JP2002255484A - Remote support system for crane equipped with movable jib - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote support system allowing continuing works to the longest when a crane fails. SOLUTION: This system is formed by a machine state detecting means 7 loaded on a machine body 5, a controller 6 loaded on the machine body to control variety of equipment such as a motor on the basis of detected signals from the detecting means, and a control computer C connecting with the detecting means 7 and input/output section of the controller 6 via communication networks. Types of failures that can be avoided by changing programs of the controller are previously stored in the computer C. When the computer specifies a failed place and determines that the failure is the one able to be avoided on the basis of output signals from the detecting means or input/output signals of the controller, the computer changes control programs of the controller via the communication networks.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote support system for diagnosing and avoiding a failure of a crane provided with a movable jib.

[0002]

2. Description of the Related Art FIG. 9 shows an example of a crane provided with a movable jib. The crane 5 includes a movable first jib 2 and a second jib 3 on a vehicle body 1. These first and second jibs 2 and 3 are rotatable around points A and B, respectively, and their tips can be moved up and down.
Then, by winding or unwinding the wire ropes 2a, 3a unreeled from a winch drum (not shown) mounted on the vehicle body 1, each jib 2,
3 can be moved up and down. The above-mentioned wire rope 2a
Is connected to a wire rope 2b of a fixed length fixed to the tip of the first jib 2. Therefore, by winding or unwinding the wire rope 2a, the first jib 2 is pulled through the wire rope 2b.
Is raised and lowered.

The wire rope 3a is connected to a fixed length wire rope 3b fixed to the end of the second jib 3. Therefore, the second jib 3 is raised and lowered through the wire ropes 3b and 3a. Further, a hook 4 is suspended from the tip of the second jib 3. This hook is connected to a wire rope 4a that is drawn out from a winch drum (not shown) mounted on the vehicle body 1. Further, a controller for operating the crane is mounted on the vehicle body 1, and the operator
The crane 5 is operated via this controller.

[0004] An operator operates the controller to suspend a load such as a building material on the hook 4 and move it to a required place. Since the hook 4 is hung by the wire rope 4a, when hanging a load, first, the wire rope 4a is paid out from the winch drum and the hook 4 is lowered close to the ground. Then, after hanging the luggage on the hook 4, if necessary,
The vehicle body 1 is turned, and the first and second jibs 2 and 3
Move the luggage to the required position while raising and lowering.

[0005] In performing such a work, the operator operates an operation lever or presses an operation button in a driver's seat. The operation lever and the like input signals to a controller mounted on the crane body, and the controller outputs control signals to a motor, a pump, and the like. As described above, the winch drum is rotated by the output of the motor or the pump directly controlled by the signal from the controller, thereby moving the suspended load or moving the jibs 2 and 3 up and down.

The above-mentioned controller is, for example, a jib 2, 3
Upon receiving the detection signals of the angles α and β and the signal from the load cell for detecting the load, a control signal for controlling the rotation of the motor for raising and lowering the jib 2 and 3 is output based on the signals. Specifically, when the jib 2 or 3 is being raised or lowered, the load detection signal and the jib 2 or 3
From the angle detection signal of No. 3, a load factor for a critical load at which there is a danger of falling over is calculated, and when the load factor approaches 100%, a control signal is output to slow down the operation speed of raising and lowering the jib. . Thus, the controller
In terms of safety-related control and load weighting, control is performed taking fuel efficiency into consideration so as not to increase the output of the pump more than necessary. In other words, the operation of the crane is often electrically controlled by the controller.

[0007]

The crane 5 shown in FIG.
As described above, when the hanging load is lowered and moved to the hook 4, various complex movements are performed. Such a complicated movement cannot be successfully performed if a failure occurs somewhere in the machine body. If the above controller breaks down, of course, any one of the motors and valves controlled by the controller will break down or the signal line will be broken. You may not be able to work. For example, if the engine rotation sensor fails, the controller controls the output of the pump based on the output signal of the rotation sensor. Something happens.

When such a failure occurs, usually,
A service man goes to the site and repairs there. Identify the fault and repair or replace parts. If repairs could not be made at the site, the crane 5 had to be dismantled and transported and repaired at a repair shop in some cases. However, the crane 5 is a special machine, and a suitable model differs for each site. for that reason,
Just because a machine breaks down doesn't mean you can get a replacement immediately. Further, it is almost impossible to replace the work using the crane 5 with another work. Therefore, if the crane 5 becomes unusable, the construction will stop, causing serious damage.

In order to continue using the crane 5,
In some cases, emergency measures were taken at the site to make them usable. In that case, the service person goes to the site and performs emergency treatment. However, in the case of cranes with a high degree of specialty, there are not so many service bases, and at present, it is impossible to immediately send service technicians who can take appropriate measures. And the serviceman
Since the fault location was specified for the first time at the site, there were cases where emergency treatment was not possible on the spot. Therefore, the problem of being able to send the construction schedule could not be avoided.

[0010] It is an object of the present invention to provide a remote support system that allows a crane to be broken down and the construction can be continued without stopping the crane as much as possible. Another purpose is for repair,
An object of the present invention is to provide a remote support system that can shorten the time when the crane must be stopped.

[0011]

According to a first aspect of the present invention, there is provided a machine body, a machine state detecting means mounted on the machine body for detecting a machine state, and a machine state detecting means mounted on the machine body and comprising the machine state detecting means. A controller that controls various devices such as motors based on the detection signals of the above, and a management computer connected to the input / output unit of the machine state detection means and the controller via a communication line. In addition to storing in advance the types of faults that can be avoided by changing the program of the controller, the management computer determines the location of the fault based on an output signal from the machine state detection unit and an input / output signal of the controller. Identify and then determine whether the failure is of the above avoidable type. Via the communication line, having the features a control program of the controller, to the point of changing the control program for control using the circuit which bypasses the fault location.

The devices controlled by the controller of the present invention include all devices controlled by control signals from the controller. For example, an electric motor or the like that is directly controlled by a signal from a controller, a pump whose flow is indirectly controlled by an electromagnetic valve controlled by a signal from the controller, and a winch that is further rotated by the pump I will also include drums.

According to a second aspect of the present invention, a management computer monitors an input signal and an output signal to a controller mounted on a machine main body, and when an abnormality of the input signal is detected, the input side of the controller detects a failure point. If both the input signal and the output signal are normal, the output side of the controller is determined to be a failure point.If the input signal and the output signal are not consistent, the controller body is The feature is that it is determined to be a failure location.

According to a third aspect of the present invention, the management computer stores a normal range of the detection signal output from the machine state detection means, and stores the detection signal when the detection signal input to the management computer exceeds the normal range. Is characterized in that it is determined that the mechanical state detecting means has failed.

[0015]

1 to 9 show an embodiment of the present invention. The overall configuration of this remote support system is
As shown in FIG. 1, a plurality of cranes 5 are connected to a management computer C via a communication line. The management computer C is provided in a management center located at a different place from the construction site. Since the crane 5 is the same as the conventional crane 5 shown in FIG. 9, the crane 5 will be described with reference to FIG. 9 also in the following description. And crane 5
Has a controller 6 and a machine state detecting means 7 mounted thereon. Each of the jib 2, 3
, An angle sensor for detecting the angles α and β (see FIG. 9), a sensor for detecting the upper limit of the hook 4, a load cell for detecting the load applied to the hook 4, and the like. In addition,
The crane 5 corresponds to the machine body of the present invention.

In FIG. 1, devices to be controlled by the controller 6 are collectively shown as a device 8. This device 8
The above-mentioned mechanical state detecting means 7 is attached to the required location. Further, an operation unit 9 for operating the controller 6 is provided. The operation unit 9 is an operation lever, a switch, or the like. However, the controller 6 may control the device 8 such as a motor using the detection signal of the mechanical state detection means 7 as a feedback signal. In FIG. 1, an arrow is an input signal from the operation unit 9 to the controller 6 to the controller 6, an arrow is a control signal to the device, and an arrow is a feedback signal to be input to the controller 6.

The management computer C connected to the crane main body 5 monitors each of the above signals. The flow of the signals to be monitored by the management computer C is
In FIG. 1, it is indicated by a dashed arrow. In other words, the input signal to the controller 6 is the monitoring point, the output signal from the controller 6 is the point b, and the feedback signal is the point c. Of course, since FIG. 1 is a modeled one, more monitoring points are actually provided.

Referring to FIG. 1, the function of this system will be roughly described. Since the management computer C constantly monitors the voltages at the monitoring points a to c, for example, when an impossible feedback signal is output due to a failure of a sensor or the like, the failure can be immediately recognized. . However, even when only the voltages at the monitoring points a to c are monitored, a failure may not be determined. For example, if the input to the controller 6 is made for the first time by operating the operation lever of the operation unit 9, even if the input signal of the controller 6 is monitored at the monitoring point a, the input signal is 0. , Maybe because you ’re not operating
It is not known whether the operation lever side has failed. In such a case, the failure of the operation lever can be known only after receiving a message from the operator that the crane 5 cannot be operated even though the operation lever is operated. Here, the failure of the operation lever means that somewhere between the operation unit 9 and the monitoring point a is broken, and the operation unit 9
It is assumed that it includes its own failure and disconnection of wiring.

Therefore, first, when the above-mentioned trouble situation is received from the operator on the management center side, it must be inputted to the management computer C as a machine situation. The management computer C receives the input machine status,
From the detection signals at each of the monitoring points a to c, the fault location is specified. For example, while operating the operation unit 9,
How to specify a faulty part in the case where the specific device 8 does not operate will be described with reference to the flowchart of FIG.

In step 1, the management computer C determines whether the input signal at point a is normal. Whether the input signal is normal means that a signal corresponding to the operation of the operation unit 9 is input.
It is determined based on whether the voltage value is within the normal range output when operating the operation unit. Here, if the input signal is abnormal, proceed to step 2,
It is determined that the operation unit 9 has failed. If the input to the controller 6 is normal, the process proceeds to step 3.

In step 3, it is determined whether the output signal from the controller 6 at point b is normal. Here, whether or not the output signal is normal means whether or not the output value matches the previously checked input signal. If the output signal is abnormal, the process proceeds to step 4, where it is determined that the controller 6 is out of order because an abnormal output is given to a normal input. If the output signal is normal, go to step 5.

In step 5, it is determined that the device 8 or the mechanical state detecting means 7 is abnormal. Here, which of the device 8 and the mechanical state detecting means 7 has a failure may or may not be distinguished depending on the type of device and how to take a feedback signal. For example, when a sensor is attached to the device 8 as the machine state detecting means 7, a feedback signal is detected at a point c. If the feedback signal is abnormal, whether the device 8 has failed or the sensor has failed. I can't tell if I'm doing it. However, when the controller 6 directly takes in the signal, the abnormality of the feedback signal can be determined to be an abnormality of the device 8. Here, it is a procedure when there is no distinction.

In steps 1 to 5 described above, the fault location can be specified. Next, in step 6, it is determined whether the failure is a failure that can be avoided. If it can be avoided, the process proceeds to step 7, and the control program of the controller 6 is changed so that the control can be performed by the circuit bypassing the faulty part.
This can be performed remotely from the management computer C. On the other hand, if it is determined that it is not possible to avoid, the process proceeds to step 8 and full-scale repair is performed.

According to the above, for the avoidable failure, the control program is rewritten by remote control, so that the failed crane 5 can be used for the time being. Of course, in the end, full-scale repairs are necessary. This is because, by rewriting the control program of the controller 6, efficient control becomes impossible. However, by making the crane 5 in use at the construction site usable for the time being, the delay of the construction schedule can be minimized and the damage can be reduced.

The above is the outline of the operation of this system. Below are some specific examples of failures.
explain. First, a method of specifying a failure location that causes a cause and performing an emergency measure when a situation where the engine stalls will be described with reference to FIGS. FIG.
Is a circuit that can be considered as a failure part at the time of engine stall. The engine E is connected to the rotating shaft of the pump P1, and performs a task of rotating the motor 17 and the like by the discharge pressure of the pump P1.

The engine E has a rotation sensor 1
0 and a load factor sensor 11 are attached, and the output signal is input to the controller C. The rotation sensor 10 is a sensor that detects the number of revolutions of the engine E, and the load factor sensor 11 is a sensor that detects the load factor of the engine. The controller C outputs a control signal for controlling the discharge amount of the pump P1 based on the input detection signal. Specifically, the control of the pump P1 is to control an electromagnetic valve in order to control the tilt angle of the swash plate of the pump P1. In addition, a pressure sensor is provided in the discharge side passage of the pump P1, and a rotation sensor 18 of the motor 17 is also provided. The detection signals from the pressure sensor 16 and the nominal rotation sensor 18 are input to the management computer C.

In the circuit as described above, a procedure in which the management computer C specifies the cause of the engine stall will be described with reference to the flowchart of FIG. When the information that the engine stalls is input from the operator, the management center instructs to start the engine, and in that state, the computer C performs a determination process in the following procedure. At this time, in the circuit shown in FIG. 3, a signal input to the management computer C via a communication line is indicated by a dotted line. Step 1
In 01, it is determined whether the rotation sensor 10 is normal. This determination is made by detecting the input 12 of the rotation sensor 10 to the controller 6. Note that input 1
2 is the input signal detected at point 12. Hereinafter, a signal with a reference sign is assumed to have a reference sign of a point at which the signal is detected.

When the engine is running, the range of the output signal value of the rotation sensor is determined, and it is determined whether the sensor 10 is normal by comparing the output value with the range. Here, if the rotation sensor 10 is not normal, the process proceeds to step 107, and it is determined that the rotation sensor 10 has failed. On the other hand, if the rotation sensor is normal, the routine proceeds to step 102, where it is determined whether the load factor sensor 11 is normal. Since the output range of the load factor sensor 11 is also determined, the range is compared with the input 13 to determine whether the output is normal. If the load factor sensor 11 is not normal, the process proceeds to step 108, where it is determined that the load factor sensor 11 has failed.

If it is determined in step 102 that the load factor sensor 11 is also normal, the process proceeds to step 103 to determine whether the output of the controller 6 is normal. The management computer C outputs the output 14 of the controller to the input 12,
It is determined whether or not it is consistent with the number 13. If the output 14 does not match the inputs 12 and 13, the process proceeds to step 109, where it is determined that the controller has failed. If the controller output is normal, step 1
Go to 04. In step 104, the pressure sensor 16 and
The output W1 of the pump P1 is calculated from the value detected by the rotation sensor 18, and the process proceeds to step 105.

In step 105, the desired output W2 of the pump P1 is calculated from the control signal value of the controller, that is, the output 14. In step 106, the previously calculated outputs W1 and W2 are compared. Here, if W1 = W2, the pump P1 is normal, so the routine proceeds to step 110, where it is determined that the engine E has failed. Conversely, if W1 ≠ W2, the routine proceeds to step 111, where it is determined that somewhere after the output of the controller has failed. For example, the signal line 15 may be disconnected.

As described above, the fault location is specified in steps 107 to 111. Therefore, the process proceeds from each of steps 107 to 111 to step 112 to determine whether or not the failure can be avoided. At step 112,
Whether it can be avoided or not is determined by comparing it with the avoidable failure stored in the management computer C in advance. Here, the case where the rotation can be avoided at the time of engine stall is stored only when the rotation sensor 10 or the load factor sensor 11 fails. Therefore, in other cases, step 116
You have to go to and make a full-scale repair.

If it is determined in step 112 that the rotation can be avoided, the process proceeds to step 113 to determine whether the rotation sensor 10 has failed. If the fault location is the rotation sensor 10, the process proceeds to step 114, where the control program of the controller 6 is changed to a control program that does not use the rotation sensor by remote control from the management computer C. If it is not a failure of the rotation sensor, the control program of the controller 6 is changed to a control program that does not use the load factor sensor 11 because the load factor sensor is faulty.

By rewriting the control program as in steps 114 and 115, the crane can be used for a while without being immediately brought to the repair shop. Moreover, since the above program can be rewritten by remote control, there is almost no need to stop the crane. As described above, when the program is changed, the control is performed with lower energy efficiency than when the output of the pump P1 is controlled based on the detection values of both the rotation sensor 10 and the load factor sensor 11. I will. However, this is a negligible loss compared to stopping the crane and suspending construction. Further, even if there is no failure that can be avoided by remote control, the location of the failure can be specified, so that subsequent repair can be performed smoothly.

Next, as a second example of failure, insufficient injection of the engine E will be described. Despite turning the throttle, the engine speed is in a state. In this case, the fault identification and possible avoiding means are shown in FIG.
This will be described with reference to FIG.

As shown in FIG. 5, the rotation of the engine E is
Determined by the motor 23. The rotation speed of the motor 23 is controlled by an output 20 from the controller 6. The output 20 of the controller 6 is controlled by turning the grip throttle 18.
Is determined based on the input 19 input to the In this way, when the throttle 18 is turned, the controller 6 controls the rotation of the engine E by the output 20 and controls the tilt angle of the swash plate of the pump P2 by the output 22 accordingly. As a result, it is a normal state that the output of the pump P2 is controlled by turning the grip throttle 18.

When a problem such as insufficient engine injection occurs in the circuit as described above, the management computer C performs the processing shown in FIG. Also in this case,
The management computer C includes an input 19, outputs 20, 22 of the controller 6, and a feedback signal 21 of the motor 23.
Monitor the signal. When the operator reports that the engine is not sufficiently blown up, the management center instructs the operator to turn the throttle, and in that state, causes the management computer C to perform the following processing.

In step 201, it is determined whether the input 19 to the controller 6 is normal. If the input 19 is not normal, the routine proceeds to step 204, where it is determined that the throttle has failed. If the input 19 is normal, it is determined whether the output 20 of the controller is normal. It is determined whether or not the input 19 and the output 20 match, and if they match, it is determined that the input 19 is normal. If the output 20 is abnormal, the process proceeds to step 205, where it is determined that the controller 6 has failed. If the output 20 is normal, the routine proceeds to step 203, where the feedback signal 1 of the motor 23 is output.
It is determined whether 1 is normal. This is to determine whether or not the motor is rotating in accordance with the control signal 20 output from the controller 6. If the feedback signal 21 is abnormal in step 203, the process proceeds to step 206, where it is determined that the motor has failed. If the feedback signal 21 is normal, the motor 23 is also normal, so the process proceeds to step 207, where it is determined that the engine E or the pump P2 has failed.

At steps 204 to 207, the fault location is specified. Therefore, these steps 204
From Steps 207 to 207, the process proceeds to Step 208, and it is determined whether or not the above-described failure can be avoided. Here, failures that can be avoided are:
Since it is only when the throttle 18 has failed, if the other is a failed part, the process proceeds to step 211 and full-scale repair is performed.

On the other hand, if the throttle is faulty, the routine proceeds to step 209, where the controller 6 controls the controller 6 to switch to the dotted line 24 which is a circuit for controlling the pump P2 in conjunction with the foot pedal 25 instead of the throttle. Change the circuit. Of course, this change is also made remotely. Then, an instruction is given to the operator so that the rotation control of the engine E is also performed by the pedal 25. This allows the engine to control its output without using a failed throttle. Therefore, it is not necessary to stop the crane 5 and perform full-scale repairs.

As a third failure example, a case where the winding speed of the wire rope is reduced due to the rotation of the winch drum will be described with reference to FIGS. As shown in FIG. 7, the winch drum 35 is
8 and the corresponding output 20 of the controller 6,
The rotation of the motor 23 by the output 20, the tilt angle of the pump P3, the degree of rotation of the valve 32, and the tilt angle of the winch motor 34 are controlled. Therefore, when the rotation of the winch drum 35 does not increase as expected, it is highly likely that one of the control elements has failed. Here, the winch drum 35 is used for hoisting the hook, but similar winch drums are provided also for the upper and lower sides of the jibs 2 and 3. Since they operate in exactly the same way as the winch drum 35, description thereof is omitted here. Also, in FIG.
Is a manual lever for switching the valve 32.

Next, the cause of the slow winding operation of the winch drum 35 will be investigated. The winch drum 35 is provided with a rotation sensor 36 for detecting its rotation, and the output is input to the management computer C. Further, a slowdown signal may be output as the output 30 for controlling the winch drum 36. The slowdown signal is a control signal for slowing down the rotation of the winch drum 35 under a certain condition, so as to make the up and down of the jib and the lifting of the hook gentle. The conditions under which the slowdown signal is output are the upper and lower limits of the jib and when the vehicle approaches an overload. At this time, up and down of the jib and lifting of the hook are performed gently.
This condition is based on the input 28 from the load cell 26.
And the input 29 from the jib angle sensor 27,
The controller 6 makes the determination.

On the basis of the above, a procedure for specifying a fault location will be described with reference to the flowchart of FIG. First, with the throttle turned, the management computer C sends the input 19 from the throttle 18 in step 301 shown in FIG.
Judge whether it is normal. If the input 19 is abnormal,
Proceeding to step 306, it is determined that the throttle 18 has failed. If the input 19 is normal, proceed to step 302,
It is determined whether the output 20 of the controller 6 matches the feedback signal 21. This is the motor 23
Is operating according to the output 20 of the controller 6. Therefore, if the two signals are not matched, the process proceeds to step 307 and the motor 23
Is determined to be a failure.

If it is determined in step 302 that the output 20 of the controller 6 matches the feedback signal 21, the flow advances to step 303 to match the output 30 with the output signal of the rotation sensor 36 for detecting the rotation of the winch drum. It is determined whether or not. If they do not match, the process proceeds to step 308, where it is determined that the hydraulic system has failed.

In step 303, the output 30 and the output of the rotation sensor 36, that is, the actual winch drum 35
If the rotations of match, the process proceeds to step 304. In step 304, the output 3 from the controller
It is determined whether 0 is a slowdown signal. If the signal is not a slowdown signal, the process proceeds to step 308, where the winch drum 35 does not rotate according to the output signal.

If the output 30 is a slowdown signal, the process proceeds to step 305, where the input 2 of the load cell 26
8 and the input 19 of the jib angle sensor 27, it is determined whether or not a signal serving as a slowdown condition is input. Here, if the input does not satisfy the slowdown condition, the process proceeds to step 309, and it is determined that the controller 6 has failed. The reason why the output 30 is a slowdown signal even when the input is not in the slowdown condition is that it can be assumed that the controller 6 has failed.

In step 305, if the input is a slow-down condition, the flow advances to step 310 to determine that the load cell 26 or the jib angle sensor 27 has failed. Since the fault location has been specified in steps 206 to 310, the process proceeds to step 311 to determine whether each fault can be avoided. Management computer C
Stores that it can be avoided only in the case of a failure of the load cell or the jib angle sensor. In the case of other failures, the process proceeds to step 313 to make a full-scale repair. If the load cell 26 or the jib angle sensor 27 has failed, the process proceeds to step 312, and the circuit for outputting the slowdown signal in the controller 6 is shut off. Such interruption of the circuit can be dealt with by software by changing the control program of the controller 6. Moreover, the program can be changed by remote control from the management computer C on the management center side. Therefore, the winch drum 2 can be operated without stopping the crane 5.
5 can be used after solving the problem that the winding is too slow.

Next, as a fourth failure example, a drop of a suspended load will be described. The drop of the suspended load is a state in which the suspension of the suspended load is suspended on the hook 4, a brake is applied once to the rotation of the winch drum, and then when the load is hoisted, the suspended load slightly falls. It is. FIG. 7 is also used to explain this failure example. In the drawing, reference numeral 37 is a brake valve, and reference numeral 39 is a clutch valve. Reference numeral 38 denotes a pressure sensor that detects a hydraulic pressure.

The winch drum 35 for raising and lowering the hook 4
Is controlled by the hydraulic motor 34 as described above. When the suspended load is lifted to a certain height, the oil pressure of the hydraulic motor 34 should be balanced with the force supporting the suspended load. In this state, the position of the suspended load is maintained by mechanically applying a brake. As described above, the pump 34 is stopped after the position of the suspended load is held by the brake. However, if the pump 34 is stopped, the pressure oil in the pipe is reduced. That is, the hydraulic pressure drops. Therefore, when the brake is released next time, the suspended load drops to a position where it is lowered and balanced with the hydraulic pressure.

As described above, when the suspended load falls,
Because of the danger, in practice, the controller 6
The timing of releasing the brakes is later than the operation timing of (1) to prevent the suspended load from falling. Specifically, after the pump 34 is operated, when the pressure detected by the pressure sensor 38 rises to a pressure balanced with the suspended load, the brake valve 37 is switched so that the brake is released. I do. However, if the timing is out of order, a problem of falling of the suspended load occurs.
Such a cause may be caused by a failure of the pressure sensor 38 or the like. As an emergency measure for avoiding this, the following processing is performed.

That is, if the timing of releasing the brake is controlled based on the detection signal of the pressure sensor 38, the suspended load may fall, so the control using the pressure sensor 38 should be stopped. To Then, the control circuit of the controller 6 is changed to a control program in which the brake valve 37 is switched at a point below a predetermined time after the pump 34 is operated. This control program can be changed by remote control from the management computer C as in the other cases. As described above, when the control program is changed, even if the pressure of the pump 34 is increased, the brake may not be released immediately, but at least there is no risk of the load dropping carelessly. . Therefore, the crane can be used for the time being.

As described above, for various failures, the management computer C can specify the location of the failure and determine whether the failure can be avoided.
In the case of a failure that can be avoided, emergency treatment can be performed by remote control. In addition, the management computer stores a program for specifying a failure location and performing an emergency measure for each type of failure.

[0052]

According to the first to third aspects of the present invention, when a crane fails, the cause of the failure can be specified without going to the site, and depending on the type,
First aid can be provided by remote control. As a result, it is possible to minimize the suspension for repairs, which is fatal for a crane having almost no substitute machine. Further, even when emergency treatment by remote control is not possible, by specifying the location of the failure before going to the site, preparation for subsequent repair or replacement can be made, and repair can be performed efficiently. Therefore, stopping the crane and sending the construction schedule can be minimized.

[Brief description of the drawings]

FIG. 1 is an overall view showing a grating according to the present invention.

FIG. 2 is a flowchart for explaining the operation of the system of the present invention.

FIG. 3 is a circuit diagram for specifying the cause of engine stall.

FIG. 4 is a flowchart for specifying the cause of the engine stall.

FIG. 5 is a circuit diagram for specifying the cause of insufficient engine injection.

FIG. 6 is a flowchart for identifying the cause of insufficient engine injection.

FIG. 7 is a circuit diagram illustrating control around a winch.

FIG. 8 is a flowchart for identifying the cause when the winch winding operation is slow.

FIG. 9 is a schematic view of a conventional crane.

[Explanation of symbols]

 5 Crane 6 Controller 7 Machine state detecting means 8 Equipment C Management computer

Claims (3)

[Claims] 1. A machine body, mounted on the machine body,
A machine state detecting means for detecting a machine state, a controller mounted on the machine main body, for controlling various devices such as a motor based on a detection signal from the machine state detecting means, and a controller for the machine state detecting means and the controller. The input / output unit includes a management computer connected via a communication line.The management computer stores in advance the types of failures that can be avoided by changing the program of the controller, and the management computer
A failure location is specified based on an output signal from the machine state detection means and an input / output signal of the controller, and then, it is determined whether the failure is of the avoidable type, and the failure can be avoided. In the case of a serious failure, the control program of the controller is changed to a control program for performing control using a circuit bypassing the failure point via the communication line, and a movable jib is provided. Crane remote support system. 2. A management computer monitors an input signal and an output signal to a controller mounted on a machine body,
If an abnormality is detected in the input signal, the input side of the controller is determined to be a failure point, and if both the input signal and the output signal are normal, the output side of the controller is determined to be a failure point, and the input signal and The remote support system for a crane provided with a movable jib according to claim 1, wherein the controller main body is determined to be a failure point when consistency with an output signal is not obtained. 3. The management computer stores a normal range of the detection signal output from the machine state detection means, and when the detection signal input to the management computer exceeds the normal range, the management computer stores the normal range of the detection signal. The remote support system for a crane provided with the movable jib according to claim 1 or 2, wherein it is determined that the state detecting means is out of order.