JP2018039625A - Operation terminal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation terminal which can hold different kinds of portable devices.SOLUTION: An operation terminal 200 is used to manually operate an automatic operation device (a stacker crane 30) by using a connected portable device 300. The operation terminal 200 includes: a body part 210 gripped by a user; a holding part 230 which is provided at the body part and holds the portable device; and a connection part 240 provided at the body part and connected with the portable device so as to enable communication. The body part 210 includes: an activation button 250 for activating a manual operation through the portable device; and an emergency stop button 216 which stops the automatic operation device for an emergency. The holding part includes: a sandwiching part 260 which may open or close and sandwiches the portable device in a closed state; and a biasing part 270 which applies a force to the sandwiching part in a direction such that the sandwiching part is closed to bias the sandwiching part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an operation terminal for manually operating an automatic driving device.

  2. Description of the Related Art Conventionally, there is known an automatic driving device system including an automatic driving device such as a transport carriage that unloads a baggage. In such an automatic driving device system, an operator can perform remote operation of the automatic driving device via wireless communication, for example, by operating a portable operation terminal.

  For example, Patent Document 1 discloses a communication system that operates a facility such as a carriage using a remote controller. In this communication system, communication is performed between a remote controller and equipment by using infrared rays and radio together. A frequency for wireless communication is designated from the remote controller to the equipment by infrared communication, and a reply is made by radio at the designated frequency from the equipment to the remote control device.

JP 2009-260773 A

  In recent years, the use of general-purpose portable devices (smart devices) such as commercially available smartphones and tablet terminals as operation terminals has been studied. Here, it is difficult or substantially impossible to implement an emergency stop function that satisfies a predetermined safety standard simply by adopting a portable device as an operation terminal as it is. For this reason, a configuration has been considered in which an emergency stop remote controller is used as a main body unit, and a portable device is incorporated into the main body unit to form an operation terminal. That is, the main body of the operation terminal needs to hold a portable device, but since the shape of the portable device differs depending on the type, development of an operation terminal that can hold various types of portable devices is desired.

  Accordingly, an object of the present invention is to provide an operation terminal capable of holding different types of portable devices.

  An operation terminal of an automatic driving device according to one aspect of the present invention is an operation terminal for manually operating an automatic driving device using a connected mobile device, and a main body unit grasped by a user, and a main body unit A holding unit that holds the portable device and a connection unit that is provided in the main body unit and is connected to be communicable with the portable device. The main body unit enables manual operation via the portable device. And an emergency stop button for emergency stop of the autonomous driving device, the holding part is openable and closable, and the holding part for holding the portable device in the closed state and the holding part is closed. An urging unit that urges a force in a direction to be in a state.

  According to this configuration, since the urging portion urges the holding portion that holds the portable device in the closed state in the direction in which the urging portion is in the closed state, it can be disposed in the holding portion that is in the open state. If there is, portable devices having different shapes and sizes can be sandwiched between the sandwiched portions in the closed state. And since the force of the direction which becomes a closed state is urged | biased by the urging | biasing part with respect to the clamping part, a portable apparatus can be clamped. Therefore, different types of portable devices can be held.

  Moreover, the enabling button may protrude toward the side from a side surface different from the main surface provided with the holding portion in the main body portion.

  According to this configuration, since the enabling button protrudes from the side surface different from the main surface provided with the holding portion in the main body portion, when the user grasps the main body portion, It is possible to easily operate the enabling button while viewing the held portable device.

  The main body may include an extending portion that extends outward from the portable device held by the holding portion, and the emergency stop button may be disposed in the extending portion.

  According to this configuration, since the emergency stop button is arranged for the extending portion extending outward than the portable device held by the holding portion, the portable device held by the holding portion, The emergency stop button can be arranged side by side in a plan view. Therefore, the portable device held by the holding unit and the emergency stop button are easily stored in the user's field of view at the same time. That is, since the visibility of the emergency stop button is improved, the operability of the emergency stop button can also be improved.

  In addition, a notification unit that notifies the operating state of at least one of the mobile device and the operation terminal may be provided around the emergency stop button in the extension unit.

  According to this configuration, since the notification unit that notifies the operation state of at least one of the mobile device and the operation terminal is provided around the emergency stop button in the extension unit, the mobile device held by the holding unit, The emergency stop button and the notification unit can be arranged side by side in a plan view. Therefore, the visibility of the notification unit is improved, so that the user can easily recognize the operation status.

  According to the present invention, it is possible to provide an operation terminal capable of holding different types of portable devices.

It is a perspective view showing the composition outline of the automatic operation equipment system in an embodiment. It is a block diagram which shows the structure outline | summary of the automatic driving device system in embodiment. It is a front view which shows schematic structure of the operating terminal which concerns on embodiment. It is a side view which shows the right side of the operating terminal of FIG. It is a side view which shows the left side of the operating terminal of FIG. It is a front view which shows the state in which the portable apparatus was integrated in the operating terminal which concerns on embodiment. It is a perspective view which shows the operation terminal and portable apparatus of FIG. It is a front view of the operating terminal which shows another example of the opening / closing direction of a clamping part.

  Below, the operation terminal of the automatic driving equipment which concerns on embodiment of this invention is demonstrated using drawing. Note that each of the embodiments described below shows a preferred specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement of components, connection forms, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims showing the highest concept of the present invention are described as optional constituent elements.

  Each figure is a mimetic diagram and is not necessarily illustrated strictly. Moreover, in each figure, the same code | symbol is attached | subjected about the same structural member.

  First, an automatic driving equipment system in which the operation terminal 200 according to the embodiment is used will be described.

  FIG. 1 is a perspective view showing a schematic configuration of an automatic driving device system 10 according to an embodiment. FIG. 2 is a block diagram showing an outline of the configuration of the automatic driving device system 10 according to the embodiment.

  As shown in FIGS. 1 and 2, an automatic driving equipment system 10 according to the embodiment includes a stacker crane 30, a control device 100 that controls the operation of the stacker crane 30, and an operation terminal for manually operating the stacker crane 30. 200. The operation terminal 200 includes an emergency stop button 216.

  As shown in FIG. 1, the stacker crane 30 is an example of an autonomous driving device, and transports the load 90 and transfers the load 90 to and from the rack 80 in accordance with a control signal transmitted from the control device 100. Device.

  In the present embodiment, the stacker crane 30 moves up and down along the lower carriage 32 and the upper carriage (not shown), the two masts 31 connecting the lower carriage 32 and the upper carriage, and the two masts 31. Elevating platform 35 is provided.

  The lower carriage 32 is, for example, a carriage that runs along the lower rail 12 installed on the floor surface, and the upper carriage is a carriage that runs, for example, along an upper rail (not shown) installed on the ceiling surface. . The lower carriage 32 and the upper carriage move in synchronization, whereby the two masts 31 are maintained in a posture substantially parallel to the vertical direction.

  A transfer device 40 that transfers the load 90 is installed on the lift 35. The transfer device 40 according to the present embodiment is a device that transfers a load 90 using a slide fork 59. The slide fork 59 is extended and retracted (stretched) in the direction of the rack 80 by a telescopic structure including, for example, a top plate, a middle plate, and a base plate. In addition, there is no limitation in particular in the transfer method of the luggage | load 90 which the transfer apparatus 40 performs, A scalar arm system or a push pull system may be employ | adopted as the said transfer method.

  The lifting platform 35 is suspended by a wire rope and moves up and down while being guided by the two masts 31 according to the rotation of the lifting motor included in the lifting drive device 60.

  The stacker crane 30 travels along the tracks (the lower rail 12 and the upper rail), raises and lowers the lifting platform 35, and moves the slide fork 59 of the transfer device 40 back and forth. The stacker crane 30 can carry the load 90 and transfer (transfer) the load 90 between the rack 80 and the station 85 and the like by such an operation.

  The station 85 is a temporary placement place for the luggage 90. For example, the luggage 90 accommodated in the rack 80 is taken out from the rack 80 by the stacker crane 30 and conveyed, temporarily placed on the station 85, and then carried out toward a predetermined place.

  The rack 80 is a structure including a plurality of support columns 81, and includes a plurality of shelves 82 formed of a pair of support members. Each of the pair of support members is installed in a bridge shape on the two front and rear columns 81.

  The luggage 90 carried in by the stacker crane 30 is accommodated in the rack 80 from the front surface of the rack 80. The luggage 90 accommodated in the rack 80 is taken out from the front surface of the rack 80 by the stacker crane 30. More specifically, the slide fork 59 of the transfer device 40 passes between the pair of support members constituting the shelf 82 in the vertical direction, so that the load 90 is placed on the shelf 82 or the shelf 82. Lifting of the baggage 90 for taking out the loaded baggage 90 is executed.

  The control device 100 is a device that controls the operation of the stacker crane 30. In the present embodiment, control device 100 controls the operation of stacker crane 30 in accordance with an instruction transmitted from operation terminal 200 via wireless communication under a predetermined condition. The control device 100 further stops the operation of the stacker crane 30 when the wireless communication with the operation terminal 200 is stopped by pressing the emergency stop button 216.

  That is, the control device 100 can perform normal operation control of the stacker crane 30 for transporting the cargo 90 or the like, for example, according to an instruction transmitted from a management device that is a host computer of the autonomous driving device system 10. . The control device 100 can further control the operation of the stacker crane 30 based on an instruction from the operation terminal 200. Note that various types of information processing by the control device 100 are performed by causing a computer having a CPU (Central Processing Unit), a storage device such as a memory, and an interface for inputting and outputting information to execute predetermined programs, for example. Realized.

  In the present embodiment, the control device 100 and the operation terminal 200 can transmit and receive information via wireless communication such as a wireless LAN (Local Area Network).

  The operation terminal 200 is detachably integrated with a portable device 300 that receives an operation instruction from an operator. The mobile device 300 is a general-purpose mobile device such as a smartphone or a tablet terminal, and can execute an application program (hereinafter referred to as “device operation application”) for operating the stacker crane 30. The portable device 300 and the control device 100 can transmit and receive information via wireless communication such as a wireless LAN. In other words, the operator (user) performs a predetermined operation on the mobile device 300 that executes the device operation application, thereby giving an operation instruction for controlling the operation of the stacker crane 30 via the mobile device 300. 100 can be done. In other words, the operator can remotely operate the stacker crane 30 using the portable device 300.

  Here, in the present embodiment, a general-purpose portable device is employed as the portable device 300 as described above. Therefore, it is difficult or substantially impossible to cause the portable device 300 to implement an emergency stop function that satisfies the predetermined safety standard for emergency stop of the stacker crane 30. For this reason, the stacker crane 30 is operated in a state in which the portable device 300 is incorporated into the operation terminal 200 having an emergency stop function.

  The operation terminal 200 is an operation terminal that performs a wireless communication with the control device 100 and has a function of emergency stopping the stacker crane 30.

  FIG. 3 is a front view showing a schematic configuration of operation terminal 200 according to the embodiment. FIG. 4 is a side view showing the right side surface of the operation terminal of FIG. FIG. 5 is a side view showing the left side of the operation terminal 200 of FIG. FIG. 6 is a front view showing a state in which the portable device 300 is incorporated in the operation terminal 200 according to the embodiment. FIG. 7 is a perspective view showing the operation terminal 200 and the portable device 300 of FIG.

  As shown in FIGS. 3 to 7, the operation terminal 200 is connected to the main body 210 that is grasped by the operator's hand, the holding unit 230 that holds the mobile device 300, and the mobile device 300 so that they can communicate with each other. The connection part 240 is provided. For convenience of explanation, the upper and lower directions, the left and right directions, and the front and rear directions are illustrated and described, but the present invention is not limited to these directions.

  The main body 210 has an external appearance by a long exterior body 211, and a wireless module 220, a control unit 213, and the like are incorporated therein. The exterior body 211 is formed in a size and shape that can be grasped by an operator. A holding unit 230 is provided on the front surface (main surface) 214 of the main body 210. The front surface 214 is a surface facing substantially the same direction as the display surface of the mobile device 300 held by the holding unit 230. That is, the front surface 214 is a surface facing the operator side when the operator grasps the main body 210 and looks at the display surface of the mobile device 300.

  A part of the front surface 214 extends outward from the portable device 300 held by the holding unit 230, and this portion is referred to as an extension unit 215. The extension part 215 is provided with an emergency stop button 216 for emergency stop of the stacker crane 30. The emergency stop button 216 is a push button, and when pressed by an operator, stops wireless communication with the control device 100 via the control unit 213 and stops the operation of the stacker crane 30.

  A notification unit 217 that notifies at least one operating state of the mobile device 300 and the operation terminal 200 is provided around the emergency stop button 216 in the extension unit 215. Specifically, the notification unit 217 includes two lighting units 217a and 217b made of LEDs. Each lighting part 217a, 217b is associated with a different operating state, and is lit to notify that it has been switched to that operating state. For example, the lighting unit 217a is turned on when the remaining battery level of the operation terminal 200 is a predetermined value or less, and is turned off when it exceeds the predetermined value. The lighting unit 217b is turned on when the portable device 300 is connected to the connection unit 240, and is turned off when the portable device 300 is not connected. Note that the example illustrated here is merely an example, and the information notified by the notification unit 217 may be anything as long as it indicates at least one operation state of the mobile device 300 and the operation terminal 200. Further, more detailed information can be notified by using a display panel as the notification unit.

  As shown in FIG. 4, an enabling button 250 is provided on the right side 218 different from the front surface 214 in the main body 210. Specifically, the enable button 250 is disposed on the upper side of the right side surface 218. The enable button 250 is a push button type enable switch for enabling manual operation of the stacker crane 30 via the portable device 300. When the enable button 250 is pressed by an operator, an enable signal is sent to the control unit 213. Output.

  As shown in FIG. 5, a connecting portion 240 is provided on the left side 219 different from the front surface 214 in the main body 210. Specifically, the connection portion 240 is disposed at the center of the front portion on the left side surface 219. The connection unit 240 is a terminal to which a cable 310 (see FIGS. 6 and 7) connected to the mobile device 300 is connected. For example, when the cable 310 is a USB cable, the connection unit 240 is a USB terminal. The connection unit itself may be a cable and may be connected to the mobile device 300. Then, when the mobile device 300 is connected, the connection unit 240 enables communication with the mobile device 300 and outputs information from the control unit 213 to the mobile device 300. In this way, different types of portable devices 300 can be held by connection that does not require positioning, such as the cable 310 or wireless communication.

  As shown in FIGS. 4 and 5, the rear surface 223 of the main body 210 is provided with a handy strap 224 extending in the vertical direction and having an upper end and a lower end fixed to the main body 210. By inserting the operator's hand between the handy strap 224 and the main body 210, the operation terminal 200 can be prevented from dropping from the operator's hand.

  A detachable neck strap 225 is attached to the upper portion of the main body 210. The neck strap 225 may be attached to the lower part of the main body 210.

  The holding unit 230 is disposed on the front surface 214 at the top of the main body unit 210. The holding unit 230 includes a clamping unit 260 and an urging unit 270.

  The clamping unit 260 can be opened and closed in the vertical direction, and clamps the portable device 300 in the closed state. Specifically, the clamping unit 260 includes a fixed member 261 and a movable member 262, and the movable member 262 approaches and moves away from the fixed member 261 as a whole. ing.

  The fixed member 261 is fixed below the movable member 262 on the front surface 214 of the main body 210. The fixing member 261 includes a first placement portion 2611 and a support portion 2612. The first placement unit 2611 is formed in a flat plate shape, and the mobile device 300 is placed so that the back surface of the mobile device 300 overlaps the main surface. The support portion 2612 is a portion that supports the lower end portion of the mobile device 300, and stands up from the lower end portion of the first placement portion 2611 toward the front. The distal end portion of the support portion 2612 is bent upward, thereby preventing the mobile device 300 from falling off the support portion 2612.

  The movable member 262 is disposed above the fixed member 261 on the front surface 214 of the main body 210. The movable member 262 includes a second placement portion 2621, a pressing portion 2622, and an action portion 2623. The second placement portion 2621 is formed in a flat plate shape, and the mobile device 300 is placed so that the back surface of the mobile device 300 overlaps the main surface. In the second mounting portion 2621, a long hole 2624 extending in the vertical direction is formed, and a guide pin 222 protruding from the main body portion 210 is disposed in the long hole 2624. The guide pin 222 locks the movable member 262 to the main body 210 so as to be movable up and down, and guides the vertical movement of the movable member 262 through the long hole 2624. That is, the length in the longitudinal direction of the long hole 2624 corresponds to the movable range of the movable member 262. A difference from the minimum size to the maximum size assumed as the portable device 300 incorporated in the operation terminal 200 may be set as the length of the long hole 2624 in the longitudinal direction. Since the guide pin 222 is housed in the long hole 2624 and does not protrude from the second placement portion 2621, the guide pin 222 does not interfere with the mobile device 300 placed on the second placement portion 2621.

  The pressing portion 2622 is a portion that holds the upper end portion of the mobile device 300, and is erected forward from the upper end portion of the second placement portion 2621. The front end portion of the pressing portion 2622 is bent downward, thereby preventing the portable device 300 from dropping from the pressing portion 2622. The action part 2623 is a part where the force from the urging part 270 acts, and is erected from the lower end part of the second placement part 2621 toward the rear. The action part 2623 is located inside the main body part 210 and abuts against the urging part 270.

  The urging unit 270 is an elastic member that urges a force (downward) in a closing state with respect to the clamping unit 260. Specifically, the biasing portion 270 is a pair of springs provided at positions corresponding to the action portion 2623 of the movable member 262 inside the main body portion 210. The urging portion 270 may be an elastic member other than a spring (for example, rubber).

  The urging portion 270 is disposed inside the main body portion 210 so that the expansion / contraction direction thereof is the vertical direction. Further, the upper end portion of the urging portion 270 is fixed to the action portion 2623, and the other end portion is fixed to a fixed portion (not shown) in the main body portion 210. As shown in FIGS. 6 and 7, when the portable device 300 is arranged between the movable member 262 and the fixed member 261, the force from the urging unit 270 is urged to the movable member 262, The device 300 is sandwiched between the movable member 262 and the fixed member 261.

  A procedure for attaching the mobile device 300 to the operation terminal 200 will be described.

  First, before the portable device 300 is attached, the clamping unit 260 is in a state (closed state) in which the movable member 262 approaches the fixed member 261 as shown in FIG. Then, the operator hooks the upper end portion of the portable device 300 on the pressing portion 2622 of the movable member 262 and then pushes the portable device 300 upward. As a result, the movable member 262 moves upward and enters an open state while resisting the force from the urging portion 270. Thereafter, the worker hooks the lower end portion of the mobile device 300 on the support portion 2612 of the fixing member 261 and releases the hand. As a result, the movable member 262 approaches the fixed member 261 due to the force from the urging unit 270 and closes, and the portable device 300 is sandwiched and held between the movable member 262 and the fixed member 261. After the holding, the portable device 300 is sandwiched between the first placement portion 2611 of the fixed member 261 and the second placement portion 2621 of the movable member 262.

  Next, the main control configuration of the operation terminal 200 will be described.

  As illustrated in FIG. 2, the operation terminal 200 includes a wireless module 220, a connection unit 240, an emergency stop button 216, an activation button 250, a notification unit 217, and a control unit 213.

  The wireless module 220 wirelessly communicates various information to the control device 100 based on the control of the control unit 213.

  The control unit 213 is electrically connected to the wireless module 220, the connection unit 240, the emergency stop button 216, and the enable button 250, and comprehensively controls them. The control unit 213 includes a CPU, a RAM, a ROM, and the like. The CPU reads out a program stored in the ROM and expands the program in the RAM, thereby executing various processes.

  For example, when the activation button 250 is not pressed by the operator, the activation signal is not input to the control unit 213, and the portable device 300 is in a state where it cannot accept an operation instruction. At this time, the portable device 300 may be displayed to prompt the user to press the activation button 250 such as “Please activate”.

  Thereafter, when the activation button 250 is pressed by the operator, the control unit 213 outputs the activation signal to the portable device 300 via the connection unit 240 because the activation signal is input. When this activation signal is received, the mobile device 300 is ready to accept an operation instruction. When the operator performs a predetermined manual operation on the mobile device 300 that executes the device operation application, an operation instruction for the stacker crane 30 based on the manual operation is transmitted from the mobile device 300 to the control device 100. Accordingly, the control device 100 controls the operation of the stacker crane 30 based on the operation instruction from the portable device 300. Since the enabling button 250 protrudes outward from the right side surface 218 of the main body 210, the operator can easily press the enabling button 250 while grasping the main body 210.

  Here, when the emergency stop button 216 is pressed by the operator, the control unit 213 stops the wireless communication between the wireless module 220 and the control device 100. At this time, the control unit 213 stops the wireless communication between the wireless module 220 and the control device 100 regardless of whether the enable button 250 is pressed or not. That is, the emergency stop operation of disconnecting communication by pressing the emergency stop button 216 is not invalidated. When communication with the operation terminal 200 is disconnected, the control device 100 stops the operation of the stacker crane 30.

  In addition, the control unit 213 controls the notification unit 217 based on at least one operation state of the mobile device 300 and the operation terminal 200. Thereby, the operator can grasp | ascertain the operation state of at least one of the portable apparatus 300 and the operation terminal 200 by visually recognizing the alerting | reporting part 217. FIG.

  As described above, according to the present embodiment, the force in the direction in which the urging unit 270 is in the closed state is urged against the holding unit 260 that holds the portable device 300 in the closed state. If the mobile device 300 can be placed in the sandwiched portion 260 in the closed state, the portable device 300 having a different shape and size can be sandwiched between the sandwiched portions 260 in the closed state. And since the force of the direction which will be in a closed state is urged | biased with respect to the clamping part 260 by the urging | biasing part 270, the portable apparatus 300 can be clamped. Therefore, different types of portable devices 300 can be held.

  In addition, since the enable button 250 protrudes from the right side 218 different from the main surface (front surface 214) provided with the holding unit 230 in the main body 210, the operator grasps the main body 210. In this case, the activation button 250 can be easily operated while visually recognizing the portable device 300 held by the holding unit 230.

  In addition, since the emergency stop button 216 is disposed on the extended portion 215 extending outward than the portable device 300 held by the holding portion 230, the portable device 300 held by the holding portion 230. And the emergency stop button 216 can be arranged side by side in a plan view. Therefore, the portable device 300 held by the holding unit 230 and the emergency stop button 216 are likely to be within the operator's field of view at the same time. That is, since the visibility of the emergency stop button 216 is improved, the operability of the emergency stop button 216 can be improved.

  In addition, since the notification unit 217 that notifies the operating state of at least one of the mobile device 300 and the operation terminal 200 is provided around the emergency stop button 216 in the extension unit 215, the mobile device held by the holding unit 230 300, the emergency stop button 216, and the notification unit 217 can be arranged side by side in a plan view. Therefore, the visibility of the notification unit 217 is improved, so that the operator can easily recognize the operation state.

  The operation terminal of the present invention has been described based on the embodiments. However, the present invention is not limited to the above embodiment. Unless it deviates from the meaning of this invention, what made the various deformation | transformation which those skilled in the art can consider to embodiment etc. is also contained in the scope of the present invention.

  In the following description, the same parts as those in the above embodiment may be denoted by the same reference numerals and the description thereof may be omitted.

  For example, in the above-described embodiment, the case where the holding unit 260 opens and closes in the vertical direction is described as an example. However, as long as the portable device 300 can be held, the opening and closing direction may be any.

  FIG. 8 is a front view of the operation terminal showing another example of the opening / closing direction of the clamping unit. Specifically, FIG. 8 corresponds to FIG. In the operation terminal 200A shown in FIG. 8, the opening / closing direction of the clamping unit 260A is the left-right direction. More specifically, the fixing member 261A of the clamping unit 260A is disposed on the right side of the operation terminal 200A, and the movable member 262A is disposed on the left side of the operation terminal 200A. Then, the movable member 262A moves to the right side, and is separated from the fixed member 261A and is in the open state. The urging unit (not shown) urges the movable member 262A in a direction (left direction) in which the movable member 262A is closed.

  In addition, you may enable it to switch the opening / closing direction of a clamping part. Specifically, the operation terminal 200 </ b> A may be provided with a switching mechanism that switches the opening / closing direction by rotating the clamping unit 260 </ b> A along the front surface 214 of the main body unit 210. Thereby, the attitude | position of the portable apparatus 300 clamped by the clamping part 260A can be adjusted.

  In the above-described embodiment, the case where the mobile device 300 directly outputs an operation instruction to the control device 100 has been described as an example. However, an operation instruction may be indirectly output from the mobile device 300 to the control device 100 via the operation terminal 200. Specifically, for example, when an operator performs a predetermined manual operation on the mobile device 300 that executes the device operation application, an operation instruction of the stacker crane 30 based on the manual operation is made via the connection unit 240. Input to the control unit 213. At this time, if the enable button 250 is not pressed by the operator, the control unit 213 determines that the operation instruction from the portable device 300 is invalid and ignores the operation instruction. On the other hand, when the enable button 250 is pressed by the operator, the control unit 213 determines that the operation instruction from the mobile device 300 is valid, and outputs the operation instruction from the wireless module 220 to the control device 100. To do. Accordingly, the control device 100 controls the operation of the stacker crane 30 based on the operation instruction from the portable device 300.

  Further, the type of the automatic driving device provided in the automatic driving device system 10 is not limited to the stacker crane 30. For example, automatic operation of equipment (distribution system equipment) used in a logistics system, such as an automated guided vehicle that transports luggage according to instructions from a host computer, or a sorting device that automatically sorts luggage according to instructions from a host computer You may employ | adopt as an automatic driving | operation apparatus with which the apparatus system 10 is provided.

  In addition, for example, a machine tool that performs cutting of a metal material under computer control may be employed as an automatic driving device included in the automatic driving device system 10. In addition, for example, an automatic loom for producing a fabric by weaving yarn under computer control, or a playground equipment for executing a predetermined operation under computer control is adopted as an automatic driving device provided in the automatic driving device system 10. Also good.

  Moreover, although the case where the operation terminal 200 communicates with the control apparatus 100 by wireless communication was illustrated and demonstrated in the said embodiment, you may communicate with the control apparatus 100 by wired communication.

  Further, in the above embodiment, the case where the mobile device 300 is connected to the connection unit 240 of the operation terminal 200 by wire has been described as an example. However, the connection unit may be a wireless module, and the operation terminal 200 and the mobile device 300 may be connected wirelessly through the wireless module so that they can communicate with each other.

  In addition, the present invention can be realized by arbitrarily combining the components and functions in the embodiments and modifications without departing from the scope of the present invention, as well as the forms obtained by subjecting the embodiments to various modifications conceived by those skilled in the art. Forms to be made are also included in the invention.

  The operation terminal according to the present invention is useful as an operation terminal for operating an automatic driving device (stacker crane, automatic guided vehicle, machine tool, automatic loom, or playground equipment) for carrying a cargo through a portable device. is there.

DESCRIPTION OF SYMBOLS 10 Automatic operation equipment system 12 Lower rail 30 Stacker crane 31 Mast 32 Lower trolley 35 Lifting platform 40 Transfer device 59 Slide fork 60 Lifting drive device 80 Rack 81 Post 82 Shelf 85 Station 90 Luggage 100 Control device 200, 200A Operation terminal 210 Main body Unit 211 exterior body 213 control unit 214 front surface (main surface)
215 Extension part 216 Emergency stop button 217 Notification part 217a, 217b Lighting part 218 Right side 219 Left side 220 Radio module 222 Guide pin 223 Rear side 224 Handy strap 225 Neck strap 230 Holding part 240 Connection part 250 Enabling button 260, 260A Portions 261, 261A Fixed members 262, 262A Movable member 270 Energizing portion 300 Mobile device 310 Cable 2611 First placement portion 2612 Support portion 2621 Second placement portion 2622 Pressing portion 2623 Action portion 2624 Long hole

Claims (4)

An operation terminal for manually operating an autonomous driving device using a connected portable device,
A body part grasped by the user;
A holding part that is provided in the main body part and holds the portable device;
A connection unit provided in the main body unit and connected to be communicable with the portable device;
The main body is
An enable button for enabling the manual operation via the portable device;
An emergency stop button for emergency stop of the automatic driving device,
The holding part is
A holding part that is openable and closable and holds the portable device in a closed state;
An operation terminal comprising: an urging unit that urges a force in the closing direction with respect to the clamping unit. The operation terminal according to claim 1, wherein the enabling button protrudes sideways from a side surface different from a main surface on which the holding portion is provided in the main body portion. The main body includes an extending portion that extends outward from the portable device held by the holding portion,
The operation terminal according to claim 1, wherein the emergency stop button is disposed in the extension part. The operation terminal according to claim 3, wherein a notification unit that notifies an operation state of at least one of the portable device and the operation terminal is provided around the emergency stop button in the extension unit.

Images