JP2023008420A - Remote control device for crane and remote control system for crane - Google Patents

Abstract

[Problem] To provide a remote control device for a crane and a remote operation system for a crane that can reliably operate two cranes in a synchronized manner. [Solution] When the remote control device 3 is in a synchronized operation mode and a main operation mode, it generates an operation signal for the crane 1a to control the operation of the crane 1a, and converts only the swing operation signal for the boom 1a1 of the crane 1a based on the operation signal of the crane 1a into a swing operation signal with the swing direction reversed, while transmitting signals other than the boom swing operation signal without conversion to the remote control device 4 via a synchronization signal cable 8 as slave operation signals for the crane 2a. The remote control device 4 transmits the slave operation signal sent from the remote control device 3 to the crane 2a to operate the crane 2a, so that one remote control device 3 operates two cranes 1a, 2a in a synchronized manner. [Selected Figure] Figure 1

Description

The present invention relates to a crane remote control device and a crane remote control system for remotely controlling a crane by transmitting an operation signal to a crane that moves two long loads such as rails by suspending them in the longitudinal direction.

When moving long objects such as rails used for railways, use two crane vehicles such as truck-mounted cranes, and remotely control each of the two crane vehicles using a remote control, etc. to move the rails. Two elongated objects are suspended in the longitudinal direction and moved (see, for example, Patent Document 1).

JP 2011-152994 A

However, in the remote control operation of the crane described in Patent Document 1, two operators normally operate the remote control devices individually to operate the two cranes. In this case, there is a problem that the timing of the operation may be off, the horizontal balance of the suspended load is lost, and the suspended load such as rails cannot be moved well.

In addition, when two cranes are positioned to sandwich a load, if the crane swings to move the load in the direction of rotation, the direction of rotation of the double crane will be reversed, and the operator will be unable to operate the crane. can be confusing. Since it is necessary to operate the two cranes at the same time with no deviation in timing, there is a risk of erroneous operation.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of such problems, and it is an object of the present invention to provide a remote control device for a crane and a remote control system for a crane that can reliably operate two cranes in synchronism. and

In order to achieve the above object, a remote control device for a crane according to the present invention remotely controls a crane by transmitting an operation signal to a crane that suspends two long loads such as rails in its longitudinal direction and moves the crane. In the case of a remote control device for a crane that is in the synchronous operation mode and in the main operation mode, by transmitting the operation signal of the own crane, which is the crane assigned to the remote control device, to the own crane In addition to controlling the operation of the own crane, among the main operation signals, only the boom left/right turning operation signal is converted by reversing only the turning direction to the opposite direction, and other than the boom left/right turning operation signal A slave operation signal that is not converted from the master operation signal is transmitted to the other remote controller, and in the case of the synchronous operation mode and the slave operation mode, the slave operation signal transmitted from the other remote controller is transmitted. It is characterized by having an operation signal generation unit that controls the operation of the own crane by transmitting it as an operation signal to the own crane.
Further, in the crane remote control device according to the present invention, the operation signal generation unit further has an individual operation mode, and in the case of the individual operation mode, generates an operation signal for the own crane assigned to each remote control device. It is also characterized by controlling only the operation of the own crane by transmitting it to the own crane.
Further, in the remote control device for a crane according to the present invention, an operation signal receiving device for receiving an operation signal from the remote control device is connected to the cable connection portion of the crane via a wired communication cable. Further, in the remote control device for a crane according to the present invention, each of the two cranes is connected to an operation signal receiving device for receiving an operation signal from each of the two remote control devices via a wired communication cable. It is also characterized by
Further, in the crane remote control device according to the present invention, the remote control device is provided with a crane selection switch for selecting a crane to be remotely controlled by the remote control device.
Further, in the crane remote control device according to the present invention, an individual synchronous operation mode changeover switch is further provided, and the operation signal generator of each of the two remote control devices switches the individual synchronous operation mode changeover switch. It is also characterized by switching between the individual operation mode and the synchronous operation mode by .
Further, in the crane remote control device according to the present invention, a master-slave operation mode selector switch is further provided, and the operation signal generating section outputs the master operation signal and the slave operation signal by switching the master-slave operation mode selector switch. It is also characterized by selecting whether to function as a master device that generates the signal or to function as a slave device that directly transmits the slave operation signal generated by the master device to its own crane.
Further, in the crane remote control device according to the present invention, a wireless communication type tilt sensor is further provided for detecting a tilt state of the suspended load and transmitting it as a tilt sensor signal to the remote control device. further has an automatic leveling mode, and in the case of the automatic leveling mode, based on the tilt sensor signal from the wireless communication type tilt sensor, an operation signal for the own crane is sent so that the suspended load is level. It is also characterized by controlling the operation of the own crane by generating and transmitting it to the own crane.
Further, in the remote control device for a crane according to the present invention, the operation signal generation unit transmits to the own crane in the case of the synchronous operation mode and the main operation mode to operate the own crane. and generates the slave operation signal of the other crane based on the operation signal of its own crane and transmits it to another remote control device to control the operation of the own crane and the other crane, and during the control, When it is determined that the suspended load is tilted based on the tilt sensor signal from the wireless communication type tilt sensor, it is determined which of the own crane and the other crane operates faster based on the tilt sensor signal. It is also characterized in that the master operation signal or the slave operation signal is intermittently transmitted to the own crane or the slave crane that operates quickly.
Further, in the crane remote control device according to the present invention, when the operation signal is received, the crane further acquires the RSSI signal, and only when the RSSI signal acquisition state is favorable, the received operation signal is transmitted to the relevant crane. It is also characterized in that the signal is converted into a crane operation signal to operate the crane.
Further, a remote control system for a crane according to the present invention is characterized by comprising two remote control devices for any one of the cranes described above and two cranes operated by the two remote control devices. .

In the crane remote control device and the crane remote control system according to the present invention, the operation signal generators of the two remote control devices are in the synchronous operation mode and in the main operation mode. A signal is generated to control the operation of the own crane, and among the main operation signals, only the left/right turning operation signal of the boom is converted by reversing the turning direction, and the other main operation signals are converted to the opposite direction. A slave operation signal that is not converted is transmitted to another remote control device (another device), and in the case of the synchronous operation mode and the slave operation mode, the operation of the own device is ignored and the signal is transmitted from the other device. A slave operation signal is input and transmitted to the own crane to control the operation of the own crane.
Therefore, according to the present invention, by operating the remote control device in the synchronous operation mode and the main operation mode, not only can the operation signal of the own crane be generated, but also the operation signal of the other crane can be generated and Since other cranes can be operated via a remote control device (another device), the two cranes can be reliably operated synchronously.
In particular, when the slave operation signal for the other crane is generated based on the master operation signal for the own crane, only the swing direction of the boom swing signal is automatically reversed and used as the slave operation signal. can be reliably operated in synchronism.

It is a figure which shows the state which operates two cranes with the remote control device of the crane of embodiment which concerns on this invention, and is suspending two rails. 1 is a block diagram showing the configuration of a crane remote controller according to an embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of a crane remote controller according to an embodiment of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows an example of the external appearance of the remote control apparatus of the crane of embodiment which concerns on this invention. 4 is a flow chart showing the operation of the crane remote control device of the embodiment according to the present invention. 4 is a flow chart showing the operation of the crane remote controller according to the embodiment of the present invention when an automatic horizontal adjustment switch is turned on. 4 is a flow chart showing the operation of the crane remote controller according to the embodiment of the present invention in a synchronous operation mode. 4 is a flow chart showing a process of generating a crane slave operation signal in a synchronous operation mode of the crane remote controller according to the embodiment of the present invention;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a crane remote control device and a crane remote control system according to first and second embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the crane remote control device and the crane remote control system of Embodiments 1 and 2 described below are merely examples of the present invention, and the present invention is not limited to the following embodiments. It can be changed as appropriate within the scope of technical ideas.

As shown in FIG. 1, the crane remote controllers 3 and 4 of Embodiment 1 according to the present invention suspend two long suspended loads 9 such as rails in the longitudinal direction to rotate and extend the booms 1a1 and 2a1. and two crane trucks 1 and 2 respectively provided with cranes 1a and 2a that are moved by elevating and the like of wire ropes 1a2 and 2a1, and remote control devices 3 and 4 that remotely operate the two cranes 1a and 2a, respectively; Operation signal receivers 5 and 6 for receiving operation signals from the remote controllers 3 and 4, a wireless communication type tilt sensor 7 provided on the suspended load 9, and a synchronization signal cable for connecting the operation signal receivers 5 and 6. 8 and the like.

In the description of the first embodiment, the remote controllers 3 and 4 can remotely control one crane 1a and 2a in the case of the individual operation mode, which will be described later. In this case, the remote control device 3 remotely controls the crane 1a as its own crane, and the remote control device 4 remotely controls the crane 2a as its own crane. Further, in the case of a synchronous operation mode, which will be described later, the remote controllers 3 and 4 generate a master operation signal for operating their own crane, and convert the generated master operation signal to generate a slave operation signal for operating another crane. However, in the following description, the remote control device 3 is the main remote control device, that is, the main device, and the remote control device 4 is the slave operation from the remote control device 3, which is the main remote control device. The description will be made assuming that the slave remote control device transmits a signal as an operation signal for the crane 2a, that is, the slave device.

(Crane trucks 1 and 2)
The crane trucks 1 and 2 are equipped with cranes 1a and 2a having booms 1a1 for hoisting and lowering wire ropes 1a2 and 2a2 with hooks (not shown) provided at the ends thereof, respectively, which extend, retract and turn, and travel. Extending, retracting and turning the booms 1a1 and 2a1 and hoisting and lowering the wire ropes 1a2 and 2a2 can be directly controlled from the operation panel (not shown) of the cranes 1a and 2a. Operation signals from remote controllers 3 and 4 are received by operation signal receivers 5 and 6, respectively, and output to control units (not shown) of cranes 1a and 2a. is configured to

(Remote controllers 3 and 4)
As shown in FIG. 2, remote controllers 3 and 4 transmit operation signals (including slave operation signals) for cranes 1a and 2a to operation signal receivers 5 and 6 via main antennas 3a and 4a, respectively. Operation signal transmitters 3b and 4b, tilt sensor signal receivers 3d and 4d for receiving tilt sensor signals from the wireless communication type tilt sensor 7 via sub-antennas 3c and 4c, and crane selection switches 3e2 and 4e2 described later. Operation panels 3e, 4e provided with various switches (SW) operated by a person, and operation signal generation units 3f, 4f that generate operation signals for the cranes 1a, 2a based on the operation of the various switches in the operation panels 3e, 4e. , tilt angle calculators 3g, 4g for calculating the tilt angle of the suspended load 9 based on the tilt sensor signals from the tilt sensor signal receivers 3d, 4d; It is provided with status display monitors 3h, 4h and cable connection portions 3i, 4i, etc., to which synchronization signal cables 8 for connecting and synchronizing the remote controllers 3, 4 are connected.

As shown in FIG. 3, the operation panels 3e and 4e include power switches 3e1 and 4e1 for the remote controllers 3 and 4, crane selection switches 3e2 for selecting the cranes 1a and 2a to be remotely controlled by the remote controllers 3 and 4, 4e2, individual synchronous operation mode changeover switches 3e3 and 4e3 for switching the operation mode of the remote control devices 3 and 4 to the individual operation mode or the synchronous operation mode, and when the synchronous operation mode is selected, the main operation signal to the own crane by the own device. and master-slave operation mode switching for selecting a master operation mode for generating a slave operation signal for other cranes or a slave operation mode for operating the own crane 1a, 2a by transmitting a slave operation signal generated by another remote control device as an operation signal for the own crane 1a, 2a. Switches 3e4, 4e4, wire hoisting/lowering operation switches 3e5, 4e5 for executing hoisting/lowering operations of the wire ropes 1a2, 2a2 of the own cranes 1a, 2a, and raising/lowering of the booms 1a1, 2a1 of the own cranes 1a, 2a. Boom up/down operation switches 3e6 and 4e6 for selecting an operation, boom left/right turning operation switches 3e7 and 4e7 for operating left/right turning of the booms 1a1 and 2a1 of the own cranes 1a and 2a, and wireless communication. automatic horizontal adjustment switches 3e8 and 4e8 for automatically adjusting the tilt state based on the tilt sensor signal of the tilt sensor 7 to 0, and a horizontal state display monitor 3h for displaying the horizontal state such as the tilt angle of the suspended load 9. , 4h and so on.

Here, each of the cranes 1a and 2a has an identification number unique to the crane, and on the operation panels 3e and 4e of the remote controllers 3 and 4, the "crane 1a" side of the crane selection switches 3e2 and 4e2 are respectively set to the crane 1a unique identification number. is set, and an identification number unique to the crane 2a is set on the crane 2a'' side, so that the cranes 1a and 2a can be operated without a specific remote control device. On the panel 3e, for example, the crane 1a is selected by the crane selection switch 3e2, and the crane 1a becomes the self-crane. It is assumed that

(Operation signal receivers 5 and 6)
The operation signal receivers 5 and 6 are connected to remote controller connection ports (not shown) for wired remote controllers (not shown) of the corresponding cranes 1a and 2a via wired communication cables 51 and 61, respectively. It receives operation signals transmitted from the remote controllers 3 and 4 and outputs them to the corresponding cranes 1a and 2a. Operation signals from the remote controllers 3 and 4 received by the signal receivers 5b and 6b and the operation signal receivers 5b and 6b are converted into operating signals for the cranes 1a and 2a, which are transmitted via communication cables 51 and 61 to the cranes 1a and 2a. and cable connection portions 5d and 6d to which communication cables 51 and 61 are connected.

(Wireless communication type tilt sensor 7)
The wireless communication type tilt sensor 7 is attached to the suspended load 9 by attaching it to the suspended load 9, detects the tilt angle of the suspended load 9, and transmits it as a tilt sensor signal by radio. is provided with a tilt sensor signal transmitting section 7c for transmitting the detected tilt angle as a tilt sensor signal to the remote control device 3 and the remote control device 4 via the antenna 7b.

<Operation of the crane remote control system according to the embodiment of the present invention>
Next, the operation of the crane remote controller configured as described above will be described with reference to the flow charts shown in FIGS. 4 to 7. FIG. In the following explanation,

When the power switches 3e1 and 4e1 of the remote controllers 3 and 4 are turned on, respectively, the respective operation is started. 1a" or "crane 2a" is selected (step S120), and the crane 1a, 2a is selected (step S130). Here, it is assumed that the remote control device 3 selects the "crane 1a" by the crane selection switch 3e2, while the remote control device 4 selects the "crane 2a" by the crane selection switch 4e2.

Next, the operation signal generators 3f and 4f of the remote controllers 3 and 4 respectively read the automatic horizontal adjustment switches 3e8 and 4e8 (see FIG. 3) (step S140), and when the automatic horizontal adjustment switches 3e8 and 4e8 are pressed, It is determined whether or not there is (step S150).

(Operation when automatic horizontal adjustment switches 3e8 and 4e8 are not pressed)
When the automatic horizontal adjustment switches 3e8 and 4e8 are not pressed (step S150 "OFF"), the operation signal generators 3f and 4f of the remote controllers 3 and 4 then switch the individual synchronous operation mode selector switches of the operation panels 3e and 4e. 3e3 and 4e3 are read (step S160), and it is determined whether the individual operation mode or the synchronous operation mode is selected by the individual synchronous operation mode selector switches 3e3 and 4e3 of the remote controllers 3 and 4 (step S170). ).

Here, when the individual operation mode is selected in the remote control devices 3 and 4 (step S170 "individual operation mode"), the operation signal generators 3f and 4f of the remote control devices 3 and 4, respectively, operate the operation panel While reading the operation contents of various operation switches 3e5 to 3e7 and 4e5 to 4e7 of 3e and 4e (step S180), operation signals for the cranes 1a and 2a corresponding to the operation contents of the various operation switches 3e5 to 3e7 and 4e5 to 4e7 are generated. (Step S190), and transmits the generated operation signal to the cranes 1a and 2a, which are selected cranes of the remote controllers 3 and 4, respectively (Step S200).

Then, in the operation signal receivers 5 and 6 on the cranes 1a and 2a side, the operation signal converters 5c and 6c respectively receive the operation signals from the remote controllers 3 and 4 after the power is turned on, as shown in FIG. (step S510), and if it is determined that an operation signal has been received from the remote controllers 3 and 4 (step S510 "YES"), then the operation signal receivers 5b and 6b receive RSSI (Received Signal Strength Indicator) signal is acquired (step S520), and it is determined whether or not the RSSI signal is greater than a predetermined value and the RSSI signal state is good (step S530), and the radio wave condition at the time of reception of the operation signal is determined. is good or not.

When the operation signal converters 5c and 6c of the operation signal receivers 5 and 6 respectively determine that the RSSI signals received by the operation signal receivers 5b and 6b are less than a predetermined value and the RSSI signal state is unsatisfactory, ("NO" at step S530), the operating signal for the cranes 1a and 2a is not output due to poor radio wave conditions.

On the other hand, if the operation signal converters 5c and 6c of the operation signal receivers 5 and 6 determine that the RSSI (Received Signal Strength Indicator) signal is equal to or greater than a predetermined value and the RSSI signal state is good ("YES" in step S530). ”), it determines that the radio wave condition is good, converts the operation signals from the remote controllers 3 and 4 into operating signals for the cranes 1a and 2a, and outputs them to the cranes 1a and 2a via the communication cables 51 and 61 (step S540). , to operate the cranes 1a and 2a.

Therefore, the operation signal conversion units 5c and 6c of the operation signal receivers 5 and 6 respectively output operation signals to the cranes 1a and 2a each time an operation signal is received regardless of the radio wave conditions, thereby Instead of controlling the operation, the operation signal received when the radio wave condition is good is converted into an operation signal and sent to the cranes 1a and 2a to control the operation of the cranes 1a and 2a, so the radio wave condition is bad. In this case, the operation of the cranes 1a and 2a is stopped, so that the cranes 1a and 2a can be remotely operated safely and reliably.

(Operation when the automatic horizontal adjustment switches 3e8 and 4e8 are pressed)
At step S150, if the automatic horizontal adjustment switches 3e8 and 4e8 are pressed ("ON" at step S150), the process proceeds to the automatic horizontal adjustment process shown in FIG.

FIG. 5 is a flow chart showing automatic horizontal adjustment processing of the operation signal generators 3f and 4f of the remote controllers 3 and 4 when the automatic horizontal adjustment switches 3e8 and 4e8 are pressed.

At step S150, if the automatic horizontal adjustment switches 3e8 and 4e8 have been pressed ("ON" at step S150), the operation signal generators 3f and 4f of the remote controllers 3 and 4, respectively, send the tilt sensor signal receivers 3d and 4f. 4d is caused to receive the tilt sensor signal from the wireless communication type tilt sensor 7 via the sub-antennas 3c and 4c (step S210), and the tilt angle calculators 3g and 4g are caused to calculate the tilt angle of the suspended load 9. The horizontal state such as the tilt angle of the suspended load 9 is displayed on the horizontal state display monitors 3h and 4h, and it is determined whether or not the suspended load 9 is in the horizontal state based on the calculated tilt angle of the suspended load 9 (step S220).

Here, if the operation signal generators 3f and 4f of the remote control devices 3 and 4 determine that the suspended load 9 is in a horizontal state based on the tilt angles calculated by the tilt angle calculators 3g and 4g (step S220 "YES ”), and since there is no need to perform automatic horizontal processing, the process proceeds to the synchronous operation mode read processing of step S160 in FIG.

On the other hand, when it is determined that the suspended load 9 is not in the horizontal state based on the tilt angles calculated by the tilt angle calculators 3g and 4g (step S220 "NO"), the operation signal generator 3f of the remote controllers 3 and 4 , 4f are subsequently selected by the remote control devices 3 and 4 in the suspended load 9 (here, the crane 1a in the case of the remote control device 3, and the crane 2a in the case of the remote control device 4). Here, it is determined whether it is higher or lower than the crane 2a for the remote control device 3 and the crane 1a for the remote control device 4 (step S230).

When the operation signal generators 3f and 4f of the remote control devices 3 and 4 determine that the crane side selected by the remote control devices 3 and 4 is lower than the other crane side in the suspended load 9 (step S230 "NO" ), an operation signal for hoisting the wire rope is generated and transmitted to the self-crane (step S240) to cause the self-crane to hoist the wire rope, while the self-crane side of the suspended load 9 is determined to be higher than the other crane side. If so (step S230 "YES"), an operation signal for lowering the wire rope is generated and transmitted to the own crane (step S250), causing the own crane to lower the wire rope, and wireless communication in step S210. Returning to the process of reading the tilt sensor signal from the type tilt sensor 7, the processes of steps S210 to S250 are repeated until the suspended load 9 becomes horizontal.

When it is determined that the suspended load 9 is in a horizontal state by repeating the processing of steps S210 to S250 described above ("YES" in step S220), the operation signal generators 3f and 4f of the remote controllers 3 and 4 operate as shown in FIG. 4 to the synchronous operation mode reading process of step S160.

Thus, according to the crane remote controller of the first embodiment of the present invention, when the automatic horizontal adjustment switches 3e8 and 4e8 on the operation panels 3e and 4e of the remote controllers 3 and 4 are pressed (step S150 "ON"). The operation signal generators 3f and 4f of the remote controllers 3 and 4 respectively perform the automatic horizontal adjustment process shown in FIG. automatically hoisting the wire ropes 1a2, 2a2 of the own cranes 1a, 2a so that the load 9 is horizontal based on the tilt sensor signal of the wireless communication type tilt sensor 7 attached to the load 9. In order to level the suspended load 9 by executing the lowering process and the raising/lowering process of the booms 1a1 and 2a1 of the own cranes 1a and 2a, the operator operates the operation panels 3e and 4e of the remote controllers 3 and 4 to raise/lower the wire. The suspended load 9 can be automatically placed in a horizontal state without operating the switches 3e5, 4e5, the boom up/down operation switches 3e6, 4e6, etc., and the working efficiency can be improved.

(if synchronous operation mode is selected)
On the other hand, when the synchronous operation mode is selected by the individual synchronous operation mode selector switches 3e3 and 4e3 in the remote controllers 3 and 4 (step S170 "Synchronous operation mode"), the operation signal generators 3f and 3f of the remote controllers 3 and 4 4f first determines whether or not the synchronization signal cable 8 is connected to the cable connection portions 3i and 4i of the remote controllers 3 and 4 (step S260). This is because the two remote controllers 3 and 4, which are not connected by the signal cable 8 for synchronization, cannot be synchronized.

When it is determined that the synchronization signal cable 8 is not connected to the cable connection portions 3i and 4i of the remote controllers 3 and 4 (step S260 "NO"), the operation signal generators 3f and 4f of the remote controllers 3 and 4 display a warning message such as "Synchronization signal cable 8 is not connected" on horizontal state monitors 3h and 4h, output a warning sound, and operate individual synchronization operation mode selector switches 3e3 and 3h, respectively. 4e3 is turned on (step S270) to prompt the operator who operates the remote controllers 3 and 4 to connect the synchronization signal cable 8 to the cable connectors 3i and 4i of the remote controllers 3 and 4. FIG. If the two remote controllers 3 and 4 can be connected by wireless communication such as short-range wireless communication, connection by the signal cable 8 for synchronization is unnecessary.

When it is determined that the synchronization signal cable 8 is connected to the cable connection portions 3i and 4i of the remote control devices 3 and 4 (step S260 "YES"), the operation signal generation portions 3f and 4f of the remote control devices 3 and 4 Each performs the operation shown in FIG.

That is, when the synchronous operation mode is selected in the determination process of step S170 in FIG. YES"), the operation signal generators 3f and 4f of the remote controllers 3 and 4 respectively read the switching destinations of the master-slave operation mode changeover switches 3e4 and 4e4 of the operation panels 3e and 4e (step S300), and the master operation mode is set. or the slave operation mode is selected (step S310). Here, the master-slave operation mode selector switch 3e4 of the operation panel 3e of the remote controller 3 selects, for example, the "master operation mode", and the master-slave operation mode selector switch 4e4 of the operation panel 4e of the remote controller 4 selects, for example, an individual synchronous operation mode selector switch. 3e3 and 4e3 will be described assuming that the individual synchronization operation mode selector switches 3e3 and 4e3 are set to the "slave operation mode".

Here, for example, the "master operation mode" is selected by the master-slave operation mode selector switch 3e4 on the operation panel 3e of the remote control device 3 (step S310 "master operation mode"). 3f is a wire hoisting/lowering operation switch 3e5, a boom up/down operation switch 3e6, and a boom left/right turn operation switch 3e7 operated by the operator to operate the crane 1a on the operation panel 3e to move the suspended load 9. is operated (step S320).

When it is determined that various operation switches have been operated (“YES” at step S320), the operation signal generator 3f of the remote control device 3 in the main operation mode determines that the subsequently operated operation switch is the boom left/right turning operation. It is determined whether or not it is the switch 3e7 (step S330), and if it is not the boom left/right turning operation switch 3e7 (step S330 "NO"), that is, the operated operation switch is the wire hoisting/lowering operation switch 3e5 or the boom. In the case of the up/down operation switch 3e6, the main operation which is the operation signal for the own crane 1a is based on the operation contents such as the operation direction and operation amount of the wire hoisting/lowering operation switch 3e5 or the boom up/down operation switch 3e6. signal is generated (step S340), and based on the master operation signal, a slave operation signal that is an operation signal for the other crane 2a having the same contents as the main operation signal is generated (step S350), and the main operation signal is the operation signal. While transmitting from the transmitter 3b to the operation signal receiver 5 of the crane 1a via the main antenna 3a (step S360), the slave operation signal is transmitted to the remote control device 4, which is another device, via the synchronization signal cable 8 (step S360). step S370).

On the other hand, if it is determined that the operated operation switch is the boom left/right turning operation switch 3e7 (step S330 "YES"), the operation signal generator 3f of the remote control device 3 in the main operation mode
A main operation signal, which is an operation signal for the own crane 1a, is generated based on the operation content of the boom left/right turning operation switch 3e7 (step S380), and only the turning direction of the main operation signal is reversed (step S385). , an operation signal having the same magnitude as the main operation signal but with a reversed turning direction is used as a subordinate operation signal for the other crane 2a (step S390). In other words, when the main operation signal of the boom left/right turning operation switch 3e7 is, for example, an operation content for turning the boom 1a1 clockwise by 10 degrees, the secondary operation signal for the other crane 2a turns the boom 2a1 counterclockwise. It is converted to the content of turning 10 degrees to .

Thereafter, similarly to the case where the wire hoisting/lowering operation switch 3e5 and the boom up/down operation switch 3e6 are read (step S330 "YES"), the operation signal generator 3f of the remote controller 3 outputs the operation signal as the main operation signal. is transmitted from the operation signal transmitter 3b to the operation signal receiver 5 of the crane 1a via the main antenna 3a to remotely operate the crane 1a (step S360). It is transmitted to the remote control device 4 (step S370). After that, the process returns to step S320 to determine whether or not the next new operation switch is operated, and the processes after step S320 are repeated.

The above processing is performed by the operation signal generator of the remote control device 3 in which the synchronization mode is selected by the individual synchronization operation mode selector switch 3e3 of the operation panel 3e and the master operation mode is selected by the master-slave operation mode selector switch 3e4. 3f operation.

On the other hand, in the operation signal generator 4f of the remote control device 4 in which the "slave operation mode" is selected by the master-slave operation mode changeover switch 4e4 of the operation panel 4e in the determination process of step S310 (step S310 "slave operation mode") , the wire hoisting/lowering operation switch 4e5, the boom up/down operation switch 4e6, the boom left/right turning operation switch 4e7, and other various operation switches on the operation panel 4e are prohibited from being operated (step S410). The remote control device 3, which is a device, inputs the slave operation signal transmitted to the remote control device 4, which is another device, through the synchronization signal cable 8 in step S370 (step S410). 4b to the operation signal receiver 6 via the main antenna 4a as an operation signal for the crane 2a to remotely operate the crane 2a (step S420). After that, the process returns to step S320 to determine whether or not the next new operation switch is operated, and repeats the processes after step S320.

Then, as shown in FIG. 7, the operation signal receiver 5 of the crane 1a and the operation signal receiver 6 of the crane 2a receive the main operation signal from the remote control device 3 or the slave operation signal from the remote control device 4 after the power is turned on. The operation signal converters 5c and 6c determine whether or not the operation signal is received by the operation signal receivers 5b and 6b (step S510). If it is determined that the signal has been received (“YES” at step S510), then the operation signal receivers 5b and 6b acquire an RSSI (Received Signal Strength Indicator) signal (step S520), and the RSSI signal is better than a predetermined value. (step S530), and determines whether the radio wave condition is good when the master operation signal or the slave operation signal is received.

Then, the operation signal converters 5c and 6c of the operation signal receivers 5 and 6 only determine that the RSSI signals received by the operation signal receivers 5b and 6b are better than a predetermined value ("YES" in step S530). ), the operation signal converters 5c and 6c convert the main operation signal from the remote control device 3 or the slave operation signal from the remote control device 4 into operation signals for the cranes 1a and 2a through the communication cables 51 and 61 to the cranes 1a and 2a. (step S540) to operate the cranes 1a and 2a, and if it is determined that the RSSI signals received by the operation signal receiving units 5b and 6b are not better than a predetermined value (step S530 "NO"), Assuming that the radio wave condition is bad, the operation signal is not output to the cranes 1a and 2a.

Therefore, the operation signal conversion units 5c and 6c of the operation signal receivers 5 and 6 respectively output operation signals to the cranes 1a and 2a each time an operation signal is received regardless of the radio wave conditions, thereby Instead of controlling the operation, the main operation signal or the slave operation signal received when the radio wave condition is good is converted into an operation signal and sent to the cranes 1a and 2a to control the operation of the cranes 1a and 2a. When the situation is bad, the operation of the cranes 1a, 2a can be stopped, and the cranes 1a, 2a can be remotely controlled safely and reliably.

Further, in the operation signal generator 3f of the remote control device 3 that has selected the main operation mode (step S310 "main operation mode") in the synchronous operation mode (step S170 "synchronous operation mode"), the operation control selection crane For a certain crane 1a, an operation signal corresponding to the operation contents of various operation switches such as a wire hoisting/lowering operation switch 3e5, a boom up/down operation switch 3e6, and a boom left/right turning operation switch 3e7 operated by the operator. is transmitted to control the operation of the crane 1a, while the wire hoisting/lowering operation switch 3e5 and the boom up/down operation switch 3e6 operated by the operator are transmitted as they are to the crane 2a, and the boom is turned left/right. Only the operation switch 3e7 can be turned into a turning operation signal inverted in the opposite direction and transmitted to control the operation of the crane 2a. The cranes 1a, 2a can be operated synchronously.

<Summary of Crane Remote Control Device and Crane Remote Control System of Embodiment 1>
As described above, in the crane remote control devices 3 and 4 and the crane remote control system according to the first embodiment of the present invention, the remote control devices 3 and 4 are respectively in the synchronous operation mode and the main operation mode. In the case of , the main operation signal which is the operation signal of the own crane 1a, 2a is generated to control the operation of the own crane 1a, 2a, and the own crane 1a is based on the main operation signal of the own crane 1a, 2a. Only the swing operation signal of the boom 1a1 is converted into a swing operation signal in which the swing direction is reversed, while other than the swing operation signal of the boom of the own crane 1a is not converted, and the slave operation signal which is the operation signal of the other crane 2a is converted. to the remote control devices 3 and 4 which are other devices in the synchronous operation mode and the slave operation mode, and the remote control devices 3 and 4 which are other devices transmit the slave operation signals to the other cranes 1a and 2a. and operate the other cranes 1a and 2a.

Therefore, according to the crane remote control devices 3 and 4 and the crane remote control system of the first embodiment of the present invention, the user can set the remote control device of the main device to the synchronous operation mode and the main operation mode. not only generates a master operation signal, which is an operation signal for the main crane, which is the object of operation of the main equipment, and operates the main crane, but also converts the master operation signal into a slave operation signal, which is an operation signal for other cranes. , and can be transmitted to and operated by another crane via another device, the two cranes 1a and 2a can be reliably operated in synchronism.

As a result, even when the two cranes 1a and 2a are operated to lift and suspend a load, for example, the timing of the operation is not deviated, and the horizontal balance of the load 9 is not disturbed. The suspended load 9 can be reliably and smoothly moved.

In particular, when the two cranes 1a and 2a are arranged with the load 9 interposed therebetween, the rotation direction of the boom is reversed when the slewing is synchronized. In the device, when the boom left/right turning operation switches 3e7 and 4e7 for operating the left/right turning of the booms 1a1 and 2a1 are operated in the synchronous operation mode and in the main operation mode, the Since only the boom left/right turning operation signal of the cranes 1a, 2a is converted into a turning operation signal in which the turning direction is reversed and output, even if one remote control device is used, the two cranes 1a, 2a The swing motions of the booms 1a1 and 2a1 can be safely and easily synchronized.

Further, in the crane remote control devices 3 and 4 and the crane remote control system according to the first embodiment of the present invention, the operation signal generators 3c and 4c of the two remote control devices 3 and 4 are further individually operated. In the case of the individual operation mode, an operation signal for the own crane 1a, 2a assigned to each remote controller 3, 4 is generated and transmitted to the own crane 1a, 2a. only controls the behavior of

Therefore, the remote control devices 3 and 4 and the crane remote control system of Embodiment 1 according to the present invention can operate not only in the main operation mode or the subordinate operation mode in the synchronous operation mode, but also automatically operate like a normal remote control device. Since it is possible to generate only operation signals for the own cranes 1a and 2a assigned to the device and to control only the operation of the own cranes 1a and 2a, workers who are unfamiliar with the synchronous operation mode can operate the system as usual. It is also possible to operate only the crane, which is very convenient.

Further, in the crane remote controllers 3 and 4 and the crane remote control system according to the first embodiment of the present invention, the two remote controllers 3 and 4 connect signal cables for synchronization via respective cable connection portions 3i and 4i. Synchronization signal from the remote controllers 3 and 4 in the synchronous operation mode and the master operation mode to the remote controllers 3 and 4 in the synchronous operation mode and the slave operation mode. Since the slave operation signal is transmitted via the cable 8, the slave operation mode remote control devices 3 and 4 reliably receive the synchronization slave operation signal generated by the master operation mode remote control devices 3 and 4. It can be transmitted to its own crane 1a, 2a to control its operation.

In the crane remote controllers 3 and 4 and the crane remote control system of the first embodiment of the present invention, the communication cables of the wired remote controllers (not shown) of the two cranes 1a and 2a are connected. Operation signal receivers 5 and 6 for receiving operation signals from the two remote controllers 3 and 4, respectively, are connected to the cable connection portions (not shown) via wired communication cables 51 and 61, respectively. ing.

For this reason, operation signal receivers 5 and 6 are retrofitted to the remote control connection ports (not shown) of the cranes 1a and 2a corresponding to wired remote controls (not shown), and operations are performed from the wireless remote controllers 3 and 4. Since the signals can be received, the truck-mounted cranes 1a and 2a do not need to be modified at all, and the two cranes 1a and 2a can be operated synchronously, thereby reducing costs.

Further, in the crane remote control devices 3 and 4 and the crane remote control system of Embodiment 1 according to the present invention, the two remote control devices 3 and 4 each remotely control the crane 1a. , 2a are provided.

Therefore, in the crane remote control devices 3 and 4 and the crane remote control system according to the first embodiment of the present invention, the cranes 1a and 2a can be selected by either of the two remote control devices 3 and 4, thereby improving usability. be able to.

Further, in the crane remote control devices 3, 4 and the crane remote control system of Embodiment 1 according to the present invention, the two remote control devices 3, 4 are provided with individual synchronous operation mode changeover switches 3e3, 4e3, respectively. The operation signal generators 3c and 4c of the two remote controllers 3 and 4 can be switched between the individual operation mode and the synchronous operation mode by switching individual synchronous operation mode selector switches 3e3 and 4e3, respectively.

Therefore, by selecting the synchronous operation mode with the remote controllers 3 and 4, not only can one remote controller synchronously operate the two cranes 1a and 2a, but also by selecting the individual operation mode, two cranes can be operated simultaneously. operator can independently operate the corresponding cranes 1a and 2a with the respective remote controllers 3 and 4, so that the usability of the remote controllers 3 and 4 can be improved.

Further, in the crane remote control devices 3, 4 and the crane remote control system according to the first embodiment of the present invention, the master-slave operation mode changeover switches 3e4, 4e4 provided on the operation panels 3e, 4e of the respective remote control devices 3, 4 Since it is possible to select whether to function as a master device that generates a master operation signal and a slave operation signal, or to function as a slave device that directly transmits a slave operation signal generated by the master device to a crane, the remote control device 3, 4 usability can be improved.

Further, in the crane remote control devices 3, 4 and the crane remote control system according to the first embodiment of the present invention, the operation signal receivers 5, 6 connected to the cranes 1a, 2a receive signals from the remote control devices 3, 4, respectively. When the operation signal (including the master operation signal and the slave operation signal) is received, the RSSI signal is further acquired, and only when the RSSI signal acquisition state is good, the received operation signal is transmitted to the crane 1a, 2a The cranes 1a and 2a are operated by converting them into operating signals.

Therefore, according to the crane remote control devices 3 and 4 and the crane remote control system of Embodiment 1 of the present invention, the radio wave state is constantly monitored according to the reception status of the RSSI signal when the remote control devices 3 and 4 are in operation. When the radio wave condition deteriorates to the extent that communication is difficult, the communication is automatically stopped and the operation of the cranes 1a and 2a can be automatically stopped. can do.

Further, in the remote control devices 3, 4 and the remote control system for cranes according to the embodiments of the present invention, the control panels 3e, 4e of the remote control devices 3, 4 include wireless communication type tilting devices that can be attached to the suspended load 9. Horizontal state display monitors 3h and 4h for receiving tilt data of the suspended load 9 from the sensor 7 by the remote control devices 3 and 4 and displaying them as tilt angles are provided so that the tilted state of the suspended load 9 can be confirmed.

In the description of Embodiment 1 above, the master operation mode is selected by the master-slave operation mode selector switch 3e4 of the operation panel 3e of the remote controller 3, while the master-slave operation mode selector switch 4e4 of the controller panel 4e of the remote controller 4 is used to select the slave operation mode. Although the operation mode has been described as being selected, the present invention is not limited to this, and the master/slave operation mode selector switch 3e4 may be used to switch the remote controller 3 to the slave operation mode and the remote controller 4 to the master operation mode. Alternatively, by switching the crane selection switches 3e2 and 4e2, the remote control device 3 may operate the crane 2a as its own crane, and the remote control device 4 may operate the crane 1a as its own crane.

Embodiment 2.
In the description of Embodiment 1 above, in the case of the synchronous operation mode, for example, the remote controller 3 in the main operation mode not only controls the own crane 1a by the main operation signal, but also sends the slave operation signal to the slave operation mode via the remote controller 4. Although the information is transmitted to the crane 2a for synchronous operation, the operating speeds of the two cranes 1a and 2a are slightly different in practice, and the two cranes 1a and 2a rarely operate in complete synchronization.

Therefore, in the remote control devices 3 and 4 for the cranes and the remote control system for the crane of the second embodiment, the remote control devices 3 and 4 in the main operation mode that generate the master operation signal and the slave operation signal in the synchronous operation mode generate the main operation signal and the slave operation signal in the synchronous operation mode. Control the operation of the other crane 2a, and during the synchronous control, based on the tilt sensor signal from the wireless communication type tilt sensor 7, for the own crane 1a or the other crane 2a that operates quickly so that the suspended load 9 is horizontal In this case, the master operation signal or the slave operation signal is intermittently transmitted to intermittently operate the own crane 1a or the other crane 2a, which operates quickly.

FIG. 8 is a flow chart showing processing after the slave operation signal generation processing in steps S350 and S390 of FIG. 6 in the crane remote controllers 3 and 4 according to the second embodiment of the present invention. In the second embodiment, the remote control device 3 of the remote control devices 3 and 4 is set to the main operation mode, and the remote control device 4 is set to the subordinate operation mode.

In the crane remote control devices 3 and 4 and the crane remote control system according to the second embodiment of the present invention, when the remote control device 3 in the main operation mode generates the slave operation signal through the processing of steps S350 and S390 in FIG. Next, the operation signal generator 3f of the device 3 reads the tilt sensor signal from the wireless communication type tilt sensor 7 as shown in FIG. 8 (step S500), and based on the read tilt sensor signal, the tilt angle of the suspended load 9 It is smaller than a predetermined threshold value and it is determined whether the suspended load 9 is in a horizontal state (step S510).

Here, when it is determined that the tilt angle of the suspended load 9 is smaller than the predetermined threshold value and is in the horizontal state (step S510 "YES"), the operation signal generation unit 3f of the remote control device 3 controls the crane of the first embodiment. As in the operation of the remote control device, the master operation signal transmission processing to the own crane 1a in step S360 of FIG. 6 and the slave operation signal transmission processing to the remote control device 4 which is another device in step S370 are performed.

On the other hand, if it is determined that the tilt angle of the suspended load 9 is greater than the predetermined threshold value ("NO" in step S510), the suspended load 9 is tilted by the operation of the cranes 1a and 2a before this operation. Since it can be considered that it is in a tilted state and is in an unbalanced state, the operation signal generator 3f of the remote control device 3 subsequently selects one of the cranes 1a and 2a based on the tilt sensor signal from the wireless communication type tilt sensor 7. It is determined whether or not which one operates faster (step S520).

In the case of the synchronous operation mode and the main operation mode, the remote control device 3 in the main operation mode synchronously operates not only the own crane 1a but also the other crane 2a via the remote control device 4 according to the slave operation signal. Actually, the operating speeds of the two cranes 1a and 2a are slightly different, and the operation of the other crane 1b is different from that of the own crane 1a due to the conversion time from the operation signal to the slave operation signal and the signal propagation time through the signal cable 8 for synchronization. Therefore, based on the value of the tilt sensor signal from the wireless communication type tilt sensor 7, it is possible to determine which of the cranes 1a and 2a operates faster. is.

For example, based on the previous wire hoisting/lowering operation switch 3e5 and the boom up/down operation switch 3e6 in the synchronous operation mode, a master operation signal and a slave operation signal are generated to hoist or hoist the own crane 1a and the other crane 2a. In the case of synchronous control with the boom rising, if the load 9 on the side of the own crane 1a is inclined higher than the side of the other crane 2a, the operation of the own crane 1a is faster, and the own crane 1a side moves faster than the other crane 2a. If the tilt is lower than that of the crane 2a side, the other crane 2a moves faster. On the other hand, when the wire hoisting/lowering operation switch 3e5 has been used to lower the wire hoisting/lowering operation switch 3e5 and the boom up/down operation switch 3e6 has been lowered, the load 9 on the own crane 1a side is inclined higher than the other crane 2a side. If the other crane 2a is tilted lower than the other crane 2a side, it means that the own crane 2a moves faster. become.

Also, if the synchronous operation has been performed by the previous operation of the boom left/right turning operation switch 3e7 in the synchronous operation mode, based on the tilt sensor signal from the wireless communication type tilt sensor 7, the own crane 1a side of the suspended load 9 will move. If the boom 1a1 of the crane 1a moves faster than the other crane 2a, the load 9 moves up and down first. , it can be determined that the boom 1a1 on the side of the other crane 2a moves faster.

Therefore, when the operation signal generation unit 3f of the remote control device 3 determines that the own crane 1a operates faster than the crane 1a and the crane 2a based on the tilt sensor signal from the wireless communication type tilt sensor 7 (step S520 "Own crane"), the transmission of the main operation signal to the own crane 1a is intermittently transmitted (step S530), and the transmission of the slave operation signal to the other device 4 is normally transmitted (step S370). As a result, the operation of the own crane 1a, which operates quickly, becomes an intermittent operation, the operations of the own crane 1a and the other crane 2a are synchronized as much as possible, and the suspended load 9 can be moved in a stable state. After that, as in the case of the crane remote control device of the first embodiment, the process returns to step S320 to determine whether or not the next new operation switch is operated, and the steps including the process of FIG. The processing after S320 is repeated.

On the other hand, when it is determined that the crane 2a operates faster than the crane 1a or the crane 2a based on the tilt sensor signal from the wireless communication type tilt sensor 7 (step S520 "Crane 2a"), the own crane 1a The transmission of the master operation signal to the device 3 is performed normally (step S540), and the transmission of the slave operation signal from the device 3 to the other device 4 is performed intermittently (step S550). As a result, the fast-moving other crane 2a operates intermittently, the operations of the own crane 1a and the other crane 2a are synchronized as much as possible, and the suspended load 9 can be moved in a stable state. After that, as in the case of the crane remote control device of the first embodiment, the process returns to step S320 to determine whether or not the next new operation switch is operated, and the steps including the process of FIG. The processing after S320 is repeated.

<Summary of Crane Remote Control Device and Crane Remote Control System of Embodiment 2>
As described above, in the remote control devices 3 and 4 for cranes and the remote control system for cranes according to the second embodiment of the present invention, the remote control device 3, in the case of the individual operation mode, is remotely controlled by itself. An operation signal for the crane 1a is generated and transmitted to the own crane 1a to control only the operation of the own crane 1a, and in the case of the synchronous operation mode and the main operation mode, the operation signal of the own crane 1a is generated. While controlling the operation of the own crane 1a, based on the operation signal of the own crane 1a, only the turning operation signal of the boom 1a1 of the own crane 1a is converted into a turning operation signal in which the turning direction is reversed. Signals other than the swinging operation signal of the boom of the crane 1a are not converted, and are transmitted as slave operation signals of the other crane 2a to the remote control device 4, which is the other device in the slave operation mode and which is in the synchronous operation mode. is configured to operate the other crane 2a.

Therefore, according to the crane remote control devices 3 and 4 and the crane remote control system of the second embodiment of the present invention, the user can , a main operation signal, which is an operation signal for the main crane to be operated by the main apparatus, is generated only by operating the remote control device of the main apparatus set to the synchronous operation mode and the main operation mode. In addition to operating the two cranes 1a and 2a, the main operation signal can be converted into a slave operation signal, which is an operation signal of another crane, and transmitted to the other crane via another device. can be reliably operated in synchronism.

In particular, in the crane remote control devices 3 and 4 and the crane remote control system according to the second embodiment of the present invention, when the two cranes 1a and 2a are operated synchronously, the operating speed of the two cranes 1a and 2a is reduced. is slightly different and the balance of the suspended load 9 is lost, based on the tilt sensor signal from the crane 1a, 2a wireless communication type tilt sensor 7, among the cranes 1a, 2a, the crane whose operating speed is faster than the predetermined threshold is selected. and by intermittently transmitting a master operation signal or a slave operation signal to a crane whose operating speed is determined to be faster than a predetermined threshold value, the operation is made intermittent, and the operation of a fast-moving crane and a slow-moving crane are performed. Since the speeds and the like are set to be the same, it is possible to prevent as much as possible a case where the balance of the suspended load 9 is lost due to the slightly different operating speeds of the two cranes 1a and 2a.

In the description of the first and second embodiments, the remote controllers 3 and 4 wirelessly transmit operation signals including a master operation signal and a slave operation signal via the main antennas 3a and 4a to the cable connection portions of the cranes 1a and 2a. (not shown) through wired communication cables 51, 61 to the operation signal receivers 5, 6 connected to the cranes 1a, 2a remotely. However, the remote controllers 3 and 4 are directly connected to the cable connection portions (not shown) of the cranes 1a and 2a via the wired communication cables 51 and 61 so that the master operation signal and the slave operation signal can be transmitted by wire. Of course, the operation signal may be transmitted to each of the cranes 1a and 2a. However, even in this case, the remote controllers 3 and 4 must be connected by wire or wirelessly using the synchronization signal cable 8 or the like in order to synchronize them.

Reference Signs List 1, 2 crane truck 1a, 2a crane 1a1, 2a1 boom 1a2, 2a2 wire rope 3, 4 remote controller 3a, 4a main antenna 3b, 4b operation signal transmitter 3c, 4c subantenna 3d, 4d tilt sensor signal receiver 3e, 4e Operation panel 3f, 4f Operation signal generator 3g, 4g Tilt angle calculator 3h, 4h Horizontal state display monitor 3e1, 4e1 Power switch 3e2, 4e2 Crane selection switch 3e3, 4e3 Individual synchronous operation mode switch 3e4, 4e4 Master-slave operation mode Changeover switch 3e5, 4e5 Wire hoisting/lowering operation switch 3e6, 4e6 Boom up/down operation switch 3e7, 4e7 Boom left/right turn operation switch 3e8, 4e Automatic horizontal adjustment switch 5, 6 Operation signal receiver 5a, 6a Antenna 5b , 6b operation signal receiver 5c, 6c operation signal generator 5d, 6d cable connector 7 wireless communication type tilt sensor 7a tilt sensor 7b antenna 7c tilt sensor signal transmitter 8 synchronization signal cable 9 suspended load

Claims (10)

A remote control device for a crane that remotely controls a crane by transmitting an operation signal to a crane that suspends and moves two long loads such as rails in its longitudinal direction,
In the case of the synchronous operation mode and the main operation mode, the operation signal of the own crane, which is the crane assigned to the remote control device, is transmitted to the own crane to control the operation of the own crane, Among the main operation signals, only the boom left/right turning operation signal is converted by reversing only the turning direction in the opposite direction, and the main operation signal other than the boom left/right turning operation signal is not converted. send a signal to another remote control device,
In the case of the synchronous operation mode and the slave operation mode, the operation of controlling the operation of the own crane by transmitting the slave operation signal transmitted from another remote controller as an operation signal to the own crane. A remote controller for a crane, comprising a signal generator. The crane remote control device according to claim 1,
The operation signal generation unit further
It has an individual operation mode, and in the case of the individual operation mode, it is characterized in that only the operation of the own crane is controlled by generating an operation signal for the own crane assigned to each remote control device and transmitting it to the own crane. crane remote control device. In the crane remote control device according to claim 1 or claim 2,
A remote control device for a crane, wherein an operation signal receiving device for receiving an operation signal from the remote control device is connected to the cable connecting portion of the crane through a wired communication cable. In the crane remote control device according to any one of claims 1 to 3,
A remote control device for a crane, wherein the remote control device is provided with a crane selection switch for selecting a crane to be remotely controlled by the remote control device. In the crane remote control device according to any one of claims 1 to 4,
Furthermore, an individual synchronous operation mode changeover switch is provided,
A remote control device for a crane, wherein the operation signal generator can be switched between the individual operation mode and the synchronous operation mode by switching the individual synchronous operation mode selector switch. In the crane remote control device according to any one of claims 1 to 5,
Furthermore, a master-slave operation mode changeover switch is provided,
The operation signal generation unit functions as a master device that generates the master operation signal and the slave operation signal by switching the master-slave operation mode selector switch, or the slave operation signal generated by the master device is sent directly to the own crane. A remote control device for a crane, characterized in that it selects whether to function as a slave device for transmission. In the crane remote control device according to any one of claims 1 to 6,
Furthermore, a wireless communication type tilt sensor is provided for detecting the tilt state of the suspended load and transmitting it as a tilt sensor signal to the remote control device,
The operation signal generation unit further
It has an automatic leveling mode, and in the case of the automatic leveling mode, based on the tilt sensor signal from the wireless communication type tilt sensor, automatically generates an operation signal for the own crane so that the suspended load is leveled. A remote control device for a crane, characterized by controlling the operation of the own crane by transmitting to the crane. In the crane remote control device according to claim 7,
The operation signal generation unit
In the case of the synchronous operation mode and the main operation mode, the operation of the own crane is controlled by transmitting to the own crane, and the slave crane of the other crane is controlled based on the operation signal of the own crane. An operation signal is also generated and transmitted to another remote control device to control the operation of the own crane and the other cranes, and during the control, the suspended load is detected based on the tilt sensor signal from the wireless communication type tilt sensor. If it is determined that the crane is tilting, it is determined which of the own crane and the other crane operates faster based on the tilt sensor signal, and the main operation signal or the slave crane is sent to the own crane or the slave crane that operates faster. A remote controller for a crane characterized by intermittently transmitting an operation signal. In the crane remote control device according to any one of claims 1 to 8,
When the operation signal is received, the crane further acquires an RSSI signal, and only when the RSSI signal acquisition state is good, the received operation signal is converted into an operation signal of the crane to operate the crane. A remote control device for a crane, characterized in that A crane comprising two crane remote controllers according to any one of claims 1 to 9, and two cranes operated by the two remote controllers. remote control system.

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