Remote controller and communication system

Abstract

To provide a remote controller and a communication system that use a device for half-duplex communication and is less likely to cause delay from operation input to operation.SOLUTION: When an operator presses a communication method changeover switch 51 (SR6: NO), a remote controller 50 transmits a one-way communication method switching command signal (SR7). When a control unit 3 receives the one-way communication method switching command signal (SC5: YES), the control unit transmits a one-way communication method switching permission signal (SC6). When receiving the one-way communication method switching permission signal (SR8: YES), the remote controller 50 switches to a one-way communication method and transmits only operation data (SR9). Thereafter, when the operator presses the communication method changeover switch 51 (SR10: NO), a two-way communication method switching command signal is transmitted (SR2). Then, the control unit 3 that has received the signal transmits a two-way communication method switching permission signal (SC2), and two-way communication begins.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a remote control for an industrial machine and a communication system including the remote control. [Background technology]

[0002] 2. Description of the Related Art Conventionally, remote control devices that communicate wirelessly have been used to operate industrial machines. Some of these remote controllers only have an input unit through which the operator inputs operations, while others have an input unit and a display unit for displaying the posture and load status of the industrial machine.

[0003] Known communication methods between a remote controller and industrial machinery include one-way communication, in which an operation signal is sent unilaterally to the control unit of the industrial machinery, and two-way communication, in which an operation signal is sent while receiving display information signals related to the current posture and load status sent from the control unit of the industrial machinery.

[0004] A known communication method for two-way communication is half-duplex communication, in which an operation signal is alternately transmitted and a display information signal is received over a single communication line using a single frequency, as disclosed in Patent Document 1. This type of half-duplex communication is used to suppress an increase in equipment costs due to the provision of dual communication lines and to avoid complex wireless frequency settings by sharing an antenna for transmitting and receiving operation signals and display information signals.

[0005] If the remote controller does not have a display unit and only has an input unit, one-way communication does not pose a problem. However, if the remote controller has a display unit and wants to display information on the status of the industrial machine on the display unit, it needs to send an operation signal and receive a display information signal, making two-way communication essential. Therefore, among the remote controllers that have been used in the past, those that do not have a display unit are set to perform only one-way communication, while those that have a display unit are set to perform only two-way communication. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-063379 Summary of the Invention [Problem to be solved by the invention]

[0007] However, when half-duplex communication as disclosed in Patent Document 1 is performed, there are periods when no operation signal is transmitted, such as between the time the operator finishes an operation and the time the next operation signal is transmitted, as shown by the hatched area EX in FIG. 4(a) of the present application, or between the time the operator starts an operation and the time the next operation signal is transmitted, as shown by the hatched area DX, because the remote controller is receiving a display information signal. During these periods, the control unit ensures continuity of operation by maintaining operation based on the immediately preceding operation input (including no input, which is a stop command). Similarly, the remote controller displays information based on the immediately preceding display information signal while transmitting an operation signal.

[0008] In order to perform this type of control, if an operation input is started or stopped while a display information signal is being received, a delay occurs between the operation input and its reflection in the operation of the industrial machinery, reducing the precision operation of the industrial machinery. On the other hand, when only one-way communication is performed, it becomes impossible to display information about the industrial machine on the display unit, making it difficult for the operator to grasp the posture and load state of the industrial machine.

[0009] In view of the above-described circumstances, the present invention aims to provide a remote controller and communication system that can display information about industrial machinery on a display unit using a device for half-duplex communication, and that is less likely to cause a delay before an operator's operation input is reflected in the operation of the industrial machinery. [Means for solving the problem]

[0010] A first invention is a remote controller used to operate industrial machinery, comprising an input unit for inputting operation, an operation signal generation unit for generating an operation signal based on the input to the input unit, an operation signal transmission unit for transmitting the operation signal to a control unit of the industrial machinery, a display information signal reception unit for receiving a display information signal transmitted from the control unit and including at least posture information of the industrial machinery, a display unit for displaying the state of the industrial machinery based on the display information signal, an antenna shared by the operation signal transmission unit and the display information signal reception unit, and a communication method between the operation signal transmission unit and the display information signal reception unit and the control unit is set, and the operation signal transmission unit and the display information signal reception unit are connected in accordance with the set communication method. The remote controller comprises a communication control unit that controls the display information signal receiving unit, and a communication method setting unit that sets the communication method, wherein the communication method setting unit can set two-way communication and one-way communication, and when the communication method setting unit has set the two-way communication, the communication control unit alternately sends the operation signal to the control unit via the operation signal transmitting unit and receives the display information signal via the display information signal receiving unit, and when the communication method setting unit has set the one-way communication, the communication control unit sends a signal to the control unit via the operation signal transmitting unit to stop sending the display information signal, and then continuously transmits the operation signal.

[0011] A second invention is a remote control device characterized in that the communication method setting unit described in the first invention sets the communication method to the two-way communication while no operational input is being made to the input unit, and switches to the one-way communication while operational input is being made to the input unit.

[0012] A third invention is a remote controller in which the remote controller described in the first invention is a master side, and when the communication method is switched, it transmits a switching command signal to the control unit on the slave side via the operation signal transmitting unit, and if the control unit receives a switching permission signal indicating that it has received the switching command signal within a predetermined time, it switches the setting of the communication method setting unit, while if it does not receive the switching permission signal within the predetermined time, it transmits the switching command signal again.

[0013] A fourth aspect of the present invention is a remote controller according to the first aspect of the present invention, wherein the remote controller is a master side, and while the communication method setting unit is setting the two-way communication, it alternately transmits a two-way composite signal containing the operation signal and an identification signal indicating that the two-way communication is set via the operation signal transmitting unit and receives the display information signal via the display information signal receiving unit, and while the communication method setting unit is setting the one-way communication, it continuously transmits a one-way composite signal containing the operation signal and an identification signal indicating that the one-way communication is set via the operation signal transmitting unit.

[0014] A fifth invention is a remote controller that, in addition to the configuration of any one of the first to fourth inventions, further includes a measurement unit that measures the time elapsed since switching to the one-way communication, wherein while no operational input is made to the input unit, the communication method setting unit sets the communication method to the two-way communication and the measurement unit fixes the measurement value to an initial value, while while operational input is made to the input unit and the measurement value of the measurement unit is smaller than a predetermined value, the communication method setting unit sets the communication method to the one-way communication, and when operational input is made to the input unit and the measurement value of the measurement unit becomes equal to or greater than the predetermined value, the communication method setting unit sets the communication method to the two-way communication, and if operational input is still made to the input unit thereafter, the remote controller measures the number of times the display information signal is received, and when the display information signal has been received a predetermined number of times, the communication method is set to the one-way communication again and the number of times the display information signal has been received is reset to its initial value, and the measurement unit resets the measurement value to its initial value.

[0015] A sixth invention is a remote controller characterized in that the display unit described in any one of the first to fourth inventions displays a setting screen that displays the communication method set by the communication method setting unit, and the communication method setting unit switches the setting of the communication method in accordance with input from the input unit.

[0016] A seventh invention is a remote controller characterized in that the communication method setting unit described in any one of the first to fourth inventions is a switch that switches the communication method each time it is operated.

[0017] An eighth invention is a remote control device characterized in that the communication method setting unit described in any one of the first to fourth inventions has input positions corresponding to each of the settable communication methods, is capable of retaining input for each of the input positions, and is a switch that sets the communication method corresponding to the input position.

[0018] A ninth invention is a remote control device characterized in that the display unit described in any of the first to fourth inventions is provided with a setting display area that displays the setting status of the communication method.

[0019] A tenth aspect of the present invention is a communication system including an industrial machine and a remote controller for the industrial machine, wherein the industrial machine and the remote controller can transmit and receive radio signals to and from each other, wherein the industrial machine is provided with a control unit that transmits and receives radio signals and controls the operation of the machine, and a detection unit that detects at least the attitude of a work machine, and the control unit is provided with a display information signal generation unit that generates a display information signal based on a detection value of the detection unit, a display information signal transmission unit that transmits the display information signal to the remote controller, and an operation signal reception unit that receives an operation signal transmitted from the remote controller. the remote controller comprises an input unit for operation input, an operation signal generation unit for generating the operation signal based on the input to the input unit, an operation signal transmission unit for transmitting the operation signal to the industrial machine, a display information signal reception unit for receiving the display information signal, an antenna shared by the operation signal transmission unit and the display information signal reception unit, and a control unit for controlling the operation of the industrial machine and the remote controller comprises an input unit for operation input, an operation signal generation unit for generating the operation signal based on the input to the input unit, an operation signal transmission unit for transmitting the operation signal to the industrial machine, a display information signal reception unit for receiving the display information signal, an antenna shared by the operation signal transmission unit and the display information signal reception unit, and a control unit for displaying information of the industrial machine based on the display information signal. a communication control unit that sets a communication method between the remote controller and the industrial machine and controls the operation signal transmission unit and the display information signal reception unit in accordance with the set communication method; and a communication method setting unit that sets a communication method between the remote controller and the industrial machine, the communication method setting unit including two-way communication and one-way communication as communication methods between the remote controller and the industrial machine, and the communication control unit that sets a communication method between the remote controller and the industrial machine and controls the operation signal transmission unit and the display information signal reception unit in accordance with the set communication method when the communication method setting unit has set the two-way communication. and control the operation signal receiving unit to alternate between receiving the operation signal via the operation signal receiving unit and transmitting the display information signal via the display information signal transmitting unit, and the control unit alternates between receiving the operation signal via the operation signal receiving unit and transmitting the display information signal via the display information signal transmitting unit, and when the communication method setting unit sets the one-way communication, the communication control unit continuously transmits the operation signal via the operation signal transmitting unit, and the control unit stops transmitting the display information signal via the display information signal transmitting unit and continuously receives the operation signal via the operation signal receiving unit.

[0020] In an eleventh aspect of the present invention, the remote controller according to the tenth aspect of the present invention is a master side, the control unit is a slave side, and the communication control unit transmits a one-way communication system switching command signal via the operation signal transmission unit when the communication system is switched from the two-way communication to the one-way communication, and transmits a two-way communication system switching command signal via the operation signal transmission unit when the communication system is switched from the one-way communication to the two-way communication, and when the control unit receives the one-way communication system switching command signal, stops transmitting the display information signal, and further transmits a two-way communication system switching command signal via the display information signal transmission unit. and when the operation signal is received, the communication control unit transmits a one-way communication method switching permission signal via the display information signal transmitting unit, and when the two-way communication method switching command signal is received, the communication control unit transmits a two-way communication method switching permission signal via the display information signal transmitting unit, and further starts a cycle of the two-way communication from the time when the operation signal is received, and when the communication control unit receives the one-way communication method switching permission signal via the display information signal receiving unit, the communication method setting unit sets the one-way communication, and when the two-way communication method switching permission signal is received via the display information signal receiving unit, the communication method setting unit sets the two-way communication.

[0021] A twelfth invention is a communication system in which the remote controller according to the tenth invention is a master side, the control unit is a slave side, and the communication control unit, when the communication method setting unit has set the bidirectional communication, transmits via the operation signal transmitting unit a bidirectional composite signal including the operation signal and an identification signal indicating that the bidirectional communication has been set, and when the communication method setting unit has set the unidirectional communication, transmits via the operation signal transmitting unit a unidirectional composite signal including the operation signal and an identification signal indicating that the unidirectional communication has been set, and when the communication method setting unit has set the unidirectional communication, the control unit, when receiving the bidirectional composite signal via the operation signal receiving unit, transmits the display information signal via the display information signal transmitting unit, and when receiving the unidirectional composite signal via the operation signal receiving unit, stops transmitting the display information signal.

[0022] A thirteenth invention is a communication system characterized in that the communication method setting unit described in any of the tenth to twelfth inventions sets the communication method to the two-way communication while no input operation is being performed on the input unit, and switches to the one-way communication while input operation is being performed on the input unit. [Effects of the Invention]

[0023] According to the present invention, it is possible to provide a remote controller and communication system that can display information about industrial machinery on a display unit using a device for half-duplex communication, and that is less likely to experience a delay before an operator's operation input is reflected in the operation of the industrial machinery. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a block diagram showing a configuration of a communication system according to a first embodiment of the present invention. [Figure 2] 1 is a diagram showing a configuration of a communication system according to a first embodiment of the present invention; [Figure 3] 1A and 1B are a front view and a side view showing a remote controller according to a first embodiment of the present invention. [Figure 4] 1A and 1B are diagrams showing the relationship between operation input and transmission timing of an operation signal in two-way communication and one-way communication, respectively. [Figure 5] 4 is a flowchart of a communication system switching process according to the first embodiment of the present invention. [Figure 6] FIG. 10 is a block diagram showing the configuration of a communication system according to a second embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing a selection screen for a communication method according to the second embodiment of the present invention. [Figure 8] 10A and 10B are diagrams illustrating a relationship between an operation input and a transmission timing of an operation signal according to the second embodiment of the present invention. [Figure 9] 10 is a flowchart of a communication system switching process according to a second embodiment of the present invention. [Figure 10] 10A and 10B are diagrams illustrating a relationship between an operation input and a transmission timing of an operation signal according to the second embodiment of the present invention. [Figure 11]10 is a flowchart of a process for temporarily switching a communication system according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0025] First Embodiment Hereinafter, a vehicle-mounted crane having a crane device as a working machine will be described as an example of industrial machinery with reference to the accompanying drawings. In the drawings, identical or similar parts are denoted by identical or similar reference numerals, and redundant explanations are omitted. It should be noted that the drawings are schematic. Therefore, it should be noted that the relationship between thickness and planar dimensions, ratios, etc. may differ from the actual ones, and the drawings also include parts where the relationship between dimensions and ratios differ. Furthermore, the embodiments shown below are merely examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention does not limit the materials, shapes, structures, markings, etc. of component parts to the following embodiments.

[0026] <Communication system configuration> First, the configuration of a communication system including a vehicle-mounted crane 1 and a remote controller 50 will be described with reference to FIG. The vehicle-mounted crane 1 includes a crane device 2 as a working machine, and a control unit 3. The crane apparatus 2 includes a detection section 20 that detects posture information and a control valve CB that operates an actuator, and the control unit 3 includes a display information signal generation section 31 that generates a display information signal based on a detection value of the detection section 20, a display information signal transmission section 32 that wirelessly transmits the display information signal, an operation signal reception section 33 that receives an operation signal (described later) from the remote controller 50, a control section 34 that operates the control valve CB based on the operation signal, and an antenna A1 for wireless communication. In this embodiment, the control section 34 also controls the operation of the display information signal transmission section 32. Only one antenna A1 is provided, which is shared by the display information signal transmitting section 32 and the operation signal receiving section 33 when transmitting and receiving wireless signals.

[0027] The remote controller 50 includes an input unit IP for inputting operation, a communication method selector switch 51 for switching the communication method settings, a communication control unit 52 for performing control according to the communication method, an operation signal generation unit 53 for generating an operation signal according to the operation input, an operation signal transmission unit 54 for wirelessly transmitting the operation signal, a display information signal reception unit 55 for receiving the display information signal transmitted from the display information signal transmission unit 32, a display unit 56 for displaying information based on the display information signal, and an antenna A2 for wireless communication. Only one antenna A2 is provided, which is shared by the operation signal transmission unit 54 and the display information signal reception unit 55 when transmitting and receiving wireless signals.

[0028] <Structure of vehicle-mounted crane> The structure of the vehicle mounted crane 1 will be described with reference to FIG. The vehicle-mounted crane 1 comprises a base B that is fixed to the chassis frame of the vehicle when mounted, an outrigger device OU that is nested inside the base B and has a jack cylinder at its tip, a crane device 2 that is mounted on the top of the base B and can rotate around an axis that runs vertically, and a control valve CB.

[0029] The crane device 2 comprises a swivel base TT fixed to the base B so as to be rotatable around an axis extending in the vertical direction, a column 21 whose base is supported by the swivel base TT, and a boom 22 whose base is supported at the tip of the column 21 so as to be swingable around a horizontal axis. The actuators include a swivel device 23 that rotates the swivel base, a derrick cylinder 24 that has one end supported around a horizontal axis located near the base of the column 21 of the swivel base TT and the other end supported around a horizontal axis located at the base end of the boom 22, a winch 25 that is housed inside the tip of the column 21 and that suspends the hook HO via the tip of the boom 22 with the wire rope that it winds up, and an extension cylinder 26 that is housed inside the boom 22 and extends and retracts the boom 22.

[0030] By the operation of these actuators, the crane apparatus 2 can rotate clockwise and counterclockwise in a top view, raise and lower the boom 22, extend and contract the boom 22, and hoist and lower the hook HO. Furthermore, as sensors for detecting the attitude of the crane apparatus 2, a boom length detector 27 is provided inside the boom 22 and a boom angle detector 28 is provided at the base of the boom 22, and as a sensor for detecting the lifting load, a load detector 29 is provided inside the derrick cylinder 24. Note that a rotation sensor for detecting the rotation angle is integrated with the rotation device 23. A control unit 3 is also fixed to the base B.

[0031] When operating the actuators of the crane apparatus 2 and the outrigger apparatus OU, the operator can freely select whether to use the control lever CL attached to the control valve CB or the remote controller 50. Since the present invention relates to a communication method between the remote controller 50 and the control unit 3, hereinafter, a description of operation using the control lever CL will be omitted.

[0032] <Remote control device structure> The structure of the remote controller 50 will be described with reference to FIG. The remote controller 50 has a rod-shaped grip portion 58 and a box-shaped main body portion 59. The grip portion 58 extends downward from the front side of the underside of the main body portion 59. Therefore, the main body portion 59 protrudes toward the left and right sides and the back side of the grip portion 58. Although not shown, a battery pack is inserted inside the grip portion 58 as a power source.

[0033] As shown in Figure 3(a), the main body 59 is provided with a display unit 56 that displays the attitude and load of the crane apparatus 2, and below that, four switches are arranged in a row to operate the actuators. From the left, these switches are a rotation switch IP1, a boom extension / retraction switch IP2, a hook up / down switch IP3, and a boom hoist switch IP4. Each switch has input positions of up, neutral, and down, and is automatically positioned in neutral when not being operated. The operation signal generation unit 53 generates an operation signal for operating the corresponding actuator when each switch is positioned in the up or down position, and generates an operation signal for stopping the operation of the corresponding actuator when the switch is positioned in neutral. In the following explanation, these switches IP1 to IP4 will be described as an input unit IP unless there is a particular need to distinguish them. Further, on the right side of the display unit 56, a communication method changeover switch 51 is provided.

[0034] In this embodiment, the communication method changeover switch 51 is a push button switch that outputs a signal indicating that an operation to change the communication method has been performed each time the switch is pressed. The communication method changeover switch 51 may alternatively be a push button switch or a selector that has a one-way communication setting position and a two-way communication setting position and can hold the position.

[0035] A setting display area 57 is provided in the lower right portion of the display unit 56 to display the setting status of the communication method, and an icon is displayed to indicate whether the current communication method is a one-way communication method or a two-way communication method. In this embodiment, the setting display area displays a dot that resembles the remote controller 50 and a dot that resembles the vehicle-mounted crane 1, and is configured so that right-pointing arrows and left-pointing arrows can be displayed between them. The communication method is expressed by displaying both arrows while the two-way communication method is set, and by displaying only the right-pointing arrow while the one-way communication method is set. In addition, instead of such icons, the currently set communication method may be displayed in the setting display area using characters, other symbols, or colors.

[0036] 3(b), a trigger-shaped speed lever 60 for controlling the operating speed of the actuator is provided on the protruding portion on the rear side of the grip portion 58 on the underside of the main body portion 59. The operator holds the grip portion 58 with his / her index finger on the speed lever 60 and controls the operating speed of the crane apparatus 2 by how tightly he / she grips the speed lever 60.

[0037] From the above, for example, if the boom telescopic switch IP2 is set to the up position (extension side) and the hook up / down switch IP3 is set to the down position (hoisting side) without gripping the speed lever 60, the operating speed will be 0%, i.e., no operation will occur. If the speed lever 60 is gripped in this state, the boom extension and hook hoisting speeds will increase, and if the speed lever 60 is gripped all the way, the operating speed will be 100%, i.e., the maximum operating speed.

[0038] <Communication method> (half-duplex communication) The characteristics of the half-duplex communication method will be described with reference to FIG. In the case of half-duplex communication in which the remote controller 50 and the control unit 3 alternately transmit and receive information, as shown in Figure 4(a), the data transmission side periodically switches between the remote controller 50 and the control unit 3. When the remote controller 50 is the transmission side, the control unit 3 is the reception side, and when the control unit 3 is the transmission side, the remote controller 50 is the reception side. Here, we consider a first operation I1 that is input at the same time that the remote controller 50 switches from receiving a display information signal to transmitting an operation signal, and the input is completed in the middle of the period when the remote controller receives the display information signal, and a second operation I2 that is input in the middle of the period when the remote controller receives the display information signal, and the input is completed in the same time that the remote controller 50 switches from transmitting an operation signal to receiving a display information signal.

[0039] In the first operation I1, the control unit 3 receives the operation signal at the same time the operation is performed, so there is no delay between the operator's input and the start of operation of the crane apparatus 2. However, when the operation is completed, the remote controller 50 receives the display information signal transmitted from the control unit 3, so the operation during this period is not reflected in the operation of the crane apparatus 2, and the operation stops when the timing switches to transmitting the next operation signal. Therefore, there is a slight delay between the operator completing the operation and the operation of the crane apparatus 2 stopping. This delay until the operation input is reflected in the operation of the crane apparatus is indicated by the hatched area EX in FIG. 4(a).

[0040] In the second operation I2, the remote controller 50 is receiving the display information signal transmitted from the control unit 3 at the time the operation is performed, so operation does not begin until the next transmission time of the remote controller 50. Then, because the operation is completed by the time the remote controller 50 transmits, operation of the crane apparatus 2 immediately stops. The delay until such operation input is reflected in the operation of the crane apparatus is indicated by the hatched area DX in Figure 4(a).

[0041] As described above, when half-duplex communication is performed, if an operation input is started or ended when the remote controller 50 is on the transmitting side, there is no delay before the operation input is reflected in the operation of the crane apparatus 2. However, if an operation input is started or ended when the remote controller 50 is on the receiving side, there is a delay before the operation input is reflected in the operation of the crane apparatus 2.

[0042] (One-way communication) 4(b), after communication is established between the remote controller 50 and the control unit 3, the remote controller 50 continues to transmit operation information unilaterally. Therefore, there is no delay in response to an operation, which occurs in the case of half-duplex communication. However, since the remote controller 50 does not receive a display information signal from the control unit 3, the display unit 56 does not display information about the posture of the crane device 2 or the lifting load, and only displays an icon indicating that the one-way communication method is set.

[0043] <Switching communication methods> Switching between two-way communication and one-way communication will be described with reference to FIGS. In the communication system according to this embodiment, the remote controller 50 is set as the master side that controls the control unit 3 during remote operation, and the control unit 3 is set as the slave side that is under the control of the remote controller 50. Therefore, the process of switching the communication method is started when the operator operates the communication method changeover switch 51 of the remote controller 50. The communication system described below will be described by taking as an example a system in which the communication system changeover switch 51 is initially set to the two-way communication system.

[0044] When the remote controller 50 is started and pairing with the control unit 3 is completed, the communication method changeover switch 51 is set to the initial state of two-way communication method (SR1: YES), so a two-way communication method changeover command signal is sent (SR2). When the control unit 3 receives the two-way communication system switching command signal (SC1: YES), it transmits a two-way communication system switching permission signal to the remote controller 50 (SC2).

[0045] Since the remote controller 50 needs to receive a two-way communication system switching permission signal, it operates by periodically switching between transmission and reception when the two-way communication system is selected, and the control unit 3 operates by periodically switching between transmission and reception when it receives a two-way communication system switching command signal.

[0046] When the remote controller 50 receives the bidirectional communication system switching permission signal (SR3), it transmits an operation signal (SR4) and receives a display information signal (SR5). The control unit 3 also receives the operation signal (SC3) and transmits a display information signal (SC4). After that, if no operation to switch the communication method is performed, the transmission and reception of the operation signal and the display information signal continues (SR6: YES, SC5: NO).

[0047] When the operator presses the communication method changeover switch 51 (SR6: NO), the remote controller 50 transmits a one-way communication method changeover command signal (SR7). When the control unit 3 receives the one-way communication method switching command signal (SC5: YES), it transmits a one-way communication method switching permission signal (SC6).

[0048] When the one-way communication mode switching permission signal is received (SR8: YES), the remote controller 50 switches to the one-way communication mode and only transmits operation data (SR9). Thereafter, when the control unit 3 receives the operation data, it determines that a one-way communication method switching permission signal has been received, and the control unit also switches to the one-way communication method, does not transmit display information, and only receives operation information signals (SC7). After that, if no operation to switch the communication system is performed, the transmission of the operation signal continues (SR10: Y, SC8: N).

[0049] When the operator presses the communication system changeover switch 51 (SR10:N), a two-way communication system changeover command signal is transmitted (SR2). Thereafter, the control unit 3 transmits a two-way communication system switching permission signal (SC2), and two-way communication is initiated, so the above operations are repeated.

[0050] If the control unit 3 fails to receive the switching command signal and the remote controller 50 fails to receive the switching permission signal due to a communication error, a retry is made to send the switching command signal again (SR3: NO, SR8: NO). It is possible to determine whether the control unit 3 on the slave side has not received the switching command signal by checking whether the control unit 3 has not transmitted a switching permission signal.

[0051] <Effects of the First Embodiment> By using the remote controller 50 and communication system according to the present invention, it is possible to improve the precision of the operation of the crane apparatus 2. That is, when precision operation is required, the communication method can be switched to a one-way communication method, thereby eliminating the delay until an operation input is reflected in the operation. Furthermore, when information on the attitude or lifted load of the crane apparatus 2 is required, the communication method can be set to a two-way communication method, which allows the information to be displayed on the display unit 56, making it possible to access information on the attitude of the crane apparatus 2 when necessary.

[0052] The remote controller 50 according to the present invention allows the operator to arbitrarily switch the communication method by operating the communication method changeover switch 51. Since switching the communication method does not require complicated operations or settings, switching the communication method is simple and the efficiency of work using the crane apparatus 2 is unlikely to decrease.

[0053] Second Embodiment A second embodiment, which is another embodiment of the present invention, will be described. Note that the structure of the vehicle mounted crane 1 used in the description of the second embodiment is the same as that described in the first embodiment, and therefore description thereof will be omitted. Also, with regard to the structure of the remote controller 50, explanation of the same parts as those explained in the first embodiment will be omitted.

[0054] <Remote control device structure> As shown in Fig. 6, the remote controller 50, which will be described in detail later, includes an input unit IP that also functions as a communication method setting unit. The input unit IP includes, as input devices, a rotation switch IP1, a boom extension / retraction switch IP2, a hook up / down switch IP3, and a boom hoist switch IP4, as shown in Fig. 3(a). The remote controller 50 according to this embodiment also includes a measuring unit 61 having the functions described below.

[0055] <Communication method switching operation> The switching of communication methods in the modified example will be described with reference to FIGS. When the operator presses the communication method selector switch 51 on the remote controller 50, the setting screen shown in Figure 7 is displayed on the display unit 56. This screen is an operation screen that allows the operator to arbitrarily set the communication method, and from the top, it displays a one-way communication method selection box 71, a two-way communication method selection box 72, and an automatic communication method switching selection box 73. When any of the rotation switch IP1, boom extension / retraction switch IP2, hook up / down switch IP3, and boom hoist switch IP4 is pressed up or down, the filled-in selection box also moves in the input direction. Then, when the selection box displayed to the left of the desired setting is filled in (communication method automatic switching selection box 73 in Figure 7), pressing the communication method switch 51 again will set the selected communication method.

[0056] If you select "Automatic Switching" as shown in Figure 7, the communication method will automatically switch according to the operation input. Specifically, while the operator is not performing any operation input, the two-way communication method is set, and while the operator is performing an operation input, the one-way communication method is set.

[0057] <Communication method> The features of the communication method in this embodiment will be described with reference to FIG. In this embodiment, the remote controller 50 transmits a composite information of communication method information, which is an identification signal of the communication method, and operation information. However, when transmitting communication method information indicating two-way communication, the transmitted operation information is a signal indicating that no operation input is being performed.

[0058] While an operation input is being made, a composite signal (a one-way composite signal) of a communication method signal indicating one-way communication and an operation signal corresponding to the operation input is transmitted. Immediately after the operation input is completed, a composite signal (bidirectional composite signal) is transmitted, which is a combination of a communication method signal indicating bidirectional communication and an operation signal indicating that no operation input is being performed. In this way, when switching from unidirectional communication to bidirectional communication, the cycle of bidirectional communication resumes from the transmission time of the remote controller 50 on the master side, and from the reception time of the control unit 3 on the slave side.

[0059] In summary, while no operation is being performed, the remote controller 50 alternates between transmitting a bidirectional composite signal and receiving display information, but when an operation input is performed, it continuously transmits a unidirectional composite signal and does not receive display information. When the operation is stopped, the bidirectional composite signal is transmitted again. In this manner, automatic switching of the communication method according to the operation input is repeated.

[0060] The automatic communication system switching process will be specifically described with reference to FIG. If no input operation is being performed on the input unit IP (SR11: YES), the remote controller 50 transmits a composite signal of communication method information and operation information indicating that the two-way communication method is set (SR12). Then, the control unit 3 receives the composite signal (SC11). If the communication method information indicates a two-way communication method (SC12: YES), the control unit 3 does not operate the control valve CB and transmits display information (SC13). Thereafter, the remote controller 50 receives the display information (SR13) and checks the operation input again (SR11).

[0061] If an operation input has been made to the input unit IP (SR11: NO), communication method information indicating a one-way communication method and operation information corresponding to the operation input are transmitted (SR14), and the above process is repeated while the operation input is being made (SR11).

[0062] If the control unit 3 receives communication method information indicating a one-way communication method (SC12: NO), it does not transmit any information, but receives the composite signal again (SC11), and repeats the above process.

[0063] If a communication error causes the control unit 3 to be unable to receive the composite signal after switching the communication method, there will be a temporary period during which the control unit 3's communication method is not switched, but the control unit 3 will receive the composite signal again in the next reception cycle, and the communication method will be switched. Therefore, even if a communication error occurs, the communication system will continue to operate.

[0064] <Exception handling during one-way communication> Exceptional processing during one-way communication will be described with reference to FIG. 4(b), during one-way communication, the remote controller 50 unilaterally transmits operation signals to the control unit 3, which makes it unable to receive display information signals. Therefore, the measurement unit 61 included in the remote controller 50 measures the time that has elapsed since the one-way communication mode was selected, and when a predetermined time, such as three seconds, has elapsed, the measurement unit 61 transmits a signal to the communication control unit 52 indicating that the predetermined time has elapsed, causing the communication mode to switch to the two-way communication mode. By performing this process, even when operations are being performed continuously, the display information signals can be periodically received, and the information displayed on the display unit 56 can be updated. Thereafter, the number of times the display information signal is received is counted, and when it is received a predetermined number of times, for example, twice, a signal indicating that the display information signal has been received the predetermined number of times is sent to the communication control unit 52, and the communication method is returned to the one-way communication method.

[0065] A specific method for handling the exception will be described with reference to FIGS. When an input operation is performed on the input unit IP (S21: YES), the input unit IP, which is a communication method setting unit, is set to the one-way communication method (S22). After that, the measurement unit 61 measures the time that has elapsed since switching to the one-way communication method (S23), and maintains the one-way communication method until a predetermined time has elapsed (S24: NO).

[0066] If a predetermined time has elapsed (S24: YES), the two-way communication mode is set (S25), and the measurement unit 61 measures the number of times the display information signal is received (S26). Thereafter, if the display information signal is received a predetermined number of times (S28: YES) while the operation is continued (S27: YES), the measurement value of the time since switching to the one-way communication mode and the number of times the display information signal is received are reset to their initial values ​​(S29). If the operation input continues (S21: YES), the one-way communication method is set again (S22), and the above process is repeated.

[0067] If the operation input is interrupted at any time (S21: NO, S27: NO), the measurement value of the time elapsed since switching to the one-way communication method and the number of times the display information signal has been received are reset (S30), and the method is set to the two-way communication method (S31).Then, the process is repeated from the step of determining whether an input operation has been performed again (S21).

[0068] <Effects of the second embodiment> The remote controller 50 and communication system according to the present invention can be set to automatic switching of the communication method. If set to automatic switching, when operating a crane, which often requires visual inspection of the suspended load, the system is set to a one-way communication method that is more efficient for work, and various information is displayed on the display unit 56 when no operation input is being made. Therefore, the optimum communication method is automatically set according to the operator's information, which improves workability.

[0069] By performing exceptional control to temporarily perform two-way communication during one-way communication, it becomes possible to receive display information signals periodically even during continuous operations. This makes it possible to check the turning radius, etc., during low-speed operations, making it easier for the operator to access information about the crane apparatus 2 and improving workability.

[0070] In addition, compared to the two-way communication method, the frequency of two-way communication is lower, so there is almost no degradation in operability. Furthermore, by not performing two-way communication while an operation input is being made, and by performing control to perform two-way communication when a predetermined time has elapsed since the operation input was stopped, it is possible to further suppress degradation in operability.

[0071] In order to maintain operability, no problem occurs even if the cycle for executing exception processing is set to be longer than the cycle for switching between the transmitting and receiving sides in the two-way communication system. The cycle for updating the information displayed on the display unit 56 also becomes longer, but as mentioned above, while the one-way communication system is set, and particularly while performing operation input, the operator is often visually checking the suspended load, and will stop operation to check the display unit 56, so this does not cause a problem.

[0072] <Modifications of the present invention> In the first and second embodiments, a communication system in which the remote controller 50 is set on the master side has been described. However, the remote controller according to the present invention does not necessarily have to be set on the master side; the control unit 3 may be set on the master side, and the remote controller 50 may be set on the slave side. When the remote controller 50 is set to the slave side, it is always set to the two-way communication method after establishing communication with the control unit 3. This is because when the remote controller 50 is set to the slave side, it is necessary to send a switching request signal that requests the controller to start the communication method switching process, and therefore communication can be maintained by only retrying when the control unit 3 fails to receive the switching request signal sent from the remote controller 50 or when the remote controller 50 fails to receive the switching permission signal sent from the control unit 3 that received the switching request signal. [Explanation of symbols]

[0073] 1...vehicle-mounted crane, 2...crane device, 3...control unit, 20...detection unit, 31...display information signal generation unit, 32...display information signal transmission unit, 33...operation signal reception unit, 34...control unit, 50...remote control device, 51...communication method changeover switch, 52...communication control unit, 53...operation signal generation unit, 54...operation signal transmission unit, 55...display information signal reception unit, 56...display unit, 57...setting display area, 61...measurement unit, IP...input unit, A1, A2...antenna

Claims

1. A remote control used to operate industrial machinery, an input unit for inputting operations; an operation signal generating unit that generates an operation signal based on an input to the input unit; an operation signal transmitting unit that transmits the operation signal to a control unit of the industrial machine; a display information signal receiving unit that receives a display information signal including at least posture information of the industrial machine, the display information signal being transmitted from the control unit; a display unit for displaying a state of the industrial machine based on the display information signal; an antenna shared by the operation signal transmitting unit and the display information signal receiving unit; a communication control unit that sets a communication method between the operation signal transmitting unit and the display information signal receiving unit and the control unit, and controls the operation signal transmitting unit and the display information signal receiving unit in accordance with the set communication method; a communication method setting unit for setting the communication method, the communication method setting unit can set the communication methods including two-way communication and one-way communication; a communication control unit that, when the communication method setting unit has set the two-way communication, alternately transmits the operation signal to the control unit via the operation signal transmitting unit and receives the display information signal via the display information signal receiving unit, and, when the communication method setting unit has set the one-way communication, transmits a signal to the control unit via the operation signal transmitting unit to stop transmitting the display information signal, and then continuously transmits the operation signal.

2. 2. The remote controller according to claim 1, wherein the communication method setting unit sets the communication method to the two-way communication while no operation input is being made to the input unit, and switches the communication method to the one-way communication while operation input is being made to the input unit.

3. 2. The remote controller according to claim 1, wherein the remote controller is a master side, and when the communication method is switched, it transmits a switching command signal to the control unit, which is a slave side, via the operation signal transmitting unit, and if the control unit receives a switching permission signal indicating that it has received the switching command signal within a predetermined time, it switches the setting of the communication method setting unit, but if it does not receive the switching permission signal within the predetermined time, it transmits the switching command signal again.

4. 2. The remote controller according to claim 1, wherein the remote controller is a master side, and while the communication method setting unit is setting the two-way communication, it alternately transmits, via the operation signal transmitting unit, a bidirectional composite signal including the operation signal and an identification signal indicating that the two-way communication is set, and receives, via the display information signal receiving unit, the display information signal; and while the communication method setting unit is setting the one-way communication, it continuously transmits, via the operation signal transmitting unit, a one-way composite signal including the operation signal and an identification signal indicating that the one-way communication is set.

5. Further, a measurement unit is provided to measure the time elapsed since the communication was switched to the one-way communication, While no operation input is made to the input unit, the communication method setting unit sets the communication method to the two-way communication, and the measurement unit fixes the measurement value to an initial value; while an operation input is being made to the input unit and the measurement value of the measurement unit is smaller than a predetermined value, the communication method setting unit sets the communication method to the one-way communication; 5. The remote controller according to claim 1, wherein when an operational input is made to the input unit and the measurement value of the measurement unit becomes equal to or greater than a predetermined value, the communication method setting unit sets the communication method to the two-way communication, and when an operational input is made to the input unit thereafter, the communication method setting unit measures the number of times the display information signal is received, and when the display information signal is received a predetermined number of times, the communication method is set again to the one-way communication, the number of times the display information signal is received is reset to an initial value, and the measurement unit resets the measurement value to the initial value.

6. the display unit displays a setting screen that displays the communication method set by the communication method setting unit, 5. The remote controller according to claim 1, wherein the communication method setting unit switches the setting of the communication method in response to an input from the input unit.

7. 5. The remote controller according to claim 1, wherein the communication method setting section is a switch that switches the communication method each time the switch is operated.

8. 5. The remote controller according to claim 1, wherein the communication method setting unit is a switch having input positions corresponding to the respective settable communication methods, capable of retaining input for each of the input positions, and setting the communication method corresponding to the input position.

9. 5. The remote controller according to claim 1, wherein the display unit includes a setting display area for displaying a setting state of the communication method.

10. A communication system including an industrial machine and a remote controller for the industrial machine, wherein the industrial machine and the remote controller can transmit and receive wireless signals to and from each other, The industrial machine includes a control unit that transmits and receives wireless signals and controls the operation of the machine, and a detection unit that detects at least the attitude of the work machine, the control unit comprises a display information signal generating section that generates a display information signal based on a detection value of the detecting section, a display information signal transmitting section that transmits the display information signal to the remote controller, an operation signal receiving section that receives an operation signal transmitted from the remote controller, an antenna shared by the display information signal transmitting section and the operation signal receiving section, and a control section that controls the operation of the display information signal transmitting section and the operation signal receiving section and the operation of the industrial machine, the remote controller comprises an input unit for operation input, an operation signal generation unit that generates the operation signal based on the input to the input unit, an operation signal transmission unit that transmits the operation signal to the industrial machine, a display information signal reception unit that receives the display information signal, an antenna shared by the operation signal transmission unit and the display information signal reception unit, a display unit that displays information of the industrial machine based on the display information signal, a communication control unit that sets a communication method between the operation signal transmission unit and the display information signal reception unit and the industrial machine and controls the operation signal transmission unit and the display information signal reception unit in accordance with the set communication method, and a communication method setting unit that sets the communication method with the industrial machine, the communication method setting unit includes two-way communication and one-way communication as a communication method between the remote controller and the industrial machine, a communication control unit that, when the communication method setting unit has set the two-way communication, controls to alternately transmit the operation signal via the operation signal transmitting unit and receive the display information signal via the display information signal receiving unit, and the control unit alternately receives the operation signal via the operation signal receiving unit and transmits the display information signal via the display information signal transmitting unit, while, when the communication method setting unit has set the one-way communication, the communication control unit continuously transmits the operation signal via the operation signal transmitting unit, and the control unit stops transmitting the display information signal via the display information signal transmitting unit and continuously receives the operation signal via the operation signal receiving unit.

11. The remote controller is a master, the control unit is a slave unit; the communication control unit transmits a one-way communication system switching command signal via the operation signal transmission unit when the communication system is switched from the two-way communication to the one-way communication, and transmits a two-way communication system switching command signal via the operation signal transmission unit when the communication system is switched from the one-way communication to the two-way communication; the control unit, upon receiving the one-way communication system switching command signal, stops transmitting the display information signal, and further transmits a one-way communication system switching permission signal via the display information signal transmitting unit; upon receiving the two-way communication system switching command signal, transmits a two-way communication system switching permission signal via the display information signal transmitting unit; and further starts a cycle of the two-way communication from the time when the operation signal is received; The communication system according to claim 10, characterized in that the communication control unit, when receiving the one-way communication method switching permission signal via the display information signal receiving unit, causes the communication method setting unit to set the one-way communication, and when receiving the two-way communication method switching permission signal via the display information signal receiving unit, causes the communication method setting unit to set the two-way communication.

12. The remote controller is a master, the control unit is a slave unit; the communication control unit, when the communication method setting unit has set the two-way communication, transmits, via the operation signal transmission unit, a bidirectional composite signal including the operation signal and an identification signal indicating that the two-way communication has been set, and when the communication method setting unit has set the one-way communication, transmits, via the operation signal transmission unit, a one-way composite signal including the operation signal and an identification signal indicating that the one-way communication has been set, The communication system according to claim 10, characterized in that the control unit transmits the display information signal via the display information signal transmitting unit when the bidirectional composite signal is received via the operation signal receiving unit, and stops transmitting the display information signal when the unidirectional composite signal is received via the operation signal receiving unit.

13. 13. The communication system according to claim 10, wherein the communication method setting unit sets the communication method to the two-way communication while no input operation is being performed on the input unit, and switches the communication method to the one-way communication while an input operation is being performed on the input unit.

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