted from the remote controller 10 by the alternative remote controller 20 during the operation using the remote controller 10 when the replacement operation of the push button constituting the battery, the charging operation of the battery power source, or the like becomes necessary. From the intercepted radio signal, the parameter of the transmission format used in the remote controller 10 is acquired and retained, and this retained Because it can transmit a radio signal to the receiving apparatus 2 in accordance with the transmission format that is replicated in parameters, it is possible to operate the alternative remote control 20 quickly and easily as a replacement unit of the remote controller 10. Also, in a factory or facility where there are a plurality of receiving devices 2 with different power machines 4 to be controlled, a plurality of receiving devices with different or all of communication channels, header information and data transmission formats. It is sufficient to prepare an alternative device for 2, 2,..., And an efficient and economical operation is possible. In particular, in the radio control device having the above-described configuration, as described above, the operation unit manually operated by an operator provided on the operation panel of the remote controller with respect to the frequency of failure of the radio device itself including the reception device. The frequency of failures due to switch abnormalities is overwhelmingly high, and there is no need to entrust repairs to specialists who have troubles due to switch abnormalities associated with this remote control, and there is a dedicated substitute device for each radio. Remote control with a general purpose (shared) alternative can be resumed quickly and easily.

  In addition, the remote controller 10 includes a failure detection unit that detects a failure in each of the plurality of operation units provided independently on the operation panel, and an operation stop that stops transmission of a radio signal when the failure detection unit detects a failure. And a specific activation mode setting means for resuming the transmission of the radio signal when the transmission is stopped. The alternative remote controller 20 includes an operation panel that replaces the operation panel of the remote controller 10, and the remote controller 10. A receiver for receiving the restarted radio signal transmitted from the receiver, and a copy of the transmission format for acquiring and holding the parameter of the transmission format currently used by the remote controller 10 from the radio signal received by the receiver By providing the processing means and the transmission means for transmitting a radio signal to the receiving device 2 in accordance with the duplicated transmission format, the operation during the operation of remotely operating the power machine 4 is performed. It is not necessary to leave a repair to a technician who has expertise to deal with a switch failure that involves data operation, and it is not necessary to prepare a dedicated substitute device for each radio, and the radio channel or card The remote control by the general-purpose (shared) substitute device can be resumed quickly and easily without having to check the unique number (ID) and the transmission format used at each failure.

  In addition, the transmission format duplication processing means searches the channel from the radio signal received by the receiving unit, cuts out one frame of data from the radio signal received by the receiving unit, and searches for individual identification information from the cut out data When the data content matches, the processing for obtaining the data length of the cut-out data and the data for two frames including the cut-out data are cut out from the radio signal received by the receiving unit and compared. The error test calculation is performed using either one of the minute data, and the format format being used is determined from the calculation result, and the communication channel, individual identification information, data format format and data are processed. It has a processing function that performs processing that stores the length as a parameter, so that it is not possible to confirm the response. In the radio control apparatus 1 according to direction (one-way) radio communication, an alternative remote control 20 to the radio control apparatus 1 is shared when to replace the remote control 10, it is possible to replicate a reliable transmission format.

  DESCRIPTION OF SYMBOLS 1 ... Radio control apparatus, 2 ... Receiver apparatus, 3 ... Relay board which comprises drive control apparatus, 4 ... Power machine, 4a, 4b ... Drive part, 10 ... Remote controller (ordinary remote controller), 11 ... Control panel , 12 ... Channel setting unit (CH-SW), 13 ... Individual identification information setting unit (ID-SW), 14 ... Control unit, 140 ... Switch signal input interface unit, 141 ... Fault detection processing unit, 142 ... Operation information generation Processing unit, 144 ... Communication mode switching processing unit, 15 ... External memory, 15 a ... Device parameter setting table (PM), 15 b ... Operation allocation table, 16 ... Transmission unit, 20 ... Alternative remote controller, 21 ... Control panel, 22 ... Control unit, 221 ... Transmission format duplication processing unit, 222 ... Operation information acquisition processing unit, 223 ... Communication mode switching processing unit, 23 ... Channel search unit, 24 ... External memory, 24a ... Unit parameter setting table (PM), 24b ... operation allocation table, 25 ... transmission / reception unit, L1 to L4 ... LED display unit, B1, B2, ..., B8 ... push buttons for crane operation, DS1, DS2, ..., DSn ... drive Control signal.

Claims (6)

A remote controller comprising an operation panel and a transmission unit, wherein operation data obtained by operating the operation panel is transmitted in a set transmission format from the transmission unit by a wireless signal by one-way communication; and from the remote control unit A radio comprising: a receiving device that receives a transmitted radio signal and outputs a control signal for driving and controlling a power machine based on the received radio signal; and an alternative remote controller that replaces the function of the remote controller A control device,
The alternative remote controller is:
A receiver for intercepting the wireless signal;
From the radio signal received by the receiving unit, the transmission format replication processing means for acquiring and holding the parameters of the transmission format;
Transmitting means for transmitting a radio signal to the receiving device according to the transmission format duplicated by the parameter;
A wireless control device comprising: A remote controller comprising an operation panel and a transmission unit, wherein operation data obtained by operating the operation panel is transmitted in a set transmission format from the transmission unit by a wireless signal by one-way communication; and from the remote control unit A radio comprising: a receiving device that receives a transmitted radio signal and outputs a control signal for driving and controlling a power machine based on the received radio signal; and an alternative remote controller that replaces the function of the remote controller A control device,
The remote controller is
A plurality of operation units provided independently on the operation panel;
A failure detection unit for detecting a failure of the operation unit;
Steering stop means for stopping transmission of the wireless signal in accordance with failure detection of the failure detection unit,
A specific activation mode setting means for resuming transmission of the radio signal when transmission of the radio signal is stopped due to the failure detection;
Comprising
The alternative remote controller is:
An operation panel replacing the operation panel of the remote controller;
A receiving unit for receiving the radio signal at the time of restart transmitted from the remote controller;
From the radio signal received by the receiving unit, the transmission format replication processing means for acquiring and holding the parameters of the transmission format;
Transmitting means for transmitting a radio signal to the receiving device according to the transmission format duplicated by the parameter;
A wireless control device comprising: The transmission format copy processing means includes:
A process of searching for a channel from a radio signal received by the receiver;
A process of cutting out data for one frame from the radio signal received by the receiving unit, searching for individual identification information from the cut out data, and acquiring the data length of the cut out data;
When two frames of data including the cut out data are cut out from the radio signal received by the receiving unit and compared, and when the data contents match, any one of the data of the two frames is used. Process to perform error test calculation and determine the format format in use from the calculation result,
The radio control apparatus according to claim 1, wherein the channel and the individual identification information, the format type, and the data length are held as the parameters. A memory for holding a table in which the operation unit and operation output data output by the operation of the operation unit are linked to the remote controller, and a table held in the memory from the transmission unit in a data stream format A transmission mode switching processing means for performing processing to transmit by a radio signal, and a transmission trigger switch for starting the processing of the communication mode switching processing means,
An alternative-side reception mode switching processing means for executing processing for acquiring the table from the radio signal received by the reception unit, and a reception trigger switch for starting the processing of the reception mode switching processing means; Having
3. The radio control device according to claim 1, further comprising means for replicating a table held in the memory of the remote controller to the memory of the alternative remote controller. Each of the plurality of operation units includes an operation switch having two circuit switching contacts that are simultaneously turned on and off,
3. The radio control apparatus according to claim 2, wherein the failure detection unit realizes a self-diagnosis function for detecting a failure of the operation unit based on a switching state of two circuits of the operation switches. .   The operation panel of the remote controller is a push button type in which the operation unit is configured by a push button switch and the push buttons are arranged on the panel surface, or a universal handle type in which the operation unit is configured by a switch mechanism operated by a joystick lever. And an emergency stop button for forcibly stopping the output of the radio signal, respectively, on the panel surface. The radio control device described.

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