JP5632238B2 - Radio control device for work equipment - Google Patents

Description

  The present invention relates to a wireless control device for a work machine.

  For example, in a work machine using a specific low-power type radio control device in the 429 MHz band, 40 frequency channels from 429.2500 MHz to 4297375 MHz are allocated and allocated according to the Radio Law, and 40 frequency channels are allocated. Of these, one frequency channel is arbitrarily selected and used. In addition, this type of specific low-power radio control device is obliged to have a carrier sense function for the purpose of effective use of radio waves by the Radio Law.

  Here, the selection method of the frequency channel used by one radio control apparatus is classified into the following two. The first is a method of using only one preset frequency channel (fixed channel method), and is often used for portal cranes and overhead cranes installed in factories and steelworks. The second is a method (multi-channel selection method) in which an empty channel is automatically selected from a plurality of frequency channels (multi-channel selection method), and is often used in a vehicle-mounted crane vehicle or a concrete pump vehicle.

  However, in the field where an unspecified work machine having a radio control device adopting the above-described fixed channel method or multi-channel selection method enters or exits, the work device using the multi-channel selection method radio control device finds an empty channel first. When this is used, if the frequency channel used is the same as one frequency channel set for a work machine employing a fixed channel radio control device, that frequency channel is used first. As a result, the work implements that have been used later cannot move the work implements that can use only the frequency channel due to the carrier sense function. Here, wireless communication cannot be performed unless the frequency channels that can be used by the remote controller and the main body controller constituting the wireless control device are set to be the same.

  Conventionally, the remote controller and the main body controller have been provided with a “dip switch” inside, and when setting the usable frequency channel, disassemble the remote controller (remove the case or lid), The operator was switching the internal DIP switch. However, such frequency channel setting work is not possible at each construction site. Therefore, in order to prevent the transmission failure trouble in the same field as described above, it is necessary to appropriately assign the frequency channels that can be used for each device, and the operator can easily perform such assignment work. Is desirable. Therefore, for example, the following techniques have been proposed.

  For example, the transmission limiting device described in Patent Document 1 is a method of retrofitting an existing remote controller with a separate transmission limiting device to transmit radio waves of the same frequency channel as the frequency channel used for a device that is not desired to be disabled to transmit. An output value is weakened as much as possible from the retrofitted transmission limiter and output. As a result, the remote controller to which the transmission limiting device is attached determines that the radio wave output from the transmission limiting device is the channel to be used by the carrier sense function, so that the frequency channel cannot be used substantially. It is possible to prevent a transmission inability trouble for a device that does not want to be made incapable of transmission.

  Moreover, although patent document 2 is an example of a karaoke apparatus, the change method of a use channel is disclosed. The technology described in this document allows the use channel to be changed from the original use channel to another frequency channel on the microphone side when interference or howling occurs when using a remote microphone. By transmitting the frequency change signal to be changed to the frequency channel using the channel initially used at the time of interference, the frequency preset of the karaoke main body is made unnecessary.

  In addition, in the setting information changing method described in Patent Document 3, when changing to an alternative operating device having a different ID code due to a failure of the remote operating device, the ID code is first entered in the ID setting mode at the start of communication. This is stored on the receiver side. By setting the ID code automatically, the ID code setting work at the site is simplified. At this time, the frequency channel of the alternative operator set in advance is also stored on the receiver side together with the ID code.

JP 2009-200806 A Japanese Patent No. 3794624 Japanese Patent Laid-Open No. 2001-320783

However, although the technique described in Patent Document 1 can prevent a transmission inability trouble, there is a problem that the cost increases because a separate transmission restriction device is retrofitted.
Further, in the technique described in Patent Document 2, since the frequency change signal to be changed to another frequency channel is transmitted using the original frequency channel at the time of interference, the setting change is performed using the previous used channel as it is. Must. For this reason, since the setting is changed while the transmission is still impossible when the setting is changed, it is insufficient as a countermeasure.

Further, in the technique described in Patent Document 3, referring to the flowchart disclosed in the same document, when the frequency channel preset in the operating device is used by another device, the operating device is identified by the ID. Does not enter setting mode. Therefore, in this case, the normal mode is maintained, and the frequency channel setting cannot be changed, so that there is still room for improvement in convenience.
Therefore, the present invention has been made paying attention to such a problem, and it is possible to set a use channel from a pre-selected frequency channel that can be used, thereby preventing a transmission failure problem. An object of the present invention is to provide a wireless operating device for a working machine that can be used.

In order to solve the above-described problems, the present invention includes a main body controller provided on the work machine main body side, and a remote controller that transmits and receives necessary data to and from the main body controller by wireless communication. A frequency control channel is divided and assigned, and one of the frequency channels is selected as a use channel, and this is used for the radio communication. The remote control device is a normal control device by the remote control device. One or a plurality of usable frequency channels from the plurality of frequency channels according to the predetermined operation input based on a predetermined operation input of the remote controller by being activated by a switch operation different from the operation and use the channel candidate group setting means for setting a use channel candidates, the use by being activated by the switch operation by the normal operation Referring to channel candidate group and an operating-side setting means for setting a frequency channel that could be initially determined that idle channel by carrier sense from the use channel candidates as usable channels, the body controller, said The controller side setting means has a controller side setting means for setting the use channel set by the controller side setting means to its own use channel after setting the empty channel as the use channel.

  According to the wireless operating device for a work machine according to the present invention, the use channel candidate group setting means of the remote controller is activated by a switch operation different from the normal operation by the remote controller, Since a predetermined use channel candidate group corresponding to a predetermined operation input is set from a plurality of frequency channels based on the operation input, a state (mode) for setting the use channel candidate group when desired can be started. . Therefore, it is more convenient than the technique described in Patent Document 3.

And according to the radio control device for a work machine according to the present invention, the controller side setting means of the remote controller is activated by a switch operation by a normal operation , and refers to the use channel candidate group by referring to the use channel candidate group. Since the frequency channel that was first carrier-sensed from the group and was determined to be an empty channel first is set as the use channel, use a frequency channel other than the use channel candidate group (required data with the main unit controller) It is never sent or received via wireless communication. Therefore, unlike the technique described in Patent Document 2, it is not necessary to use a frequency channel that may cause troubles such as interference or howling when the setting of the channel used is changed.

  Further, according to the wireless operating device for a work machine according to the present invention, the main body controller sets the frequency channel received from the remote controller as its own use channel, so that the technique described in the above-mentioned Patent Document 1 is used. A separate transmission restriction device is not required to be retrofitted, and a frequency channel that can be used can be easily set. Therefore, it is possible to prevent a transmission failure trouble for a device that does not want to disable transmission.

Here, in the radio operating device for a work machine according to the present invention, the operating device side setting means sets a frequency channel that can be first determined as the empty channel by carrier sense as a use channel and a use channel candidate group. Predetermined operation device initial data including information is set and transmitted to the main body controller, and the controller side setting means is configured so that all the remote operation devices are transmitting the operation device initial data in a state where It is preferable to scan the frequency channel sequentially to set the received frequency channel as its own use channel and set its own use channel candidate group based on the acquired operation device initial data.

  With such a configuration, when the controller initial data is acquired, the controller side setting means sets the use channel candidate group based on the acquired controller initial data and is used by the remote controller. Since the frequency channel set as the channel can be set as the channel used by the main unit controller, the frequency channels that can be used by the remote controller and the main unit controller can be set identically to enable data transmission / reception. It is suitable.

  As described above, according to the wireless operating device for a work implement according to the present invention, it is possible to prevent a transmission failure problem by enabling the setting of a use channel from a pre-selected useable frequency channel. it can.

It is a block diagram explaining the vehicle-mounted crane which is one Embodiment of the working machine which concerns on this invention. It is explanatory drawing of one Embodiment of the remote controller used for the radio control apparatus of this invention, The figure (a) is the front view, (b) is a side view. It is a block diagram explaining the structure of the radio control apparatus for work machines (remote controller and crane side main body controller) which concerns on this invention. It is a flowchart of the operation device side setting process in the remote controller according to the present invention. It is a flowchart of the controller side setting process in the main body controller which concerns on this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
As shown in FIG. 1, this vehicle-mounted crane (hereinafter also simply referred to as “crane”) 1 has a column 6 pivotably provided on a base 4 having an outrigger 2, and an upper end of the column 6. A telescopic boom 7 is pivotably supported. The column 6 is provided with a winch 11. A wire rope 12 is led from the winch 11 to the tip 7 s of the boom 7, and a hook for a suspended load is passed through a pulley (not shown) of the tip 7 s of the boom 7. The hook 13 is suspended from the tip portion 7 s of the boom 7 by being hung around the boom 13. The crane 1 includes a swing hydraulic motor 5 and a boom hoisting hydraulic cylinder 9 as a plurality of actuators for turning the column 6, raising and lowering and extending and retracting the boom 7, and winding and unwinding the winch 11. , A boom expansion / contraction hydraulic cylinder 8 and a winch hydraulic motor 10 are provided.

  A main body controller 30 is provided in the main body on the base 4. The main body controller 30 includes a remote control device 20 shown in FIG. 2 and includes a specific low-power type radio control device in the 429 MHz band, and between the remote control device 20 and the main body controller 30. In addition, operation data necessary for crane work and other data necessary for processing to be described later are exchanged by wireless communication.

  As shown in FIG. 2, the remote controller 20 includes a boom raising / lowering selection switch 71, a hook winding / lowering selection switch 72, a boom expansion / contraction selection switch 73, and a left / right turning selection switch 74 for operating each actuator of the crane 1. And a speed lever 75 for controlling the operating speed of the crane 1. When a plurality of the four selection switches are selected, a plurality of actuators are operated in conjunction with each other. In addition, above each selection switch, various states of the crane during normal operation, and the contents of the use channel candidate group that is referred to when setting a use channel by selecting an empty channel in the frequency channel setting process described later Is displayed.

  Then, from the remote controller 20, during normal crane work, predetermined operation data serving as an execution command for operating each actuator of the crane 1 by a selection switch operation and a speed lever operation by an operator are as shown in FIG. Then, the data is transmitted from the transmission unit 23 to the reception unit 32 of the main body controller 30. Further, the main body controller 30 transmits data necessary for crane work from the transmission unit 33 to the reception unit 22 of the remote controller 20. Thereby, data necessary for crane work is exchanged between the main body controller 30 and the remote controller 20, and the signal processing unit 31 of the main body controller 30 selects the actuator by the remote controller 20, the operation amount, and the like. Information is output to the controller 18, and the controller 18 controls the control valve 19 of each actuator described above (normal operation mode).

  Furthermore, when setting the channel to be used for wireless communication between the remote controller 20 and the main body controller 30, the remote controller 20 of the crane 1 searches for an empty channel by itself. The main body controller 30 sets the frequency channel received from the remote controller 20 as the use channel in the main body controller 30 and the use set in the remote controller 20. Each used channel setting process is set for the channel candidate group.

  Specifically, as shown in FIG. 3, the remote controller 20 includes a signal processing unit 21 that generates display data to be displayed on its own display unit 77. The use channel candidate group that becomes the use channel candidate is set in advance in the use channel candidate group setting mode by the operator. This use channel candidate group setting mode corresponds to the use channel candidate group setting means described in “Means for Solving Problems”.

This use channel candidate group setting mode is activated when the power switch 80 is turned on while pressing the setting mode switch 81 of the remote controller 20. Note that the normal operation by the remote controller 20 is activated by simply turning on only the power switch 80.
Then, the signal processing unit 21 of the remote controller 20 generates display data corresponding to the display items set in advance as the use channel candidate group based on the switch operation designated by the operator, and this display data is displayed on the display unit. 77. The display unit 77 uses a liquid crystal panel, and as shown in FIG. 2A and Table 1 below, the frequency channels that can be used interactively can be set while viewing the screen of the liquid crystal panel. It has become.

  More specifically, as shown in Table 1, in the example of the present embodiment, display items of the first selection to the third selection for setting the use channel candidate group are displayed on the display unit 77. Here, each display item can be selected by operating the boom expansion / contraction selection switch 73. The selected item can be determined by operating the boom up / down selection switch 71 to the upper side or turning the item left / right to return the item to its original state. This can be done by operating the selection switch 74 upward. In the first selection item, three menus “individual”, “group”, and “40 waves” are sequentially displayed.

  Here, when “individual” is selected, all 40 channels are assigned to “valid” or “invalid” by the operator, and those for which “valid” is checked are set as usable channel candidates as usable frequency channels. The In addition, when “group” is selected, 40 channels are allocated to an arbitrary group in advance, and when an operator selects a desired group, frequency channels within that group are set as usable channel candidates. When the “40 waves” menu is selected, all 40 channels that are divided and assigned according to the radio wave law are set as use channel candidates.

  When the operator selects the “individual” or “group” menu as the use channel candidate group, the operator then determines the second selection item shown in Table 1. At this time, if “individual” is selected as the first selection item, one channel is displayed on the screen from 40 channels. If “group” is selected, a screen showing the contents of each group is displayed. It should be noted that in the selection of “40 waves”, the selection operation is completed with only the first selection item, and therefore the second selection item and the subsequent items are not displayed.

  In the second selection item, in the example of this embodiment, when “individual” is selected in the first selection item, “CH01” to “CH40” are displayed, and when “group” is selected in the first selection item, “A group” to “H group” are displayed. In the third selection item, when “individual” is selected, the setting contents of “valid” and “invalid” when each frequency channel is selected are displayed.

  Regarding the “group” menu in the first selection item, a configuration example of the use channel candidate group will be described. For example, in the second selection item after the selection of the first selection item “group”, the group is the A group. When there are 8 groups of B group ... H group, there are 5 frequency channels such as 1 channel, 2 channel, 3 channel ... up to 5 channel in "A group", up to 6 channel ... 10 channel in "B group". Can be bundled. Therefore, an operator uses a “group” that does not include frequency channels that cannot be used when individual work machines are used with frequency channels that are pre-planned and assigned in a factory where a plurality of work machines are used. What is necessary is just to select as a channel candidate group. In addition, “A group” extends to “1 channel, 2 channels, 3 channels,..., 5 channels”, and “B group” extends to “1 channel, 6 channels, 7 channels,. There may be frequency channels that span a plurality of groups, such as “1 channel”. This is to prevent the influence of radio wave intermodulation and the like, and adjacent frequency channels are not included in the same group, and the channel arrangement is intentionally performed irregularly.

Next, the use channel setting process executed by the main body controller 30 and the remote controller 20 will be described with reference to FIGS. 3 and 4 to 5 as appropriate.
In the remote controller 20, when only the power switch 80 is turned on and the power is turned on, first, a used channel setting process is executed. The used channel setting process in the remote controller 20 is a controller-side setting process for setting an empty channel by itself. This operation device side setting process corresponds to the operation device side setting means described in the above “Means for Solving the Problems”.

  In this operation device side setting process, as shown in FIG. 4, first, the process proceeds to step S <b> 11, the used channel candidate group stored in the storage unit 24 is called, and the process proceeds to step S <b> 12. In subsequent steps S13 to S15, frequency channels are sequentially set as temporary use channels from the called use channel candidate groups, and carrier sense is performed to search for an empty channel. When an empty channel is found, the carrier sense is terminated and the empty channel (temporary use channel) is set as a use channel.

  That is, in step S12, the first frequency channel is set as a temporary use channel from the called use channel candidate group, and the process proceeds to step S13. In step S13, carrier sense is performed on the temporary use channel, and in subsequent step S14, the presence or absence of other radio waves on the channel is determined. That is, if another radio wave is confirmed on the same channel (Yes), the process proceeds to step S15, and if not (No), the process proceeds to step S16. In step S15, the next frequency channel is newly set as a temporary use channel from the use channel candidate group, and the process returns to step S13. In step S16, it is determined that the channel is an empty channel, this is set as a use channel, and the process proceeds to step S17. In step S <b> 17, predetermined operation device initial data including information on the use channel candidate group is generated and transmitted to the main body controller 30.

  Here, in the example of the present embodiment, the “operator initial data” includes “ID code data” for identifying each other, and “used channel candidates” preset by the operator in the used channel candidate group setting mode. The “group data” is transmitted to the main body controller 30 as “operation device initial data”. The “ID code data” is used to determine whether or not the ID code data is received from a paired counterpart by transmitting the ID code of itself and determining the received ID code. Data from the other party is determined as other radio waves. In the subsequent step S18, the process waits until “ID code data” + “preparation completion data” (hereinafter referred to as “communication preparation completion data”) as a response from the main body controller 30 is received. And if "communication preparation completion data" is received (Yes), it will transfer to the next normal operation mode.

  On the other hand, on the main body controller 30 side, when the power is turned on, a use channel setting process is executed. In the use channel setting process in the main body controller 30, the use channel set in the remote controller 20 is set as the use channel in the main body controller 30 and the “operator initial data” received from the remote controller 20. The controller side setting process for setting the use channel candidate group to the use channel candidate group in the main body controller 30 based on the above. This controller-side setting process corresponds to the controller-side setting means described in “Means for Solving the Problems” above.

  As shown in FIG. 5, in the controller side setting process, first, the process proceeds to step S20, the used channel candidate group currently stored in its own storage unit 34 is called, and the process proceeds to step S21. In step S21, CH01 is set as a temporary use channel regardless of the use channel candidate group, and the process proceeds to step S22. In step S22, the “operator initial data” from the remote controller 20 is monitored for a predetermined time on the temporary use channel in a reception waiting state, and the presence or absence of the reception is determined in the subsequent step S23. That is, if “operation device initial data” is received (Yes), the process proceeds to step S30, and if not (No), the process proceeds to step S24. In step S24, it is determined whether or not all 40 waves that are all channels have been scanned. If all the scans have been completed (Yes), the process proceeds to step S26, and if not (No), the process proceeds to step S25. Transition. In step S25, the next frequency channel (CH02 if CH01) of the frequency channel set as the current temporary use channel is set as the temporary use channel among the 40 waves of all channels, and the process returns to step S22.

  In step S26, a temporary use channel is set from the currently stored use channel candidate group, and in subsequent step S27, the “operator initial data” from the remote controller 20 is monitored while waiting for reception for a predetermined time. In subsequent step S28, the presence or absence of the reception is determined. That is, if the “operation device initial data” has been received (Yes), the process proceeds to step S32; otherwise (No), the process proceeds to step S29. In step S29, the setting of the temporary use channel is changed from the use channel candidate group, and the process returns to step S27.

  In step S30, it is determined whether or not the use channel candidate group called in step S20 matches the use channel candidate group received from the remote controller 20 and acquired from the “operator initial data”. If yes (Yes), the process proceeds to step S32. If not (No), the process proceeds to step S31. In step S31, the used channel candidate group acquired from the “operator initial data” is stored as a new usable channel candidate group, and the process proceeds to step S32. In step S32, the temporary use channel set at the time of reception is set as the use channel, and the process proceeds to step S33. In step S33, “communication preparation completion data” including ID code data and wireless communication preparation completion data is transmitted to shift to the next normal operation mode.

Next, the operation of the radio control device for this vehicle-mounted crane will be described.
First, the setting operation of the use channel candidate group which is preparation before the start of crane work will be described.
The operation of setting the use channel candidate group is performed by the operator using the remote controller 20 while viewing the liquid crystal screen of the display unit 77. Therefore, the dip switch is not operated by opening the lid of the remote controller 20. As described above, if a vacant channel is known in advance from the radio wave environment at the site, a “group” including the vacant channel is set as a use channel candidate group. In addition, when using the “individual” menu to set the use channel candidate group, the operator preliminarily sorts the usable frequency channel and the unusable frequency channel among the 40 channels on the remote controller 20 side. It is good to keep.

  The operator activates the use channel candidate group setting mode by turning on the power switch 80 while pressing the “setting mode switch” 81 of the remote controller 20. That is, in this switch operation, the power is turned on by a method different from the normal operation, and the use channel candidate group setting mode is activated by a switch operation different from the normal operation by the remote controller 20, so that the desired operation can be performed. Sometimes it is possible to change the channel candidate group. Therefore, according to this radio control device for a crane mounted on a vehicle, compared to the technique described in Patent Document 3, an arbitrary empty channel can be set as a use channel candidate, so that the setting mode is easy to use. At this time, radio waves are not transmitted.

Next, the operator operates the “boom expansion / contraction selection switch” 73 in the vertical direction to switch to one of three menus “individual”, “group”, and “40 waves” of the first selection items shown in Table 1. Select one of them. When selected, the operator moves the “undulation selection switch” 71 upward to “decision” and shifts to the setting of the next selection item.
For example, when the operator selects “individual” as the first selection item, the third selection item is set. After selecting “individual” in the first selection item, “CHO1”, “CH02” or “CH03”... In the second selection item, and switching the boom expansion / contraction selection switch 73 of the remote controller 20 one by one. Displayed in order. Therefore, the frequency channel is sequentially switched by the boom expansion / contraction selection switch 73, and after selection by the “undulation selection switch” 71, “valid” or “invalid” of the frequency channel is determined by the third selection item. This completes the setting of the prior use channel candidate group.

Next, the use channel setting process in the remote controller 20 and the main body controller 30 will be described.
First, of the used channel setting processing, the used channel setting processing (see FIG. 4) on the remote controller 20 side will be described.
When setting the use channel with this radio control device, the operator first turns off the power of the remote controller 20 and then starts up again after setting the use channel candidate group described above.
When the power of the remote controller 20 is turned on again by the operator, the signal processing unit 21 of the remote controller 20 is a bundle of usable frequency channels that have been allocated in advance from the storage unit 24. A use channel candidate group is called (step S11), and a temporary use channel is set (step S12).

  In addition, when the setting of the use channel candidate group of the main body controller 30 is matched with the setting of the remote controller 20, the operator first turns on (ON) the remote controller 20 side, and then the crane side. The power supply of the main body controller 30 must be turned on. This is because before the main body controller 30 scans all the frequency channels, it is necessary to transmit the initial data of the operating device from the remote controller 20 side. Note that the power supply on the remote controller 20 side needs to be turned on first only when the setting of the use channel candidate group of the main body controller 30 is matched with the setting of the remote controller 20. There is no need to turn on the power from the controller 20 side.

  Here, as an example, it is assumed that “Group B” in the “Group” menu among the above three menus is newly set in advance in the setting of the use channel candidate group in advance. In “B group”, “6 channels”, “7 channels”, “8 channels”, “9 channels”, and “10 channels” are assigned. After powering on the remote controller 20, the signal processing unit 21 of the remote controller 20 calls “B group” from the storage unit 24. Here, it is assumed that the “group” used last time is “A group”. In other words, it is assumed that there has been a change from “A group” to “B group” in the prior setting of the use channel candidate group. Therefore, in the storage unit 34 of the crane-side main body controller 30 to be described later, the “A group” setting remains as a use channel candidate group in the storage area.

  Next, the remote controller 20 starts carrier sense on the temporary use channel (step S13). In this example, the remote controller 20 performs carrier sense in order from the six channels assigned in the “B group”. Then, the presence / absence of other radio waves on the channel is determined (step S14). At this time, if the temporary use channel is used by another device, the temporary use channel is changed to another frequency channel in the use channel candidate group (step S15), and a process of searching for an empty channel again is performed. Repeat (Steps S13 to S15). When a vacant channel is found (“No” in step S14) and carrier sense is completed, the vacant channel is set as a used channel (step S16), and “ID code data” + “used channel candidate group data” (that is, the above “operation”). Device initial data ") is transmitted to the main body controller 30 side (step S17). For example, if “6 channel” and “8 channel” are already used at the site of use, “7 channel” can be used next, although “6 channel” cannot be used. As soon as the sensing ends, the “operator initial data” of “ID code data” + “B group” is transmitted to the main body controller 30 using the “7 channels”. Thereafter, the remote controller 20 enters a standby state for receiving “communication preparation completion data” from the crane-side main body controller 30 (step S18).

  Here, in the used channel setting process on the remote controller 20 side, when an empty channel is not found among the frequency channels within the setting of the used channel candidate group, that is, in the above example, 6 to 10 in the “B group”. When all the channels are used at the site of use, the carrier sense is not completed and radio waves cannot be transmitted. As a result, remote control by the frequency channel in the “B group” at this place cannot be performed. Therefore, the operator needs to change the setting of the “B group” that cannot be used as the use channel candidate group set first, and set it again to the use channel candidate group of another group.

Next, the use channel setting process in the crane-side main body controller 30 will be described (see FIG. 5).
The use channel setting process in the main body controller 30 is executed when the operator turns on the power of the main body controller 30 on the crane side (ON), and the signal processing unit 31 of the main body controller 30 first stores the use. A channel candidate group is called from the storage unit 34 (step S20).
Next, in order to receive the “operation device initial data” transmitted from the remote operation device 20 side, the main body controller 30 scans in order from one channel out of all the assigned 40 channels, Acquisition (catch) of “operation device initial data” is started (steps S21 to S25). That is, regardless of whether or not the use channel candidate group is newly rewritten on the remote controller 20 side, 40 channels are scanned in order from one channel, and radio waves from the remote controller 20 are caught.

  That is, the reason for scanning all 40 channels is that the main controller 30 on the crane side is rewritten to a new use channel candidate group on the remote controller 20 side, and the use channel candidate group stored in the main controller 30 is If they are different, the radio wave from the remote controller 20 cannot be caught. In the above example, since the frequency channel that can be used in any one of the 1st to 5th channels, which was previously “A group”, is set to 7 channels this time. , Can not receive.

  In the main body controller 30, this time, whether or not the use channel candidate group is newly rewritten on the remote controller 20 side, and if it is newly rewritten on the remote controller 20 side, it is rewritten to which use channel candidate group. I can't figure out if it was done. Therefore, the main body controller 30 scans all of the 40 frequency channels and sequentially checks them to receive the “operator initial data” from the remote controller 20, so that the main body controller 30 itself Use channel candidate groups are set (hereinafter also referred to as “first scan”).

  Next, the signal processing unit 31 of the main body controller 30 calls in advance when “operator initial data” from the remote controller 20 side is caught by this first scan (“Yes” in step S23). The used channel candidate group is compared with the used channel candidate group data of the newly caught “operator initial data” to determine whether the two data match (step S30).

  If they match (“Yes” in step S30), the previously stored use channel candidate group can be used as it is, so that “communication preparation completion data” is transmitted to the remote controller 20 as an answer back without being rewritten. (Step S33). If they do not match (“No” in step S30), in order to change the setting of the use channel candidate group in the storage unit 34, the use channel candidate group data in the controller initial data newly received this time is stored. Then, the storage unit 34 in the main body controller 30 is newly overwritten (step S31), and then “communication preparation completion data” is transmitted to the remote controller 20 as an answer back (step S33).

  On the other hand, even if the first scan is completed for all the frequency channels, if the controller initial data cannot be caught (“No” in step S23 to “Yes” in step S24), again. In order to receive the “operator initial data”, this time, scanning is performed one by one again from the use channel candidate group that has been previously called (hereinafter also referred to as “second scan”). However, the significance of the work loop in this second scan is that it does not change the setting of the candidate channel group used, rather than the role of “insurance” when the “operator initial data” is not successfully caught. This is a work loop in a case where normal operation is performed by using the remaining use channel candidate groups.

When the signal processing unit 31 of the crane-side main body controller 30 catches the “operator initial data” by the second scan (steps S26 to S29), the “communication preparation completion data” is transmitted to the remote controller. It transmits to 20 as an answer back (step S32), and transfers to normal operation mode.
However, if the main body controller 30 receives the “operator initial data” on the remote controller 20 side in the first scan and misses it, naturally in the second scan operation, the “A group” is “B group”. "Cannot be caught. In this case, the main body controller 30 is in a reception waiting state and does not shift to the normal operation mode. In this case, the operator needs to turn off the power of the main body controller 30 once again, turn on the power again, and start again from the first scan.

  As described above, according to this radio control device for a vehicle-mounted crane, the controller-side setting means (the processing of steps S11 to S18 (FIG. 4)) of the remote controller 20 is set by the remote controller 20. Select a frequency channel from the available channel candidate group, search for an empty channel by carrier sense, and set a use channel, so without using a frequency channel other than the selected usable frequency channel, An available frequency channel on the remote controller 20 side can be set.

Then, the controller side setting means of the main body controller 30 (the processing of steps S20 to S33 (FIG. 5)) sets the frequency channel received from the remote controller 20 as the channel used by the main body controller 30, so It is not necessary to use a frequency channel other than the usable frequency channel selected by the remote controller 20.
Further, when the controller initial setting data is acquired from the remote controller 20 side, the controller side setting means sets the use channel candidate group based on the acquired controller initial data. Since the remote controller 20 and the main body controller 30 set the same use channel candidate group, it is possible to easily set a frequency channel that can be used, and to prevent troubles that prevent transmission.
Note that the wireless operating device for a work machine according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the above embodiment, the scan start timing of the “operation device initial data” in the main body controller 30 is stored in the storage unit 34 of the main body controller 30 by turning on the power of the main body controller 30. In the above description, the use channel candidate group is called, and all the 40 channels are programmed to start scanning from one channel. However, the present invention is not limited to this. Alternatively, a scan button may be started by providing a reset button at an appropriate position on the crane 1 and operating the reset button. With such a configuration, even when the main body controller 30 receives and misses the “operator initial data” on the remote controller 20 side in the first scan, the main controller 30 is turned on again. There is no need to correct it, which is suitable for reliably catching the “operation device initial data”.

DESCRIPTION OF SYMBOLS 1 Crane 2 Outrigger 4 Base 5 Turning hydraulic motor 6 Column 7 Boom 8 Boom telescopic hydraulic cylinder 9 Boom hoisting hydraulic cylinder 10 Winch hydraulic motor 11 Winch 12 Wire rope 13 Hook 18 Controller 19 Control valve 20 Remote controller 21 Signal Processing unit 22 Reception unit 23 Transmission unit 24 Storage unit 30 Main body controller 31 Signal processing unit 32 Reception unit 33 Transmission unit 34 Storage unit 71 Boom raising / lowering selection switch 72 Hook winding / lowering selection switch 73 Boom expansion / contraction selection switch 74 Left / right turning selection switch 75 Speed lever 77 Display 80 Power switch

Claims (4)

A main body controller provided on the work machine main body side and a remote controller for transmitting and receiving necessary data between the main body controller by wireless communication, and a plurality of frequency channels are allocated and allocated. A radio control device that selects one frequency channel as a use channel and uses the selected frequency channel for the radio communication,
The remote controller is activated by a switch operation different from the normal operation by the remote controller, and responds to the predetermined operation input from the plurality of frequency channels based on a predetermined operation input of the remote controller. A used channel candidate group setting means for setting a used channel candidate group that is one or a plurality of usable frequency channels, and the used channel with reference to the used channel candidate group that is activated by a switch operation by a normal operation. A controller-side setting means for setting a frequency channel that was first detected as an empty channel by carrier sense from a candidate group,
The main body controller has controller side setting means for setting the use channel set by the controller side setting means to its own use channel after the operation side setting means sets the empty channel as the use channel. A wireless control device for a working machine. The operating device side setting means sets the frequency channel that was first detected as the empty channel by carrier sense as the used channel and sets predetermined operating device initial data including the used channel candidate group information. Send to the main body controller,
The controller-side setting means sequentially scans all frequency channels in a state where the remote controller is transmitting the controller initial data, and sets the received frequency channel as its own use channel. 2. The wireless operating device for a working machine according to claim 1, wherein the use channel candidate group is set based on the acquired operating device initial data.   The use channel candidate group setting means of the remote controller is configured to display a use channel candidate group on a display unit provided in the remote controller to enable a setting operation of the use channel candidate group. The wireless control device for a work machine according to 1. The use channel candidate group setting means of the remote controller can be arbitrarily selected from “individual”, “group”, “all channels”,
When “Individual” is selected, all frequency channels can be individually selected as channel candidates.
When “Group” is selected, a group of a plurality of preset frequency channels can be selected as a use channel candidate.
2. The wireless operating device for work implements according to claim 1, wherein when “all channels” is selected, all frequency channels are set as use channel candidates. 3.

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