JPS63261981A - Crane operating radiocommunication method - Google Patents

Abstract

PURPOSE:To identify an identification signal included in a carrier by a corresponding receiver, to switch the received carrier according the identification signal and to prevent a radio interference by alternately transmitting first and second carriers at a prescribed time interval when all the values of command signals to a crane are neutral and including the identification signal for indentifying that one transmits in the carrier. CONSTITUTION:The operating level of the machine equipment of the crane is set to an analog multiplexer 1 according to the operation of signal commanders C1-C5 and inputted to a CPU 3 through an AD converter 2. The CPU 3 transmits a first carrier at the time of turning off a switch 3a and a second carrier at the time of turning on the switch 3a from an antenna 5a respectively through a digital modulating circuit 4 and a transmission circuit 5. The command signal is mounted on the respective carriers and all the values of the command signals are neutral and then, the carriers are alternately transmitted at the prescribed time interval. One carrier includes the transmission identification signal, the identification signal is identified to switch the received carrier.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a wireless communication method for crane operation.

[Prior art] In the radio control of construction machinery, etc., conventionally, A'B
As a preventive measure, the method described in f is being implemented.

■) The radio wave transmission information in the radio control described above includes a device number (device address) unique to the device and is transmitted, and on the receiver side, only the radio wave transmission information that includes the device number is transmitted. 2) Another method is to use frequency synthesizer technology. For each device, a different carrier wave with an integer multiple of the fundamental frequency is created, and each pair of transmitters and receivers is made to use one of the different carrier waves exclusively, thereby preventing mutual interference. trying to prevent.

[Problems to be solved by the invention] However, these methods receive strong radio waves of the same carrier wave from other communication equipment, etc., and as a result, the transmitted waves from the paired transmitter are If this occurs, the receiving side considers that the transmitted wave is not transmitted information in a regular format, and as a safety measure, the equipment is shut down.

In particular, with equipment that moves freely and works, such as a crane truck, there may be situations where the crane truck is working in close proximity to other crane trucks, and at the same time, there may be situations where one of the many other crane trucks happens to be the same. A situation may also occur in which radio waves with carrier waves close to 1 are mutually used.

In such a case, even if the radio waves used for radio control are not very strong, since the equipment is very close to each other, it will disturb each other's radio waves and make it impossible to operate the crane. Put it away.

An object of the present invention is to provide a wireless communication method for crane operation that prevents radio wave interference as described above.

[Features for solving the problem] The transmitter: a: At least when all the values of the instruction signals are neutral, the transmitter alternately transmits the first carrier wave and the second carrier wave at a predetermined time interval. and in that case, each carrier wave includes carrier wave identification data indicating that either the carrier wave of :51 or the second carrier wave is being transmitted, and the receiver , a: In the carrier wave currently being received, identify the carrier wave identification data included in the carrier wave, and b: Based on the identification, 1. The carrier wave identification data corresponds to the carrier wave currently in use in the receiver. When the received carrier wave is different from the identification data, the received carrier wave is switched to the received carrier wave corresponding to the identified carrier wave identification data.

[Example] Hereinafter, the present invention will be explained based on Examples.

FIG. 1 is a block diagram showing a transmitter for carrying out a wireless communication method for crane operation as an embodiment of the present invention, and includes signal controllers C1, C2,
C3, C4 or C5 respectively send instruction signals such as the output level of the engine in the crane, the swing speed level of the crane, the level of boom extension in the crane, or the level of lifting or lowering of a load in the crane to the analog medium multiplexer 1. The output of analog multiplexer 1 is input to AD converter 2, and the output of AD converter 2 is input to CPU 3.
3 is input to the digital modulation circuit 4, the output of the digital modulation circuit 4 is input to the transmission circuit 5, and the output of the transmission circuit 5 is output to the antenna 5. In addition, in the CPU 3, the switch 3a is 3a is off (o
When f f), the transmitter in FIG.
on), after a predetermined period of time has elapsed, the CPU
3 outputs voltage to wiring 3b and turns on relay 3d,
As a result, the transmitter in FIG. 1 switches the first carrier wave being transmitted from the antenna 5a to the second carrier wave.

FIG. 2 is a block diagram showing details of the transmitting circuit 5 in FIG. 1, in which the output from the digital modulation circuit 4 in FIG. 1 is input as a modulation input signal to the terminal 5b,
The oscillation modulation circuit 5A oscillates the fundamental frequency based on the input, and FM modulates the fundamental frequency using the modulation input signal, and the output of the oscillation modulation circuit 5A is multiplied by the multiplier circuit 5B to the final carrier frequency. The output of the multiplier circuit 5B is amplified to a value corresponding to the output of the antenna 5a in the amplifier circuit 5C, and the harmful high frequency components of the output are cut in the filter circuit 5D, and the cut output is output to the antenna 5a. It has become.

FIG. 3 is a specific electrical circuit diagram of the oscillation modulation circuit 5A in FIG. 2. In FIG. 3, the relay 3d (relay 3d in FIG. When the input from terminal 5b) in Fig. 2 is ready to flow from the side of crystal oscillator 5e to relay 3d and coil 5f, the configuration of Fig. 3 is the usual well-known oscillation modulation using a crystal oscillator. 5d is a crystal resonator corresponding to the crystal resonator 5e.

That is, in FIG. 3, when the relay 3d is set to the state shown, the input at the terminal 5b flows only to the crystal oscillator 5e, and the transmitting circuit 5 in FIG. When a carrier wave is output and the relay 3d is set to the opposite position to the illustrated state, the input to the terminal 5b flows only to the crystal oscillator 5d, and the transmitting circuit 5 in FIG. It is designed to output two carrier waves.

FIG. 4 is a block diagram showing the circuit of the receiver, and the output of the antenna 6a that receives the radio waves transmitted from the antenna 5a on the transmitter side is input to the receiving circuit 6. The output is input to the digital demodulation circuit 7, and the output of the digital demodulation circuit 7 is input to the CPU 8.
The output of the PU 8 is input to the solenoid driver 9, and the solenoid driver 9 uses the instruction signal received from the antenna 6a to control each mechanical device in the crane corresponding to the signal command devices 01 to C5 in FIG. 1 according to the instruction signal value. It is configured to be driven accordingly.

FIG. 5 is a block diagram showing details of the receiving circuit 6 in FIG. 4, and shows an RF amplifier (Radio
o FrequencyAmp, ) 6A amplifies the radio wave signal received at the antenna 6a and sends it to the mixing circuit 6D.
The received frequency fo amplified in the RF amplifier 6A and the frequency f1 oscillated in the oscillation circuit 6B and multiplied in the multiplier circuit 6C are mixed in a mixer circuit to generate fo.
The filter circuit 6E converts the signal into a signal having a frequency component of f:fl, and the filter circuit 6E uses a bandpass filter to pass only the frequency near fO−fl=f2, and the mixing circuit 6G further converts the frequency into a signal suitable for detection in the detection circuit 6J. The frequency f3 oscillated in the oscillation circuit 6F is
The above frequency f2 is mixed and converted into a signal having a frequency component of f2±f3, the filter circuit 6H is a Bandhus filter and passes only the frequency component of f2-f3=f4, and the detection circuit 6J is an FM signal. The passed frequency is detected by the detection circuit, and the detected frequency is sent to the digital demodulation circuit 7 in FIG. 4 via the terminal 6b.
It is configured to output to.

That is, the circuit shown in FIG. 5 can perform detection in the detection circuit 6J. Thus, the operation is performed to lower the frequency of the radio waves received from the antenna 6a to a lower frequency.

FIG. 6 shows an electric circuit diagram of the oscillation circuit 6B in FIG. 5, and as shown in FIG. 6, the relay 8c (relay 8c in FIG. 4) is connected to the contact 6f or 6e side, The state in which only one of the vibrators 6d and 6C exists is a known oscillation circuit, and the relay 8C causes the transmitter in FIG. 1 to transmit the antennas 5a and 6a by turning on the switch 3a in FIG. When new carrier identification data, which will be described later, is transmitted to the receiver side shown in FIG.

By the transmission, contact 6f or 6 in FIG.
In the structure of the embodiment of the present invention described above, which is configured to switch to the e side, the operation thereof will be explained below.

In response to instructions from the CPU 3, the analog multiplexer 1 sequentially detects instruction signal values for each of the signal controllers from the signal controller C1 to the signal controller C5.

For each instruction signal detected in this way, the analog φ input signal is detected as an analog value by the analog .phi.

The instruction signal value digitized in this way is formatted (for
The equipment number of the crane is included in the formatted signal, and the formatted signal is stored in a register.

1) The signals stored in this register are synchronized with the tuned clock signal from the digital modulation circuit 4, and are transmitted bit by bit to the digital modulation circuit 4 in the order in which they are stored, and 2) In this way, the digital Regarding the digital signal of code 1 or code 0 transmitted to the modulation circuit 4, the digital modulation circuit 4 converts the digital signal into
For a value of 1, it is modulated into a sinusoidal analog signal with a predetermined amplitude of 51 Hz, and for a value of 0, S
The signal is modulated into a sinusoidal analog signal having a predetermined amplitude of O hertz, and outputted to the terminal 5b of the transmitting circuit 5 (FIG. 2).

3) The transmitting circuit 5 frequency-modulates the carrier wave, which is the first carrier wave or the second carrier wave, corresponding to the transmitted 51 Hz sine wave or SO Hz sine wave, respectively. , 7 frequency modulated FM waves are transmitted from the antenna 5a to the receiver in the crane. 4) The thus transmitted FM waves are again transmitted in the receiver in FIG. 4 according to the transmission pattern and the type of carrier wave. The solenoid driver 9 converts the digital signal into an analog signal, and in proportion to the signal value, operates each mechanical device in the crane in response to the respective instruction signals from the signal command devices 01 to C5 in FIG. .

Regarding the normal operation described above, for example, when the first carrier wave is used, if a radio wave with a frequency that is the same as that of the first carrier wave or close to that frequency comes in, the receiver will be affected by interference. However, the present invention takes the following countermeasures against such problems by using the flowcharts shown in FIGS. 7 and 8.

The operation will be explained below using the flowchart of FIG. 7 used on the transmitter side and the flowchart of FIG. 8 used on the receiver side.

The action of FIG. 7 is as follows.

Calculation AO: The power is turned on and the calculation of this program starts.

Performance 3EAL: Perform initialization for this calculation.

Operation A2: Detect whether the switch 3a in FIG. 1 is on.

Here, when the carrier wave transmitted from the antenna 5a is set as the first carrier wave as described above, and when the operator of the transmitter turns off the switch 3a and sets the carrier wave as the second carrier wave, the operator turns off the switch 3a and sets the carrier wave as the second carrier wave. 3a is turned on. Act': RA3: In operation A2, when switch 3a is off, the first carrier wave that is currently being transmitted is the first carrier wave that will be used for remote control. After a predetermined period of time, the CPU 3 generates a voltage in the wiring 3b and causes current to flow through the relay 3d, independently of the operator's operation of the switch 3a. , the transmitter switches the carrier wave that has been transmitted so far from the first carrier wave to the second carrier wave, and the second carrier wave also includes carrier wave identification data indicating that the first carrier wave will be transmitted from now on. After that, the CPU 3 again eliminates the voltage in the wiring 3b and cuts off the current in the relay 3d, and as a result, the carrier wave transmitted from the antenna 5a is changed to the first carrier wave according to the intention of the 1Mk author.
Return to carrier wave settings.

This is because when the transmitter is turned on, it is unknown whether the receiver is ready to receive the first carrier wave or the second carrier wave, so On the device side, a first carrier wave and a second carrier wave are transmitted alternately, and each carrier wave is made to transmit carrier wave identification data indicating that the first carrier wave will be transmitted from now on.

Calculation A4: Detect whether the switch 3a is turned off.

Calculation A5: Based on the detection result in calculation A4 and the state of switch 3a in calculation A2, it is determined whether the switch 3a has been switched thereafter.

If the determination is no, the process proceeds to calculation A8, which will be described later.

Here, the case where it is necessary to switch the switch 3a is as follows.

As described above, in a normal state, for example, when the switch 3a is off, the instruction signals from the signal command units 01 to C5 in FIG. 1 are transmitted on the first carrier wave, and the The receiver receives the first carrier wave, and operates each mechanical device of the crane according to the instruction signal in the received carrier wave.

In this operation, if a commercial wave having a frequency that is the same as or close to that of the first carrier wave enters the receiver, interference will occur in the receiver.

In such a case, the FM radio wave signal from the transmitter in FIG. 1 contains the equipment number of the crane as described above, and is transmitted in accordance with a predetermined format.

As a result, if interference occurs in the reception, the receiver side determines that the received signal does not follow the predetermined format or does not include the equipment number, and thereby The device stops the operation of each mechanical device in the crane. but,
In this case as well, the receiver identifies the carrier wave identification data included in the carrier wave that is currently being received.
It maintains a reception posture for a flowchart shown in FIG. 8, which will be described later.

On the other hand, the operator operating the transmitter on the transmitter side recognized that the crane operation had stopped contrary to his own operation, and determined that interference had occurred in the transmission, so he By setting the switch 3a in FIG. 1 to the other side, for example on, the carrier wave from the transmitter side is switched to the second carrier wave.

Calculation A6: When the determination in calculation A5 is yes, that is, when the switch 3a is switched from the state in calculation A2 by the operator, the CPU 3 means that the carrier wave will be switched to the carrier wave on the other side from now on. Transmit carrier identification data on the current carrier.

In this case, since the carrier wave on the other side in the above example is currently transmitting the first carrier wave, the carrier wave on the other side means the second carrier wave. In addition, in this case, as will be described later, on the receiver side, upon receiving and identifying the carrier wave identification data, the receiver side switches the received carrier wave to a carrier wave on another side and deals with the new carrier wave transmission from the transmitter side. do.

Operation A7: The CPU 3 activates the switch 3a in operation A5.
In response to the switching, after the above calculation A6, the carrier wave on the transmitter side is switched to the carrier wave on the other side as instructed by the operator.

Calculation A8+Detect values indicated by signal command devices 01 to C5.

Calculation Al signal command device C1, C2, C3, C4 or C
It is determined whether the indicated value from 5 is neutral.

Operation A10: When the determination in ri4 operation A9 is no, the digitized values of these instruction values are formatted according to a predetermined order.

Operation All: The formatted signal is registered in the register and returns to operation A4.

Note that the operation AIO and operation All are the normal operations described above.

Calculation A12: When the determination in calculation A9 is yes, it is determined whether all of the instruction values in the signal command devices 01 to C5 are neutral.

If the determination is no, that is, any instruction signal is in a state to manipulate the load in the receiver, the operation returns to E1γA4.

Operation A13: When the determination in operation A12 is YES, it is determined whether a predetermined time has elapsed since the determination in operation A12.

When the determination is no, that is, when the time elapsed since all the indicated values were set to neutral has not reached the predetermined time, the calculation is returned to calculation A4.

Operation A14: When the determination in operation A13 is yes, transmit carrier wave identification data for identifying whether the carrier wave to be transmitted from now on is the first carrier wave or the second carrier wave, and The identification data is transmitted by alternately switching to the first carrier wave or the second carrier wave a predetermined number of times, and each of the switched carrier waves includes the carrier wave identification data, and then the calculation returns to calculation A4 again.

Here, if all the indicated values at the signal command units 01 to C5 continue to be neutral, the calculation will be
2 and 13 or from operation A12 to operation A1
4, which means that
Every time the predetermined time of calculation A13 elapses, calculation A14
carrier identification data will be transmitted to the receiver.

Regarding the above transmission, a flowchart of reception calculations on the receiver side will be explained below with reference to FIG.

Calculation BO: Reception calculation is started by turning on the power in the receiver.

Operation B1: Initializes the operation.

Calculation B2: Determine whether or not the carrier wave transmitted from the transmitter side includes valid data such as the above-mentioned device address.

If the determination is no, the search continues for the valid data.

Operation B3: When the determination in operation B2 is yes, operation A3, A6 or Al1 on the transmitter side is performed.
Identify carrier identification data transmitted at

In this case, the carrier wave identification data in the case of Act 3aA3 above is identified in the receiver immediately after the transmitter side is powered on, and is determined to be ``operated from now on using the first carrier wave or the second carrier wave''. The carrier wave identification data corresponding to the carrier wave is divided into the first carrier wave and the second carrier wave.
The signals are transmitted alternately on the same carrier wave. Therefore, regardless of whether the received carrier wave during carrier identification in calculation B3 is the first or second carrier wave, the carrier waves transmitted from the transmitting side with alternating frequencies are always received by one of them. By creating an opportunity to match the carrier waves, the receiver side can always identify which carrier wave is the carrier wave to be transmitted from now on.Furthermore, the identification of the carrier wave identification data on the receiver side in the case of calculation A6 above is as follows: This is the result of interference occurring in the transmission as described above while the receiving side is also receiving the same carrier wave as the carrier wave being emitted from the transmitter side.

Since the operator then switches the switch 3a to switch to the carrier wave on the other side, carrier wave identification data is transmitted to the same carrier wave on the transmitting side as the carrier wave currently being received, and on the receiver side, 1 The carrier wave identification data can be confirmed on the carrier wave.

In addition, in the case of calculation A14 above, interference occurs during transmission, and as a result, when the operator has set all the levers of -F3-1 signal command units 01 to C5 to neutral, the above-mentioned In operation A5, the carrier wave is switched, and in operation 31iA6, carrier wave identification data is transmitted to the receiving side to notify that the carrier wave has been switched. However, assuming that the receiving side cannot yet identify the carrier wave identification data due to the state where interference is likely to occur, the carrier wave identification data of the calculation A14 is transmitted at the above-mentioned predetermined time intervals, and in this operation ytB3, the receiving side also performs the above-mentioned operation. By identifying the carrier wave identification data, the carrier wave can be switched.

For this reason, in the flowchart of one routine on the transmitting side, if carrier wave identification data is transmitted in operation 'f: tA14, at least on the receiving side, it is possible to identify the type of carrier wave from the transmitting side. From, En'BA3 and @'! The calculations of i and A6 are not necessarily required.

If the determination in calculation B3 is no, the process proceeds to calculation B5, which will be described later.

Calculation B4: When the determination in calculation B3 is yes, that is, when it is confirmed that the carrier identification data from the transmitter side exists, it is determined whether the receiving carrier should be switched based on the carrier identification data.

In other words, when the content of the carrier wave identification data is such that it is acceptable to leave the current carrier wave as it is, the determination is n
o, and conversely, when carrier wave identification data exists and its contents correspond to a carrier wave on the other side different from the current carrier wave, the determination becomes yes.

Act 'J'J, B5: Act 3i When the determination in B4 is no or the carrier wave identification data does not exist in the determination in the above calculation B3, the data of the instruction value transmitted to that carrier wave is analyzed.

Load calculation B6: Based on the above analysis result, 9 drives the load to the renoid try.

In this case, the above-mentioned disease EB5 and operation B6 exhibit the above-mentioned normal operation.

Calculation B7: When the determination in calculation B4 is yes, the CPU 8 switches the relay 80 in FIG.
Switch its receiving carrier to the other side.

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

At least, in calculation A14, the first carrier wave and the second carrier wave are transmitted alternately at predetermined time intervals, and the carrier wave has information indicating which frequency carrier wave will be transmitted from now on. 1) In the communication between the transmitter and the receiver, interference with other radio waves in the vicinity is prevented. If this occurs, the operator can switch to another carrier wave that is different from the carrier wave that has interfered with nearby radio waves, and as a result, the switched carrier wave will move away from the frequency of the radio waves that have been causing interference. 2) The carrier frequency can be switched without the operator having to operate the receiver one by one. 13) Even if the transmitter and receiver are turned on at different times, the carrier wave frequency can be switched without fail. It is possible to match the carrier wave on the receiver side with the carrier wave on the transmitter side before starting the operation when all the operating signals on the transmitting side are neutral (the value of the command signal is a neutral value).

[Brief explanation of drawings]

FIG. 1 shows a block diagram of a transmitter for carrying out a wireless communication method for crane operation as an embodiment of the present invention, and FIG. 2 shows a transmitter circuit 5 in FIG.
FIG. 3 is a block diagram showing details of the oscillation modulation circuit 5A in FIG. 2, and FIG. 4 is a block diagram showing the receiver circuit, 5 shows details of the receiving circuit 6 in FIG. 4 using a block diagram, FIG. 6 shows an electric circuit diagram of the oscillating circuit 6B in FIG. 5, and FIG. 7 shows the operation in the transmitter. FIG. 8 is a flowchart showing the operation of the receiver. The main symbols used in the examples are as follows. C1, C2, C3, C4 and C5: signal controller,
1: Analog multiplexer, 2: AD: 17/
<-ta, 3: CPU, 3a: Switch, 3d:
Relay, 4: Digital modulation circuit, 5: Transmission circuit, 5a: Antenna, 6: Receiving circuit, 6a: Antenna, 7: Digital demodulation circuit, 8: CPU,
8c: Relay, 9: Solenoid driver. Patent applicant: Sanwa Seiki Co., Ltd. Representative: Etsushi Nishikai Figure 2 Figure 3

Claims (1)

[Claims] 1. The operating level of the mechanical device in the crane is set in proportion to the value of a command signal from a command signal device, the command signal device is provided in a transmitter, and the command signal emitted from the command signal device is transmitted to a receiving device in the crane on a carrier radio wave emitted from the transmitter, and the operation of the mechanical device in the crane is actuated by the instruction signal received by the receiving device. In the above, the carrier wave is either a first carrier wave or a second carrier wave, and the transmitter is configured to: a: when at least all values of the instruction signal are neutral; emitting the first carrier wave or the second carrier wave alternately at predetermined time intervals;
The receiver includes carrier wave identification data indicating that one of the carrier waves is being transmitted, and a: identifies the carrier wave identification data included in the carrier wave that is currently being received; b. : If the carrier wave identification data is different from the carrier wave identification data corresponding to the carrier wave currently in use in the receiver due to the identification, the receiving carrier wave is switched to the receiving carrier wave corresponding to the identified carrier wave identification data. A wireless communication method for crane operation consisting of the above operations.