JP2724599B2 - Crane control method for mobile cranes - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a crane control method for a crane vehicle that enables remote operation and manual operation.

2. Description of the Related Art A crane operating system in a crane truck includes a first system capable of remotely operating the crane directly at a position of a load of the crane or at a position where the movement of the load can be directly observed, and at a driver's seat. Some have made a dual operation system having a second system that can operate the crane as it is.

The crane control method in these crane vehicles will be described in more detail. The control method is shown by a block diagram shown in FIG.

In FIG. 5, an output signal from a remote control device 1a 'is input to a controller 1' via a cable a2, a3 or a4.

The detailed configuration of the remote controller 1a 'and the controller 1' is as shown in FIG.

In FIG. 6, a wiring a1 is provided between a controller 1 'of a power supply 1e, and a switch b1 for turning on / off a current supply to the controller 1' is provided in the remote controller 1a.

When the power switch b1 is turned on, the current from the power source 1e is supplied to the wiring a1, the switch b1, and the wiring a11 '.
And the power supply current of the controller 1 '.

The current used in the controller 1 'is
The power returns to the power supply 1e via a1 '.

Further, the remote control device 1a 'is provided with control levers b2, b3, b4, each of which controls the extension and retraction of the boom in the crane, the rotation of the crane pedestal, and the lifting of the load in the crane. It is a lever that remotely controls each hydraulic drive.

Here, when the hydraulic drive device is, for example, a hydraulic drive device that expands and contracts a boom in a crane, specifically, the hydraulic drive device is a hydraulic cylinder,
When the hydraulic drive device is a hydraulic drive device for rotating the base of the crane, specifically, the hydraulic drive device is a rotary hydraulic motor. As described above, the hydraulic drive device is a hydraulic drive device (hereinafter, the hydraulic drive device is simply referred to as [load]) on behalf of the hydraulic cylinder, the hydraulic motor, and the like.

In the remote control device 1a 'shown in FIG.
Of the operation signal of the controller 1 'via the cable a2.
And the value of the signal from lever b3 or b4 is
Each is input to the controller 1 'via a cable a3 or a4.

Here, on behalf of the operation of the levers b2, b3, and b4, the lever b2
The operation of is described.

By operating the lever b2, a signal input from the lever b2 to the controller 1 'is processed by the controller 1' and then input to the solenoid valve 1b.

The solenoid valve 1b outputs a hydraulic signal during the input signal according to the input signal, and controls the opening amount s of the hydraulic control valve 2 according to the hydraulic signal.

Here, the hydraulic control valve 2 is provided between a discharge pipeline of a hydraulic pump (not shown) driven by the engine 5 and a hydraulic drive device (load) for driving the crane.

That is, the hydraulic control valve 2 controls the amount of pressurized oil supplied to these loads, and controls the driving speed of those loads.

Further, when the hydraulic control valve 2 controls the drive speed of the load in the system of the line 2b via the line 2b in this manner, the operated valve opening of the hydraulic control valve 2 is detected by the detector 2a. The controller 1 'sends a signal to the solenoid valve 1c with a predetermined functional relationship with respect to the detected value of the valve opening amount s, and the solenoid valve 1c controlled by the signal converts the signal into a hydraulic signal to generate a hydraulic signal. Operate actuator 1d,
The hydraulic actuator 1d operates the throttle opening θ of the engine 5 to adjust the output of the engine 5, the detector 5b detects the value of the throttle opening θ, and the feedback value of the detected throttle opening θ The controller 1 'controls the hydraulic control valve 2 and the hydraulic actuator 1d so that the relationship between the valve opening amount s (indicated value) and the valve opening amount s (indicated value) detected by the detector 2a is as shown in FIG. The control system of the closed loop forms an auto accelerator control system.

Here, the necessity of the characteristics shown in FIG. 7 is based on the following reasons.

A fixed displacement hydraulic pump is driven by the engine 5, and the pressure oil discharged from the hydraulic pump is supplied to the hydraulic control valve 2 and the solenoid valves c1 and 1b.

The operating speed of the crane load driven by the pressure oil controlled by the hydraulic control valve 2 is determined by the opening amount of the hydraulic control valve 2 and the hydraulic energy level at the hydraulic source.

Therefore, even if the opening amount of the hydraulic control valve 2 is the same, if the rotation speed of the hydraulic pump, that is, the rotation speed of the engine 5 is different, the hydraulic energy level at the hydraulic source of the hydraulic control valve 2 will be different. That is, even if the opening amount of the hydraulic control valve 2 is the same, the operation speed of the load on the crane is slower when the rotation speed of the engine 5 is lower, and conversely, the operation speed of the load on the crane is higher when the rotation speed of the engine 5 is higher. Will also be faster.

Utilizing such a property, the opening amount s (FIG. 7) of the hydraulic control valve 2 for controlling the speed of the crane load is small, 0 <
During s <so, that is, while the operation amount of the lever b2 is small,
The throttle opening θ is kept in an idling state so that fine adjustment can be performed. When s> so, the throttle opening θ is proportional to the operation amount of the lever b2 so that the operation speed of the crane load is operated quickly. θ is increased.

In response to the remote operation by the remote control device 1a ', while the driver driving the crane truck is at the driver's cab,
When operating each load in the crane, the operation is performed using the manual operation device 3 as described below.

When the manual operation device 3 is operated, the hydraulic control valve 2 is directly operated via a mechanical link device, and as a result, the load on the line 2b is operated in the same manner as in the above-described remote operation.

In this case, if the power switch b1 of the remote control device 1a 'in the remote control is still on, a malfunction may occur from the remote control device 1a' side. Therefore, the power switch b1 is turned off and the controller 1 'is turned off. Leave in operation.

When the manual operation device 3 is operated in the state set as described above, the hydraulic control valve 2 is operated, and at the same time, the manual operation device 3 also operates the mechanical auto accelerator mechanism 3a via the mechanical link mechanism, Further, the auto accelerator mechanism 3a mechanically controls the throttle opening θ of the engine 5 via the link mechanism 5a.

In this case, the relationship between the opening amount s of the hydraulic control valve 2 operated by the manual operation device 3 and the throttle opening θ of the engine 5 operated by the auto-accelerator machine 3a is the same as in the case of the remote operation. The auto accelerator mechanism 3a is configured to have the relationship shown in the figure, for the same reason as in the case of the remote control.

In addition, the auto-accelerator mechanism 3a is required to be provided in conjunction with the above-described remote-controlled auto-accelerator control system in the manual operation because the controller 1 is provided in order to prevent a malfunction from the remote operation side in the manual operation state. Since the operation of ′ is stopped, the auto-accelerator mechanism 3a is provided in the manual operation system in order to provide the characteristics shown in FIG. 7 even during the manual operation.

In the configuration shown in FIG. 5, the operating mechanism A for operating any one of the loads on the crane.
Are provided independently of the levers b2, b3, b4, etc. in FIG. 6 above, but in FIG. 5, the illustration of the operating mechanism A for the levers b3, b4, etc. other than the lever b2 is omitted for convenience. ing.

Reference numeral 4 denotes a lever which allows the operator to independently operate only the throttle opening θ of the engine 5 via the link mechanism 5a.

[Problem to be Solved by the Invention] Since the crane operating device in the crane trucks shown in FIGS. 5 and 6 includes a remote operating device in addition to a manual operating device, the operating system becomes very complicated. In particular, in addition to the configuration in which the manual operation device 3 mechanically operates the hydraulic control valve 2, the manual operation device 3 is mechanically directly directly connected via the auto-accelerator mechanism 3a and the link mechanism 5a.
Since the throttle opening .theta. Of the engine 5 is operated, the entire apparatus is complicated in terms of restrictions due to its mechanical linkage and space utilization.

An object of the present invention is to provide a crane control method for a crane vehicle capable of improving the above-described complexity.

[Means for Solving the Problems] A hydraulic control valve (2) selectively controlled by either a signal by remote operation or direct manual operation is provided by a solid displacement hydraulic pump driven by an engine (5). Controlling the flow rate of the discharge pressure oil of the crane and controlling the driving speed of a hydraulic drive device for operating the crane with the pressure oil of the controlled flow rate, wherein a system for limiting the operation of the hydraulic control valve and the engine Outputs the current from the power supply while the first solenoid drive circuit (1i) receives the signal by the remote control signal, and controls the opening amount (s) of the hydraulic control valve by the current. While the remote hydraulic control valve control system and the second solenoid drive circuit (1j) receive a signal having a certain functional relationship with the valve opening amount, the second solenoid drive circuit (1j) outputs a current from a power supply. An auto-accelerator control system for controlling the throttle opening (θ) of the engine by a hydraulic actuator (1d) operated by the current, and a manual operation device (3) mechanically directly controlling the opening amount of the hydraulic control valve When the remote control is performed, current is supplied to both the first solenoid drive circuit and the second solenoid drive circuit by a switch (1g). And set it to
The remote control signal drives the hydraulic drive device through the remote hydraulic control valve control system, and the auto throttle control system controls the throttle opening degree of the engine via the auto accelerator control system as a function of the valve opening amount and a constant function. Control to the relationship, when performing the manual operation, by the switch,
The current supply to the first solenoid drive circuit is cut off and the current is supplied to the second solenoid drive circuit, and the state is set to a state where the current is supplied to the second solenoid drive circuit. While operating the hydraulic drive device by operating the valve opening amount of the hydraulic control valve, the auto accelerator control system also interlocks to set the throttle opening of the engine to a certain functional relationship with the valve opening amount. It is controlled.

[Action] When remote control is performed, the hydraulic drive device of the crane is driven by a remote control signal through a remote hydraulic control valve control system, and the rotation speed control of the hydraulic pump linked to the engine is performed automatically. The control is performed by a signal having a certain functional relationship with the opening amount of the hydraulic control valve via an accelerator control system.

When performing the manual operation, the hydraulic drive device is operated by directly operating the opening amount of the hydraulic control valve by the manual operation, and the auto-acceleration control system is also interlocked to operate the hydraulic pump in the same manner as the remote control. Control the rotation speed.

[Examples] Hereinafter, the present invention will be described based on examples.

FIG. 1 shows a crane operating device necessary for carrying out the method for controlling a crane in a crane truck according to the present invention, which is shown by a block diagram, and FIG. 2 illustrates the relationship between the operating device 1a and the controller 1 in further detail.

In FIG. 1, the first point different from FIG. 5 is that
The manual operation device 3 in FIG. 5 is a mechanism for simultaneously operating the hydraulic control valve 2 and the auto accelerator mechanism 3a,
In FIG. 1, the manual operation device 3 only directly operates the hydraulic control valve 2 mechanically, and an automatic accelerator mechanism is provided.
3a is omitted.

The second point of FIG. 1 that differs from FIG. 5 is as follows.

In the conventional configuration in FIG. 5, when the switch b1 is set to an on state for remote control, the lever b
By operating the levers such as 2, b3, b4, etc., a signal of a value proportional to the operation amount can be transmitted for each lever, and the switch b1 is turned off (of of
When set to the state of f) (setting to prevent malfunction from the remote control side during manual operation), the remote control device
When the power supply at 1a 'is cut off, no signal is sent from the remote control side even if any of the levers b2, b3, b4, etc. is operated, and no power is supplied to the controller 1',
The auto accelerator control system including the detector 2a, the solenoid valve 1c, the hydraulic actuator 1d, and the detector 5b is not operated.

On the other hand, in the embodiment of FIG. 2 of the present invention, when the switch b1 is set to the ON state for remote control, the switch 1f of the controller 1 is set to the state shown in FIG. This supplies power to the controller 1, and its operation is the same as that in FIG.

Conversely, when performing a manual operation, the switch b1 is turned off, and the switch 1f is manually set in the direction opposite to the direction shown in FIG.

As a result, power supply 1e, wiring ao, switch 1f, and wiring a1
Electric power is supplied to the controller 1 via 1 and the auto accelerator control system in the controller 1 is set to be operable as described later.

After the current input to the controller 1 from the wiring a11 is used in the controller 1, the current is
Return to power supply 1e via a1 '.

Further, a third point different from the controller 1 in FIG. 2 and the controller 1 ′ in FIG. 5 is that the controller 1 in FIG. 2 is different from the conventional controller 1 ′ in the operation program. That is, as described below, as shown in the flowchart of FIG.
In the program of the controller 1, an operation E3 for determining whether or not the remote operation is set is added.

The means for making the determination in the above calculation E3 is as follows.

In FIG. 2, a signal line a12 is provided to detect whether the vehicle is in a remote operation state or a manual operation state.

That is, as described later, it is determined whether or not a remote operation or a manual operation is being performed, depending on whether or not a voltage is generated on the signal line a12.

Further, a fourth point different from the conventional FIG. 6 of FIG. 2 is that the switch 1g of FIG. 4 is operated in conjunction with the switch 1f of FIG. .

In the configuration of FIG. 4, a switch 1g is interposed between a power supply, that is, the electric wire 1h connected to the wiring a11 and the electric wires 1m and 1p. The electric wire 1m is connected to the solenoid valve 1b (the solenoid valve 1b in FIG. 1) via the first solenoid drive circuit 1i, and the electric wire 1m
Is connected to a solenoid valve 1c (the solenoid valve 1c in FIG. 1) via a diode 1k, a wire 1n and a second solenoid drive circuit 1j, and a wire 1p is connected to the wire 1n. Further, the solenoid drive circuits 1i and 1j are provided in the controller 1, and the solenoid drive circuit 1i is connected to the electric signal transmitted to the signal line 1t (for example, one of the operation levers b2 among the operation levers b2, b3, and b4). 1m of electric wire depending on the electric signal corresponding to the operation amount)
The power supply current from the side flows through the solenoid of the solenoid valve 1b via the electric wire 1r, and the solenoid drive circuit 1j
The electric signal transmitted to the signal line 1u (an electric signal corresponding to the throttle opening degree θ having a fixed relation shown in FIG. 7 with the opening amount s of the hydraulic control valve 2 detected by the detector 2a) causes the electric wire 1n or 1p The power supply current from the side flows through the solenoid of the solenoid valve 1c via the electric wire 1s.

FIGS. 1 and 2 are different from FIGS. 5 and 6 in the above-described four points, and other configurations are the same.

In FIGS. 1, 2 and 4, a first solenoid drive circuit 1i operated by a signal from a signal line 1t, an electromagnetic valve 1b operated by an electric signal from the solenoid drive circuit 1i, and an electromagnetic valve 1b The control system including the hydraulic control valve 2 operated by a hydraulic signal from the valve 1b forms a remote hydraulic control valve control system.

In addition, a second solenoid drive circuit 1j that is operated by a signal (signal on the signal line 1u) having a certain relationship with the detection signal of the detector 2a in FIG. 7 and an electromagnetic valve that is operated by an electric signal from the solenoid drive circuit 1j 1c, a hydraulic actuator 1d operated by a hydraulic signal from the electromagnetic valve 1c, and a control system for setting the throttle opening θ of the engine 5 by an operation amount of the hydraulic actuator 1d form an auto accelerator control system.

The system in which the manual operation device 3 mechanically directly controls the opening amount s of the hydraulic control valve 2 is a system for manual hydraulic control valve control.

The operation of the above embodiment of the present invention will be described with reference to the flowchart shown in FIG.

In case of remote operation: Set the switch 1f in FIG. 2 to the state shown in the figure, and set the switch 1g in FIG. 4 linked to the switch 1f to the state shown in the figure, connect the electric wire 1h to the electric wire 1m, and connect the solenoid. The state is set such that power can be supplied to both the drive circuits 1i and 1j, and the switch b1 is set to the ON state.

Here, by setting the switches 1f and b1 in the above-described state, it becomes possible to transmit a signal to the cable a2, a3 or a4 by operating the lever b2, b3 or b4, and to supply power to the controller 1 so that it can operate. State.

Therefore, the operation of FIG. 1 enables the same remote operation as that described in FIG.

 That is, the following calculation shown in FIG. 3 is performed.

 Operation E1: Start the operation.

 Operation E2: Initializes the operation.

Arithmetic E3: It is determined whether or not the setting of the switch 1f is in the state of remote control.

In this case, since the switch 1f turns off the power supply 1e and the signal line a12, no voltage is generated on the signal line a12.

As a result, the controller 1 detects that no voltage is generated on the signal line a12, thereby making the determination.
The determination is yes (remote operation), and the next operation proceeds to operation E4.

Arithmetic E4: The controller 1 performs the following control on the operating mechanism A corresponding to the signal system based on the signal from the remote control device 1a.

In this remote control mode, the switch 1g is set as shown in FIG. 4, and the power supply voltage is supplied to the solenoid drive circuit 1i. As a result, when the controller 1 transmits a signal corresponding to the signal from the remote control device 1a to the signal line 1t, the solenoid drive circuit 1i is ready to flow a current from the wire 1m to the wire 1r by the signal. It has become.

For example, when the lever b2 is operated in the remote control device 1a, the operation signal is input to the controller 1 via the wiring a2, and the signal from the wiring a2 is processed by the controller 1 after appropriate processing. Signal line 1t (fourth
Figure).

When the signal is input to the signal line 1t, while the signal is being input, the solenoid drive circuit 1i causes the current to flow from the electric wire 1m to the electric wire 1r by the signal to operate the solenoid valve 1b.

That is, while the signal is being input to the signal line 1t, the solenoid valve 1b operates and the solenoid valve 1b transmits a hydraulic signal, and the hydraulic signal controls the valve opening s of the hydraulic control valve 2.

The hydraulic control valve 2 is connected to a line 2b from the hydraulic pump via the hydraulic control valve 2 according to the amount of valve opening (valve opening amount s).
To control the pressure oil flow per unit time output to

As a result, the output pressure oil from the hydraulic control valve 2 controls the driving speed of the load of the crane in the line 2b system via the line 2b.

Operation E5: As in the case of FIG. 5, the detector 2a detects the operated valve opening amount s of the hydraulic control valve 2.

Arithmetic E6: The output of the engine 5 is adjusted by using the detected value of the valve opening amount s to control the solenoid valve 1c so as to have the characteristics shown in FIG. 7 as in FIG. That is, auto accelerator control is performed.

In this case, the control of the solenoid valve 1c is performed as follows in FIG.

Since the switch 1g in FIG. 4 establishes the illustrated state as described above, the diode 1k can flow a forward current from the side of the wire 1m to the side of the wire 1n due to the nature of the diode. I'm ready.

In such a remote control mode, a function relationship between the value of the valve opening amount s and the predetermined throttle opening θ in FIG. 7 is provided, and a signal corresponding to the value of the throttle opening θ in the functional relationship is provided. To the signal line 1u.

As a result, the solenoid drive circuit 1j
In response to a signal corresponding to the value of the throttle opening θ received in 1u, a current is supplied from the electric wire 1n to the electric wire 1s while the signal is being received.

As a result of the current flowing through the electric wire 1s, the solenoid of the solenoid valve 1c is excited, and the solenoid valve 1c is driven by the hydraulic actuator 1d.
(FIG. 1) is controlled.

Under the control, the hydraulic actuator 1d sets the throttle opening θ of the engine 5.

 After the calculation of the calculation E6 is completed, the flow returns to the calculation E3 again.

In the case of manual operation: The switch 1f in FIG. 2 and the switch 1g in FIG. 4 interlocked with the switch 1f are set to positions opposite to those shown in FIG. 4, and the switch b1 is set to off.

As a result, the controller 1
It is in a state where it can be operated while supplying power to the wiring 1h from a11, and as shown in FIG. 4, the solenoid drive circuit 1j is in a state where the power supply is connected via the electric wire 1h, the switch 1g and the electric wire 1p. .

In this case, since the diode 1k is interposed between the wire 1n and the wire 1m, the current from the wire 1p is
Does not flow to the solenoid drive circuit 1i through the.

Therefore, in this state, even if an erroneous signal such as an external noise signal jumps into the signal line 1t occurs, no current can flow from the solenoid drive circuit 1i to the solenoid valve 1b side. Has become.

When the manual operation device 3 is operated in this state, the third
The following operation is performed according to the flowchart shown in FIG.

 Operation E1: Start the operation.

 Operation E2: Initializes the operation.

Arithmetic E3: It is determined whether or not the settings of the switches b1, 1f, and 1g are set to the state of remote control.

In this case, since the setting is a manual operation setting, a voltage is passed from the power supply 1e to the signal line a12 in FIG. 2 via the wiring ao and the switch 1f.

As a result, the controller 1 detects the voltage of the signal line a12, whereby the controller 1 determines the determination of the calculation E3 to be no (manual operation setting), and calculates the next calculation.
Proceed to E5.

In this case, the driver operates the hydraulic control valve 2 by operating the manual operation device 3 such as a lever, and performs the same manual control as described with reference to FIG. 5 (however, without using the auto accelerator mechanism 3a). Instead, the following auto-acceleration control system in remote operation is used) to control the driving speed of the load on the crane.

Arithmetic E5: In the present invention, in the case of this manual control as well as in the case of remote control, the operated valve opening amount s of the hydraulic control valve 2 which is manually controlled by the detector 2a.
Is detected.

Arithmetic E6: Using the detected value s of the valve opening amount, the electromagnetic valve 1c is controlled so as to have the characteristics shown in FIG. The hydraulic actuator 1d is operated by the oil, and the throttle opening θ is operated in proportion to the operation amount of the hydraulic actuator 1d, whereby the output of the engine 5 is adjusted. That is, the auto-acceleration control is performed and 0 <s in FIG.
During the minute operation of the manual operation device 3 which is <so>, the fine movement control of the load on the crane is enabled for the above-described reason, and when s> so, the driving speed of the load on the crane can be quickly controlled. .

The driving of the solenoid valve 1c is shown in FIG.
As in the case of the above-described remote control, a signal is transmitted to the signal line 1u by giving a predetermined functional relationship with the detection value s,
The signal drives the solenoid drive circuit 1j to drive the solenoid of the solenoid valve 1c via the electric wire 1s.

[Effects of the Invention] As is clear from the above description, the effects of the present invention are as follows.

1) When the driving speed of the load in the crane is manually operated, the hydraulic control valve 2 controlling the movement of the load is directly operated by the manual operation device 3, and is used for remote operation during the operation. Detector 2a is the hydraulic control valve 2
The valve opening of the controller 1 is detected, and the detected value
However, the output of the engine 5 is adjusted so that the characteristics shown in FIG.
That is, since the auto accelerator control is performed, the conventional auto accelerator mechanism 3a shown in FIG. 5 can be omitted.

Therefore, there is no need for a mechanical connection between the manual operation device 3 and the engine 5 which has been conventionally required, so that the positional relationship between the manual operation device 3 and the engine 5 can be freely set, and the mechanical connection can be reduced. The omission of the simple auto accelerator mechanism 3a is advantageous in terms of space utilization, thereby making it possible to reduce the manufacturing unit price.

2) When manual operation is performed, the power supply current to the solenoid drive circuit 1i that drives the solenoid of the solenoid valve 1b is switched off. Even if a signal is erroneously generated, the first solenoid drive circuit 1i does not supply power to the remote hydraulic control valve control system on the side of the solenoid valve 1b during the manual operation. Has become.

As a result, during manual operation of the hydraulic control valve 2, the controller 1 is activated by an erroneous signal to the remote hydraulic control valve control system, causing the crane pedestal to rotate unexpectedly or the crane load to drop suddenly. It is designed to prevent unexpected situations.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a crane operating device required to carry out a control method for a crane vehicle according to the present invention, which is shown by a block diagram,
FIG. 2 is a system diagram illustrating the relationship between the remote control device 1a and the controller 1 in FIG. 1 in more detail, FIG. 3 is a flowchart of the calculation in FIG. 1, and FIG. 5 is a power supply circuit diagram of the solenoid valves 1b and 1c in FIG. 1, FIG. 5 is a block diagram showing a conventional crane operating device corresponding to FIG. 1, and FIG. 6 is a diagram corresponding to FIG. FIG. 7 is a block diagram showing the relationship between a conventional remote control device 1a 'and a controller 1'. FIG. 7 shows the characteristics of the auto accelerator mechanism 3a in FIG.
Alternatively, the detection value s of the detector 2a in FIG.
Shows the relationship with the detected value θ in FIG. The main symbols used in the examples are as follows. 1: Controller, 1a: Remote control device, 1b and 1c: Solenoid valve, 1d: Hydraulic actuator, 1e: Power supply, 1f, 1g and b
1: switch, 1i: solenoid drive circuit 1i, 2: control valve, 2a
And 5b: detector, 3: manual operation device, 5: engine.

Claims (1)

(57) [Claims] A hydraulic pressure control valve (2) selectively controlled by either a signal by a remote operation or a direct manual operation is provided by a hydraulic pressure control valve (2). In the control of the crane which controls the drive speed of the hydraulic drive device that operates the crane by controlling the flow rate of the hydraulic oil at the controlled flow rate, a system that controls the operation of the hydraulic control valve and the operation of the engine includes:
While the first solenoid drive circuit (1i) receives the signal from the remote operation, it outputs a current from a power supply, and the current causes the valve opening amount (s) of the hydraulic control valve to be increased.
And the second solenoid drive circuit (1j) outputs a current from a power supply while receiving the signal with a signal having a certain functional relationship with the valve opening amount. The throttle opening (θ) of the engine is controlled by a hydraulic actuator (1d) operated by the current.
And a manual hydraulic control valve control system in which the manual operation device (3) mechanically directly controls the opening amount of the hydraulic control valve when the remote control is performed. Is set by the switch (1g)
The current is supplied to both the first solenoid drive circuit and the second solenoid drive circuit, and the hydraulic drive device is controlled by the remote control signal through the remote hydraulic control valve control system. Drive and control the throttle opening of the engine through the auto-acceleration control system in a fixed functional relationship with the valve opening amount. The current supply to the drive circuit is interrupted and the current is set to be supplied to the second solenoid drive circuit, and the manual operation of the hydraulic control valve is directly performed by the manual operation via the manual hydraulic control valve control system. The hydraulic opening device is operated by operating the valve opening amount, and the throttle opening of the engine is set to the same as the valve opening amount in conjunction with the auto accelerator control system. A crane control method for a crane vehicle that controls to a fixed functional relationship.