JPH0344997B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a two-position continuous conveyance control device that can continuously control a conveyance device from two positions.

Cranes are used as a typical transport device to move loads over short distances, but such cranes usually require at least a person to attach (sling) the load to the hook of the crane and a person to operate the crane. Furthermore, depending on the cargo handling work, there may be a need for a person to instruct the movement of the cargo suspended by the crane, or a person to receive the cargo from the crane at the destination.

Therefore, in recent years, a labor-saving control method has become popular in which the crane is controlled from the ground by radio control or the like, and one person performs slinging, crane operation, etc.

Figure 1 shows an explanatory diagram of the case where a load at point P is moved to point Q by an overhead traveling crane c that can be controlled by radio, and operators a and b of crane c Each of the cranes has a transmitter that allows the crane c to run, traverse, hoist the hook, stop hoisting, etc. from the ground.

First, operator a at point P calls crane c using his own transmitter, and further sends a hook lowering command to lower the wire of crane c. After slinging the load to be moved onto the hook, the wire hoisting, traversing, and running commands are sent to the crane c again. When crane c moves to a place close to operator b near point Q, control of crane c is handed over to operator b.

In this case, if both parties were allowed to operate crane c, it would be unclear which side is responsible for operating crane c while it is running, which could lead to an extremely dangerous situation. The control of crane c was configured such that operator a, who started operation first, turned off the power to the transmitter (stopped emitting radio waves), and then control was handed over to operator b.

Therefore, there was a problem in that the crane c had to temporarily stop when the control right was taken over, resulting in poor operational efficiency.

This invention has been made in view of the above circumstances, and eliminates the situation in which pilots a and b can drive at the same time even though the handover of piloting rights is carried out continuously, thereby ensuring safety and transporting The present invention provides a two-position continuous conveyance control device that enables continuous control of the device.

Hereinafter, one embodiment of the present invention will be described based on the drawings.

Figure 2 is a block diagram showing the outline of this invention.
10A and 10B indicate transmitters owned by pilots a and b, and these transmit frequencies F ₁ and F ₂ , for example.
A control signal is sent to the receiving devices 20A and 20B in the transport device. This control signal is FM
It is a modulated cyclic digital transmission system, and it is preferable to use a so-called fail-safe system so that even if an unexpected situation occurs, it will not directly lead to an accident due to the error control circuit that is a feature of the digital system.

Reference numeral 30 denotes a handover control panel that detects when the operation signal outputs of the receiving devices 20A and 20B meet specific conditions, and the handover conditions and operating status are notified to the operators a and b through a display board 40. be able to.

Furthermore, when handover and reception are performed, a control signal from either operator a or operator b is supplied to the auxiliary relay panel 50 that controls the operation of the transport device.

FIG. 3 is a perspective view showing an example of the transmitters 10A, 10B, in which various control buttons P ₁ to Pn are arranged on the operation surface. Control buttons P ₁ to Pn are for example hoisting and lowering the hook, and crane travel (east/west).
and operation buttons for traverse (south/north) emergency stop, etc. In addition, a takeover button, a receive button, etc. used in the continuous control system of this invention are also arranged.

Note that the transmitters 10A, 10, the receiver 20A,
The circuits of 20B and the auxiliary relay panel 50 have been put into practical use as remote control equipment, and detailed description thereof will be omitted.

Next, the operation of the two-position continuous control system of the present invention will be explained with reference to the relay circuit of the takeover control panel 30 shown in FIG.

In this figure, SA and SB are the receiving device 20A,
20B is a contact that closes when it receives a signal from the main power supply ion, AT and BT are contacts that similarly close when they receive a takeover signal, AR and BR are contacts that close when they receive a reception signal, AS, AE, AW, ( B.S.
BE, BW) are connected in series with contacts that close respectively when the receiving device 20A (20B) receives a stop, east travel, or west travel signal of crane c.
The A0 notch contact and the B0 notch contact indicate that the receiving devices 20A and 20B are in the 0 notch state, that is, the crane c is hoisting, lowering, and traversing (south and
(north), is a group of contacts that are all closed only when other signals other than crane c's travel are 0.

Note that the takeover signal is a monostable multivibrator.
Since the contacts AT and BT are operated via _M1 , M2 _, etc., it is assumed that the contacts AT and BT are controlled to return to the open state after a few seconds. Also, relay E
outputs a signal indicating that the operating conditions of crane c match.

In such a control circuit, first, of the transmitters 10A and 10B carried by pilots a and b, the one that closes the main power supply first has control authority. That is, when pilot a turns on the main power first, the receiving device 20A receives the main power on signal and closes the contact.
Close SA.

Then, relay A has contact B ₂ , contact SA, and contact
D ₁ , excited by the current flowing through contact C ₁ ,
Subsequent control signals received by the receiving device 20A are supplied to an auxiliary relay panel 50 (not shown) to operate the crane c.

At this time, contact _A1 closes and contact _A2 opens due to the excitation of relay A, so even if operator b closes the main power supply, relay B will not close and he will not be able to control the vehicle.

Operator a can confirm that he has control authority by the display on the display board 40, so he calls crane c using the transmitter 10A that he carries, and uses the wire lowering command to lower the hook. After unloading, slinging the baggage with a hook, and then winding it up.
The crane c is operated by transmitting commands such as traversing and traveling to the receiving device 20A. The operating status of the crane c can also be informed to the operator b by means of a display board 40, which will be described later.

When crane c's operation control is limited to eastbound AE, which moves in the direction of operator b, and all other operation controls have been completed (0 notches), when operator a sends a takeover signal, contact AT closes. Display board 4
0 will be displayed to indicate the takeover. At this time, operator b turns on the main power of his own transmitter 10B, and when the control state is the same as that of operator a's transmitter 10, that is, east driving, relay C is energized through contacts AE and BE. , contacts C ₁ , C ₂ , and C ₃ are closed, and relay D is energized by setting its own transmitter 10B to the 0-notch state, and contacts D ₁ , D ₂ , and D ₃ are closed. Therefore, relay E is energized via contacts AT, C ₃ and D ₃ , confirming that the control signals of operator a and operator b match. In this state, the contact AT and the contact point to which pilot b sends the reception signal BR are
Relay B closes via BR, contact SB, contact D ₂ and contact C ₂ to establish pilot's control authority, and when contact B ₂ opens, pilot a's control authority is invalidated. controlled so that

Then, it is displayed on the display board 40 that the pilot b has control authority. When relay B is energized, only the control signal for crane c received by receiver 20B is supplied to auxiliary relay panel 50, and even if relays C and D are released at this time, contact _B1 remains closed. Therefore, relay B is never released. Furthermore, since relay A is released by opening contact _B2 , the control signal from operator a becomes invalid.

In addition, the takeover signal is the contact AT for several seconds (5 to 10 seconds).
This is possible only when the aircraft is closed (seconds), so if pilot b does not send a reception signal during this period, pilot control will not be taken over and pilot a will send the takeover signal again and receive a response from pilot b. You will have to wait for (receipt).

After confirming on the display board 40 that control of crane c has been transferred to operator b, operator a turns off the main power switch of his transmitter 10A, which he does not have control over, for safety.

Operator b continues to operate crane c traveling east using his own transmitter 10B, and unloads the cargo from crane c at a predetermined position.

Then, crane c is driven in the direction of operator a (to the west) and a handover signal is transmitted at an appropriate position. At this time, as described above, the condition for taking over is to keep the crane c in a zero-notch control state except for the travel command. After confirming the takeover signal on the display board 40, pilot a transmits his own transmitter 10A.
Operate to drive west, and send a reception signal when it is set to 0 notches. The operation of relay A in this case is similar to the operation of relay B described above.

Figures 5a and 5b show an example of the display board 40, and Figure 5a shows the location of the control right (A operation, B operation), the handover display when the handover signal is issued, and the handover is possible. Switchable display of whether or not it is familiar,
A confirmation display indicating receipt is shown.

Further, FIG. 5b shows a display in which the details of the driving control being performed by the operators a and b can be displayed, and these are arranged so that they can be seen by both the operators a and b.

In the above explanation, an overhead traveling type crane was explained, but the two-position continuous control method of the present invention can also be used for controlling gantry type cranes used for cargo handling operations on ships, short-distance transport vehicles, etc. It goes without saying that it can be done. Furthermore, the control signal is not limited to wireless transmission, and may be remote control transmitted by wire.

As mentioned above, in the continuous transport control device from two positions of the present invention, control is handed over only when the control contents being performed by both parties match, and when both parties output handover/confirmation, the transport control is performed from two positions. Since the device is continuously controlled, operational efficiency is improved and safety is ensured.

[Brief explanation of drawings]

Fig. 1 is a diagram for explaining the outline of the operation of an overhead traveling type crane, Fig. 2 is a block diagram showing an outline of the present invention, Fig. 3 is a perspective view showing an example of control equipment, and Fig. 4 is a diagram for explaining the outline of the operation of an overhead traveling type crane. FIG. 5 is a diagram showing a relay circuit of a handover control panel in an apparatus according to an embodiment of the invention.
The figure also shows an example of a display board. In the figure, 10A, 10B are transmitters, 20A, 20
B is a receiving device, 30 is a handover control panel, 40 is a display board, and 50 is an auxiliary relay panel.

Claims (1)

[Scope of Claims] 1. A transport device that is remotely controlled by respective remote control signals transmitted by first and second operators and transports the article to a predetermined point; and first and second receiving devices that receive a remote control signal from a second operator; conditions for transfer of control of the transport device from the first operator to the second operator; a handover control device that can be set; and a handover control device that is placed in a position visible to both the first and second pilots, and that displays the details of the operations of the first and second pilots regarding the transfer of control rights. Equipped with a display board that allows
The handover control device includes detecting means for detecting that the content of specific remote control signals transmitted by at least the first and second pilots matches, and the control right is transferred by the detecting means. A two-position continuous conveyance control device characterized by comprising a control means as described above. 2. The two-position continuous conveyance control device according to claim 1, wherein a display board is provided on the conveyance device.