JP2021175123A - Control device, control method and program for working vehicle - Google Patents

Abstract

To enable the operation of a working vehicle from a general-purpose mobile terminal, which is not limited to a terminal registered beforehand to the working vehicle, preventing the conflict of the operations of the working vehicle.SOLUTION: A radio communication unit 11 of a control device 1 communicates with a mobile terminal 2 by radio. When an operation start request including the ID of the mobile terminal 2 is transmitted from the mobile terminal 2, an operation right management unit 12 displays instruction information which prompts to perform a specific operation on a display device 15 of the working vehicle or a display device of the mobile terminal 2 having transmitted the operation start request. When instruction information is displayed on the display device 15, an operation right is given to the mobile terminal 2 from the time when the specific operation is transmitted from the mobile terminal 2. When instruction information is displayed on the display device of the mobile terminal 2, an operation right is given to the mobile terminal 2 from the time when the specific operation is input to an operation unit 14. While the operation right is given to one mobile terminal 2, the control device 1 does not give an operation right to the other mobile terminal. An control unit 13 controls the working vehicle based on a command transmitted from the mobile terminal 2 to which the operation right has been given.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control device, a control method and a program that enable operation of a work vehicle from a mobile terminal.

A command for operating a device is input from a mobile terminal carried by an operator to remotely control the device. For example, Patent Document 1 describes a multi-remote control winch device that can be operated by a plurality of remote controls. The winch device of Patent Document 1 recognizes a remote control-specific identification number included in a radio signal transmitted from each of a plurality of remote controls, accepts only a radio signal including a pre-registered identification number, and receives a plurality of radio signals. Among the wireless signals transmitted from the remote controller, the remote controller that transmitted the wireless signal satisfying the predetermined conditions is recognized as the priority remote controller, and the other remote controller is recognized as the non-priority remote controller, so that the remote controller is transmitted from the priority remote controller. It is configured to accept only wireless signals.

Patent Document 2 describes a voice control crane controlled by command words from a plurality of workers at different positions. The voice control crane of Patent Document 2 is derived from a plurality of portable radio stations that transmit command words on separate transmission channels, a plurality of fixed radio stations provided on the crane side corresponding to the plurality of portable radio stations, and the mobile radio station. A command word from a specific fixed radio station with a command word A command word from one selected mobile radio station provided with a control device having a switch for selectively switching and inputting a signal from a specific fixed radio station with a command word. Voice control of the traveling crane is performed by.

Further, in Patent Document 3, the distance from the access point to the mobile terminal is measured in the plant monitoring system, the operation can be performed within a predetermined distance range, and the operation can be performed only within the predetermined distance range. Have been described.

Japanese Unexamined Patent Publication No. 2011-235996 Japanese Unexamined Patent Publication No. 62-291297 Japanese Unexamined Patent Publication No. 2016-42247

In the remote control system of the patent document, the mobile terminal that can be operated is registered in advance in the target device to be operated by the identification number. When there are a plurality of operation targets and a plurality of mobile terminals, it is complicated to determine which of the plurality of mobile terminals is registered as the target operation target. Further, when a plurality of work vehicles are operated at one site, there is a possibility of erroneously operating by using a mobile terminal registered in a work vehicle different from the intended purpose. Further, when a plurality of mobile terminals are registered in one work vehicle, there is a possibility that operation conflicts may occur.

The present invention has been made in view of the above circumstances, and enables operation of a work vehicle from a general-purpose mobile terminal as well as a terminal registered in advance in the work vehicle, and prevents competition in operation of the work vehicle. The purpose is to do.

The work vehicle control device according to the first aspect of the present invention is
A wireless communication unit that wirelessly communicates with mobile terminals,
An operation right management unit that exclusively grants an operation right to the mobile terminal that wirelessly communicates with the wireless communication unit,
A control unit that receives a command to operate the work vehicle transmitted from the mobile terminal to which the operation right is granted and controls the work vehicle based on the received command.
With
The operation right management department
When an operation start request including an ID for identifying the mobile terminal is transmitted from the mobile terminal, an instruction for prompting a specific operation to the display device of the work vehicle or the display device of the mobile terminal to which the operation start request is transmitted. Display information,
When the instruction information is displayed on the display device of the work vehicle, the operation right is given to the mobile terminal from the time when the specific operation is transmitted from the mobile terminal, or the display device of the mobile terminal is said to have the operation right. When the instruction information is displayed, the operation right is granted to the mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
While the operation right is granted to one mobile terminal, the operation right is not granted to the other mobile terminals.

Preferably,
The operation right management unit is in a state of granting the operation right to the first mobile terminal.
When an operation start request including an ID for identifying the second mobile terminal is received from the second mobile terminal, the display device of the work vehicle or the display device of the second mobile terminal that has transmitted the operation start request is displayed. , Display instructional information prompting a specific operation,
When the instruction information is displayed on the display device of the work vehicle, the quasi-operation right is given to the second mobile terminal from the time when the specific operation is transmitted from the second mobile terminal, or the quasi-operation right is given to the second mobile terminal. When the instruction information is displayed on the display device of the second mobile terminal, the quasi-operation right is granted to the second mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
When a predetermined command is transmitted from the second mobile terminal to which the quasi-operation right is granted, the control unit controls the work vehicle based on the command, and the second mobile terminal controls the work vehicle. When a command other than the predetermined command is transmitted, the work vehicle is not controlled based on the transmitted command.

Preferably,
The operation right management department
The order of the second mobile terminal to which the quasi-operation right is granted based on a predetermined condition is stored.
When the operation right is transferred from the first mobile terminal to which the operation right is granted, the operation right is granted to the second mobile terminal having the highest rank based on the predetermined conditions.

Preferably, the predetermined condition is in the order of earliest time when the quasi-operation right is granted.

Alternatively, the predetermined conditions may be in ascending order of distance from the work vehicle.

The method for controlling a work vehicle according to the second aspect of the present invention is as follows.
It is a control method performed by the control device of the work vehicle.
A wireless communication step that wirelessly communicates with a mobile terminal,
An operation right management step that exclusively grants an operation right to the mobile terminal that wirelessly communicates in the wireless communication step,
A control step that receives a command for operating the work vehicle transmitted from the mobile terminal to which the operation right is granted and controls the work vehicle based on the received command.
With
In the operation right management step,
When an operation start request including an ID for identifying the mobile terminal is transmitted from the mobile terminal, an instruction for prompting a specific operation to the display device of the work vehicle or the display device of the mobile terminal to which the operation start request is transmitted. Display information,
When the instruction information is displayed on the display device of the work vehicle, the operation right is given to the mobile terminal from the time when the specific operation is transmitted from the mobile terminal, or the display device of the mobile terminal is said to have the operation right. When the instruction information is displayed, the operation right is granted to the mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
While the operation right is granted to one mobile terminal, the operation right is not granted to the other mobile terminals.

The program according to the third aspect of the present invention
The operation right management unit that exclusively grants the operation right to the computer that controls the work vehicle based on the command for operating the work vehicle transmitted by wireless communication from the mobile terminal, and the operation right A control unit that receives a command for operating a work vehicle transmitted from the given mobile terminal and controls the work vehicle based on the received command.
To function as
The operation right management department
When an operation start request including an ID for identifying the mobile terminal is transmitted from the mobile terminal, an instruction for prompting a specific operation to the display device of the work vehicle or the display device of the mobile terminal to which the operation start request is transmitted. Display information,
When the instruction information is displayed on the display device of the work vehicle, the operation right is granted to the mobile terminal from the time when the specific operation is transmitted from the mobile terminal, or the display device of the mobile terminal is said to have the operation right. When the instruction information is displayed, the operation right is granted to the mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
While the operation right is granted to one mobile terminal, the operation right is not granted to the other mobile terminals.

According to the present invention, in response to an operation start request from a mobile terminal, instruction information prompting a specific operation is displayed on one of the work vehicle and the mobile terminal, and a specific operation is input from the other to grant an operation right. Since the operation right is not given to the other mobile terminals while the operation right is given to one mobile terminal, the operation of the work vehicle is not limited to the terminal registered in advance in the work vehicle but is operated from a general-purpose mobile terminal. It is possible to prevent conflicts in the operation of work vehicles.

A block diagram showing a configuration of a control device according to an embodiment of the present invention. Conceptual diagram showing an example of a work platform and a mobile terminal according to an embodiment A flowchart showing an example of the operation of granting the operation right according to the first embodiment. A flowchart showing an example of the control operation according to the first embodiment. A flowchart showing an example of the operation right confirmation operation of the first embodiment. A flowchart showing an example of the operation of granting the operation right according to the second embodiment of the present invention. A flowchart showing an example of the operation of the control unit according to the second embodiment. A flowchart showing an example of the operation right confirmation operation according to the second embodiment. A block diagram showing an example of the hardware configuration of the control device according to the embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the figure, the same or equivalent parts are designated by the same reference numerals.

Embodiment 1.
FIG. 1 is a block diagram showing a configuration of a control device according to an embodiment of the present invention. The control device 1 is provided in the work vehicle and wirelessly communicates with the mobile terminal 2. The control device 1 includes a wireless communication unit 11, an operation right management unit 12, and a control unit 13, and is connected to the operation unit 14 and the display device 15 of the work vehicle. The control device 1 is connected to a drive device of the work vehicle, and controls the work vehicle based on a command for operating the work vehicle transmitted by wireless communication from the mobile terminal 2.

FIG. 2 is a conceptual diagram showing an example of a work vehicle and a mobile terminal according to the embodiment. The work vehicle 3 is, for example, a rough terrain crane. The work vehicle 3 is a work vehicle that can be remotely operated by the mobile terminal 2, such as a mobile crane such as a loaded truck crane, a tow truck, or an all-terrain crane, an aerial work platform, a ladder truck, or a pump truck. Is.

The mobile terminal 2 includes a display device, and can input operations or commands with a touch panel or a push button switch. Alternatively, the mobile terminal 2 has a function of recognizing the utterance of the worker by voice, and can input an operation or a command by voice. The mobile terminal 2 can transmit the input operation or command to the control device 1 of the work vehicle 3 by wireless communication. As the mobile terminal 2, for example, a general-purpose smartphone in which an application for controlling a work vehicle is installed can be used.

The control device 1 controls the work vehicle 3 based on a command transmitted by wireless communication from the mobile terminal 2 provided in the work vehicle 3 and to which the operation right is granted. The control of the work vehicle 3 is, for example, control of operations such as outrigger overhang, float grounding, boom undulation, expansion and contraction and turning, and hook hoisting and hoisting. The mobile terminal 2 capable of remotely controlling the work vehicle 3 is not limited to one, and the work vehicle 3 can be operated by a plurality of mobile terminals 2. Further, the mobile terminal 2 is not dedicated to each work vehicle 3, and one mobile terminal 2 can remotely control different work vehicles 3.

As shown in FIG. 1, the wireless communication unit 11 of the control device 1 communicates with the mobile terminal 2 by wireless communication, for example, wireless LAN. The wireless communication with the mobile terminal 2 is not limited to the wireless LAN, and for example, Bluetooth (registered trademark) or ZigBee (registered trademark) can be used.

The operation right management unit 12 exclusively grants the operation right to the mobile terminal 2 that wirelessly communicates with the wireless communication unit 11. The number of mobile terminals 2 to which the operation right is granted is one at the same time. The operation right management unit 12 does not grant the operation right to the other mobile terminal 2 while the operation right is given to one mobile terminal 2. The control unit 13 receives a command for operating the work vehicle 3 transmitted from the mobile terminal 2 to which the operation right is granted, and controls the work vehicle 3 based on the received command. The operation right management unit 12 grants the operation right to the mobile terminal 2 as follows.

The worker specifies a code for identifying the target work vehicle 3 to be controlled from the mobile terminal 2, and transmits an operation start request including an ID for identifying the mobile terminal 2 to the control device 1 of the work vehicle 3. The code for identifying the work vehicle 3 is, for example, a number or symbol uniquely assigned to the work vehicle 3. The code for identifying the work vehicle 3 is displayed on the work vehicle 3 with a bar code or a matrix type two-dimensional code, and can also be specified by a method of reading the bar code or the matrix type two-dimensional code with the camera of the mobile terminal 2. The wireless communication unit 11 sends the operation start request transmitted from the mobile terminal 2 to the operation right management unit 12.

When the operation start request including the ID for identifying the mobile terminal 2 is transmitted from the mobile terminal 2, the operation right management unit 12 is the display device 15 of the work vehicle 3 or the display device of the mobile terminal 2 that has transmitted the operation start request. Display instructional information prompting a specific operation. The particular operation is, for example, a one-time password, or a combination or permutation of one or more operations of the work vehicle 3. When the instruction information is displayed on the display device 15 of the work vehicle 3, it indicates that a specific operation is input from the mobile terminal 2, and when it is displayed on the display device of the mobile terminal 2, the specific operation is performed. Indicates that input is performed from the operation unit 14 of the vehicle 3.

For the combination or permutation of one or more operations of the work vehicle 3, when the work vehicle 3 is a crane, for example, commands such as boom raising, boom right turning, boom extension, and boom lowering are simultaneously input, or instruction information. Enter the operation commands shown in the order shown in. Even if the specific operation of the instruction information is a combination or permutation of the operations of the work vehicle 3, the input command is not actually executed. The control device 1 determines whether or not the input operation command matches the instruction information.

The display of instruction information is not limited to the visual display. For example, the instruction information may be displayed by voice instead of the visual display or in addition to the visual display. When displaying instruction information by voice, the display device includes a speaker. When the instruction information is displayed on the mobile terminal 2, in addition to the visual display or the voice display, the mobile terminal 2 may be vibrated to call attention. Further, when displaying the instruction information on the display device 15 of the work vehicle 3, in addition to the visual display or the audio display, the lamp may be blinked or the buzzer may be sounded.

When the instruction information is displayed on the display device 15 of the work vehicle 3, the control device 1 indicates that the specific operation shown in the instruction information displayed on the display device 15 should be input from the mobile terminal 2 from the mobile terminal 2. It may be displayed in. For example, the mobile terminal 2 can display a screen for inputting a specific operation. The control device 1 may output from the mobile terminal 2 by voice that a specific operation should be input from the mobile terminal 2 instead of displaying the screen to be input or in addition to displaying the screen to be input.

When the instruction information is displayed on the display device of the mobile terminal 2, the control device 1 should input a specific operation shown in the instruction information displayed on the mobile terminal 2 from the operation unit 14 of the work vehicle 3. May be displayed on the display device 15 of the work vehicle 3. For example, the display device 15 can display a screen for inputting a specific operation. The control device 1 may output a voice from the display device 15 that a specific operation should be input from the operation unit 14 instead of the display of the input screen or in addition to the display of the input screen.

When the instruction information is displayed on the display device 15 of the work vehicle 3, the worker inputs a specific operation from the mobile terminal 2, and the mobile terminal 2 transmits the input operation information to the control device 1. The operation right management unit 12 transmits an operation start request from the time when a specific operation is transmitted from the mobile terminal 2, and grants the operation right to the mobile terminal 2 that has transmitted the specific operation.

When the instruction information is displayed on the display device of the mobile terminal 2, the operator inputs a specific operation to the operation unit 14 of the work vehicle 3. The operation right management unit 12 grants the operation right to the mobile terminal 2 to which the operation right management unit 12 has transmitted the instruction information from the time when a specific operation is input to the operation unit 14.

FIG. 3 is a flowchart showing an example of the operation of granting the operation right according to the first embodiment. The operation right management unit 12 starts the operation right granting process from the time when the control device 1 is activated. The operation right management unit 12 waits for the operation start request to be transmitted from the mobile terminal 2 (step S10, step S11; N). When the operation start request is transmitted from the mobile terminal 2 (step S11; Y), it is determined whether or not there is a terminal to which the operation right has already been granted (step S12).

If there is no terminal to which the operation right is granted (step S12; N), the instruction information prompting a specific operation is displayed on the display device 15 of the work vehicle 3, or is transmitted to the mobile terminal 2 that has sent the operation start request. , Displayed on the display device of the mobile terminal 2 (step S13). Then, when the instruction information is displayed on the display device 15 of the work vehicle 3, it waits for reception from the mobile terminal 2 that has transmitted the operation start request, and when it is displayed on the display device of the mobile terminal 2, it is displayed from the operation unit 14. Waits for the input of (step S14).

If the reception from the mobile terminal 2 or the input from the operation unit 14 is not a specific operation (step S15; N), the instruction information is displayed or transmitted again (step S13). If the reception from the mobile terminal 2 or the input from the operation unit 14 is a specific operation (step S15; Y), the operation right is given to the mobile terminal 2 that has transmitted the operation start request, and the operation right is given. The ID of the mobile terminal 2 is stored as an operation right granting ID (step S16). At the same time, the control device 1 notifies the mobile terminal 2 to which the operation right has been granted (step S16), and returns to step S10.

On the other hand, if there is a terminal to which the operation right has already been granted (step S12; Y), that is, if the operation right grant ID is stored, an operation start request is transmitted to the effect that there is a terminal to which the operation right has already been granted. It is transmitted to the mobile terminal 2 (step S17), and the process returns to step S10.

As described above, the operation right management unit 12 can exclusively grant the operation right to the mobile terminal 2 without registering the mobile terminal 2 in the work vehicle 3 in advance. Further, since the instruction information prompting a specific operation is displayed on one of the work vehicle 3 and the mobile terminal 2, and the operation right is given when the specific operation is input from the other, the worker can carry the work vehicle 3 and the mobile terminal 2. There is no risk of erroneously recognizing the correspondence with the terminal 2.

FIG. 4 is a flowchart showing an example of the control operation according to the first embodiment. The control device 1 starts controlling the work vehicle 3 when it is activated. The control device 1 waits for an operation command to be transmitted from the mobile terminal 2 (step S20, step S21; N). When the control device 1 receives the operation command (step S21; Y), the control device 1 determines whether or not the mobile terminal 2 that has transmitted the operation command has the operation right (step S22). If there is an operation right, that is, if the ID of the mobile terminal 2 that has transmitted the operation command matches the stored operation right granting ID (step S22; Y), the control unit 13 executes the commanded operation. (Step S23).

If there is no operation right (step S22; N), the control unit 13 does not execute the commanded operation, and the control device 1 transmits the inoperability to the mobile terminal 2 that has transmitted the operation command (step S24). It is determined that there is no operation right when the ID of the mobile terminal 2 that has transmitted the operation command does not match the stored operation right granting ID or the operation right granting ID is not stored. Both when there is an operation right and when there is no operation right, the process returns to step S20 and waits for the reception of the next operation command.

As described above, the operation right is given to only one mobile terminal 2, and the operation command transmitted from the mobile terminal 2 without the operation right is not executed. Therefore, it is possible to prevent the operation conflict of the work vehicle 3. can.

When the logout, that is, the end of the operation is transmitted from the mobile terminal 2 to which the operation right is granted, the control device 1 erases the operation right grant ID from the memory to prepare for the new operation right grant. In addition to transmitting the end of operation, since the mobile terminal 2 communicates wirelessly, the mobile terminal 2 may move out of the communication range, the power supply of the mobile terminal 2 may be cut off, or a failure may occur. In preparation for such a case, the control device 1 periodically confirms the communication with the mobile terminal 2 to which the operation right is granted.

FIG. 5 is a flowchart showing an example of the operation right confirmation operation of the first embodiment. When the control device 1 grants the operation right to the mobile terminal 2, the control device 1 activates the operation right confirmation process. The control device 1 periodically transmits a confirmation request to the mobile terminal 2 to which the operation right is granted (step S30). When the mobile terminal 2 receives the confirmation request, it automatically returns a response. If there is a response from the mobile terminal 2 within a certain period of time after the control device 1 transmits the confirmation request (step S31; Y), the number of non-responses is reset to 0 (step S32), and the process returns to step S30. If the mobile terminal 2 is within the communication range from the control device 1 and is in a state where wireless communication is possible, the number of non-responses is reset to 0.

If no response is received within a certain period of time after the confirmation request is transmitted (step S31; N), the number of non-responses is incremented (step S33). Then, it is determined whether or not the number of non-responses exceeds the specified number (step S34). The specified number is an integer of 0 or more, and is determined according to the work vehicle 3 and the type of work. If the number of non-responses does not exceed the specified number (step S34; N), the process returns to step S30. When the number of non-responses exceeds the specified number (step S34; Y), the control device 1 resets the operation right granting ID, that is, erases the operation right granting ID from the memory (step S35), and confirms the operation right. End the process. The number of non-responses exceeds the specified number also because the continuous non-response time of the mobile terminal 2 exceeds the specified time.

The operation right is reset not only when the operation end is transmitted from the mobile terminal 2 to which the operation right is granted and when the number of non-responses exceeds the specified number. For example, if the operation command is not received for a specified time or more after the last operation command is received from the mobile terminal 2 to which the operation right is granted, the control device 1 erases the operation right grant ID from the memory. , You may prepare for the granting of new operation rights. In this way, it is possible to deal with the case where the mobile terminal 2 to which the operation right is granted forgets to log out.

Embodiment 2.
FIG. 6 is a flowchart showing an example of the operation of granting the operation right according to the second embodiment of the present invention. In the second embodiment, a predetermined operation of the work vehicle 3 from a mobile terminal 2 other than the mobile terminal 2 to which the operation right is granted, for example, an emergency stop operation is enabled.

The operation right management unit 12 starts the operation right granting process from the time when the control device 1 is activated. The operation right management unit 12 waits for the operation start request to be transmitted from the mobile terminal 2 (step S40, step S41; N). When the operation start request is transmitted from the mobile terminal 2 (step S41; Y), the instruction information prompting a specific operation is displayed on the display device 15 of the work vehicle 3, or the mobile terminal 2 that has transmitted the operation start request is displayed. It is transmitted and displayed on the display device of the mobile terminal 2 (step S42). Then, when the instruction information is displayed on the display device 15 of the work vehicle 3, it waits for reception from the mobile terminal 2, and when it is displayed on the display device of the mobile terminal 2, it waits for input from the operation unit 14 ( Step S43).

If the reception from the mobile terminal 2 or the input from the operation unit 14 is not a specific operation (step S44; N), the instruction information is displayed or transmitted again (step S42). If the reception from the mobile terminal 2 or the input from the operation unit 14 is a specific operation (step S44; Y), it is determined whether or not there is a terminal to which the operation right has already been granted (step S45). If there is no terminal to which the operation right has been granted (step S45; N), the operation right is granted to the mobile terminal 2 that has sent the operation start request, and the ID of the mobile terminal 2 to which the operation right has been granted is stored as the operation right grant ID. (Step S46). At the same time, the control device 1 notifies the mobile terminal 2 to which the operation right has been granted (step S46), and returns to step S40.

On the other hand, if there is a terminal to which the operation right has already been granted (step S45; Y), that is, when the operation right grant ID is stored, the mobile terminal 2 that has transmitted the operation start request is granted the quasi-operation right. The ID of the mobile terminal 2 is added to the list as a quasi-operation right granting ID (step S47). Then, the mobile terminal 2 that has transmitted the operation start request is notified that the quasi-operation right has been granted (step S47), and the process returns to step S40.

The mobile terminal 2 to which the quasi-operation right is granted is not limited to one, and two or more mobile terminals 2 can be granted the quasi-operation right. In the list of quasi-operation right granting IDs, the quasi-operation right granting IDs are stored side by side in the order of the time when the quasi-operation right is granted.

FIG. 7 is a flowchart showing an example of the operation of the control unit according to the second embodiment. The control device 1 starts controlling the work vehicle 3 when it is activated. The control device 1 waits for an operation command to be transmitted from the mobile terminal 2 (step S50, step S51; N). When the control device 1 receives the operation command (step S51; Y), the control device 1 determines whether or not the mobile terminal 2 that has transmitted the operation command has the operation right (step S52). If there is an operation right, that is, if the ID of the mobile terminal 2 that has transmitted the operation command matches the stored operation right granting ID (step S52; Y), it is determined whether or not the command is a transfer of the operation right. (Step S54).

When the operation command is a transfer of the operation right (step S54; Y), the operation right management unit 12 resets the operation right granting ID and carries the quasi-operation right granting ID which is ranked first in the quasi-operation right granting ID list. The operation right is given to the terminal 2. Then, the ID of the mobile terminal 2 to which the operation right is granted is stored as the operation right grant ID (step S54). At this time, the quasi-operation right may be granted to the mobile terminal 2 to which the operation right has been transferred. In that case, the ID of the mobile terminal 2 to which the operation right has been transferred may be ranked first in the quasi-operation right granting ID list. Alternatively, the ID of the mobile terminal 2 to which the operation right has been transferred may be added to the end of the quasi-operation right granting ID list by moving up the rank of the quasi-operation right granting ID list to the second place or lower. The control device 1 notifies the mobile terminal 2 to which the operation right has been granted that the operation right has been granted (step S54), returns to step S50, and waits for the next operation command.

In step S53, when the operation command is a command for operating the work vehicle 3 instead of transferring the operation right (step S53; N), the control unit 13 executes the commanded operation (step S55), and returns to step S50. Wait for the next operation command.

In step S52, if the mobile terminal 2 that has transmitted the operation command does not have the operation right (step S52; N), it is determined whether or not the mobile terminal 2 has the quasi-operation right (step S56). That is, it is determined whether or not the ID of the mobile terminal 2 that has transmitted the operation command is stored in the list of quasi-operation right granting IDs. If the mobile terminal 2 has a quasi-operation right (step S56; Y), it is determined whether or not the transmitted operation command is an permitted operation (step S57). The permitted operation is, for example, an emergency stop of the operation of the work vehicle 3. The permitted operation is stored in the control device 1 in advance.

When the transmitted operation command is an permitted operation (step S57; Y), the control unit 13 executes the commanded operation (step S55), returns to step S50, and waits for the next operation command.

If the commanded operation is not permitted (step S57; N), or if the mobile terminal 2 that has transmitted the operation command does not have an operation right or a quasi-operation right (step S56; N), the control unit 13 is commanded. The control device 1 transmits the inoperability to the mobile terminal 2 that has transmitted the operation command without executing the operation (step S58). To determine that there is no quasi-operation right, the ID of the mobile terminal 2 that sent the operation command does not match any of the stored quasi-operation right granting IDs, or the quasi-operation right granting ID is not stored. If this is the case. After notifying that the operation is not possible, the control device 1 returns to step S50 and waits for the next operation command.

When the logout, that is, the end of the operation is transmitted from the mobile terminal 2 to which the quasi-operation right is granted, the control device 1 deletes the quasi-operation right grant ID of the logged out mobile terminal 2 from the list. In case the mobile terminal 2 to which the quasi-operation right is granted moves out of the communication range, the control device 1 communicates with the mobile terminal 2 for each mobile terminal 2 to which the quasi-operation right is granted. Check regularly. The control device 1 performs the same confirmation process as the operation right confirmation shown in FIG. 5 on the mobile terminal 2 to which the quasi-operation right is granted. In that case, in the process corresponding to step S35 in FIG. 5, the ID of the mobile terminal 2 in which the number of non-responses exceeds the specified number is deleted from the list of quasi-operation right granting IDs, and the quasi-operation right granting IDs having less than that are deleted. Move up.

The control device 1 may estimate the distance from the received electric field strength in response to the confirmation request to the mobile terminal 2, and rearrange the quasi-operation right granting IDs in order of increasing distance from the work vehicle 3. In step S54 of the process of transferring the operation right shown in FIG. 7, the first place in the order of transferring the operation right may be the mobile terminal 2 to which the quasi-operation right closest to the work vehicle 3 is given. When the mobile terminal 2 has a function of measuring the position of the mobile terminal 2 by a signal from GNSS (Global Navigation Satellite System), the position of the mobile terminal 2 is included in the response to the confirmation request, and the work is performed according to the position of the mobile terminal 2. The distance from the vehicle 3 may be calculated, and the quasi-operation right granting IDs may be rearranged in ascending order of distance from the work vehicle 3.

FIG. 8 is a flowchart showing an example of the operation right confirmation operation according to the second embodiment. In the second embodiment, the transfer of the operation right is included in the process of confirming the operation right of the mobile terminal 2 to which the operation right is granted. That is, in the second embodiment, the number of non-responses to the confirmation request from the mobile terminal 2 to which the operation right is granted exceeds the specified number, or the continuous non-response time exceeds the specified time. Include in transfer of rights. Further, the transfer of the operation right may include the case where the operation command is not received for a specified time or more after the last operation command is received from the mobile terminal 2 to which the operation right is granted.

Steps S30 to S34 of FIG. 8 are the same as steps S30 to S34 of FIG. In the second embodiment, when the number of non-responses to the confirmation request to the mobile terminal 2 to which the operation right is granted exceeds the specified number (step S34; Y), the control device 1 resets the operation right grant ID. , The operation right is given to the mobile terminal 2 of the quasi-operation right granting ID which is ranked first in the quasi-operation right granting ID list. Then, the ID of the mobile terminal 2 to which the operation right has been granted is stored as the operation right grant ID (step S65), and the quasi-operation right grant ID of the second or lower rank in the quasi-operation right grant ID list is moved up. The control device 1 notifies the mobile terminal 2 to which the operation right has been granted that the operation right has been granted (step S65), and ends the operation right confirmation process.

According to the control device 1 of the second embodiment, the quasi-operation right is granted when the operation start request is transmitted and a specific operation is input to the mobile terminal 2 to which the operation right is granted. .. Then, a predetermined operation of the work vehicle 3 from the mobile terminal 2 to which the quasi-operation right is granted, for example, an emergency stop operation is enabled. As a result, the safety of operation of the work vehicle 3 can be improved. Further, when the mobile terminal 2 to which the operation right is granted moves out of the communication range or breaks down, the operation right is transferred to the mobile terminal 2 to which the quasi-operation right is granted, so that the operation vehicle 3 can be operated. Can be continued promptly.

FIG. 9 is a block diagram showing an example of the hardware configuration of the control device according to the embodiment. As shown in FIG. 9, the control device 1 includes a control unit 41, a main storage unit 42, an external storage unit 43, an operation unit 44, a display unit 45, an input / output unit 46, and a transmission / reception unit 47. The main storage unit 42, the external storage unit 43, the operation unit 44, the display unit 45, the input / output unit 46, and the transmission / reception unit 47 are all connected to the control unit 41 via the internal bus 40.

The control unit 41 is composed of a CPU (Central Processing Unit) and the like, and is a wireless communication unit 11, an operation right management unit 12, and a control unit 13 of the control device 1 according to a control program 50 stored in the external storage unit 43. Execute the process.

The main storage unit 42 is composed of a RAM (Random-Access Memory) or the like, loads the control program 50 stored in the external storage unit 43, and is used as a work area of the control unit 41.

The external storage unit 43 is composed of a flash memory, a hard disk, a non-volatile memory such as a DVD-RAM (Digital Versatile Disc Random-Access Memory) and a DVD-RW (Digital Versatile Disc ReWritable), and controls the processing of the control device 1. Each data such as a program to be performed by 41 and a predetermined operation permitted to the mobile terminal 2 having a quasi-operation right is stored, and the data stored by this program is stored in the control unit 41 according to the instruction of the control unit 41. It stores data such as an operation right granting ID and a quasi-operation right granting ID that are supplied and supplied from the control unit 41.

The operation unit 44 is composed of a pointing device such as a keyboard and a mouse, and an interface device for connecting the keyboard, the pointing device, and the like to the internal bus 40. Through the operation unit 44, a specific operation, an operation of the work vehicle 3 permitted to the mobile terminal 2 having the quasi-operation right, a specified number for determining the number of non-responses, and the like are input and supplied to the control unit 41.

The display unit 45 is composed of an LCD (Liquid Crystal Display), an organic EL display, or the like, and displays instruction information, an operation right granting ID, and a quasi-operation right granting ID.

The input / output unit 46 is composed of a serial interface or a parallel interface. The drive device 4 of the work vehicle 3 is connected to the input / output unit 46, and the control unit 41 controls the work vehicle 3 via the input / output unit 46.

The transmission / reception unit 47 includes a wireless communication device and a serial interface or a LAN (Local Area Network) interface. The transmission / reception unit 47 communicates with the mobile terminal 2 via wireless communication. It also updates various data or downloads control programs.

In the processing of the wireless communication unit 11, the operation right management unit 12, and the control unit 13 of the control device 1 shown in FIG. 1, the control program 50 displays the control unit 41, the main storage unit 42, the external storage unit 43, the operation unit 44, and the display. It is executed by processing using the unit 45, the input / output unit 46, the transmission / reception unit 47, and the like as resources.

The configuration of the control device 1 described in each embodiment is an example, and can be arbitrarily changed and modified. The configuration of the control device 1 is not limited to all of those shown in the embodiments. For example, a tablet terminal may be used as the control device 1. Further, the control device 1 may be installed on the network to provide the function of the control device 1 via the network.

In addition, the above hardware configuration and flowchart are examples, and can be arbitrarily changed and modified.

The central part that grants the operation right of the control device 1 composed of the wireless communication unit 11, the operation right management unit 12, the control unit 13, and the like, controls the work vehicle 3, and confirms the operation right is dedicated. It can be realized by using a normal computer system regardless of the system. For example, a computer program for executing the above operation is stored and distributed in a computer-readable recording medium (USB memory, CD-ROM, DVD-ROM, etc.), and the computer program is installed in the computer. Therefore, the setting change device 1 that executes the above-mentioned process may be configured. Further, the control device 1 may be configured by storing the computer program in a storage device of a server device on a communication network such as the Internet and downloading it by a normal computer system.

Further, when the control device 1 is realized by sharing the OS (operating system) and the application program, or by coordinating the OS and the application program, even if only the application program part is stored in the recording medium or the storage device. good.

It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be posted on a bulletin board system (BBS, Bulletin Board System) on a communication network, and the computer program may be distributed via the network. Then, the computer program may be started and executed in the same manner as other application programs under the control of the OS so that the above processing can be executed.

1 Control device 2 Mobile terminal 3 Work vehicle 4 Drive device 11 Wireless communication unit 12 Operation right management unit 13 Control unit 14 Operation unit 15 Display device 41 Control unit 42 Main memory unit 43 External storage unit 44 Operation unit 45 Display unit 46 Input / output Part 47 Transmitter / receiver

Claims (7)

A wireless communication unit that wirelessly communicates with mobile terminals,
An operation right management unit that exclusively grants an operation right to the mobile terminal that wirelessly communicates with the wireless communication unit,
A control unit that receives a command to operate the work vehicle transmitted from the mobile terminal to which the operation right is granted and controls the work vehicle based on the received command.
With
The operation right management department
When an operation start request including an ID for identifying the mobile terminal is transmitted from the mobile terminal, an instruction for prompting a specific operation to the display device of the work vehicle or the display device of the mobile terminal to which the operation start request is transmitted. Display information,
When the instruction information is displayed on the display device of the work vehicle, the operation right is given to the mobile terminal from the time when the specific operation is transmitted from the mobile terminal, or the display device of the mobile terminal is said to have the operation right. When the instruction information is displayed, the operation right is granted to the mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
While granting the operation right to one mobile terminal, the operation right is not granted to the other mobile terminal.
Work vehicle control device. The operation right management unit is in a state of granting the operation right to the first mobile terminal.
When an operation start request including an ID for identifying the second mobile terminal is received from the second mobile terminal, the display device of the work vehicle or the display device of the second mobile terminal that has transmitted the operation start request is displayed. , Display instructional information prompting a specific operation,
When the instruction information is displayed on the display device of the work vehicle, the quasi-operation right is given to the second mobile terminal from the time when the specific operation is transmitted from the second mobile terminal, or the quasi-operation right is given to the second mobile terminal. When the instruction information is displayed on the display device of the second mobile terminal, the quasi-operation right is granted to the second mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
When a predetermined command is transmitted from the second mobile terminal to which the quasi-operation right is granted, the control unit controls the work vehicle based on the command, and the second mobile terminal controls the work vehicle. When a command other than the predetermined command is transmitted, the work vehicle is not controlled based on the transmitted command.
The control device for a work vehicle according to claim 1. The operation right management department
The order of the second mobile terminal to which the quasi-operation right is granted based on a predetermined condition is stored.
When the operation right is transferred from the first mobile terminal to which the operation right is granted, the operation right is granted to the second mobile terminal having the highest rank based on the predetermined conditions.
The control device for a work vehicle according to claim 2. The control device for a work vehicle according to claim 3, wherein the predetermined conditions are in the order of earliest time when the quasi-operation right is granted. The control device for a work vehicle according to claim 3, wherein the predetermined conditions are in ascending order of distance from the work vehicle. It is a control method performed by the control device of the work vehicle.
A wireless communication step that wirelessly communicates with a mobile terminal,
An operation right management step that exclusively grants an operation right to the mobile terminal that wirelessly communicates in the wireless communication step,
A control step that receives a command for operating a work vehicle transmitted from the mobile terminal to which the operation right is granted and controls the work vehicle based on the received command.
With
In the operation right management step,
When an operation start request including an ID for identifying the mobile terminal is transmitted from the mobile terminal, an instruction for prompting a specific operation to the display device of the work vehicle or the display device of the mobile terminal to which the operation start request is transmitted. Display information,
When the instruction information is displayed on the display device of the work vehicle, the operation right is given to the mobile terminal from the time when the specific operation is transmitted from the mobile terminal, or the display device of the mobile terminal is said to have the operation right. When the instruction information is displayed, the operation right is granted to the mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
While granting the operation right to one mobile terminal, the operation right is not granted to the other mobile terminal.
How to control the work vehicle. The operation right management unit that exclusively grants the operation right to the computer that controls the work vehicle based on the command for operating the work vehicle transmitted by wireless communication from the mobile terminal, and the operation right A control unit that receives a command for operating a work vehicle transmitted from the given mobile terminal and controls the work vehicle based on the received command.
To function as
The operation right management department
When an operation start request including an ID for identifying the mobile terminal is transmitted from the mobile terminal, an instruction for prompting a specific operation to the display device of the work vehicle or the display device of the mobile terminal to which the operation start request is transmitted. Display information,
When the instruction information is displayed on the display device of the work vehicle, the operation right is granted to the mobile terminal from the time when the specific operation is transmitted from the mobile terminal, or the display device of the mobile terminal is said to have the operation right. When the instruction information is displayed, the operation right is granted to the mobile terminal from the time when the specific operation is input to the operation unit of the work vehicle.
While granting the operation right to one mobile terminal, the operation right is not granted to the other mobile terminal.
program.

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