JP2019077528A - Remote operation system for industrial vehicle, remote operation device, remote operation program for industrial vehicle, remote operation method for industrial vehicle and industrial vehicle - Google Patents

Abstract

To provide a remote operation system for an industrial vehicle, a remote operation device, a remote operation program for an industrial vehicle, a remote operation method for an industrial vehicle, and an industrial vehicle, which are able to prevent malfunction.SOLUTION: A remote operation system 10 for an industrial vehicle comprises: a fork lift 20 with a vehicle communication unit 28; and a remote operation device 30 having a remote communication unit 36 that wirelessly communicates with the vehicle communication unit 28. A remote CPU 33 for the remote operation device 30 sets a travel mode or a cargo handling mode as an operation mode for a remote operation for the fork lift 20. The remote CPU 33 regulates the travel mode such that a remote operation relating to traveling is performed on the basis of a traveling operation being performed, while the fork lift 20 is prevented from traveling by a cargo-handling operation different from the traveling operation.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an industrial vehicle remote control system, a remote control device, an industrial vehicle remote control program, an industrial vehicle remote control method, and an industrial vehicle.

  Patent Document 1 describes that a remote control device as a remote control device for remotely operating a forklift as an industrial vehicle remotely controls cargo handling work of the forklift from a position away from the forklift.

JP 2002-104800 A

  Here, in the configuration in which the industrial vehicle is remotely operated using the remote control device, there is a concern that the industrial vehicle may malfunction due to an erroneous operation of the remote control device. In particular, an industrial vehicle such as a forklift may have an operation target to be operated separately from traveling. In this case, since it is necessary to perform remote control for traveling and remote control of the operation object, a malfunction may easily occur as compared with the case where only remote control for traveling is performed.

  The present invention has been made in view of the above-described circumstances, and an object thereof is a remote control system for industrial vehicles capable of suppressing a malfunction, a remote control device, a remote control program for industrial vehicles, and a remote control for industrial vehicles A method and an industrial vehicle are provided.

  An industrial vehicle remote control system for achieving the above object includes an industrial vehicle having a vehicle communication unit and an operation object, and a remote communication unit performing wireless communication with the vehicle communication unit, and remotely controlling the industrial vehicle And an operation mode for performing remote control of the industrial vehicle using the remote control device, wherein the remote control related to traveling of the industrial vehicle is performed and the remote control of the operation object is restricted. Or an operation mode setting unit for setting an operation object mode for performing remote operation of the operation object and restricting remote operation related to traveling of the industrial vehicle, and the operation mode is set to the traveling mode While performing remote control related to travel of the industrial vehicle based on the travel operation being performed on the remote control device, A remote control unit that performs remote control of the operation target based on the operation of the operation target different from the travel operation being performed on the remote control device when the work object mode is set. And the remote control control unit regulates the travel of the industrial vehicle not to be performed by the operation for the operation target when the operation mode is set to the travel mode, and the operation mode is selected. When the operation object mode is set, the operation operation is controlled such that the operation object does not operate.

  According to this configuration, the remote control of the operation target is restricted in the travel mode, and the remote control on the travel is restricted in the operation target mode, so the remote control of the travel and the remote control of the operation target are It can avoid being done at the same time. As a result, it is possible to suppress that an erroneous operation is performed in order to simultaneously perform two remote operations of traveling and the operation object, and thereby it is possible to suppress a malfunction of the industrial vehicle.

  Here, in the configuration in which the traveling mode and the operation target object mode are set as the operation mode, the operator may operate the remote control device in a state in which the operation mode is mistakenly recognized. For example, even though the operation mode is the operation target object mode, it is assumed that the operation for traveling is performed on the remote control device when the operator mistakenly recognizes that the operation mode is the traveling mode.

  On the other hand, according to this configuration, the operation for traveling and the operation for operation object are different, and when the operation mode is set to the operation object mode, the operation object is operated by the operation for traveling Not to be regulated. As a result, when the operation for traveling is performed in a state where the operation mode is misidentified as described above, neither the remote operation for traveling nor the remote operation of the operation target is performed. Therefore, the malfunctioning of the industrial vehicle resulting from the misidentification of the operation mode can be suppressed.

  In the industrial vehicle remote control system, the remote control device performs a first rotation operation around a first rotation axis and a second rotation operation around a second rotation axis orthogonal to the first rotation axis. And the remote control unit is configured to perform the traveling operation on the remote control device when the operation mode is set to the traveling mode. The remote control of the steering angle of the industrial vehicle may be performed based on the operation mode of the first rotation operation, and the operation for operation object may include the second rotation operation.

  According to this configuration, the steering angle can be controlled by performing the first rotation operation when the operation mode is set to the travel mode. Here, if the operator mistakenly recognizes that the operating mode is the traveling mode in the operation object mode, it is assumed that the operator performs the first rotation operation to perform remote control of the steering angle. . In this case, the first rotation operation and the second rotation operation included in the operation for the operation object are operations different in the type in which the rotation axis is orthogonal. Therefore, even when the first rotation operation is performed as described above, the remote control of the operation target is not performed. Therefore, the malfunction of the industrial vehicle based on the misidentification of the operation mode can be suppressed.

  In the industrial vehicle remote control system, the remote control device has a plate shape, the first rotation axis is a rotation axis extending in the thickness direction of the remote control device, and the second rotation axis is the plate. The rotation axis may extend in a direction orthogonal to the thickness direction of the remote control device.

  According to this configuration, when the remote control device is plate-like, it is assumed that the operator holds the remote control device in a state of facing the plate surface of the remote control device. In this case, the first rotation operation corresponds to rotating the remote control device clockwise or counterclockwise as viewed from the operator. As a result, the operator can control the steering angle by rotating it counterclockwise or clockwise while holding the remote control device. Therefore, the steering angle of the industrial vehicle can be controlled in the sense of operating the steering wheel, and the operability can be improved.

  In the industrial vehicle remote control system, the remote control device may be a plate having a longitudinal direction and a short direction, and the second rotation axis may be a rotation axis extending in the longitudinal direction of the remote control device. .

  According to this configuration, it is assumed that the operator grips both ends in the longitudinal direction of the remote control device. In this case, the operator holding the both ends in the longitudinal direction of the remote control device tilts the remote control device from the near side to the far side, or the remote control device from the far side to the near side. By standing up, remote control of the operation object can be performed.

  In the industrial vehicle remote control system, the remote control device has a touch panel and a touch sensor for detecting an input operation on the touch panel, and the traveling operation is a speed which is a type of the input operation on the touch panel The setting operation is included, and the remote control control unit is configured to set the speed setting operation based on the driving operation being performed on the remote control device when the operation mode is set to the travel mode. It is preferable to remotely control the industrial vehicle so that the industrial vehicle travels at a traveling speed corresponding to the operation mode and a steering angle corresponding to the operation mode of the first rotation operation.

  According to this configuration, the travel mode of the industrial vehicle can be controlled by the speed setting operation which is a kind of input operation on the touch panel and the first rotation operation. As a result, the traveling mode of the industrial vehicle can be controlled without simultaneously performing two types of rotation operations having different rotation axes, so that operability can be improved and erroneous operations can be suppressed.

  In particular, the input operation on the touch panel can be performed while performing the first rotation operation. Further, in the input operation and the first rotation operation on the touch panel, it is less likely that one operation inhibits the other operation. Thereby, the control of the traveling speed and the control of the steering angle can be simultaneously performed. The speed setting operation may be, for example, an input operation to the touch panel triggered by an input operation on a specific area of the touch panel.

  In the industrial vehicle remote control system, the operation mode setting unit switches the operation mode when an operation mode switching condition is satisfied, and the operation mode switching condition is for the remote control device. It is preferable that the switching operation different from the traveling operation and the operation object operation be performed.

  According to this configuration, the switching of the operation mode is performed based on the satisfaction of the operation mode switching condition including the switching operation. As a result, the operator can switch the operation mode by performing the switching operation as needed, and can perform desired remote control.

  In particular, since the switching operation is an operation different from the operation for traveling and the operation for operating object, even when the operation for traveling or the operation for operating object is performed erroneously to switch the operation mode, The operation mode does not switch. In addition, even when the switching operation is erroneously performed in order to perform the remote control on the traveling or the operation target, the remote control on the traveling or the operation target is not performed. As a result, it is possible to suppress the malfunction of the industrial vehicle or the switching of the unintended operation mode caused by the erroneous operation.

  In the industrial vehicle remote control system, the operation mode switching condition is that the switching operation is performed in a state in which both the remote operation related to traveling of the industrial vehicle and the remote operation of the operation object are not performed. It is good.

  According to this configuration, switching of the operation mode is not performed during traveling or remote control of the operation object. Thereby, it is possible to suppress that the industrial vehicle performs an unintended operation due to the switching of the operation mode during the remote control.

  In the industrial vehicle remote control system, the remote control device has a touch panel and a touch sensor for detecting an input operation on the touch panel, and the travel operation or the operation target object operation is performed using the touch panel. The input mode to the touch panel triggered by an input operation into a specific area is included, and the operation mode setting unit performs the switching in a situation where the operation mode is the travel mode and the travel operation is not performed. When an input operation is performed on an operation target object mode setting area provided at a position different from the specific area in the touch panel as an operation, the operation mode is switched from the traveling mode to the operation target object mode; The operation mode is the operation object mode, and the operation for the operation object is not performed In the situation, when the input operation is performed to the traveling mode setting area provided at a position different from the specific area and the operation object mode setting area on the touch panel as the switching operation, the operation mode is selected. It is preferable to switch from the operation object mode to the traveling mode.

  According to this configuration, the operation mode can be switched by performing the input operation on the mode setting area corresponding to the operation mode of the switching destination. Thereby, a desired operation mode can be made.

  Here, for example, it is also conceivable to adopt an input operation to a common switching area as the switching operation, and to sequentially switch the operation mode each time an input operation to the common switching area is performed. In this case, even though the operation mode is the operation object mode, an input operation to the common switching area is performed to switch to the operation object mode in a state where the operator misunderstood that the operation mode is the travel mode. Even though the operation mode is switched to the traveling mode, the operator still misidentifies that the operation object mode is switched.

  On the other hand, according to the present configuration, even if the operation mode is the operation object mode, the operation object mode is attempted to switch to the operation object mode in a state in which the operator mistakenly recognizes that the operation mode is the travel mode. When the input operation is performed on the setting area, the operation mode is maintained in the operation object mode without switching to the traveling mode. As a result, it is possible to eliminate the erroneously recognized state of the operator.

  In the industrial vehicle remote control system, the operation object performs the first operation and the second operation of different types, and the operation object mode performs the remote operation related to the first operation, And a second operation mode for restricting the remote control for the first operation while the first operation mode for restricting the remote control for the second operation and the second control mode for restricting the remote control for the first operation. The operation target object performs the first operation based on the fact that the operation target object operation is performed on the remote control device when the operation mode is set to the first operation mode. The remote control of the operation object is performed while the operation of the operation object is performed on the remote control device when the operation mode is set to the second operation mode Based on the bets, the operation object may perform remote operation of the operation target object to perform the second operation.

  According to this configuration, the operation target object is restricted from simultaneously performing two types of operations, so that the operation can be simplified. Thereby, complicated operation can be avoided and malfunction of the operation object can be suppressed.

In the industrial vehicle remote control system, the industrial vehicle may be a forklift having a fork as the operation object.
According to this configuration, it is possible to appropriately perform remote control of the fork and remote control regarding traveling of the forklift by using the remote control device.

  In the industrial vehicle remote control system, when the operation mode is set to the operation object mode, the remote operation control unit performs the operation for the operation object on the remote operation device. It is preferable to remotely control the fork so as to perform either a lift operation to move the fork in the vertical direction, a reach operation to move the fork in the front-rear direction, or a tilt operation to tilt the fork.

According to this configuration, the lift operation, the reach operation and the tilt operation can be performed in the forklift using the remote control device.
In the industrial vehicle remote control system, the remote control device may be a smartphone or a tablet terminal.

According to this configuration, it is possible to realize remote control of the operation object and traveling by using the existing general-purpose product.
A remote control device for achieving the above object is used to remotely control an industrial vehicle having a vehicle communication unit and an operation object, the remote communication unit performing wireless communication with the vehicle communication unit, and the remote control unit. As an operation mode for performing remote control of the industrial vehicle using an operating device, a travel mode for performing remote control on travel of the industrial vehicle and restricting remote control of the operation target, or remote control of the operation target And an operation mode setting unit for setting an operation object mode for restricting a remote operation related to traveling of the industrial vehicle, and for traveling with respect to the remote control device when the operation mode is set to the traveling mode When the remote control related to the traveling of the industrial vehicle is performed based on the operation being performed, and the operation mode is set to the operation object mode And a remote control control unit for performing remote control on the operation target based on the operation of the operation target different from the travel operation being performed on the remote control device, the remote control control unit When the operation mode is set to the travel mode, the operation for the operation object is restricted such that the travel of the industrial vehicle is not performed, and the operation mode is set to the operation object mode In this case, the operation object is regulated so as not to operate by the traveling operation.

  An industrial vehicle remote control program for achieving the above object includes the industrial vehicle using a remote control device including a vehicle communication unit and a remote communication unit performing wireless communication with the vehicle communication unit of an industrial vehicle having an operation object. The remote control device is for remotely controlling the remote control device or the industrial vehicle as an operation mode for performing remote control of the industrial vehicle using the remote control device, and for performing remote control regarding traveling of the industrial vehicle and An operation mode setting unit configured to control a remote operation of the operation object, or to set an operation object mode for performing a remote operation of the operation object and restricting a remote operation related to traveling of the industrial vehicle; When the operation mode is set to the travel mode, the industrial vehicle travels based on the travel operation being performed on the remote control device To perform the remote operation, while the operation mode is set to the operation object mode, the operation for the operation object different from the operation for traveling is performed on the remote control device. The remote control unit functions as a remote control unit for performing remote control on the operation target, and the remote control control unit is configured to run the industrial vehicle by the operation for the operation target when the operation mode is set to the travel mode. The control is performed so as not to be performed, and when the operation mode is set to the operation object mode, the operation object is controlled not to operate by the traveling operation.

  An industrial vehicle remote control method for achieving the above object comprises using a remote control device including a vehicle communication unit and a remote communication unit performing wireless communication with the vehicle communication unit of an industrial vehicle having an operation object. The remote control device or the industrial vehicle performs remote control of traveling of the industrial vehicle as an operation mode in which the remote control device or the industrial vehicle performs remote control of the industrial vehicle using the remote control device. An operation mode setting step of setting a traveling object mode for restricting remote control of an object or setting an operation object mode for remotely controlling the operation object and restricting remote control regarding traveling of the industrial vehicle; When the device or the industrial vehicle has the operation mode set to the traveling mode, a traveling operation is performed on the remote control device While performing remote control related to traveling of the industrial vehicle based on the above, when the operation mode is set to the operation object mode, an operation for the operation object different from the operation for traveling for the remote control device is performed. And a remote control control step of performing remote control on the operation target based on being performed, wherein the remote control control step is for the operation target when the operation mode is set to the traveling mode. It is regulated that the industrial vehicle is not run by the operation, and is regulated so that the operation object is not operated by the traveling operation when the operation mode is set to the operation object mode. It features.

  An industrial vehicle that achieves the above object includes a vehicle communication unit that performs wireless communication with a remote communication unit provided in a remote control device, and an operation object, and is remotely controlled by the remote control device. As an operation mode for performing remote control of the industrial vehicle using the remote control device, a travel mode for performing remote control on travel of the industrial vehicle and restricting remote control of the operation target, or An operation mode setting unit for setting an operation object mode for performing remote control and restricting remote control related to traveling of the industrial vehicle, and for the remote control device when the operation mode is set to the traveling mode While the remote control for traveling of the industrial vehicle is performed based on the traveling operation being performed, the operation mode is set to the operation object mode And a remote control unit for performing remote control on the operation target based on the operation of the operation target different from the traveling operation being performed on the remote control device. The unit regulates the traveling of the industrial vehicle not to be performed by the operation for the operation object when the operation mode is set to the traveling mode, and the operation mode is set to the operation object mode. In this case, the operation object is restricted so as not to operate by the traveling operation.

  According to each of the above configurations, the remote control of the operation target is restricted in the travel mode, and the remote control on the travel is restricted in the operation target mode. Therefore, the remote control of the travel and the remote control of the operation target Can be avoided at the same time. As a result, it is possible to suppress that an erroneous operation is performed in order to simultaneously perform two remote operations of traveling and the operation object, and thereby it is possible to suppress a malfunction of the industrial vehicle.

  Here, in the configuration in which the traveling mode and the operation target object mode are set as the operation mode, the operator may operate the remote control device in a state in which the operation mode is mistakenly recognized. For example, even though the operation mode is the operation target object mode, it is assumed that the operation for traveling is performed on the remote control device when the operator mistakenly recognizes that the operation mode is the traveling mode.

  On the other hand, according to each configuration described above, the operation for traveling and the operation for operation object are different, and when the operation mode is set to the operation object mode, the operation object is detected by the operation for traveling It is regulated not to work. As a result, when the operation for traveling is performed in a state where the operation mode is misidentified as described above, neither the remote operation for traveling nor the remote operation of the operation target is performed. Therefore, the malfunctioning of the industrial vehicle resulting from the misidentification of the operation mode can be suppressed.

  According to the present invention, it is possible to suppress a malfunction.

The schematic diagram of the remote control system for industrial vehicles. The block diagram which shows the electric constitution of the remote control system for industrial vehicles. The conceptual diagram for demonstrating a remote control signal. The conceptual diagram for demonstrating an operation mode. The front view of the remote control in which the driving mode image was displayed. The front view of the remote control in which the lift mode image was displayed. The front view of the remote control in which the reach mode image was displayed. The front view of the remote control with the tilt mode image displayed. The flowchart which shows remote control control processing. The front view of the remote control which shows an example of operation for driving | running | working. The front view of the remote control which shows an example of operation for driving | running | working. The schematic diagram which shows the driving | running | working aspect of the forklift corresponding to operation for driving | running | working. The flowchart which shows a cargo handling mode corresponding | compatible process. The schematic diagram which shows the operation | movement of the fork based on the operation for cargo handling. The front view of the remote control for demonstrating another operation for driving | running | working. The front view of the remote control for demonstrating the operation for cargo handling of another example. The block diagram which shows the electric constitution of the remote control system for another example industrial vehicle.

Hereinafter, an embodiment of the industrial vehicle remote control system will be described.
As shown in FIG. 1, the industrial vehicle remote control system 10 includes a forklift 20 as an industrial vehicle, and a remote control device 30 used to remotely control the forklift 20.

  The forklift 20 includes wheels 21 and a fork 22 as a cargo handling device that stacks or unloads luggage. The forklift 20 of the present embodiment is configured to allow a driver to sit and maneuver. The fork 22 is configured to be capable of a lift operation, a reach operation, and a tilt operation.

  The forklift 20 may be, for example, an engine type equipped with an engine, an EV type equipped with a power storage device and an electric motor, or an FCV type equipped with a fuel cell and an electric motor. It may be The forklift 20 may be, for example, an HV type having an engine, a storage device, and an electric motor.

  As shown in FIG. 2, the forklift 20 includes a traveling actuator 23, a cargo handling actuator 24, a vehicle CPU 25 that controls the traveling actuator 23 and the cargo handling actuator 24, a vehicle memory 26, and a vehicle state detection unit 27. ing.

  The travel actuator 23 is used to travel the forklift 20. Specifically, the travel actuator 23 rotates the wheels 21 and changes the steering angle (traveling direction). For example, if the forklift 20 is an engine type, the traveling actuator 23 is an engine and a steering device etc. For example, if the forklift 20 is an EV type, the traveling actuator 23 is an electric motor and a steering device etc. It is.

  The cargo handling actuator 24 is used for an operation different from that for traveling, and in particular, drives the fork 22. For example, the cargo handling actuator 24 performs lift operation to lift the fork 22 vertically, reach drive 24b to move the fork 22 longitudinally, and tilt operation to tilt the fork 22. And a tilt drive unit 24c. In the present embodiment, the fork 22 is an operation target that performs an operation different from traveling.

  The vehicle state detection unit 27 detects the state of the forklift 20. The vehicle state detection unit 27 detects, for example, the current traveling mode of the forklift 20 and the operation mode of the fork 22, and detects the presence or absence of abnormality of the forklift 20, and the traveling information, operation information and abnormality information as the detection result The set detection signal is output to the vehicle CPU 25.

  The travel information includes, for example, information on the travel speed, acceleration, and steering angle of the forklift 20. In other words, the vehicle state detection unit 27 according to the present embodiment detects at least the traveling speed, acceleration, and steering angle of the forklift 20 as the traveling mode of the forklift 20. The movement information includes the position of the fork 22 in the vertical direction (lift position) and information on the movement speed in the case of the lift operation, and the position (reach position) of the fork 22 in the front and rear direction and the reach operation. The information includes information on the operating speed, and the inclination angle of the fork 22 with respect to the vertical direction and, in the case of tilting, the operating speed. In other words, the operation mode of the forklift 20 detected by the vehicle state detection unit 27 in the present embodiment includes a lift operation, a reach operation, and a tilt operation.

  Further, the abnormality of the forklift 20 includes, for example, an abnormality of the traveling actuator 23 or the cargo handling actuator 24, an abnormality of the wheel 21, and the like. However, the abnormality of the forklift 20 is not limited to this, and is arbitrary. For example, in the configuration in which the forklift 20 includes the power storage device, the abnormality of the power storage device may be included.

  The vehicle CPU 25 reads out and executes various programs stored in the vehicle memory 26 based on the operation of the steering device and various operation levers provided on the forklift 20, whereby the traveling actuator 23 and the cargo handling actuator 24 are operated. Control. That is, without using the remote control device 30, the forklift 20 of the present embodiment can also be driven by the steering device provided on the forklift 20 and various control levers. Further, the vehicle CPU 25 grasps the current state of the forklift 20 based on the detection signal input from the vehicle state detection unit 27. The vehicle CPU 25 can also be referred to as a vehicle ECU or a vehicle MPU.

  The remote control device 30 is an operation terminal having a communication function. The remote control device 30 is a general-purpose product such as a smartphone or a tablet terminal. However, the present invention is not limited to this, and the remote control device 30 may be a mobile phone, a virtual reality terminal, or the like, or may be a dedicated item for remote control.

  As shown in FIG. 1, in the present embodiment, the remote control device 30 has a rectangular plate shape in which one is a longitudinal direction and the other is a lateral direction. When the remote control device 30 performs remote control, one of the longitudinal ends of the remote control device 30 is gripped by the right hand, and the other end is gripped by the left hand. That is, it is assumed that the remote control device 30 is gripped with both hands sideways when performing remote control.

As shown in FIG. 2, the remote control device 30 includes a touch panel 31, a touch sensor 32, a remote CPU 33, a remote memory 34, and a posture detection unit 35.
As shown in FIG. 1, the touch panel 31 is formed on one plate surface of the remote control device 30. The touch panel 31 has a rectangular shape having a longitudinal direction and a lateral direction, and the longitudinal direction of the touch panel 31 coincides with the longitudinal direction of the remote control device 30. The touch panel 31 is configured to be able to display a desired image.

  Incidentally, when the remote control device 30 is gripped in the horizontal direction, the short direction of the touch panel 31 is the vertical direction or the front-rear direction as viewed from the operator, and the longitudinal direction of the touch panel 31 is the horizontal direction as viewed from the operator.

  In the following description, when the remote control device 30 is gripped sideways so that the touch panel 31 can be viewed, the upper end side of the touch panel 31 (upward in the plane of FIG. 5 to FIG. The lower end side (the lower side in the drawing of FIG. 5 to FIG. 8) of the operator is downward.

  The touch sensor 32 detects an input operation (specifically, a touch operation or a slide operation) on the touch panel 31, which is a type of operation on the remote control device 30. Specifically, the touch sensor 32 detects whether or not the finger is in contact with the touch panel 31, and detects the position of the touch when the finger is detected. Then, the touch sensor 32 outputs the detection result to the remote CPU 33. Thus, the remote CPU 33 can grasp an input operation on the touch panel 31. Although the specific configuration of the touch sensor 32 is arbitrary, for example, there are a capacitance type sensor, a pressure sensor, and the like which detect based on a change in capacitance.

  Incidentally, when a plurality of input operations are performed on the touch panel 31, the touch sensor 32 of the present embodiment individually detects each of the input operations. For example, when both the left hand finger and the right hand finger are in contact with the touch panel 31, both the contact position of the left hand finger and the contact position of the right hand finger are individually detected, and the detection results are Output to the remote CPU 33.

  The posture detection unit 35 detects the posture of the remote control device 30. The posture detection unit 35 includes, for example, a 3-axis acceleration sensor and a 3-axis gyro sensor, and detects the direction of the remote control device 30 and the change thereof based on the information obtained from these sensors.

  For example, as shown in FIG. 1, when both ends in the longitudinal direction of the remote control device 30 are gripped by the operator, the posture detection unit 35 passes through the center of the remote control device 30 and the remote control device 30. A rotation operation (hereinafter, simply referred to as “first rotation operation”) is detected with the first center line M1 extending in the thickness direction as the first rotation axis. Furthermore, the posture detection unit 35 performs a rotation operation using a second center line M2 extending through the center of the remote control device 30 in the longitudinal direction of the remote control device 30 as a second rotation axis (hereinafter simply referred to as “second rotation operation” Detect). The first center line M1 (first rotation axis) and the second center line M2 (second rotation axis) are orthogonal to each other.

  The first rotation operation direction is the rotation direction of the remote control device 30 whose rotation axis is the thickness direction of the remote control device 30, and the second rotation operation direction is the remote direction whose rotation axis is the longitudinal direction of the remote control device 30. It is the rotation direction of the controller 30. In other words, the posture detection unit 35 detects a change in the rotational position of the remote control device 30 in the first rotational operation direction and a change in the rotational position of the remote control device 30 in the second rotational operation direction.

  The posture detection unit 35 detects whether or not at least one of the first rotation operation and the second rotation operation is being performed, and when at least one of both rotation operations is being performed, detects an aspect of the rotation operation. , And outputs the detection result to the remote CPU 33. Thus, the remote CPU 33 can grasp the first rotation operation and the second rotation operation, which are one type of operation on the remote control device 30.

  In addition, the aspect of rotation operation is the change condition of the angular velocity of rotation operation, for example. In detail, the posture detection unit 35 detects angular acceleration as a mode of rotational operation. Thus, the remote control device 30 (specifically, the remote CPU 33) can grasp angular acceleration in addition to the presence or absence of the rotation operation.

  The remote CPU 33 executes various processes using various programs stored in the remote memory 34. In detail, a program related to image control of the touch panel 31 is stored in the remote memory 34, and the remote CPU 33 performs display control of the touch panel 31 by reading and executing the program. The remote CPU 33 also grasps various operations on the remote control device 30 based on the signals input from the touch sensor 32 and the posture detection unit 35. In the present embodiment, it can be said that the remote CPU 33 is a “display control unit” that performs display control of the touch panel 31.

  As shown in FIG. 2, the forklift 20 and the remote control device 30 are configured to be communicable. In detail, the forklift 20 has a vehicle communication unit 28, and the remote control device 30 has a remote communication unit 36 capable of communicating with the vehicle communication unit 28.

  The vehicle communication unit 28 and the remote communication unit 36 are communication interfaces that perform wireless communication, for example. The remote communication unit 36 establishes communication connection with the vehicle communication unit 28 of the forklift 20 when there is a forklift 20 that has been paired (registered) within the communication range. This enables the exchange of signals between the remote control device 30 and the forklift 20.

  In the present embodiment, the communication format between the vehicle communication unit 28 and the remote communication unit 36 is Wi-Fi (in other words, a wireless LAN according to the IEEE 802.11 standard). Both communication units 28 and 36 transmit and receive signals by packet communication.

  Although Wi-Fi includes a plurality of standards such as IEEE802.11a and IEEE802.11ac, the communication format between the vehicle communication unit 28 and the remote communication unit 36 may be any of the above-mentioned plurality of standards. In addition, transmission and reception of the signals of both communication units 28 and 36 is not limited to packet communication, but is arbitrary.

  Furthermore, the communication format between the vehicle communication unit 28 and the remote communication unit 36 is not limited to Wi-Fi, and is arbitrary, and may be, for example, Bluetooth (registered trademark), Zigbee (registered trademark), or the like.

  The remote CPU 33 is electrically connected to the remote communication unit 36. The remote CPU 33 uses the remote communication unit 36 to remotely control the forklift 20 by transmitting to the vehicle communication unit 28 the remote control signal SG1 in which various information related to remote control is set. The remote control signal SG1 is a signal corresponding to the standard for wireless communication, and is a packet communication signal corresponding to the Wi-Fi standard in the present embodiment.

As shown in FIG. 3, the remote control signal SG1 includes traveling operation information D1 related to traveling operation and cargo handling operation information D2 related to cargo handling operation as information related to remote operation.
The traveling operation information D1 includes, for example, traveling speed information Dv at which the traveling speed of the forklift 20 is set, acceleration information Dα at which the acceleration of the forklift 20 is set, and steering angle information Dθ at which the steering angle of the forklift 20 is set. have.

  The cargo handling operation information D2 includes, for example, lift information Dfa in which the stroke amount of the lift operation is set, reach information Dfb in which the stroke amount of the reach operation is set, and tilt information Dfc in which the tilt angle of the tilt operation is set. Have.

  As shown in FIG. 2, the forklift 20 includes a signal conversion unit 29 that converts the remote control signal SG1 into a control signal SGa corresponding to the in-vehicle communication standard. The signal conversion unit 29 is electrically connected to the vehicle communication unit 28 and the vehicle CPU 25, converts the remote control signal SG1 received by the vehicle communication unit 28 into a control signal SGa that can be recognized by the vehicle CPU 25, and Control signal SGa is output to vehicle CPU 25. In the control signal SGa, traveling operation information D1 of the remote operation signal SG1 and cargo handling operation information D2 are set.

  In the present embodiment, a specific in-vehicle communication standard of the forklift 20 is the CAN standard. That is, in the present embodiment, the control signal SGa is a CAN signal. However, the present invention is not limited to this, and a specific in-vehicle communication standard is optional.

  When the control signal SGa is input from the signal conversion unit 29, the vehicle CPU 25 reads the remote control execution program stored in the vehicle memory 26 and executes the remote control execution program to obtain the control signal SGa. The forklift 20 (specifically, both actuators 23 and 24) is driven in a mode corresponding to. As a result, remote control of the forklift 20 corresponding to the traveling operation information D1 and the cargo handling operation information D2 set in the remote operation signal SG1 is performed.

  For example, the remote control signal SG1 in which each information Dv, Dα of the traveling operation information D1 is a numerical value other than "0" and each information Dfa, Dfb, Dfc of the cargo handling operation information D2 is "0" or "null" is remote It is assumed that the message is sent from the communication unit 36. In this case, the vehicle CPU 25 controls the traveling actuator 23 to perform acceleration / deceleration with the acceleration set in the acceleration information Dα so that the traveling speed set in the traveling speed information Dv can be obtained. The steering angle of the forklift 20 is changed so as to be the steering angle set to Dθ.

  Further, for example, when the remote control signal SG1 in which the lift information Dfa is a numerical value other than “0” and the other information is “0” or “null” is transmitted from the remote communication unit 36, the vehicle CPU 25 The cargo handling actuator 24 is controlled so that the fork 22 moves up and down by the stroke amount of the numerical value set in the lift information Dfa.

  The lift information Dfa is, for example, numerical information that can take positive (+) or negative (-) values. When the lift information Dfa is a positive value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the lift drive unit 24a) to move the fork 22 upward by the stroke amount of the value set in the lift information Dfa. Move to On the other hand, when the lift information Dfa has a negative value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the lift drive unit 24a) to fork the stroke amount of the numerical value set in the lift information Dfa. Move down.

  Similarly, the reach information Dfb is numerical information that can take positive (+) or negative (-) values. When the reach information Dfb is a positive value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the reach drive unit 24b) to move the fork 22 forward by the stroke amount of the numerical value set in the reach information Dfb. Move it. On the other hand, when the reach information Dfb is a negative value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the reach drive unit 24b) to move the fork 22 by the stroke amount of the numerical value set in the reach information Dfb. Move backwards.

  The tilt information Dfc is numerical information which can take positive (+) or negative (-) values. When the tilt information Dfc is a positive value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the tilt drive unit 24c) to move the fork 22 forward by the inclination angle of the numerical value set in the tilt information Dfc. Tilt it. On the other hand, when the tilt information Dfc is a negative value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the tilt drive unit 24c) to move the fork 22 by the inclination angle of the numerical value set in the tilt information Dfc. Tilt backwards.

  That is, when the vehicle communication unit 28 receives at least the remote control signal SG1 in which the traveling speed information Dv is set to a numerical value other than “0”, the vehicle CPU 25 controls the traveling actuator 23. On the other hand, when the vehicle communication unit 28 receives the remote control signal SG1 in which at least one of the cargo handling operation information D2 is set to a numerical value other than “0”, the vehicle CPU 25 controls the cargo handling actuator 24.

  From the above, when the remote control device 30 and the forklift 20 (specifically, both communication units 28 and 36) are disposed within the communicable range, the remote control signal SG1 transmitted from the remote communication unit 36 The remote control of the forklift 20 is performed based on FIG.

  Here, in the configuration in which the remote control of the forklift 20 (industrial vehicle) is performed using the remote control device 30, there is no need for the operator to get on the forklift 20, and convenience can be improved. On the other hand, since it becomes an operation system different from the usual operation which used a steering wheel etc., a malfunction of forklift 20 resulting from a mistaken operation of remote control 30 may occur.

  On the other hand, the present industrial vehicle remote control system 10 is configured to suppress an erroneous operation. Below, based on this point, a configuration relating to remote control of the forklift 20 using the remote control device 30 will be described.

  As shown in FIG. 2, the remote memory 34 stores a remote control program 40 for executing various processing related to remote control of the forklift 20 including transmission processing of the remote control signal SG1. The remote control program 40 is an application program for performing remote control of the forklift 20. The remote control program 40 includes a remote control control process execution program 41 for executing a remote control process for controlling the remote control. The remote control program 40 corresponds to the "remote control program for industrial vehicles".

The remote CPU 33 starts the remote control program 40 (remote control application) when the remote control start condition is satisfied.
In the present embodiment, the remote control start condition is that the start operation is performed on the remote control device 30. The start-up operation is, for example, an input operation (touch operation) on the remote control icon in a configuration in which the remote control icon is displayed on the touch panel 31.

  However, the remote control activation condition is not limited to this, but may be arbitrary. For example, communication connection between the remote communication unit 36 of the remote control device 30 and the vehicle communication unit 28 of the forklift 20 may be established. , 36 may be performed under the condition that the communication connection between them, 36 is established. That is, in the remote control activation condition, the operation of the operator is not essential.

  When the remote control program 40 is started, the remote CPU 33 first searches for a forklift 20 which can be communicatively connected within the range in which communication with the remote communication unit 36 is possible, and if the forklift 20 is present, the vehicle of the forklift 20 Establish a communication connection with the communication unit 28.

  Thereafter, the remote CPU 33 causes the touch panel 31 to display the operation image G10. The operation image G10 is stored in the remote control program 40. The remote CPU 33 basically displays the operation image G10 constantly while the remote control program 40 is activated.

  Here, as shown in FIG. 4, in the present embodiment, the industrial vehicle remote control system 10 (specifically, the remote CPU 33) runs as an operation mode for performing remote control of the forklift 20 using the remote control device 30. It has a mode and a cargo handling mode. The remote CPU 33 sets the operation mode to the traveling mode or the cargo handling mode when the remote control program 40 is started. The cargo handling mode corresponds to the "operation object mode".

The travel mode and the cargo handling mode will be described.
The travel mode is an operation mode for restricting the remote control of the fork 22 while performing the remote control related to the travel of the forklift 20. In the traveling mode, while the traveling actuator 23 is the operation target, the cargo handling actuator 24 is not the operation target, and the cargo handling actuator 24 is restricted so as not to drive.

  The cargo handling mode is an operation mode for performing remote control of the fork 22 and restricting remote control regarding traveling of the forklift 20. In the cargo handling mode, while the cargo handling actuator 24 is the operation target, the travel actuator 23 is not the operation target, and the travel actuator 23 is restricted so as not to drive.

A plurality of types of modes are set in the cargo handling mode. In detail, the cargo handling mode has a lift mode, a reach mode, and a tilt mode.
The lift mode is a cargo handling mode in which the remote operation related to the lift operation of the fork 22 is performed, while the remote operation related to the other operation such as the reach operation and the tilt operation is restricted.

The reach mode is a cargo handling mode in which the remote control related to the reach operation of the fork 22 is performed, while the remote control related to the lift operation and the tilt operation which are other operations is restricted.
The tilt mode is a cargo handling mode that performs remote control related to the tilt operation of the fork 22 and restricts remote control related to the lift operation and reach operation which are other operations.

That is, in the present embodiment, the cargo handling mode is set for each operation of different types.
In the present embodiment, any one of the lift operation, the reach operation, and the tilt operation corresponds to the “first operation”, and the cargo handling mode corresponding to the “first operation” corresponds to the “first operation mode”. In addition, an operation different from the operation corresponding to the “first operation” among the lift operation, the reach operation, and the tilt operation corresponds to the “second operation”, and the cargo handling mode corresponding to the “second operation” is “second It corresponds to "operation mode". For example, when the lift operation corresponds to the "first operation" and the reach operation corresponds to the "second operation", the lift mode corresponds to the "first operation mode" and the reach mode is the "second operation mode". It corresponds.

  Next, the operation image G <b> 10 displayed on the touch panel 31 with the activation of the remote control program 40 will be described using FIGS. 5 to 8. 5-8, it is assumed that the longitudinal direction of the remote control device 30 corresponds to the horizontal direction for convenience of explanation.

  As shown in FIGS. 5 to 8, the operation image G <b> 10 is displayed on the entire surface of the touch panel 31. In response to the touch panel 31 having a shape having a longitudinal direction and a lateral direction (specifically, a rectangular shape), the operation image G10 has a shape having a longitudinal direction and a lateral direction (specifically, a rectangular shape). .

  In the present embodiment, the plurality of operation images G10 are set corresponding to the setting of the plurality of operation modes. In detail, the operation image G10 is a travel mode image G11 corresponding to the travel mode, a lift mode image G12 corresponding to the lift mode, a reach mode image G13 corresponding to the reach mode, and a tilt mode image corresponding to the tilt mode And G14. The remote CPU 33 is configured to display an operation image G10 corresponding to the operation mode.

  As shown in FIG. 5, in the traveling mode image G11, a traveling mode setting area (traveling mode icon) A3 and a cargo handling mode setting area provided at different positions from the traveling operation area A1 and the traveling operation area A1 The cargo handling mode icon A4 is displayed.

  The travel operation area A1 is disposed on one end side of both ends in the longitudinal direction of the operation image G10. The traveling operation area A1 is provided at a position where the finger of the left hand (for example, the thumb) is naturally disposed when the remote control device 30 is gripped by both hands. In the traveling operation area A1, an image of the forklift 20 and an image of an arrow extending in the short direction of the touch panel 31 suggesting the traveling direction of the forklift 20 are displayed. In addition, a central line L is displayed in the traveling operation area A1.

  According to this configuration, the forklift 20 moves forward by sliding operation toward the side (in detail, the travel mode setting area A3 side) that suggests forward movement using a finger or the like as the operator, and the opposite side thereof It can be intuitively understood that the forklift 20 retracts by sliding to the side (in detail, the side indicating the backward movement).

  The slide operation is a series of input operations in which the position at which the input operation is performed is moved while maintaining the state in which the input operation (in other words, the touch operation) is performed on the touch panel 31.

  The traveling mode setting area A3 is provided at a position away from the traveling operation area A1 in the lateral direction of the touch panel 31 in the traveling mode image G11. That is, the traveling mode setting area A3 and the traveling operation area A1 are arranged in the short direction. In the traveling mode setting area A3, an image indicating that the traveling mode is in progress, and in the present embodiment, characters "traveling" are displayed. Further, in the traveling mode image G11, the traveling mode setting area A3 is highlighted more than the cargo handling mode setting area A4.

  The loading mode setting area A4 is disposed at a position spaced apart from the traveling operation area A1 in the longitudinal direction of the touch panel 31. The loading mode setting area A4 is disposed at the central portion of the traveling mode image G11.

  The cargo handling mode setting area A4 is a lift mode setting area A4a used to set the lift mode, a reach mode setting area A4b used to set the reach mode, and a tilt mode used to set the tilt mode. And a setting area A4c. The lift mode setting area A4a, the reach mode setting area A4b, and the tilt mode setting area A4c are arranged separately in the lateral direction of the touch panel 31. That is, the travel operation area A1, the travel mode setting area A3, and the mode setting areas A4a to A4c are disposed at mutually different positions, and are separated so as not to overlap each other. The lift mode setting area A4a, the reach mode setting area A4b, and the tilt mode setting area A4c can also be referred to as a lift mode icon, a reach mode icon, and a tilt mode icon, respectively.

  In the lift mode setting area A4a, an image showing that it is in the lift mode, and in the present embodiment, the characters "lift" are displayed. In the reach mode setting area A4b, an image indicating that the mode is the reach mode, in this embodiment, the characters "reach" are displayed. In the tilt mode setting area A4c, an image indicating that the mode is the tilt mode, and in the present embodiment, a character "tilt" is displayed.

  Note that the images displayed in each mode setting area A3, A4a to A4c are optional as long as the corresponding mode can be recognized. For example, instead of characters, they schematically show the operation corresponding to each mode. An image or the like may be displayed.

  As shown in FIG. 6, in the lift mode image G12, a travel mode setting area (travel mode icon) A3 and a cargo handling mode setting area provided at different positions from the lift operation explanation image Gf1 and the lift operation explanation image Gf1. The cargo handling mode icon A4 is displayed.

  The lift operation explanation image Gf1 is disposed at a position closer to the central portion than both end portions in the longitudinal direction of the lift mode image G12. A central line Lf extending in the longitudinal direction of the touch panel 31 is displayed in the lift operation explanation image Gf1.

  The lift operation explanation image Gf1 displays an image of the forklift 20 showing a descent operation which is a downward lift operation and an image suggesting a tilting operation of the remote control device 30 at a position above the central line Lf. . Thereby, it can be understood that the lowering operation and the tilting operation of the remote control device 30 are linked. The tilting operation may also be referred to as a back side tilting operation or a front tilting operation.

  The lift operation explanation image Gf1 displays an image of the forklift 20 showing a lifting operation which is an upward lifting operation and an image suggesting a standing operation of the remote control device 30 at a position below the central line Lf. . Thereby, it can be understood that the raising operation and the standing operation of the remote control device 30 are linked. The standing operation may also be referred to as a near side tilting operation or a backward tilting operation.

  In the lift mode image G12, the lift operation explanation image Gf1, the travel mode setting area A3, and the cargo handling mode setting area A4 are arranged at different positions, and are separated so as not to overlap each other. The traveling mode setting area A3 and the cargo handling mode setting area A4 are arranged in the longitudinal direction of the touch panel 31 in a state of being separated from each other. The mode setting areas A4a to A4c of the cargo handling mode setting area A4 are arranged separately in the longitudinal direction of the touch panel 31. In the lift mode image G12, the lift mode setting area A4a is highlighted.

  As shown in FIG. 7, in the reach mode image G13, a reach operation explanation image Gf2 in which the center line Lf is displayed, a traveling mode setting area A3, and a cargo handling mode setting area A4 are displayed. The positional relationship between the reach operation explanation image Gf2, the traveling mode setting area A3, and the cargo handling mode setting area A4 is the same as that of the lift mode image G12, and thus the detailed description will be omitted. In the reach mode image G13, the reach mode setting area A4b is highlighted.

  In the reach operation explanation image Gf2, an image of the forklift 20 showing a reach operation to the front and an image suggesting a tilting operation of the remote control device 30 are displayed at a position above the center line Lf. Thereby, it can be understood that the forward reach operation and the tilting operation of the remote control device 30 are linked.

  In the reach operation explanation image Gf2, an image of the forklift 20 showing a reach operation to the rear and an image suggesting a standing operation of the remote control device 30 are displayed at a position below the center line Lf. Thereby, it can be understood that the backward reach operation and the standing operation of the remote control device 30 are linked.

  As shown in FIG. 8, in the tilt mode image G14, a tilt operation explanation image Gf3 in which the central line Lf is displayed, a traveling mode setting area A3, and a cargo handling mode setting area A4 are displayed. The positional relationship between the tilt operation explanation image Gf3, the traveling mode setting area A3 and the cargo handling mode setting area A4 is the same as that of the lift mode image G12, and thus the detailed description is omitted. In the tilt mode image G14, the tilt mode setting area A4c is highlighted.

  In the tilt operation explanation image Gf 3, an image of the forklift 20 showing a tilting operation of forward tilt and an image suggesting a tilting operation of the remote control device 30 are displayed at a position above the central line Lf. Thus, it can be understood that the forward tilting operation and the tilting operation of the remote control device 30 are linked.

  In the tilt operation explanation image Gf 3, an image of the forklift 20 showing a tilt operation of the backward tilt and an image suggesting a standing operation of the remote control device 30 are displayed at a position below the center line Lf. Thereby, it can be understood that the tilt operation of the backward tilt and the standing operation of the remote control device 30 are linked.

  Here, the remote control program 40 is provided with an operation mode storage unit 42 in which operation mode specifying information for specifying the operation mode is stored (see FIG. 2). The remote CPU 33 can grasp the currently set operation mode based on the operation mode identification information stored in the operation mode storage unit 42.

  The remote CPU 33 grasps the currently set operation mode based on the operation mode identification information with the activation of the remote operation program 40, and displays the operation image G10 corresponding to the operation mode. For example, when the operation mode currently set is the travel mode, the remote CPU 33 initially displays the travel mode image G11 as the operation image G10 with the activation of the remote control program 40.

  The operation mode initially set at the start of the remote control program 40 is arbitrary, and may be, for example, a predetermined operation mode (for example, a traveling mode), and is set at the end of the previous remote control program 40. An operation mode may be used.

  Subsequently, the remote CPU 33 reads out the remote control processing execution program 41 and executes the remote control control processing periodically while the remote control program 40 is activated, thereby responding to the operation of the operator on the remote control device 30. Transmission control of the remote control signal SG1 is performed. Thereby, remote control of the forklift 20 using the remote control device 30 is controlled.

  Hereinafter, the remote control processing will be described with reference to FIGS. In FIG. 12, an initial position of the forklift 20 before the remote control for traveling is performed is schematically shown by a two-dot chain line.

  As shown in FIG. 9, first, in step S101, the remote CPU 33 grasps the currently set operation mode based on the operation mode identification information stored in the operation mode storage unit 42.

Thereafter, in step S102, the remote CPU 33 determines whether the operation mode grasped in step S101 is the traveling mode.
When the operation mode is the traveling mode, the remote CPU 33 performs control corresponding to the remote operation of traveling, and executes processing for restricting the remote operation of the fork 22. When the operation mode is the traveling mode, the traveling mode image G11 is displayed on the touch panel 31.

  Specifically, at step S103, the remote CPU 33 first determines whether a traveling operation is being performed based on the detection result of the touch sensor 32 or the detection result of the posture detection unit 35.

  In the present embodiment, the travel operation is a speed setting operation which is a type of input operation on the touch panel 31. In step S103, the remote CPU 33 determines whether the speed setting operation is performed based on the detection result of the touch sensor 32.

  The speed setting operation is, for example, an input operation to the touch panel 31 triggered by an input operation into the traveling operation area A1, and more specifically, an input operation to the traveling operation area A1 is a start condition (trigger) It is a slide operation. In other words, the speed setting operation is a series of input operations including a start operation which is an input operation to the traveling operation area A1 and a continuous operation which is an input operation to the touch panel 31 continued from the start operation. It is. In the present embodiment, the traveling operation area A1 corresponds to the "specific area".

  In the present embodiment, the continuous operation is an input operation to the touch panel 31 which is continued from the start operation and the input operation position is continuous from the position of the start operation regardless of inside or outside of the travel operation area A1. Therefore, the touch operation may be performed in the travel operation area A1 first, and the touch position (in other words, the input operation position) may extend out of the travel operation area A1 while maintaining the touched state. Therefore, the speed setting operation includes the case where the finger slides from the start position P10, which is the first position touched, to an arbitrary position in the travel operation area A1, and the travel operation area A1 from the start position P10. It also includes the case where the finger slides to an arbitrary position outside.

Although the specific processing configuration for determining whether or not the speed setting operation is performed is arbitrary, the following configuration can be considered as an example.
For example, when the start operation is not performed, the remote CPU 33 determines whether the start operation is performed based on the detection result of the touch sensor 32. If the remote CPU 33 determines that the start operation is being performed, the remote CPU 33 stores the start position P10, which is the position at which the start operation is being performed.

  Thereafter, the remote CPU 33 determines whether or not the touch position detected by the touch sensor 32 is continuously changing from the start position P10, and if it is continuously changing, the speed setting operation is performed. If it is determined that the speed setting operation has not been performed, it is determined that the speed setting operation has not been performed.

  As determination processing of whether it is changing continuously, remote CPU33 grasps a touch position, for example, and the touch position grasped this time is speed setting operation in the last remote control processing. It may be determined whether or not the touch position at which the determination is made is within the specified range. In this case, while the remote CPU 33 determines that the touch position grasped this time is continuously changing if the touch position grasped this time is within the prescribed range, the input operation on the touch panel 31 is not detected or is grasped this time If the touch position is out of the specified range, it may be determined that the touch position has not changed continuously.

  As shown in FIG. 9, when the remote CPU 33 determines that the driving operation (specifically, the speed setting operation) is performed, the process proceeds to step S104, and the remote CPU 33 performs the remote operation based on the operation mode of the speed setting operation. The traveling speed information Dv and the acceleration information Dα of the operation signal SG1 are set. Specifically, the remote CPU 33 sets numerical information corresponding to the relative position between the start position P10 of the speed setting operation and the current position in the traveling speed information Dv and the acceleration information Dα. The current position of the speed setting operation can also be said to be the position where the continuous operation is currently performed (continuous operation position).

  For example, when the start position P10 of the speed setting operation and the current position are not shifted in the short direction of the touch panel 31, the remote CPU 33 uses the traveling speed information Dv and the acceleration information D.alpha. Set "0".

  On the other hand, when the start position P10 of the speed setting operation and the current position are shifted in the short direction of the touch panel 31, the remote CPU 33 sets both traveling speed information Dv and acceleration information Dα in the short direction of the touch panel 31. Numeric information other than "0" corresponding to the distance Y between positions is set.

  For example, as shown in FIGS. 10 and 11, the current position of the speed setting operation is located above the start position P10, and more specifically, disposed at one end side (traveling mode setting area A3 side) of the touch panel 31 in the short direction. If it is, the remote CPU 33 sets, in the traveling speed information Dv, numerical information (for example, positive numerical information) corresponding to forward movement. On the other hand, when the current position of the speed setting operation is disposed below the start position P10, specifically, on the other end side in the short side direction of the touch panel 31, the remote CPU 33 supports retraction of the traveling speed information Dv. Set numerical information, for example, negative numerical information. That is, the remote CPU 33 determines forward or backward based on the slide operation direction from the start position P10.

  Further, in the present embodiment, the remote CPU 33 sets numerical information of the traveling speed information Dv so that the traveling speed of the forklift 20 becomes larger as the distance Y becomes larger, and makes the acceleration correspond to the numerical information of the traveling speed information Dv. The numerical information of the information Dα is set.

  For example, as shown in FIG. 10, when the current position of the speed setting operation moves from the start position P10 to the first predetermined position P11, the remote CPU 33 starts the start position P10 and the first predetermined position P11 in the lateral direction of the touch panel 31. The first travel speed v1 corresponding to the first distance Y1 is set in the travel operation information D1. Then, the remote CPU 33 sets the first acceleration α1 corresponding to the first traveling speed v1 as the acceleration information Dα.

  Further, as shown in FIG. 11, when the current position of the speed setting operation moves from the start position P10 to the second predetermined position P12, the remote CPU 33 starts the start position P10 and the second predetermined position P12 in the lateral direction of the touch panel 31. The second travel speed v2 corresponding to the second distance Y2 between the two is set in the travel operation information D1. Then, the remote CPU 33 sets the second acceleration α2 corresponding to the second traveling speed v2 as the acceleration information Dα.

  Here, the second predetermined position P12 is a position farther in the lateral direction of the touch panel 31 from the start position P10 than the first predetermined position P11. For this reason, the second distance Y2 is larger than the first distance Y1. Therefore, the second traveling speed v2 is larger than the first traveling speed v1.

  After the setting of the traveling operation information D1 and the acceleration information Dα is completed, the remote CPU 33 determines the first rotation operation angle as the operation mode of the first rotation operation based on the detection result of the posture detection unit 35 in step S105. Understand θm.

  The first rotation operation angle θm is a change amount from the reference position in the first rotation operation direction. Specifically, the remote CPU 33 grasps the current rotational position of the remote control device 30 in the first rotational operation direction based on the detection result of the posture detection unit 35, and calculates the change angle of the current rotational position from the reference position. It is grasped as the first rotation operation angle θm.

  For example, as shown in FIG. 5, a state in which the longitudinal direction of the remote control device 30 coincides with the horizontal direction is taken as a reference position. In this case, as shown in FIG. 10, when the first rotation operation is performed by the first operation angle θm1 in the counterclockwise direction from the reference position as viewed from the operator, the remote CPU 33 has a positive value. The absolute value grasps the first rotation operation angle θm of the first operation angle θm1.

  On the other hand, as shown in FIG. 11, when the first rotation operation is performed by the second operation angle θm2 clockwise from the reference position as viewed from the operator, the remote CPU 33 has a negative value and is absolutely The value grasps the first rotation operation angle θm of the second operation angle θm2.

As a result, the rotation direction can be identified based on whether the first rotation operation angle θm is positive or negative, and the amount of rotation can be identified based on the absolute value of the first rotation operation angle θm.
When the rotational position of the remote control device 30 in the first rotational operation direction does not change from the reference position, the remote CPU 33 recognizes “0” as the first rotational operation angle θm.

  Incidentally, the reference position is not limited to the state in which the longitudinal direction of the remote control device 30 coincides with the horizontal direction, and is arbitrary. The reference position may be a fixed position or a variable position.

  As shown in FIG. 9, after execution of the process of step S105, the remote CPU 33 sets the steering angle information Dθ of the remote control signal SG1 based on the first rotation operation angle θm in step S106. Specifically, the remote CPU 33 sets numerical value information corresponding to the first rotation operation angle θm in the steering angle information Dθ. In the present embodiment, the numerical information set in the steering angle information Dθ is the same as the first rotation operation angle θm, but the present invention is not limited thereto. For example, predetermined correction processing is performed from the first rotation operation angle θm It may be numerical information.

  In the subsequent step S107, the remote CPU 33 sets “0”, which is numerical information corresponding to the stop, in the cargo handling operation information D2 regardless of the presence or absence of the cargo handling operation. Thereby, the operation of the fork 22 is regulated. The cargo handling operation of the present embodiment is a second rotation operation, which will be described later.

  Thereafter, in step S108, the remote CPU 33 uses the remote communication unit 36 to remotely control the traveling operation information D1 set in step S104 and step S106 and the cargo handling operation information D2 set in step S107. The processing for transmitting the operation signal SG1 is executed, and the present remote operation control processing is ended.

  When the remote control signal SG1 is received by the vehicle communication unit 28, the signal conversion unit 29 converts the remote control signal SG1 into the control signal SGa, and the control signal SGa is input to the vehicle CPU 25. The vehicle CPU 25 controls the traveling actuator 23 based on the control signal SGa. Thereby, remote control regarding travel of the forklift 20 is performed.

  For example, when the speed setting operation and the first rotation operation as shown in FIG. 10 are performed, as shown in FIG. 12, the forklift 20 travels the first traveling in a state where it is bent leftward by the first steering angle θf1. The first acceleration α1 is accelerated to a velocity v1. The first steering angle θf1 is set larger as the first operation angle θm1 is larger. The first steering angle θf1 may correspond to the first operation angle θm1, and may be the same or different.

  Further, when the speed setting operation and the first rotation operation as shown in FIG. 11 are performed, as shown in FIG. 12, the forklift 20 travels in the second traveling with the second steering angle θf2 bent in the right direction. It accelerates by 2nd acceleration (alpha) 2 so that it may become speed v2. The second steering angle θf2 is set larger as the second operation angle θm2 is larger. The second steering angle θf2 may correspond to the second operation angle θm2, and may be the same or different.

  Incidentally, while the traveling mode of the forklift 20 depends on the operation mode of the speed setting operation as the traveling operation and the operation mode of the first rotation operation, it does not depend on the operation mode of other operations (for example, the cargo handling operation). That is, in the travel mode, the remote CPU 33 determines the travel mode of the forklift 20 regardless of the operation mode of the cargo handling operation. For this reason, it can be said that the remote CPU 33 regulates the travel of the forklift 20 not to be performed by the cargo handling operation while performing the remote control related to the traveling based on the travel operation in the travel mode.

  As shown in FIG. 9, when the remote CPU 33 determines that there is no travel operation (specifically, the speed setting operation), the process proceeds to step S109 to determine whether the switching operation to the cargo handling mode is performed. judge. Specifically, the remote CPU 33 determines the presence / absence of an input operation to the cargo handling mode setting area A4 based on the detection result of the touch sensor 32.

If there is no input operation in any of the mode setting areas A4a to A4c of the cargo handling mode setting area A4, the remote CPU 33 ends the present remote operation control process as it is.
On the other hand, when there is an input operation to any of the mode setting areas A4a to A4c, the remote CPU 33 determines that the switching operation to the cargo handling mode has been performed, and executes the switching processing of the operation mode in step S110. Specifically, the remote CPU 33 switches the operation mode from the traveling mode to the cargo handling mode. More specifically, the remote CPU 33 updates the operation mode identification information stored in the operation mode storage unit 42 to information corresponding to the cargo handling mode.

Here, in the present embodiment, a plurality of cargo handling modes exist. In step S110, the remote CPU 33 sets the operation mode to a cargo handling mode corresponding to the current switching operation.
For example, if the current switching operation (an input operation that triggered an affirmative determination at step S109) is an input operation to the lift mode setting area A4a, the remote CPU 33 shifts the operation mode from the travel mode to the lift mode Let

  Similarly, when the current switching operation is an input operation to the reach mode setting area A4b, the remote CPU 33 shifts the operation mode from the traveling mode to the reach mode, and the current switching operation to the tilt mode setting area A4c. When the input operation is performed, the operation mode is shifted from the traveling mode to the tilt mode.

  Thereafter, in step S111, the remote CPU 33 executes switching processing of the operation image G10, and ends the present remote operation control processing. In detail, the remote CPU 33 changes the operation image G10 to an image corresponding to the switched operation mode, in other words, an image corresponding to the cargo handling mode corresponding to the present switching operation. For example, if the current switching operation is an input operation to the lift mode setting area A4a, the remote CPU 33 displays a lift mode image G12.

  According to this configuration, the operation mode changes from the traveling mode to the cargo handling mode when the input operation to the cargo handling mode setting area A4 is performed in the situation where the operation mode is the traveling mode and the traveling operation is not performed. Transition. On the other hand, when the operation mode is the traveling mode and the operation for traveling is performed, the switching from the traveling mode to the cargo handling mode is performed even when the input operation to the cargo handling mode setting area A4 is performed. Will not take place.

  Incidentally, the case where the operation for traveling is not performed in the traveling mode is the case where the remote operation for traveling is not performed. Then, in the present embodiment, the switching condition from the traveling mode, which is a kind of operation mode switching condition, to the cargo handling mode is a switching operation called the input operation to the cargo handling mode setting area A4 in a situation where the remote control for traveling is not performed. Can be said to be

  As described above, the traveling operation area A1 and the cargo handling mode setting area A4 are disposed at different positions. For this reason, the speed setting operation triggered by the input operation on the traveling operation area A1 and the input operation on the cargo handling mode setting area A4 are different operations. The input operation to the cargo handling mode setting area A4 is an operation different from the first rotation operation for determining the steering angle and the second rotation operation as the cargo handling operation.

  From the above, the input operation to the cargo handling mode setting area A4, which is a switching operation that triggers switching from the traveling mode to the cargo handling mode, is any of the traveling operation, the operation for determining the steering angle, and the cargo handling operation. It can be said that it is a different operation.

  As shown in FIG. 9, the remote CPU 33 makes a negative decision in step S102 if the operation mode is any one of the lift mode, the reach mode, and the tilt mode if the operation mode is the cargo handling mode. Proceeding to step S112, the loading mode support process is executed, and the remote control control process is ended.

  The cargo handling mode handling process will be described using FIGS. 13 and 14. In FIG. 14, the remote control device 30 is shown larger than the actual size and the forklift 20 is smaller than the actual size for the convenience of illustration.

  As shown in FIG. 13, the remote CPU 33 first determines in step S201 whether or not a cargo handling operation different from the traveling operation is being performed. In the present embodiment, the cargo handling operation corresponds to the “operation object operation”.

  The cargo handling operation in the present embodiment is a second rotation operation. The remote CPU 33 determines the presence or absence of the position change of the remote control device 30 from the reference position in the second rotational operation direction based on the detection result of the posture detection unit 35.

  More specifically, the remote CPU 33 grasps the current rotational position of the remote control device 30 in the second rotational operation direction based on the detection result of the posture detection unit 35. Then, the remote CPU 33 determines that the second rotation operation is performed when the current rotation position in the second rotation operation direction is deviated from the reference position, or when the deviation amount is equal to or more than the threshold amount. . On the other hand, when the current rotational position in the second rotational operation direction coincides with the reference position, or when both the positions are deviated, the amount of deviation is less than the threshold amount. It is determined that the second rotation operation has not been performed.

  Here, the reference position of the remote control device 30 in the second rotational operation direction may be fixed, for example, at a rotational position inclined by a reference angle (including 90 degrees) with respect to the horizontal direction, for example.

  In addition, the reference position of the remote control device 30 in the second rotational operation direction may be configured to be changeable so that the operator can appropriately set it. For example, when the switching operation from the traveling mode to the loading mode is performed, the remote CPU 33 may set the rotational position in the second rotational operation direction when the switching operation is performed as the reference position.

  In addition, for example, the remote CPU 33 may execute the setting process of the reference position after the execution of the process of step S111 after the execution of the process of switching from the traveling mode to the loading mode (step S110). In the setting process of the reference position, the remote CPU 33 sets the reference position in the second rotational operation direction by the reference setting operation of the operator. For example, the remote CPU 33 controls the remote control device 30 by displaying on the touch panel 31 that the rotational position of the remote control device 30 in the second rotational operation direction at the time of touch operation is set as the reference position. It is recommended to adjust to the rotational position that you want to set as the position and to perform touch operation in that state. Then, based on the touch operation performed on the touch panel 31, the remote CPU 33 may set the rotational position of the remote control device 30 in the second rotational operation direction at that point in time as the reference position.

  When the cargo handling operation is being performed, the remote CPU 33 proceeds to step S202, and based on the reference position and the current rotation position, the second rotation that is a change angle from the reference position in the second rotation operation direction. The operation angle θ n is grasped.

  The second rotation operation angle θn is, for example, positive or negative numerical information. In detail, as shown in FIG. 14, normally, in order to visually recognize the operation image G10, it is assumed that the operator grips the remote control device 30 in a state of facing the surface on which the touch panel 31 is located.

  Here, assuming that the rotational position of the remote control device 30 in the second rotational operation direction shown in FIG. 14 is a reference position, the remote CPU 33 performs a second rotational operation by a third operation angle θn1 around the predetermined position from the reference position. In this case, the absolute value is a positive value, and the second rotation operation angle θn of the third operation angle θn1 is grasped. On the other hand, when the second rotation operation is performed by the fourth operation angle θn2 in the opposite direction to the predetermined rotation from the reference position, the remote CPU 33 has a negative value and the absolute value is the fourth operation angle θn2. The second rotation operation angle θ n is grasped.

  Incidentally, when the remote control device 30 is held so that the touch panel 31 faces the operator as described above, the second rotation operation around a predetermined rotation can be said to be a standing operation for raising the remote control device 30 as well. The second rotation operation in the opposite direction is also referred to as a tilting operation for tilting the remote control device 30.

  In addition, the second rotation operation in the predetermined rotation is a rotation operation from the back side to the front side as viewed from the operator, and the second rotation operation in the opposite direction to the predetermined rotation is the front as viewed from the operator It can also be said that it is a turning operation from the side to the back side. In detail, for example, it is assumed that the remote control device 30 is held by both hands in a sideways state. In such a situation, when a second rotation operation of a predetermined rotation is performed, the portion on the upper end side of the touch panel 31 rotates from the back side to the front while viewed from the operator, while rotating in the opposite direction to the predetermined rotation. When the second rotation operation is performed, the portion on the upper end side of the touch panel 31 rotates from the near side to the far side as viewed from the operator.

  When the rotational position of the remote control device 30 in the second rotational operation direction has not changed from the reference position, the second rotational operation angle θ n is “0”. Focusing on this point, it can be said that the process of step S201 is also a process of determining whether the second rotation operation angle θn is "0" or the absolute value of the second rotation operation angle θn is equal to or larger than the threshold amount. .

  As shown in FIG. 13, after execution of the process of step S202, the remote CPU 33 determines that the currently set cargo handling mode is lift mode, reach mode or tilt mode in step S203 based on the operation mode identification information. Understand which one.

  Thereafter, in step S204, the remote CPU 33 sets the cargo handling operation information D2 of the remote control signal SG1. In detail, the remote CPU 33 sets numerical information corresponding to the second rotation operation angle θn in the information corresponding to the currently set cargo handling mode, and numerical information corresponding to the stop in the other cargo handling operation information D2 And set "0". As a result, the operation other than the operation corresponding to the currently set cargo handling mode is restricted.

  For example, when the currently set cargo handling mode is the lift mode, the remote CPU 33 sets numerical information corresponding to the second rotation operation angle θn in the lift information Dfa, and sets “0” in the reach information Dfb and the tilt information Dfc. Set ".

  As an example, when the second rotation operation angle θ n is positive, the remote CPU 33 sets, in the lift information Dfa, numerical information (for example, a positive value) corresponding to the lift operation of the ascent, and the second rotation operation angle When θ n is negative, numerical information (for example, a negative value) corresponding to the downward lift operation is set as the lift information Dfa. Further, the remote CPU 33 sets numerical information of the lift information Dfa such that the stroke amount of the lift operation increases as the absolute value of the second rotation operation angle θn increases.

  Similarly, when the currently set cargo handling mode is the reach mode, the remote CPU 33 sets numerical value information corresponding to the second rotation operation angle θn in the reach information Dfb, and sets “lift information Dfa” and the tilt information Dfc. Set "0".

  As an example, when the second rotation operation angle θ n is positive, the remote CPU 33 sets, in the reach information Dfb, numerical information (for example, a negative value) corresponding to the reach operation of backward movement, and performs the second rotation operation. When the angle θn is negative, numerical information (for example, a positive value) corresponding to the reach operation of forward movement is set in the reach information Dfb. Further, the remote CPU 33 sets numerical information of the reach information Dfb such that the stroke amount of the reach operation increases as the absolute value of the second rotation operation angle θn increases.

  In addition, when the cargo handling mode currently set is the tilt mode, the remote CPU 33 sets numerical information corresponding to the second rotation operation angle θn in the tilt information Dfc, and sets “0” in the lift information Dfa and the reach information Dfb. Set ".

  As an example, when the second rotation operation angle θn is positive, the remote CPU 33 sets, in the tilt information Dfc, numerical information (for example, a negative value) corresponding to the tilt operation of the backward tilt, and performs the second rotation operation. When the angle θ n is negative, numerical information (for example, a positive value) corresponding to the forward tilt operation is set as the tilt information Dfc. Further, the remote CPU 33 sets numerical information of the tilt information Dfc so that the tilt angle becomes larger as the absolute value of the second rotation operation angle θn becomes larger.

  In the subsequent step S205, the remote CPU 33 sets “0”, which is numerical information corresponding to the stop, in the traveling operation information D1 regardless of the presence or absence of the traveling operation. Thereby, traveling of the forklift 20 is restricted.

  Thereafter, at step S206, remote CPU 33 uses remote communication unit 36 to perform remote control signal SG1 having cargo handling operation information D2 set at step S204 and traveling operation information D1 set at step S205. Is executed, and this handling mode handling process is ended.

  When the remote control signal SG1 is received by the vehicle communication unit 28, the signal conversion unit 29 converts the remote control signal SG1 into the control signal SGa, and the control signal SGa is input to the vehicle CPU 25. The vehicle CPU 25 controls the cargo handling actuator 24 based on the control signal SGa. Thus, remote control of the fork 22 is performed.

  For example, as shown by the solid line in FIG. 14, when the second rotation operation is performed by the third operation angle θn1 around the predetermined rotation in a situation where the cargo handling mode is the lift mode, the fork 22 sets the third operation angle θn1. Ascend by the corresponding stroke amount. On the other hand, as shown by the broken line in FIG. 14, when the second rotation operation is performed by the fourth operation angle θn2 in the opposite direction to the predetermined rotation in a situation where the cargo handling mode is the lift mode, It is lowered by the stroke amount corresponding to the operation angle θn2.

  In other words, in a situation where the operator is holding the remote control device 30 while facing the touch panel 31, the fork 22 is lowered by performing the tilting operation on the remote control device 30. It can be said that the raising operation of the fork 22 is performed by performing the standing operation on the remote control device 30. Thus, the sense of operation of the remote control device 30 and the lift operation direction of the fork 22 are associated with each other.

The reach mode and the tilt mode are the same except that the corresponding operation is different.
That is, in the reach mode, the fork 22 is moved forward by performing the tilting operation with respect to the remote control device 30, and by performing the standing operation with respect to the remote control device 30, A backward reach operation is performed. Thus, the sense of operation of the remote control device 30 and the reach operation direction of the fork 22 are associated with each other.

  Further, in the tilt mode, a tilting operation is performed on the remote control device 30 to perform a front tilt tilt operation, and a rising operation is performed on the remote control device 30 to perform a rear tilt tilt operation. To be done. Thus, the sense of operation of the remote control device 30 and the tilt operation direction of the fork 22 are associated with each other.

  Incidentally, the operation mode of the fork 22 depends on the operation mode of the second rotation operation as the cargo handling operation, but does not depend on the operation mode of the other operations (for example, the traveling operation and the first rotation operation). That is, in the cargo handling mode, the remote CPU 33 determines the operation mode of the fork 22 regardless of the operation mode of the traveling operation. For this reason, it can be said that the remote CPU 33 performs the remote control of the fork 22 based on the cargo handling operation in the cargo handling mode, while restricting the fork 22 not to operate by the traveling operation.

  As shown in FIG. 13, when it is determined that the cargo handling operation (specifically, the second rotation operation) is not performed, the remote CPU 33 makes a negative decision in step S201 and proceeds to step S207 to execute the traveling mode. It is determined whether or not the switching operation has been performed. In detail, the remote CPU 33 determines the presence / absence of the input operation to the traveling mode setting area A3 based on the detection result of the touch sensor 32.

  When there is an input operation to the traveling mode setting area A3, the remote CPU 33 determines that the switching operation to the traveling mode is performed, and executes the switching process of the operation mode in step S208. Specifically, the remote CPU 33 switches the operation mode from the loading mode to the traveling mode. More specifically, the remote CPU 33 updates the operation mode identification information stored in the operation mode storage unit 42 to information corresponding to the traveling mode.

  Thereafter, in step S209, the remote CPU 33 executes switching processing of the operation image G10. Specifically, the remote CPU 33 changes the operation image G10 to the traveling mode image G11. Then, the remote CPU 33 ends the loading mode support process.

  According to this configuration, the operation mode changes from the cargo handling mode to the traveling mode when the input operation to the travel mode setting area A3 is performed in a state where the operation mode is the cargo handling mode and the cargo handling operation is not performed. Transition. On the other hand, when the operation mode is the cargo handling mode and the cargo handling operation is performed, switching from the cargo handling mode to the traveling mode is performed even when the input operation to the travel mode setting area A3 is performed. Will not take place.

  Incidentally, the case where the loading operation is not performed in the loading mode is the case where the remote control of the fork 22 is not performed. Then, in the present embodiment, the switching condition from the cargo handling mode, which is a kind of operation mode switching condition, to the traveling mode is a switching called input operation to the traveling mode setting area A3 in a situation where the remote operation of the fork 22 is not performed. It can be said that the operation is performed.

  As described above, the traveling operation area A1 and the traveling mode setting area A3 are disposed at different positions. For this reason, the speed setting operation triggered by the input operation into the traveling operation area A1 and the input operation into the traveling mode setting area A3 are different operations. And input operation to traveling mode setting field A3 is operation different from the 1st rotation operation which decides a steering angle, and the 2nd rotation operation as operation for cargo handling.

  From the above, the input operation to the traveling mode setting area A3, which is a switching operation that triggers switching from the cargo handling mode to the traveling mode, is any of the traveling operation, the operation for determining the steering angle, and the cargo handling operation. It can be said that it is a different operation.

  When the input operation to the traveling mode setting area A3 is not performed, the remote CPU 33 determines whether or not the cargo handling mode change operation for changing the cargo handling mode is performed in step S210.

  The loading mode change operation is an input operation to a mode setting area corresponding to a loading mode different from the loading mode currently set. For example, when the loading mode currently set is the lift mode, the loading mode change operation is an input operation to the reach mode setting area A4b or the tilt mode setting area A4c.

When the loading mode change operation is not performed, the remote CPU 33 ends the loading mode correspondence process as it is.
On the other hand, when the loading mode change operation is performed, the remote CPU 33 proceeds to step S211, and executes the loading mode change process of changing to the loading mode corresponding to the loading mode change operation performed this time.

  Specifically, the remote CPU 33 changes the operation mode to the reach mode when the current cargo handling mode change operation (the input operation that triggered the positive determination in step S210) is the input operation to the reach mode setting area A4b. change.

  Similarly, when the current cargo handling mode change operation is an input operation to the lift mode setting area A4a, the remote CPU 33 changes the operation mode to the lift mode, and the current cargo handling mode change operation is a tilt mode setting area A4c. If it is an input operation to the operation mode, the operation mode is changed to the tilt mode.

  The processes of steps S110, S208, and S211 correspond to the "operation mode setting step", and the remote CPU 33 that executes these processes corresponds to the "operation mode setting unit". Moreover, remote CPU33 which performs the process of step S104-S108 and step S202-S206 respond | corresponds to a "remote control part."

  Thereafter, in step S212, the remote CPU 33 changes the operation image G10 to the operation image G10 corresponding to the cargo handling mode changed this time, and ends the cargo handling mode handling process.

  According to this configuration, when the loading mode change operation is performed in a state where the operation mode is the loading mode and the loading operation is not performed, the loading mode is changed. On the other hand, when the operation mode is the loading mode and the loading operation is performed, the loading mode is not changed even when the loading mode change operation is performed.

  Incidentally, the case where the loading operation is not performed in the loading mode is the case where the remote control of the fork 22 is not performed. Then, in the present embodiment, it can be said that the switching condition between the loading and unloading modes is that the loading and unloading mode change operation is performed in a state where the remote operation of the fork 22 is not performed.

  As described above, the cargo handling mode setting area A4 is disposed at a position different from the traveling operation area A1 and the traveling mode setting area A3. Therefore, the input operation to the cargo handling mode setting area A4 is an operation different from the speed setting operation triggered by the input operation to the traveling operation area A1 and the input operation to the traveling mode setting area A3.

According to the embodiment described above, the following effects can be obtained.
(1) The industrial vehicle remote control system 10 has a forklift 20 having a vehicle communication unit 28 and a fork 22 as an operation object, and a remote communication unit 36 which performs wireless communication with the vehicle communication unit 28. And a remote control device 30 used for remote control. The remote CPU 33 of the remote control device 30 sets the traveling mode or the cargo handling mode as an operation mode for remotely operating the forklift 20. The travel mode is an operation mode for restricting the remote control of the fork 22 while performing remote control for the travel, and the cargo handling mode is an operation mode for restricting the remote control for travel while performing the remote control of the fork 22.

  In such a configuration, in the traveling mode, the remote CPU 33 performs remote control related to traveling based on the traveling operation being performed, while the forklift 20 is not traveled by the cargo handling operation different from the traveling operation. Regulate. Further, in the cargo handling mode, the remote CPU 33 performs remote control of the fork 22 based on the loading operation, while restricting the fork 22 not to operate by the traveling operation.

  According to this configuration, the remote control of the fork 22 is restricted in the travel mode, and the remote control related to the travel is restricted in the cargo handling mode, so that the remote control of the travel and the remote control of the fork 22 are simultaneously performed. Can be avoided. As a result, it is possible to suppress that an erroneous operation is performed to simultaneously perform two remote control of traveling and the fork 22, and it is possible to suppress a malfunction of the forklift 20 through it.

  Here, in the configuration in which the traveling mode and the cargo handling mode are set as the operation mode, the operator may operate the remote control device 30 in a state in which the operation mode is misidentified.

  On the other hand, according to the present embodiment, the traveling operation and the cargo handling operation are different, and the traveling of the forklift 20 based on the cargo handling operation is restricted in the traveling mode and the fork based on the traveling operation in the cargo handling mode. Since the operation of 22 is restricted, it is possible to suppress the malfunction of the forklift 20 caused by the misidentification of the operation mode.

  More specifically, it is assumed that remote control related to traveling in the traveling mode and remote control of the fork 22 in the cargo handling mode can be realized by common operation on the remote control device 30. In this case, even though the operation mode is the cargo handling mode, if the above common operation is performed while the operator mistakenly recognizes that the vehicle is in the traveling mode, the remote operation of the fork 22 not intended by the operator is performed. Is done.

  On the other hand, according to the present embodiment, even if the operation mode is erroneously recognized as the traveling mode and the operation for traveling is performed although the operation mode is the cargo handling mode as described above. Remote control of both forks 22 is not performed. As a result, it is possible to suppress the malfunction of the forklift 20 caused by the misidentification of the operation mode.

  (2) Attitude detection that detects both the first rotation operation centered on the first rotation axis and the second rotation operation centered on the second rotation axis orthogonal to the first rotation axis The unit 35 is provided. Remote CPU33 performs remote control of the steering angle of the forklift 20 based on the operation aspect of 1st rotation operation based on performing operation for driving | running | working at the time of travel mode. The cargo handling operation includes a second rotation operation.

  According to this configuration, the steering angle can be controlled by performing the first rotation operation in the traveling mode. Here, if the operator misunderstands that the vehicle is in the traveling mode in the cargo handling mode, it is assumed that the operator performs the first rotation operation to perform the remote control of the steering angle. In this case, since the first rotation operation and the cargo handling operation are different in type in which the rotation axes are orthogonal to each other, the remote control of the fork 22 is not performed. Therefore, the malfunction of the forklift 20 based on the misidentification of the operation mode can be suppressed.

  (3) The remote control device 30 has a plate shape. The first center line M1 as the first rotation axis extends in the thickness direction of the remote control device 30, and the second center line M2 as the second rotation axis extends in the direction orthogonal to the thickness direction. There is.

  According to this configuration, when the remote control device 30 has a plate shape, it is assumed that the operator holds the remote control device 30 with the plate surfaces of the remote control device 30 facing each other. In this case, the first rotation operation corresponds to rotating the remote control device 30 clockwise or counterclockwise as viewed from the operator. As a result, the operator can control the steering angle by holding the remote control device 30 and rotating it counterclockwise or clockwise. Therefore, the steering angle of the forklift 20 can be controlled in the sense of operating the steering wheel, and the operability can be improved.

  (4) The remote control device 30 is a plate having a longitudinal direction and a lateral direction. In this case, it is assumed that the operator grips both ends of the remote control device 30 in the longitudinal direction. In such a configuration, the second center line M2 extends in the longitudinal direction of the remote control device 30. Thus, the operator holding the both end portions in the longitudinal direction of the remote control device 30 tilts the remote control device 30 from the near side to the far side, or remotely controls the remote control device 30 from the far side to the near side Remote control of the fork 22 can be performed by raising the device 30 or the like.

  (5) The remote control device 30 includes the touch panel 31 and the touch sensor 32 that detects an input operation on the touch panel 31. The remote CPU 33 performs the traveling speed corresponding to the operation mode of the speed setting operation and the first rotation operation based on the speed setting operation being a kind of input operation on the touch panel 31 being performed as the traveling operation in the traveling mode. Remote control of the forklift 20 is performed so that the forklift 20 travels at a steering angle corresponding to the operation mode.

  According to this configuration, the traveling mode of the forklift 20 can be controlled by the speed setting operation which is the input operation to the touch panel 31 and the first rotation operation. As a result, the traveling mode of the forklift 20 can be controlled without simultaneously performing two types of rotation operations with different rotation axes, so that operability can be improved and erroneous operations can be suppressed.

  More specifically, in order to realize a desired traveling mode in a configuration in which the steering angle is controlled by the first rotation operation and the traveling speed is controlled by the second rotation operation, the remote control device 30 has two rotation shafts. The need to rotate at the same time may occur. In this case, the remote control device 30 is twisted to be twisted, which may result in an unreasonable posture or inability to perform a sufficient rotation operation.

  On the other hand, according to the present embodiment, since the input operation on the touch panel 31 is adopted as the operation for determining the traveling speed, the above-mentioned inconvenience can be suppressed. In particular, the input operation on the touch panel 31 can be performed while performing the first rotation operation. Further, in the input operation and the first rotation operation on the touch panel 31, it is less likely that one operation interferes with the other operation. Thereby, the operability can be improved.

  (6) The speed setting operation is an input operation on the touch panel 31 triggered by an input operation on the traveling operation area A1. In detail, the speed setting operation is a slide operation which is a series of input operations in which the input operation into the traveling operation area A1 is a start condition (trigger) and then the input operation position is changed. In other words, the speed setting operation is a series of input operations including a start operation which is an input operation to the traveling operation area A1 and a continuous operation which is an input operation to the touch panel 31 continued from the start operation. It is.

  The remote CPU 33 determines forward / backward movement of the forklift 20 based on the slide operation direction in the travel mode. Specifically, when the slide operation is performed upward from the start position P10 at which the input operation is performed first, the remote CPU 33 advances the forklift 20 while the slide operation proceeds downward from the start position P10. If done, the forklift 20 is retracted. Thereby, the operability can be further improved.

  More specifically, as the configuration for determining the forward / backward movement of the forklift 20, for example, when the input operation is performed on the upper part of the traveling operation area A1 above the center line L, the traveling operation area A1 advances. Among them, a configuration is conceivable in which when the input operation is performed below the center line L, the device is retracted. In this case, in order to move the forklift 20 forward, it is first necessary to perform an input operation on a portion of the traveling operation area A1 above the center line L. Therefore, in order to move the forklift 20 forward, first, it is necessary to target the upper portion of the traveling operation area A1 instead of the portion lower than the center line L and perform the input operation, which may cause a reduction in operability. . In addition, the operator is likely to perform an input operation while looking at the operation image G <b> 10 instead of the forklift 20, and there is a concern that safety may be reduced.

  On the other hand, in the present embodiment, since the forward / backward movement of the forklift 20 is determined by the slide operation direction, the first input operation position (start position P10) in the slide operation may be within the travel operation area A1. . For example, even if the start operation is performed on a portion below the center line L in the travel operation area A1, the forklift 20 can be advanced by performing the slide operation upward. As a result, it is not necessary to strictly adjust the first input operation position of the speed setting operation as described above, and operability can be enhanced.

  (7) The remote CPU 33 uses the forklift 20 based on the relative position between the speed setting operation start position P10 (in other words, the start operation position) and the current position (in other words, the continuous operation position) as the speed setting operation. Determine the driving speed of According to this configuration, the traveling speed can be varied according to the operation amount of the slide operation, and an intuitive operation can be performed through it.

  Here, if the traveling speed is determined based on, for example, the relative position between the predetermined position determined in advance and the current position of the speed setting operation instead of the start position P10, the operation mode of the speed setting operation is limited. Adjustment of the speed may be limited. For example, when the prescribed position is set to the center line L, the distance from the prescribed position in the lateral direction of the touch panel 31 to the current position of the speed setting operation is limited to the distance from the center line L to the upper end of the touch panel 31 Ru.

  On the other hand, according to the present embodiment, since the start position P10 can be freely set, the range in which the slide operation can be performed can be adjusted. For example, as shown in FIG. 11, by setting the start position P10 below the center line L, the distance Y between the start position P10 in the lateral direction of the touch panel 31 and the current position of the speed setting operation is Can be longer than the distance from the upper end of the touch panel 31 to the upper end of the touch panel 31. As a result, it is possible to more precisely adjust the traveling speed and to increase the settable speed range.

  (8) The remote CPU 33 switches the operation mode when the operation mode switching condition is satisfied. The operation mode switching condition includes that a switching operation different from both the traveling operation and the cargo handling operation is performed on the remote control device 30.

  According to this configuration, the switching of the operation mode is performed based on the satisfaction of the operation mode switching condition including the switching operation. As a result, the operator can switch the operation mode by performing the switching operation as needed, and can perform desired remote control.

  In particular, since the switching operation is an operation different from the traveling operation and the cargo handling operation, the operation mode is switched even if the traveling operation or the cargo handling operation is accidentally performed to switch the operation mode. Absent. In addition, even if the switching operation is erroneously performed in order to perform traveling or remote control regarding the fork 22, no remote control regarding traveling or the fork 22 is performed. As a result, it is possible to suppress erroneous operation of the forklift 20 or switching of the operation mode due to an erroneous operation.

  (9) The operation mode switching condition is that the switching operation is performed in a situation where both the traveling and the fork 22 are not remotely operated. According to such a configuration, switching of the operation mode is not performed during remote control of both traveling and fork 22. Thereby, it is possible to suppress the forklift 20 from performing an unintended operation due to the switching of the operation mode during the remote control.

  (10) The remote CPU 33 displays an operation image G10 in which the traveling mode setting area A3 and the cargo handling mode setting area A4 are divided, separately from the traveling operation area A1. The traveling mode setting area A3 and the cargo handling mode setting area A4 are disposed at positions separated from the traveling operation area A1. The switching operation is an input operation to the traveling mode setting area A3 or the cargo handling mode setting area A4.

  According to this configuration, the operation mode can be switched by the input operation to the position different from the traveling operation area A1 of the touch panel 31. In particular, since the traveling mode setting area A3 and the cargo handling mode setting area A4 are separated from the traveling operation area A1, for example, the switching operation is performed to perform the traveling operation (speed setting operation), or switching It is difficult for travel operation to be performed to perform the operation. Thereby, an erroneous operation can be suppressed.

  (11) The traveling operation area A1, the traveling mode setting area A3, and the cargo handling mode setting area A4 are disposed at different positions. The remote CPU 33 changes the operation mode from the traveling mode to the cargo handling mode based on the fact that the input operation to the cargo handling mode setting area A4 is performed as the switching operation in the situation where the operation mode is the traveling mode and the traveling operation is not performed. Switch to The remote CPU 33 operates the operation mode from the cargo handling mode to the traveling mode based on the fact that the input operation to the traveling mode setting area A3 is performed as the switching operation when the operation mode is the cargo handling mode and the cargo handling operation is not performed. Switch to

  According to this configuration, the operation mode can be switched by performing the input operation on the area corresponding to the operation mode of the switching destination. Thereby, a desired operation mode can be made.

  Here, for example, as the switching operation, an input operation to a common switching area may be adopted, and the remote CPU 33 may switch the operation mode every time the input operation to the common switching area is performed. In this case, even though the operation mode is the loading mode, if an input operation is performed to the common switching area to switch to the loading mode while the operator misunderstood that the running mode is in effect, the operation mode Although the driver has switched to the traveling mode, the operator still misidentifies that the cargo handling mode is in effect.

  On the other hand, according to the present embodiment, even though the operation mode is the cargo handling mode, it is attempted to switch to the cargo handling mode in a state where the operator mistakenly recognizes that the traveling mode is the traveling mode. When the input operation is performed, the operation mode is maintained in the cargo handling mode without switching to the traveling mode. As a result, it is possible to eliminate the erroneously recognized state of the operator.

  (12) The remote CPU 33 remotely controls the fork 22 to perform any one of the lift operation, the reach operation, and the tilt operation based on the loading operation being performed when the operation mode is the loading mode. Thereby, the lifting operation, the reaching operation or the tilting operation can be performed by the cargo handling operation.

  (13) The fork 22 can perform a plurality of types of operations (specifically, a lift operation, a reach operation, and a tilt operation). The industrial vehicle remote control system 10 of the present embodiment has a plurality of types of cargo handling modes corresponding to a plurality of types of operations. When any one of a plurality of types of cargo handling modes is set, the remote CPU 33 performs remote control of the operation corresponding to the currently-set cargo handling mode based on the cargo handling operation, while the remote CPU 33 is currently set. Control is performed so that operations other than the operation corresponding to the loading mode are not performed. For example, when the lift mode is set, the remote CPU 33 performs remote control of the fork 22 so that the lift operation is performed based on the loading operation, while restricting the reach operation and the tilt operation. .

  According to this configuration, since the fork 22 is restricted from simultaneously performing two types of operations, the operation can be simplified. Thereby, complicated operation can be avoided and malfunction of the fork 22 can be suppressed.

  (14) The remote CPU 33 is the fork 22 so that the lift operation is performed based on the second rotation operation as the cargo handling operation when the lift mode is the first cargo handling mode of the plurality of types of cargo handling modes. Perform remote control of Moreover, remote CPU33 performs remote control of fork 22 so that reach operation may be performed based on 2nd rotation operation, when it is a reach mode as the 2nd loading mode among a plurality of kinds of loading modes. That is, in each cargo handling mode, the operation for performing the operation of the fork 22 is common.

  According to this configuration, by changing the cargo handling mode, operations of different types of forks 22 can be performed by a common operation. Thereby, the operation can be simplified.

  (15) The remote CPU 33 changes the loading mode based on the loading mode change operation being performed under the situation where the remote operation of the fork 22 is not performed. Thus, the fork 22 can perform a desired operation. Further, under the situation where the remote operation of the fork 22 is performed, the loading mode is not changed even if the loading mode change operation is performed. This makes it possible to prevent the fork 22 from suddenly changing from one state of operation to another to another type of operation.

  (16) The cargo handling mode setting area A4 includes a lift mode setting area A4a for setting a lift mode which is a kind of cargo handling mode, and a reach mode setting area A4b for setting a reach mode which is a kind of cargo handling mode; And a tilt mode setting area A4c for setting a tilt mode, which is a type of cargo handling mode. The loading mode change operation is an input operation to a mode setting area corresponding to a loading mode different from the loading mode currently set.

According to this configuration, by performing the input operation on the mode setting area corresponding to the desired operation, it is possible to change to the cargo handling mode corresponding to the desired operation.
Here, for example, as the cargo handling mode change operation, an input operation to a common cargo handling mode change area is adopted, and the remote CPU 33 sequentially switches the cargo handling mode every time an input operation to the common cargo handling mode change area is performed. Is also conceivable. In this case, if the operator misinterprets the lift mode even though the current cargo handling mode is the reach mode and if the input operation is performed on the cargo handling mode change area to switch to the reach mode, Even though the cargo handling mode is switched to the lift mode or the tilt mode, the operator still misinterprets the reach mode.

  On the other hand, according to the present embodiment, even if the current cargo handling mode is the reach mode, the reach mode setting area is selected to switch to the reach mode in a state where the operator misunderstood that the lift mode is The loading mode is maintained in the reach mode when the input operation to A4b is performed. As a result, it is possible to eliminate the erroneously recognized state of the operator.

  (17) In the lift mode, the remote CPU 33 displays a lift operation explanation image Gf1 suggesting the lift operation and the second rotation operation. The remote CPU 33 displays the reach operation explanation image Gf2 suggesting the reach operation and the second rotation operation in the reach mode, and tilts the tilt operation and the second rotation operation in the tilt mode. The operation explanation image Gf3 is displayed. According to this configuration, based on the image displayed on the touch panel 31, it is possible to understand the currently set cargo handling mode, the operation of the executable fork 22, and the operation to be performed.

(18) The remote control device 30 is a smartphone or a tablet terminal. According to this configuration, remote control of the forklift 20 can be realized using the existing general-purpose product.
(19) The remote control program 40 for remotely operating the forklift 20 using the remote control device 30 includes a remote control control processing execution program 41 which causes the remote CPU 33 to execute remote control control processing. The remote control control process includes a process of setting a traveling mode or a cargo handling mode as an operation mode. The remote operation control process performs the remote control related to traveling based on the traveling operation being performed in the traveling mode, while restricting the forklift 20 not to be traveled by the cargo handling operation different from the traveling operation. Includes processing Further, the remote control control process includes a process of performing the remote control of the fork 22 based on the loading operation being performed in the loading mode, and restricting the fork 22 not to operate by the traveling operation. Thereby, the operation and effect of (1) and the like are exhibited.

  (20) The remote control method of the forklift 20 in the present embodiment includes an operation mode setting step (steps S110, S208, S211, etc.) for setting the traveling mode or the cargo handling mode as the operation mode. Moreover, while the remote control method described above performs the remote control related to travel based on the travel operation being performed in the travel mode, the forklift 20 is not traveled by the cargo handling operation different from the travel operation. It includes steps S104 to S108 for regulating. Furthermore, in the loading mode, while the remote control method performs the remote control of the fork 22 based on the loading operation, steps S202 to S206 are performed such that the fork 22 is not operated by the traveling operation. including. Thereby, the operation and effect of (1) and the like are exhibited. Steps S104 to S108 and steps S202 to S206 correspond to the "remote operation control step".

The above embodiment may be modified as follows.
○ The driving operation is not limited to the speed setting operation. Further, the operation for determining the steering angle is not limited to the first rotation operation.

For example, as shown in FIG. 15, the traveling mode image G21 may be provided with a first area A11 and a second area A12.
The first area A11 and the second area A12 are spaced apart in the longitudinal direction of the touch panel 31 and disposed to face each other. The first area A11 and the second area A12 are disposed closer to both end portions in the longitudinal direction than the central portion of the touch panel 31.

  The first area A11 is disposed on the first end side of both ends in the longitudinal direction in the traveling mode image G21. For example, when the remote control device 30 is gripped with both hands, the finger of the left hand (for example, thumb) is It is provided in the position that is naturally placed. In the first area A11, a forward icon Ic1 and a reverse icon Ic2 disposed opposite to each other in the short direction of the touch panel 31 are displayed.

  The second area A12 is disposed on the second end side opposite to the first end of both ends in the traveling mode image G21 in the longitudinal direction, for example, when the remote control device 30 is gripped with both hands. , The right-handed finger (for example the thumb) is provided in a position where it is naturally placed. In the second area A12, a left icon Ic3 and a right icon Ic4 which are disposed to face each other in the longitudinal direction of the touch panel 31 are displayed.

  In the traveling mode image G21, mode setting areas A4a to A4c of the traveling mode setting area A3 and the cargo handling mode setting area A4 are provided at positions different from the first area A11 and the second area A12. The mode setting areas A3 and A4a to A4c are arranged at positions shifted in the lateral direction of the touch panel 31 with respect to both the areas A11 and A12, and are spaced apart from each other in the longitudinal direction of the touch panel 31 .

  In such a configuration, it is assumed that the traveling operation is both the first slide operation triggered by the input operation into the first area A11 and the second slide operation triggered by the input operation into the second area A12. Good.

  In this case, as in the above embodiment, the remote CPU 33 determines forward / backward movement based on the operation mode of the first slide operation and controls the traveling speed. Specifically, the remote CPU 33 determines forward / backward movement based on the upper and lower slide operation directions from the first start position P21 which is the start position of the first slide operation, and determines the first start position P21 and the first slide operation. The traveling speed is determined based on the distance in the short direction from the current position.

  Further, the remote CPU 33 may control the steering angle of the forklift 20 based on the operation mode of the second slide operation instead of the operation mode of the first rotation operation. For example, the remote CPU 33 determines right turn or left turn based on the left and right slide operation directions from the second start position P22, which is the start position of the second slide operation. Then, the remote CPU 33 determines the magnitude of the steering angle based on the distance between the second start position P22 in the longitudinal direction of the touch panel 31 and the current position of the second slide operation. For example, when the second slide operation is performed rightward from the second start position P22, the remote CPU 33 sets a steering angle corresponding to a right turn, and the second start position P22 in the longitudinal direction of the touch panel 31. The absolute value of the steering angle is set to be larger as the distance between the second slide operation and the current position of the second slide operation is larger.

  That is, in the present embodiment, when the operation mode is the travel mode, forward or backward movement is determined by the operation on the first area A11 side (left hand) and speed control is performed, and the second area A12 side (right hand) Steering angle control is performed by the operation. Thus, the remote control related to the travel of the forklift 20 can be performed without performing the first rotation operation on the remote control device 30.

  In such a configuration, at least one of the first rotation operation and the second rotation operation may be adopted as the cargo handling operation. Specifically, when at least one of the first rotation operation and the second rotation operation is being performed, the remote CPU 33 makes an affirmative determination in step S201, while both the first rotation operation and the second rotation operation are performed. If not, the determination in step S201 may be negative. Even in this case, the operation for traveling, the operation for controlling the steering angle, and the operation for cargo handling are different from each other.

  In such a configuration, the remote CPU 33 performs the first operation (e.g., lift operation) based on the fact that the first rotation operation is performed instead of the second rotation operation in the first operation mode (e.g., lift mode). Remote control of the fork 22 may be performed as implemented. Further, the remote CPU 33 executes the second operation (for example, reach operation) based on the fact that the second rotation operation is performed instead of the first rotation operation in the second operation mode (for example, in reach mode). As such, remote control of the fork 22 may be performed. That is, in a configuration in which the fork 22 can execute a plurality of types of operations, a plurality of types of operations may be assigned to correspond to the operations of the plurality of types of forks 22. Thus, for example, even if the cargo handling mode is the lift mode, both the lift operation and the reach operation are not performed when the second rotation operation is performed with the operator being misidentified as the reach mode. . As a result, it is possible to suppress the malfunction of the fork 22 caused by the misidentification of the cargo handling mode.

  The first slide operation may extend out of the first area A11 or may be limited to the first area A11 after the input operation into the first area A11. That is, when the current position of the first slide operation is out of the first area A11, the remote CPU 33 may determine that the speed setting operation is continued, or determines that the speed setting operation has ended. May be The same applies to the second slide operation. However, in consideration of the size of the range in which the sliding operation is possible, it is preferable to have a configuration that allows the protrusion out of the first area A11.

  In the embodiment, a plurality of types of cargo handling modes are set. However, the present invention is not limited to this, and only one type may be used. Further, the industrial vehicle remote control system 10 may be configured to be capable of simultaneously performing the operations of a plurality of types of forks 22.

The said another example is demonstrated in detail using FIG.
For example, as shown in FIG. 16, in the cargo handling mode image G22 set when the operation mode is the cargo handling mode, a first operation manipulation area A21 and a second operation manipulation area A22 arranged at mutually different positions. And may be provided. The two operation operation areas A21 and A22 are disposed at positions different from the traveling operation area A1 set in the traveling mode. For example, the operation area for traveling A1, the operation area for first operation A21, and the operation area for second operation A22 are arranged separately in the longitudinal direction of the touch panel 31.

  The first operation operation area A21 is an operation area for performing a first operation (e.g., lift operation), and in the first operation operation area A21, a lift arranged opposite in the lateral direction of the touch panel 31 The icon Ic11 and the lowering icon Ic12 are displayed.

  The second operation operation area A22 is an operation area for performing a second operation (for example, reach operation), and in the second operation operation area A22, the second operation operation area A22 is disposed in front of the touch panel 31 in the short direction. The icon Ic13 and the rear icon Ic14 are displayed.

  A loading mode setting area (traveling mode icon) A23 and a loading mode setting area (loading handling mode icon) A24 are provided in the loading mode image G22 according to the present another example. The travel mode setting area A23 and the cargo handling mode setting area A24 are disposed at positions different from the operation areas A1, A21, and A22. For example, both sides of the touch panel 31 in the short direction with respect to the first operation operation area A21. Is located in In addition, the cargo handling mode setting area A24 in this example is only one.

  In such a configuration, the cargo handling operation is triggered by the input operation into the first operation operation area A21 and the second operation by the input operation into the second operation operation area A22. The slide operation and the second rotation operation may be included. In other words, the cargo handling operation may be a single operation as in the embodiment or may include a plurality of operations.

  Specifically, when at least one of the first operation slide operation, the second operation slide operation, and the second rotation operation is performed, the remote CPU 33 determines that the cargo handling operation is performed, and the step S201 is performed. Make a positive decision on On the other hand, when none of the first operation slide operation, the second operation slide operation, and the second rotation operation is performed, the remote CPU 33 denies step S201 on the assumption that no cargo handling operation is performed. You may judge.

  According to this configuration, since the traveling operation area A1 used in the speed setting operation, which is a part of the traveling operation, and the both operation operation areas A21 and A22 are disposed at different positions, these operations are performed. It can be said that the input operations to the areas A1, A21 and A22 are different operations. For this reason, it can be said that the operation for traveling, the operation for controlling the steering angle, and the operation for cargo handling are different from each other.

  In this case, the remote CPU 33 may determine the operation mode of the first operation based on the operation mode of the first operation slide operation. For example, the remote CPU 33 may determine whether to move up or down based on the upper and lower slide operation directions from the first operation start position P31, which is the start position of the first operation slide operation. Then, the remote CPU 33 may determine the stroke amount of the lift operation based on the distance between the first operation start position P31 and the current position of the first operation slide operation in the lateral direction of the touch panel 31. For example, when the first operation slide operation is performed upward from the first operation start position P31, the remote CPU 33 is a lift operation of ascent, and the stroke of the lift operation ascends as the distance increases. Remote control of the fork 22 may be performed to increase the amount.

  Further, the remote CPU 33 may determine the operation mode of the second operation based on the operation mode of the second operation slide operation. For example, the remote CPU 33 determines whether a forward movement reach operation or a backward movement reach operation based on the upper and lower slide operation directions from the second operation start position P32, which is the start position of the second operation slide operation. May be Then, the remote CPU 33 may determine the stroke amount of the reach operation based on the distance between the second operation start position P32 and the current position of the second operation slide operation in the lateral direction of the touch panel 31. For example, when the second operation slide operation is performed downward from the second operation start position P32, the remote CPU 33 is a reach operation of backward movement, and the reach operation of the backward movement is the larger the distance is. The fork 22 may be remotely operated to increase the stroke amount of

In addition, the remote CPU 33 may determine the operation mode of the tilt operation as the third operation based on the operation mode of the second rotation operation.
According to this configuration, the lift operation, the reach operation and the tilt operation can be performed simultaneously. As a result, for example, it is possible to perform remote control with a higher degree of freedom, such as performing a lift operation while performing a tilt operation.

  Further, the slide operation for both operations and the second rotation operation are different from each other. That is, a plurality of different operations are set in association with each other as an operation on the remote control device 30 for executing the operations of the plurality of types of forks 22. As a result, there is a disadvantage that the remote operation of the fork 22 can be executed by a common operation in a plurality of cargo handling modes, for example, unintended operation is performed due to performing the common operation in a state where the cargo handling mode is misidentified. It can be suppressed.

  The first operation slide operation may extend out of the first operation operation area A21 after the input operation to the inside of the first operation operation area A21 as in the first slide operation, or the first operation It may be limited within the operation area A21. The same applies to the second operation slide operation.

  The posture detection unit 35 may detect a third rotation operation about a rotation axis extending in the lateral direction of the touch panel 31 through the center of the remote control device 30. In this case, the remote CPU 33 may control the steering angle based on the operation mode of the third rotation operation in the traveling mode, and adopts at least one of the second rotation operation and the third rotation operation as the cargo handling operation. May be

  The remote control device 30 may include an up-and-down operation detection unit that detects an up-and-down operation in which the remote control device 30 moves in the vertical direction while maintaining the posture, and the up-and-down operation may be employed as a cargo handling operation. For example, in step S201, the remote CPU 33 determines whether the up and down operation is being performed based on the detection result of the up and down operation detection unit, and when it is determined that the up and down operation is being performed, the step S201. You may make a positive decision on In such a configuration, the remote CPU 33 may determine the direction (lift / fall) of the lift operation and the like based on the operation direction of the up and down operation, and may determine the stroke amount of the lift operation based on the operation amount of the up and down operation. .

  As the cargo handling operation, an input operation to a region different from the traveling operation region A1 of the touch panel 31 and the mode setting regions A3 and A4 may be employed. In this case, the remote CPU 33 performs remote control of the fork 22 corresponding to the second rotation operation angle θn, which is the operation mode of the second rotation operation, based on the fact that the cargo handling operation is performed in the cargo handling mode. It is also good. That is, the cargo handling operation serving as a trigger for remote control of the fork 22 and the operation for determining the remote control mode (operation mode) of the fork 22 may be the same as or different from each other.

  In the above another example, the remote CPU 33 sets the rotational position in the second rotational operation direction of the remote control device 30 when the cargo handling operation is performed as the reference position in the second rotational operation direction. Good.

  The travel operation may be at least one of the first rotation operation and the speed setting operation. That is, the first rotation operation may be part of the traveling operation. In this case, in step S103, if there is at least one of the speed setting operation and the position change from the reference position in the first rotation operation direction, the remote CPU 33 determines that the operation for traveling has been performed, and step S103. You may make a positive decision on

The remote CPU 33 may be configured to be able to change the reference position of the remote control device 30 in the first rotation operation direction used to grasp the first rotation operation angle θm.
In the configuration in which the remote control device 30 is used to remotely control the forklift 20, there is no need for the operator to get on the forklift 20, so the degree of freedom of the operator's posture is high. Therefore, the operator can remotely operate the forklift 20 in a free position. Therefore, remote control of the forklift 20 can be performed while looking into a blind spot or an important part, for example.

  As described above, in the configuration in which various variations can be considered for the operation posture, the range in which the first rotation operation can be performed may be changed or limited depending on the operation posture. Under such use conditions, if the reference position is temporarily fixed, depending on the operating posture, a sufficient range for the first rotation operation from the reference position can not be secured, or a desired steering angle can be obtained. On the other hand, there may be a disadvantage that the range in which the first rotation operation from the reference position can be performed is insufficient, or the first rotation operation can not be performed to achieve the desired steering angle.

  In this regard, as described above, if the reference position can be changed, it can be set to a desired reference position. As a result, even under conditions in which the operable range is limited, a desired steering angle can be obtained, and operability can be improved.

  The remote CPU 33 may set, for example, the rotational position of the remote control device 30 in the first rotational operation direction at the start of the speed setting operation (in other words, when the start operation is performed) as the reference position. According to this configuration, the reference position is set by performing the speed setting operation. Thus, there is no need to perform an operation for setting the reference position separately from the speed setting operation, so that the operation can be simplified.

  Further, according to the present another example, since the reference position is set every time the speed setting operation is performed, the reference position can be changed for each traveling operation. Therefore, for example, after performing remote control of traveling based on a certain operation for traveling, changing the posture and performing remote control of traveling based on another operation for traveling again, it is possible to correspond to the change of the posture, and reference You can change the position. Therefore, it is possible to perform remote control of traveling corresponding to the changed posture.

  As a mode of speed setting operation, the current position itself may be adopted instead of the relative position between the start position P10 and the current position. For example, remote CPU 33 sets traveling operation information D1 corresponding to forward movement when an input operation is performed on a portion above traveling line operation region A1 above central line L in the traveling mode. On the other hand, when the input operation is performed on the portion below the center line L in the travel operation area A1, the travel operation information D1 corresponding to the backward movement may be set. The remote CPU 33 may also determine the traveling speed based on the distance from the center line L to the current position at which the speed setting operation is performed.

  The specific layout of the operation image G10 is arbitrary, and may be changed as appropriate. For example, the traveling operation area A1 may be disposed on the right side. Further, the specific display contents of the images in the traveling operation area A1 and the respective operation explanation images Gf1 to Gf3 are also arbitrary.

  ○ The speed setting operation may be configured to extend out of the traveling operation area A1 after the input operation is performed on the traveling operation area A1 for the first time, but the invention is not limited thereto. The traveling operation area A1 is It may be limited within. However, in consideration of the size of the range in which the slide operation can be performed, it is preferable to allow the movement outside the traveling operation area A1.

  In the embodiment, the travel speed increases as the distance Y between the current position and the start position P10 of the speed setting operation in the lateral direction of the touch panel 31 increases. However, the present invention is not limited thereto. The traveling mode of the forklift 20 may be controlled according to the relative position between the start position P10 of the speed setting operation and the current position, and the specific setting mode is arbitrary.

  The remote CPU 33 may determine the steering angle based on the slide operation direction from the start position P10 in the longitudinal direction of the touch panel 31 and the distance between the current position and the start position P10 of the speed setting operation in the longitudinal direction. In this case, the remote CPU 33 may not determine the steering angle based on the first rotation operation.

  The remote CPU 33 may be configured to switch the operation mode based on the switching operation being performed even during traveling or remote control of the fork 22. That is, under the operation mode switching condition, it is not essential that traveling or remote control of the fork 22 is not performed.

  The cargo handling mode setting area A4 may be a single icon. In this case, the remote CPU 33 may be configured to sequentially switch, for example, in the order of travel mode → lift mode → reach mode → tilt mode → travel mode →... Each time an input operation is performed on the icon.

  The remote CPU 33 may be capable of setting a third operation mode different from the traveling mode and the cargo handling mode. In other words, the remote CPU 33 only needs to be able to set at least the traveling mode or the cargo handling mode as the operation mode, and may be configured to be able to set the third operation mode.

  ○ The switching operation is not limited to the input operation to each mode setting area A3, A4 and is optional. For example, when the remote control device 30 is provided with a switching button for the operation mode, the switching button is operated Or any other operation.

  In the embodiment, when the traveling operation or the cargo handling operation and the switching operation are simultaneously performed, the remote CPU 33 preferentially executes the traveling or the remote operation of the fork 22 over the switching of the operation mode. Although it was composition, it is not restricted to this and may be opposite. The remote CPU 33 may be configured not to execute both the traveling or the remote operation of the fork 22 and the switching of the operation mode when the traveling operation or the cargo handling operation and the switching operation are simultaneously performed.

The shape of the remote control device 30 is not limited to a plate and is arbitrary.
The touch panel 31 may be omitted. In this case, the remote CPU 33 may control the traveling speed or the like by operating the operation button or the like provided on the remote control device 30.

In the remote control signal SG1, "0" is set for information other than the operation target. However, the present invention is not limited to this. For example, "null" may be used.
The industrial vehicle is not limited to the forklift 20, and any industrial vehicle may be used as long as it has an operation object, and may be, for example, an automated guided vehicle. Further, the operation object is not limited to the fork 22 but is arbitrary. The operation target is not limited to one that performs a plurality of types of operations, such as the fork 22, but may be a type of operation.

The communication method between the two communication units 28 and 36 is not limited to wireless communication and may be wired communication.
The posture detection unit 35 detects the first rotation operation in a state where the thickness direction of the remote control device 30 intersects or is orthogonal to the vertical direction, while the thickness direction of the remote control device 30 matches the vertical direction. The first rotation operation may not be detected in this state. In general, when the remote control device 30 is gripped with both hands so as to visually recognize the touch panel 31, the thickness direction of the remote control device 30 tends to cross or be orthogonal to the vertical direction. For this reason, even if the first rotation operation is not detected in the state where the thickness direction of the remote control device 30 coincides with the vertical direction, a problem hardly occurs.

  ○ Although the remote CPU 33 is configured to execute both display control of the touch panel 31 and remote control control of the forklift 20, the present invention is not limited thereto. Another display control of the touch panel 31 is performed separately from the remote CPU 33 A control unit (CPU) may be provided. The point is that the remote control device 30 may be configured to execute display control and remote control as a whole.

  As shown in FIG. 17, the remote control program 40 may be stored in the vehicle memory 26. In this case, the remote CPU 33 periodically aims at the vehicle communication unit 28 an operation signal in which information on various operations on the remote control device 30 (for example, information on the attitude of the remote control device 30 and the input operation position on the touch panel 31) is set. Send to The vehicle CPU 25 executes remote control control processing based on the above-mentioned operation signal to determine the remote control mode and the operation mode, and control the respective actuators 23, 24 or the determined operation mode information is set. The remote control device 30 may be controlled by transmitting the signal to the remote control device 30. In such a configuration, the vehicle CPU 25 corresponds to the “operation mode setting unit” and the “remote operation control unit”.

The embodiment and each example may be combined as appropriate.
Next, technical ideas or preferable examples that can be grasped from the above-described embodiment and each example will be described below.

  (A) A vehicle communication unit, an industrial vehicle having an operation target performing different types of first and second operations, and a remote communication unit performing wireless communication with the vehicle communication unit, the industrial vehicle A remote control device used to remotely control the object, and an operation target mode for performing remote control of the operation target using the remote control device, performing remote control regarding the first operation and related to the second operation An operation target object mode setting unit configured to set a second operation mode for performing remote control regarding the second operation and controlling the first operation mode for restricting remote control or the second operation; When the object mode is set to the first operation mode, the operation object performs the first operation based on the fact that the operation for the operation object is performed on the remote control device Based on the fact that the operation for the operation object is performed on the remote control device when the operation object mode is set to the second operation mode while remotely operating the operation object. And a remote control unit for performing remote control of the operation object such that the operation object performs the second operation, and the operation object mode is set to the first operation mode The operation target operation causes the first operation to be performed by the operation target, and the operation target object performs the second operation when the operation target object mode is set to the second operation mode. A remote control system for an industrial vehicle, characterized in that it is common to the operation for an operation object which is a trigger for performing an operation.

  In addition, although (I) was "the remote control system for industrial vehicles", the main technical thought which (A) shows is not restricted to "the remote control system for industrial vehicles", "remote control apparatus", " The present invention can also be applied to an industrial vehicle remote control program and an industrial vehicle remote control method.

The problems corresponding to the above (i) are as follows.
In the configuration in which the industrial vehicle is remotely operated using the remote control device, the operation may be complicated. In particular, in an industrial vehicle having an operation target capable of performing different types of first and second operations, remote control for first operation and remote control for second operation is performed separately from remote control for traveling. It is assumed. Therefore, the operation is likely to be complicated, and as a result, there is a concern that the remote control device may be operated incorrectly. Therefore, an object of (i) is to provide a remote control system for industrial vehicles, a remote control device, a remote control program for industrial vehicles, a remote control method for industrial vehicles, and an industrial vehicle, which can suppress the complication of operation.

  DESCRIPTION OF SYMBOLS 10 Remote control system for industrial vehicles, 20 Forklift (industrial vehicle), 22 Fork, 23 Travel actuator, 24 Cargo handling actuator, 25 Vehicle CPU, 28 Vehicle communication part, 29 Signal conversion part, 30 Remote control device 31 touch panel 32 touch sensor 33 remote CPU 35 attitude detection unit 36 remote communication unit 40 remote control program 41 remote operation control processing execution program P10 start position G10 ... operation image, A1 ... operation area for traveling (specific area), A3, A23 ... traveling mode setting area, A4, A24 ... cargo handling mode setting area, SG1 ... remote operation signal.

Claims (16)

An industrial vehicle having a vehicle communication unit and an operation object;
A remote control device that has a remote communication unit that performs wireless communication with the vehicle communication unit, and is used to remotely control the industrial vehicle;
As an operation mode for performing remote control of the industrial vehicle using the remote control device, a travel mode for performing remote control on travel of the industrial vehicle and restricting remote control of the operation target, or An operation mode setting unit configured to set an operation object mode for performing remote control and restricting remote control regarding traveling of the industrial vehicle;
When the operation mode is set to the travel mode, the remote control related to travel of the industrial vehicle is performed based on the travel operation being performed on the remote control device, while the operation mode is the operation target A remote control control unit for performing remote control of the operation target based on the operation of the operation target different from the travel operation being performed on the remote control device when the object mode is set;
Equipped with
The remote operation control unit regulates the traveling of the industrial vehicle not to be performed by the operation for the operation object when the operation mode is set to the traveling mode, and the operation mode is the operation object. A remote control system for an industrial vehicle, characterized in that the operation target is restricted by the operation for traveling when the mode is set. The remote control device includes a posture detection unit that detects a first rotation operation around a first rotation axis and a second rotation operation around a second rotation axis orthogonal to the first rotation axis,
The remote control unit is based on the operation mode of the first rotation operation based on the travel operation being performed on the remote control device when the operation mode is set to the travel mode. Remotely control the steering angle of the industrial vehicle,
The industrial vehicle remote control system according to claim 1, wherein the operation for operation object includes the second rotation operation. The remote control device is plate-shaped,
The first rotation axis is a rotation axis extending in the thickness direction of the remote control device,
The remote control system for industrial vehicles according to claim 2, wherein the second rotation axis is a rotation axis extending in a direction orthogonal to the thickness direction of the remote control device. The remote control device is in the form of a plate having a longitudinal direction and a lateral direction,
The remote control system for industrial vehicles according to claim 3, wherein the second rotation axis is a rotation axis extending in the longitudinal direction of the remote control device. The remote control device is
Touch panel,
A touch sensor that detects an input operation on the touch panel;
Have
The traveling operation includes a speed setting operation which is a type of input operation on the touch panel,
The remote control unit corresponds to the operation mode of the speed setting operation based on the travel operation being performed on the remote control device when the operation mode is set to the travel mode. The industrial vehicle according to any one of claims 2 to 4, wherein the industrial vehicle is remotely controlled such that the industrial vehicle travels at a traveling speed and a steering angle corresponding to an operation mode of the first rotation operation. Remote control system. The operation mode setting unit switches the operation mode when an operation mode switching condition is satisfied.
The operation mode switching condition according to any one of claims 1 to 5, wherein the switching operation different from both the traveling operation and the operation target object operation is performed on the remote control device. Industrial vehicle remote control system as described.   7. The industrial vehicle according to claim 6, wherein the operation mode switching condition is that the switching operation is performed in a situation where both the remote operation related to traveling of the industrial vehicle and the remote operation of the operation object are not performed. Remote control system. The remote control device is
Touch panel,
A touch sensor that detects an input operation on the touch panel;
Have
The operation for traveling or the operation for operation object includes an input operation on the touch panel triggered by an input operation into a specific area of the touch panel,
The operation mode setting unit is
In the situation where the operation mode is the traveling mode and the operation for traveling is not performed, an input operation to an operation target object mode setting area provided at a position different from the specific area in the touch panel as the switching operation. Switching the operation mode from the traveling mode to the operation object mode,
In the situation where the operation mode is the operation object mode and the operation for the operation object is not performed, the switching operation is performed at a position different from the specific region and the operation object mode setting region on the touch panel The remote control system for industrial vehicles according to claim 7, wherein the operation mode is switched from the operation object mode to the traveling mode when an input operation is performed on a provided traveling mode setting area. The operation object is to perform different types of first and second operations,
The operation object mode is
A first operation mode for performing remote control on the first operation while restricting remote control on the second operation;
A second operation mode for performing remote control on the second operation while restricting remote control on the first operation;
Including
The remote control unit is
When the operation object is set to the first operation mode, the operation object performs the first operation based on the operation for the operation object performed on the remote control device Remotely control the operation object,
When the operation object is set to the second operation mode, the operation object performs the second operation based on the operation for the operation object performed on the remote control device The remote control system for industrial vehicles according to any one of claims 1 to 8, wherein the remote control of the operation object is performed.   The industrial vehicle remote control system according to any one of claims 1 to 9, wherein the industrial vehicle is a forklift having a fork as the operation object.   When the operation mode is set to the operation object mode, the remote operation control unit moves the fork in the vertical direction based on the operation for the operation object being performed on the remote control device. The remote control according to claim 10, wherein the fork is remotely controlled such that a lift operation to move, a reach operation to move the fork in the back and forth direction, or a tilt operation to tilt the fork is performed. system.   The industrial vehicle remote control system according to any one of claims 1 to 11, wherein the remote control device is a smartphone or a tablet terminal. A remote control device used to remotely control an industrial vehicle having a vehicle communication unit and an operation object,
A remote communication unit that performs wireless communication with the vehicle communication unit;
As an operation mode for performing remote control of the industrial vehicle using the remote control device, a travel mode for performing remote control on travel of the industrial vehicle and restricting remote control of the operation target, or An operation mode setting unit configured to set an operation object mode for performing remote control and restricting remote control regarding traveling of the industrial vehicle;
When the operation mode is set to the travel mode, the remote control related to travel of the industrial vehicle is performed based on the travel operation being performed on the remote control device, while the operation mode is the operation target A remote control control unit for performing remote control of the operation target based on the operation of the operation target different from the travel operation being performed on the remote control device when the object mode is set;
Equipped with
The remote operation control unit regulates the traveling of the industrial vehicle not to be performed by the operation for the operation object when the operation mode is set to the traveling mode, and the operation mode is the operation object. A remote control device characterized in that the operation object is restricted from operating by the traveling operation when the mode is set. An industrial vehicle remote control program for remotely operating the industrial vehicle using a remote control device including a remote communication unit performing wireless communication with the vehicle communication unit of the industrial vehicle having the vehicle communication unit and the operation object. ,
The remote control device or the industrial vehicle;
As an operation mode for performing remote control of the industrial vehicle using the remote control device, a travel mode for performing remote control on travel of the industrial vehicle and restricting remote control of the operation target, or An operation mode setting unit configured to set an operation object mode for performing remote control and restricting remote control regarding traveling of the industrial vehicle;
When the operation mode is set to the travel mode, the remote control related to travel of the industrial vehicle is performed based on the travel operation being performed on the remote control device, while the operation mode is the operation target Functions as a remote control unit that performs remote control of the operation target based on the operation of the operation target different from the travel operation being performed on the remote control device when the object mode is set Let
The remote operation control unit regulates the traveling of the industrial vehicle not to be performed by the operation for the operation object when the operation mode is set to the traveling mode, and the operation mode is the operation object. A remote control program for industrial vehicles, characterized in that the operation object is restricted by the operation for traveling when the mode is set. An industrial vehicle remote control method for remotely controlling the industrial vehicle using a remote control device including a remote communication unit for performing wireless communication with the vehicle communication unit of the industrial vehicle having the vehicle communication unit and the operation object.
The remote control device or the industrial vehicle performs remote control on traveling of the industrial vehicle as an operation mode for performing remote control of the industrial vehicle using the remote control device, and restricts remote control of the operation object An operation mode setting step of setting a traveling mode or an operation target mode for performing remote control of the operation target and restricting remote control related to traveling of the industrial vehicle;
When the remote control device or the industrial vehicle is set to the travel mode, the remote control related to travel of the industrial vehicle is performed based on the travel operation being performed on the remote control device. Related to the operation object based on the operation for the operation object different from the traveling operation being performed on the remote control device when the operation mode is set to the operation object mode A remote control control step of performing remote control;
Equipped with
The remote control control step regulates the traveling of the industrial vehicle not to be performed by the operation for the operation object when the operation mode is set to the traveling mode, and the operation mode is the operation object. A remote control method for an industrial vehicle, characterized in that the operation target is restricted by the operation for traveling when the mode is set. An industrial vehicle including a vehicle communication unit for performing wireless communication with a remote communication unit provided in a remote control device, and an operation object, the remote control device being operated by the remote control device,
As an operation mode for performing remote control of the industrial vehicle using the remote control device, a travel mode for performing remote control on travel of the industrial vehicle and restricting remote control of the operation target, or An operation mode setting unit configured to set an operation object mode for performing remote control and restricting remote control regarding traveling of the industrial vehicle;
When the operation mode is set to the travel mode, the remote control related to travel of the industrial vehicle is performed based on the travel operation being performed on the remote control device, while the operation mode is the operation target A remote control control unit for performing remote control of the operation target based on the operation of the operation target different from the travel operation being performed on the remote control device when the object mode is set;
Equipped with
The remote operation control unit regulates the traveling of the industrial vehicle not to be performed by the operation for the operation object when the operation mode is set to the traveling mode, and the operation mode is the operation object. An industrial vehicle characterized by restricting the operation object so as not to operate by the traveling operation when the mode is set.