JP2022106622A - Industrial remote controller - Google Patents

Abstract

To provide an industrial remote controller capable of preventing a controlled object from vigorously operating even if an operating speed of the controlled object is changed according to an inclination amount of a joystick and quickly performing a slow operation.SOLUTION: A remote controller 30 changes an operating speed of a controlled object (crane 10) according to a tilt amount of a joystick 40 capable of operating a switch 45 with a finger (thumb F), and includes: a tilt detection unit 51 that detects a tilt and the tilt amount of the joystick 40; a pressure detection unit 52 that detects pressure of the joystick 40; a mode switching unit 64 that switches between a first mode 91 at a normal speed and a second mode 92 at a speed lower than the first mode 91 based on pressure information of the pressure detection unit 52; and an operation control unit 65 that controls operations of the controlled object (crane 10) based on tilt information of the tilt detecting unit 51 and switching information of the mode switching unit 64.SELECTED DRAWING: Figure 4

Description

The present invention relates to an industrial remote controller that changes the operating speed of a controlled object according to the amount of tilt of a joystick that can operate a switch with a finger.

In recent years, an operator has been remotely controlling a work machine equipped with a telescopic boom that can be expanded and contracted and undulated, such as a crane and an aerial work platform, from a position away from the work machine by using an industrial remote controller. As such an industrial remote controller, a joystick type is known (see, for example, Patent Document 1).

Patent Document 1 discloses an operating device for a working machine including a joystick that tilts in an arbitrary direction.

Japanese Unexamined Patent Publication No. 2018-097607

By the way, the industrial remote controller is used for a large industrial machine such as a crane. The operating speed of the industrial machine to be controlled may be changed according to the tilt amount of the joystick provided in such an industrial remote controller. In such a case, since the movable stroke of the joystick is short (poor resolution) with respect to the speed adjustment range of each actuator of the industrial machine, there is a problem that the controlled object moves vigorously.

Therefore, the present invention provides an industrial remote controller capable of preventing the controlled object from moving vigorously and facilitating fine movement operations even if the operating speed of the controlled object is changed according to the tilt amount of the joystick. The purpose is to provide.

In order to achieve the object, the industrial remote controller of the present invention is an industrial remote controller that changes the operating speed of a controlled object according to the tilt amount of a joystick that can operate a switch with a finger. A second that controls the operation of the controlled object at a normal speed based on the tilt detecting unit that detects the tilt and the amount of tilt of the joystick, the pressing detecting unit that detects the pressing of the joystick, and the pressing information of the pressing detecting unit. A mode switching unit for switching between one mode and a second mode for controlling the operation of the controlled object at a lower speed than the first mode is provided, and the tilt information of the tilt detecting unit and the switching of the mode switching unit are provided. It is characterized by including an operation control unit that controls the operation of the controlled object based on the information.

The industrial remote controller of the present invention configured in this way prevents the controlled object from moving vigorously even if the operating speed of the controlled object is changed according to the tilt amount of the joystick, and makes it easy to perform fine movement operations. can do.

It is a side view which shows the crane of Example 1. FIG. It is a perspective view which shows the remote controller of Example 1. FIG. It is sectional drawing which shows the periphery of the joystick of the remote controller of Example 1. FIG. It is a block diagram which shows the functional structure of the remote controller of Example 1. FIG. It is a graph which shows the relationship between the operation mode and the flow rate of the remote controller of Example 1. FIG. It is a flowchart which shows the flow of processing by the control part of Example 1. FIG. It is a figure explaining the operation method of the joystick of Example 1, FIG. 7A is a cross-sectional view which shows the initial state and the pressed state, and FIG. 7B is the cross-sectional view which shows the pressed state and the tilted state. It is a figure. It is a flowchart which shows the flow of processing by the control part of Example 2. FIG. It is a figure explaining the operation method of the joystick of Example 2, FIG. 9A is a cross-sectional view which shows the initial state and the pressed state, and FIG. 9B is the cross-sectional view which shows the initial state and the tilted state. Is. It is a flowchart which shows the flow of processing by the control part of Example 3. FIG. It is a figure explaining the operation method of the joystick of Example 3, FIG. 11A is a cross-sectional view which shows the initial state and the tilted state, and FIG. 11B is the cross-sectional view which shows the tilted state and the pressed state. It is a figure.

Hereinafter, embodiments for realizing the industrial remote controller according to the present invention will be described with reference to Examples 1 to 3 shown in the drawings.

The industrial remote controller (hereinafter, referred to as a remote controller) in the first embodiment is applied to an industrial remote controller that remotely controls a truck crane (hereinafter, referred to as a crane).

[Crane configuration]
FIG. 1 is a side view showing the crane of the first embodiment. Hereinafter, the configuration of the crane of the first embodiment will be described. The front-back direction of the crane is the front-back direction D.

As shown in FIG. 1, the crane 10 extends in the front-rear direction D, and has a main frame 14 provided with front wheels 11 and rear wheels 12, 13 and a turning post 15 provided on the main frame 14 so as to be able to turn. A telescopic boom 16 provided on the upper part of the post 15 so as to be undulating, a pair of out trigger devices 17 provided on both sides of the main frame 14 near the swivel post 15, and a front side of the swivel post 15 on the main frame 14. It is provided with a cabin 18 provided in the above, a loading platform 20 provided on the rear side of the cabin 18, and the like.

The swivel post 15 has a pair of opposing holding portions 21 that hold the telescopic boom 16 in an undulating manner. The telescopic boom 16 has a base boom 16a, intermediate booms 16b and 16c, and a tip boom 16d.

A bracket 22 to which the undulating cylinder 23 is attached is attached to the base boom 16a. As the undulating cylinder 23 expands and contracts, the base boom 16a undulates with respect to the swivel post 15. When the swivel post 15 swivels, the telescopic boom 16 swivels.

The crane 10 includes a plurality of actuators for driving each part of the crane 10. Actuators include a hydraulic motor that rotates the swivel post 15 (not shown), an undulating cylinder 23 that undulates the telescopic boom 16, a telescopic cylinder that expands and contracts the telescopic boom 16 (not shown), and a wire that suspends a suspended load (not shown). A winch or the like that winds up and unwinds the cylinder.

The crane 10 is provided with an actuator control device 71 that controls the operation of each of the actuators in the vicinity of the base end portion of the swivel post 15. The actuator control device 71 is composed of a computer including a CPU, a memory, and the like. The actuator control device 71 controls the operation of each actuator by adjusting the flow rate of the hydraulic pump and adjusting the hydraulic valve on the front side of the actuator.

The crane 10 includes a remote controller 30 that gives an operation instruction to the actuator control device 71 with a finger (for example, thumb F). The actuator control device 71 and the remote controller 30 can send and receive operation instructions and data necessary for crane work by known wireless communication.

[Remote controller configuration]
FIG. 2 is a perspective view showing the remote controller 30 of the first embodiment. FIG. 3 is a cross-sectional view showing the periphery of the joystick 40 of the remote controller 30 of the first embodiment. Hereinafter, the configuration of the remote controller 30 of the first embodiment will be described.

As shown in FIG. 2, the remote controller 30 includes a substantially columnar grip portion 31 gripped by the operator and an operation unit main body 32 provided at one end of the grip portion 31.

The operation unit main body 32 includes a substantially box-shaped housing 33. A control unit (not shown), various sensors, a battery, and the like are housed in the housing 33. On the front of the housing 33, a display unit 34 composed of a liquid crystal display or the like that displays an image or the like showing the working state of the crane 10, various operation buttons 35 such as a power button and a mode switching button, and an actuator drive are operated. Two joysticks 40 and the like are provided. The two joysticks 40 are provided side by side at a predetermined interval in front of the operation unit main body 32. The two joysticks 40 are formed in a size that can be operated by the operator with a thumb (an example of a finger) F.

The joystick 40 moves between a neutral position in which the joystick 40 is in a neutral position, a tilted position tilted from the neutral position, and a pressing position pressed axially from the neutral position or tilted position to operate the switch 45. It can be operated with the thumb F.

As shown in FIG. 3, a switch 45 is provided inside the housing 33. A lever 45a is provided on the upper portion of the switch 45 so as to project upward. A joystick 40 is attached to the lever 45a.

The lever 45a can be moved from a neutral posture to a tilted posture in which the lever 45a is tilted in all directions. When the tilting operation force on the lever 45a is released, the lever 45a returns to the neutral posture. The lever 45a can move from a neutral posture or a tilted posture to a pressing posture pressed in the axial direction. When the pressing operation force on the lever 45a is released, the lever 45a returns to the neutral posture or the tilted posture.

The switch 45 includes a tilt detecting unit 51 and a pressing detecting unit 52. The tilt detection unit 51 can be, for example, a tilt sensor. The tilt detection unit 51 detects the tilt and the amount of tilt of the joystick 40 via the lever 45a. The tilt detection unit 51 can detect the posture in which the joystick 40 is not tilted via the lever 45a. That is, the tilt detection unit 51 can detect the neutral posture of the joystick 40.

The press detection unit 52 can be, for example, a load sensor. The pressure detection unit 52 detects the axial pressure of the joystick 40 via the lever 45a.

When the operator operates the joystick 40 in the remote controller 30 configured in this way, a signal corresponding to the tilt amount is input to the control unit. The control unit that receives this signal determines the operating speed, operating direction, and the like of each actuator of the crane 10 based on this signal.

That is, the operating direction of each actuator of the crane 10 is determined according to the tilting direction of the joystick 40. The operating speed of each actuator of the crane 10 is determined according to the amount of tilt of the joystick 40.

[Remote controller function configuration]
FIG. 4 is a block diagram showing a functional configuration of the remote controller 30 of the first embodiment. Hereinafter, the functional configuration of the remote controller 30 of the first embodiment will be described.

As shown in FIG. 4, in the remote controller 30, the tilt information detected by the tilt detecting unit 51 and the pressing information detected by the pressing detecting unit 52 are input to the control unit 60 and processed by the control unit 60. The information is output to the actuator control device 71.

The tilt detection unit 51 detects the tilt of the joystick 40 via the lever 45a. That is, the tilt detection unit 51 can detect the neutral posture in which the joystick 40 is not tilted and the tilted posture in which the joystick 40 is tilted from the neutral posture via the lever 45a. Further, the tilt detection unit 51 detects the tilt amount of the joystick 40 via the lever 45a. The tilt information detected by the tilt detection unit 51 is input to the control unit 60.

The pressure detection unit 52 detects the axial pressure of the joystick 40 via the lever 45a. The pressing information detected by the pressing detecting unit 52 is input to the control unit 60.

The control unit 60 includes a tilt information acquisition unit 61, a press information acquisition unit 62, a press count calculation unit 63, a mode switching unit 64, and an operation control unit 65.

The tilt information acquisition unit 61 acquires the tilt information detected by the tilt detection unit 51. That is, the tilt information acquisition unit 61 acquires information on whether or not the joystick 40 is tilted and information on the amount of tilt of the joystick 40.

The pressing information acquisition unit 62 acquires the pressing information detected by the pressing detection unit 52. That is, the pressing information acquisition unit 62 acquires information on pressing the joystick 40 in the axial direction.

The pressing number calculation unit 63 calculates the number of times the pressing detection unit 52 is pressed based on the pressing information acquired by the pressing information acquisition unit 62.

The mode switching unit 64 has a first mode 91 as an operation mode for controlling the operation of the crane 10 as a controlled object at a normal speed based on the pressing information of the pressing detecting unit 52, and a speed lower than that of the first mode 91. The second mode 92 as an operation mode for controlling the operation of the crane 10 is switched.

For example, the mode switching unit 64 has a first mode 91 at a normal speed and a second A mode 92A as a second mode 92 slower than the first mode 91 based on the number of times of pressing detected by the pressing number calculation unit 63. , The second B mode 92B as the second mode 92, which is slower than the second A mode 92A, can be switched. In other words, the mode switching unit 64 can control the operating speed of the controlled object in the second mode 92 based on the number of times of pressing detected by the number of times of pressing unit 63.

In the second mode 92, when the press detection unit 52 detects the release of the pressure and the tilt detection unit 51 detects the neutral posture, the mode switching unit 64 sets the operation mode to the second mode. Switch from 92 to the first mode 91. In other words, in the second mode 92, when the thumb F operating the joystick 40 is released from the joystick 40, the mode switching unit 64 switches the operation mode from the second mode 92 to the first mode 91.

The motion control unit 65 outputs an instruction to control the operation of the crane 10 to the actuator control device 71 based on the tilt information of the tilt detection unit 51 and the switching information of the mode switching unit 64.

The actuator control device 71 controls each actuator according to the instruction of the operation control unit 65.

[Relationship between operation mode and flow rate]
FIG. 5 is a graph showing the relationship between the operation mode and the flow rate of the remote controller 30 of the first embodiment. Hereinafter, the relationship between the operation mode and the flow rate of the remote controller 30 of the first embodiment will be described.

As shown in FIG. 5, when the pressing detection unit 52 does not detect the pressing (when the number of pressings is 0), the mode switching unit 64 sets the operation mode to the first mode 91. In the first mode 91, when the tilt amount of the joystick 40 is 0 [deg] (when the joystick 40 is in the neutral posture), the flow rate of the oil for driving the actuator is set to 0.0 [L / min]. In the first mode 91, when the tilt amount of the joystick 40 is 6 [deg], the flow rate of the oil for driving the actuator is set to 22.5 [L / min]. In the first mode 91, when the tilt amount of the joystick 40 is 11 [deg], the flow rate of the oil for driving the actuator is set to 41.3 [L / min]. In the first mode 91, when the tilt amount of the joystick 40 is 16 [deg] (when the joystick 40 is in the full operating posture with the maximum stroke), the flow rate of the oil for driving the actuator becomes 60.0 [L / min]. It is set.

When the press detection unit 52 detects the press once (when the number of presses is one), the mode switching unit 64 sets the operation mode to the second A mode 92A. In the second A mode 92A, when the tilt amount of the joystick 40 is 0 [deg] (when the joystick 40 is in the neutral posture), the flow rate of the oil for driving the actuator is set to 0.0 [L / min]. In the second A mode 92A, when the tilt amount of the joystick 40 is 9 [deg], the flow rate of the oil for driving the actuator is set to 22.5 [L / min]. In the second A mode 92A, when the tilt amount of the joystick 40 is 16 [deg] (when the joystick 40 is in the full operating posture with the maximum stroke), the flow rate of the oil driving the actuator becomes 40.0 [L / min]. It is set.

When the press detection unit 52 detects the press twice (when the number of presses is two), the mode switching unit 64 sets the operation mode to the second B mode 92B. In the second B mode 92B, when the tilt amount of the joystick 40 is 0 [deg] (when the joystick 40 is in the neutral posture), the flow rate of the oil for driving the actuator is set to 0.0 [L / min]. In the second B mode 92B, when the tilt amount of the joystick 40 is 16 [deg] (when the joystick 40 is in the full operating posture with the maximum stroke), the flow rate of the oil for driving the actuator becomes 23.0 [L / min]. It is set.

When the press detection unit 52 detects the press three times or more (when the number of presses is three or more), the mode switching unit 64 sets the operation mode to the second B mode 92B. A reset button may be provided to reset the operation mode to the first mode 91.

With this configuration, when the joystick 40 is pressed once to tilt it to the maximum stroke, the actuator is driven, which is equivalent to the tilting operation of about 2/3 of the stroke without pressing. It can be the flow rate of the oil to be used. When the joystick 40 is pressed twice to tilt it to the maximum stroke, the flow rate of oil that drives the actuator can be set to the same as the tilting operation with a stroke of about 1/3 without pressing. can.

That is, the upper limit of the flow rate of the oil that drives the actuator can be adjusted by the number of times the joystick 40 is pressed. Therefore, the operating speed of the actuator when the joystick 40 is tilted can be changed depending on the number of times the joystick 40 is pressed.

[Processing by the control unit]
FIG. 6 is a flowchart showing a processing flow by the control unit 60 of the first embodiment. 7A and 7B are views for explaining the operation method of the joystick 40 of the first embodiment, FIG. 7A is a cross-sectional view showing an initial state and a pressed state, and FIG. 7B is a pressed state and an inclination. It is sectional drawing which shows the state which was made. Hereinafter, the flow of processing by the control unit 60 of the first embodiment will be described.

As shown in FIG. 6, first, the pressing information acquisition unit 62 acquires the pressing information in the axial direction of the joystick 40 detected by the pressing detecting unit 52 (step S101).

Next, the tilt information acquisition unit 61 acquires the tilt information of the joystick 40 detected by the tilt detection unit 51 (step S102).

Next, the mode switching unit 64 determines whether or not the tilt of the joystick 40 is detected while detecting the pressing of the joystick 40 (step S103).

Specifically, as shown in FIG. 7A, the joystick 40 is operated with the thumb F to move the joystick 40 from the initial position P1 to the pressing position P2 in which the joystick 40 is pressed in the axial direction. Next, as shown in FIG. 7B, when the joystick 40 is moved from the pressing position P2 to the tilting position P3, the mode switching unit 64 tilts the joystick 40 while detecting the pressing of the joystick 40. Judge that it has been detected. That is, when the tilting operation is performed while pressing the joystick 40, the mode switching unit 64 determines that the tilting of the joystick 40 is detected while the pressing of the joystick 40 is being detected.

If it is determined that the tilt of the joystick 40 is detected during the detection of the pressing of the joystick 40 (YES in step S103), the pressing number calculation unit 63 calculates the number of times the pressing detection unit 52 is pressed (step S104). .. For example, the case where the number of times of pressing three times is detected is the case where the tilting operation is performed during the third pressing of the joystick 40.

Next, the pressing number calculation unit 63 determines whether or not the pressing number is one (step S105). When it is determined that the number of pressings is one (YES in step S105), the mode switching unit 64 switches the operation mode to the second A mode 92A (step S106), and proceeds to step S107.

On the other hand, when it is determined that the number of times of pressing is not one (NO in step S105), the number of times of pressing unit 63 determines whether or not the number of times of pressing is two (step S112). When it is determined that the number of pressings is two (YES in step S112), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S113), and proceeds to step S107.

On the other hand, when it is determined that the number of pressings is not 2 (NO in step S112), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S114), and proceeds to step S115.

Proceeding to step S107, the motion control unit 65 outputs an instruction to control the operation of the crane 10 in the operation mode switched by the mode switching unit 64 to the actuator control device 71 based on the tilt information of the tilt detection unit 51. , Control the operation of the actuator (step S107).

Next, the tilt information acquisition unit 61 acquires the tilt information of the joystick 40 detected by the tilt detection unit 51 (step S108).

Next, the tilt information acquisition unit 61 determines whether or not the information that has detected the neutral posture of the joystick 40 has been acquired (step S109). If it is determined that the information that detects the neutral posture of the joystick 40 has been acquired (YES in step S109), the process proceeds to step S110. On the other hand, if it is determined that the information that detects the neutral posture of the joystick 40 has not been acquired (NO in step S109), the process proceeds to step S107.

Proceeding to step S110, the mode switching unit 64 resets the operation mode (step S110). That is, the mode switching unit 64 switches the operation mode to the first mode 91.

Next, the control unit 60 determines whether or not to continue the operation control of the actuator (step S111). When it is determined that the operation control of the actuator is to be continued (YES in step S111), the process returns to step S101. On the other hand, when it is determined that the operation control of the actuator is not continued (NO in step S111), the process ends.

On the other hand, in step S115, the motion control unit 65 outputs an instruction to control the operation of the crane 10 in the first mode 91 to the actuator control device 71 based on the tilt information of the tilt detection unit 51, and outputs the instruction to control the operation of the crane 10 to the actuator control device 71. The operation is controlled (step S115), and the process proceeds to step S111.

On the other hand, if it is determined in step S103 that the tilt of the joystick 40 is not detected while the pressure of the joystick 40 is being detected (NO in step S103), the process proceeds to step S116.

Next, the mode switching unit 64 determines whether or not the tilt of the joystick 40 is detected without detecting the pressing of the joystick 40 (step S116). When the tilt of the joystick 40 is detected without detecting the pressing of the joystick 40 (YES in step S116), the mode switching unit 64 switches the operation mode to the first mode 91 (step S117).

Next, the motion control unit 65 outputs an instruction to control the motion of the crane 10 in the first mode 91 to the actuator control device 71 based on the tilt information of the tilt detection unit 51, and controls the actuator motion (step). S118), the process proceeds to step S111.

On the other hand, when the tilt of the joystick 40 is not detected without detecting the pressing of the joystick 40 (NO in step S116), the motion control unit 65 outputs an instruction to control the motion of the crane 10 to the actuator control device 71. (Step S119), the process ends.

[Action of remote controller]
Hereinafter, the operation of the remote controller 30 of the first embodiment will be described.

The remote controller 30 of the first embodiment changes the operating speed of the controlled object (crane 10) according to the amount of tilt of the joystick 40 that can operate the switch 45 with the thumb F. The remote controller 30 is at a normal speed based on the tilt detection unit 51 that detects the tilt and the amount of tilt of the joystick 40, the press detection unit 52 that detects the press of the joystick 40, and the press information of the press detection unit 52. A mode switching unit 64 that switches between a first mode 91 that controls the operation of the controlled object (crane 10) and a second mode 92 that controls the operation of the controlled object (crane 10) at a lower speed than the first mode 91. A motion control unit 65 that controls the operation of the control target (crane 10) based on the tilt information of the tilt detection unit 51 and the switching information of the mode switching unit 64 (FIG. 4).

As a result, when the joystick 40 is tilted in the first mode 91, the operation of the controlled object (crane 10) can be controlled at a normal speed. On the other hand, when the joystick 40 is tilted in the second mode 92, the operation of the controlled object (crane 10) can be controlled at a lower speed than usual. Therefore, for example, when it is desired to move a load suspended by the crane 10 by several centimeters, the operation mode can be quickly switched from the first mode 91 to the second mode 92 with a simple operation, and the crane 10 operates vigorously. This can be prevented and the luggage can be moved to the correct position. As a result, the operation mode can be switched from the first mode 91 to the second mode 92 with a simple operation according to the situation in which the controlled object (crane 10) is used, and the controlled object (crane 10) operates vigorously. It can be prevented and the fine movement operation can be easily performed.

Further, even when the joystick 40 is tilted for the entire stroke, the upper limit of the operating speed can be changed depending on the first mode 91 and the second mode 92. Therefore, it is not necessary to maintain the joystick 40 with a small stroke amount in order to reduce the operating speed. As a result, the remote controller 30 can be operated with less fatigue.

In the remote controller 30 of the first embodiment, the mode switching unit 64 sets the mode switching unit 64 when the tilt detecting unit 51 detects the tilt of the joystick 40 while the pressing detecting unit 52 detects the pressing of the joystick 40. The operation mode is switched from the first mode 91 to the second mode 92 (FIG. 7).

As a result, when the joystick 40 is tilted while pressing the joystick 40, the controlled object (crane 10) can be operated at a low speed. Therefore, it is possible to prevent the joystick 40 from being accidentally tilted too much and the controlled object (crane 10) moving vigorously. As a result, the operation mode can be switched from the first mode 91 to the second mode 92 with a simple operation according to the situation in which the controlled object (crane 10) is used, and the controlled object (crane 10) operates vigorously. It can be prevented and the fine movement operation can be easily performed.

The remote controller 30 of the first embodiment includes a pressing number calculation unit 63 that calculates the number of times the pressing detection unit 52 is pressed, and the mode switching unit 64 is a second mode based on the number of times detected by the pressing number calculation unit 63. The operating speed of the controlled object (crane 10) in 92 is changed (FIG. 4).

As a result, the operating speed of the controlled object (crane 10) can be changed according to the number of times the joystick 40 is pressed. Therefore, the operating speed of the controlled object (crane 10) can be changed in several stages with a simple operation. As a result, the controlled object (crane 10) can be set to an appropriate operating speed by a simple operation according to the situation in which the controlled object (crane 10) is used.

In the remote controller 30 of the first embodiment, when the pressing detection unit 52 detects the release of the pressing and the tilt detecting unit 51 detects the neutral posture in the second mode 92, the mode switching unit 64 sets the operation mode. The second mode 92 is switched to the first mode 91.

As a result, the operation mode can be switched from the second mode 92 to the first mode 91 when the pressing operation of the joystick 40 by the thumb F is released and the tilting operation by the thumb F is released. That is, when the thumb F is released from the joystick 40, the operation mode can be switched from the second mode 92 to the first mode 91. Therefore, for example, even if the pressing operation is released during the tilting operation in the second mode 92, the operation in the second mode 92 can be maintained. As a result, it is possible to prevent the operation mode from being unintentionally changed during operation.

The remote controller of the second embodiment is different from the remote controller of the first embodiment in that the operation mode switching method is different.

[Processing by the control unit]
FIG. 8 is a flowchart showing a processing flow by the control unit of the second embodiment. 9A and 9B are views for explaining the operation method of the joystick according to the second embodiment, FIG. 9A is a cross-sectional view showing an initial state and a pressed state, and FIG. 9B is a state in which the joystick is tilted from the initial state. It is sectional drawing which shows. Hereinafter, the flow of processing by the control unit of the second embodiment will be described.

The same or equivalent parts as those described in the above examples will be described using the same terms or the same reference numerals. Further, since the flowchart of the second embodiment is different from the flowchart of the first embodiment only in step S203 and the other steps are the same steps as those of the first embodiment, step S203 will be described.

After detecting the pressing of the joystick 40, the mode switching unit 64 determines whether or not the tilting of the joystick 40 is detected (step S203).

Specifically, as shown in FIG. 9A, the joystick 40 is operated with the thumb F to move the joystick 40 from the initial position P1 to the pressing position P2 in which the joystick 40 is pressed in the axial direction, and then the initial position is reached again. Return to position P1. Next, as shown in FIG. 9B, when the joystick 40 is moved from the initial position P1 to the tilted position P4, the mode switching unit 64 detects the pressure of the joystick 40 and then tilts the joystick 40. Judge that it has been detected. That is, when the tilting operation is performed after pressing the joystick 40, the mode switching unit 64 determines that the tilting of the joystick 40 is detected while the pressing of the joystick 40 is being detected.

[Action of remote controller]
Hereinafter, the operation of the remote controller 30 of the second embodiment will be described.

In the remote controller 30 of the second embodiment, the mode switching unit 64 sets the mode switching unit 64 when the tilt detecting unit 51 detects the tilt of the joystick 40 after the pressing detecting unit 52 detects the pressing of the joystick 40. The operation mode is switched from the first mode 91 to the second mode 92 (FIG. 9).

As a result, when the joystick 40 is tilted after pressing the joystick 40, the controlled object (crane 10) can be operated at a low speed. Therefore, it is possible to prevent the joystick 40 from being accidentally tilted too much and the controlled object (crane 10) moving vigorously. As a result, depending on the situation in which the controlled object (crane 10) is used, the first mode 91 can be switched to the second mode 92 with a simple operation to prevent the controlled object (crane 10) from operating vigorously. Can be done.

Since other configurations and actions and effects are substantially the same as those in the above embodiment, description thereof will be omitted.

The remote controller of the third embodiment is different from the remote controller of the first embodiment in that the operation mode switching method is different.

[Processing by the control unit]
FIG. 10 is a flowchart showing a processing flow by the control unit of the third embodiment. 11A and 11B are views for explaining the operation method of the joystick according to the third embodiment, FIG. 11A is a cross-sectional view showing an initial state and a tilted state, and FIG. 11B is pressed as a tilted state. It is sectional drawing which shows the state. Hereinafter, the flow of processing by the control unit of the third embodiment will be described. The same or equivalent parts as those described in the above examples will be described using the same terms or the same reference numerals.

As shown in FIG. 10, first, the tilt information acquisition unit 61 acquires the tilt information of the joystick 40 detected by the tilt detection unit 51 (step S301).

Next, the pressing information acquisition unit 62 acquires the pressing information in the axial direction of the joystick 40 detected by the pressing detecting unit 52 (step S302).

Next, the mode switching unit 64 determines whether or not the pressing of the joystick 40 is detected while detecting the tilt of the joystick 40 (step S303).

Specifically, as shown in FIG. 11A, the joystick 40 is operated with the thumb F to move the joystick 40 from the initial position P1 to the tilted position P5. Next, as shown in FIG. 11B, when the joystick 40 is moved from the tilting position P5 to the pressing position P6 in which the joystick 40 is pressed in the axial direction, the mode switching unit 64 is detecting the tilting of the joystick 40. , It is determined that the pressing of the joystick 40 has been detected. That is, when the pressing operation is performed while tilting the joystick 40, the mode switching unit 64 determines that the pressing of the joystick 40 is detected while the tilting of the joystick 40 is being detected.

When it is determined that the pressing of the joystick 40 is detected while the tilt of the joystick 40 is being detected (YES in step S303), the pressing number calculation unit 63 calculates the number of times the pressing detection unit 52 is pressed (step S304). .. For example, the case where the number of times of pressing three times is detected is the case where the pressing operation is performed three times with the joystick 40 tilted.

Next, the pressing number calculation unit 63 determines whether or not the pressing number is one (step S305). When it is determined that the number of pressings is one (YES in step S305), the mode switching unit 64 sets the operation mode to the second A mode 92A (step S306), and proceeds to step S307.

On the other hand, when it is determined that the number of times of pressing is not one (NO in step S305), the number of times of pressing unit 63 determines whether or not the number of times of pressing is two (step S312). When it is determined that the number of pressings is two (YES in step S312), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S313), and proceeds to step S307.

On the other hand, when it is determined that the number of pressings is not 2 (NO in step S312), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S314), and proceeds to step S315.

Proceeding to step S307, the motion control unit 65 outputs an instruction to control the operation of the crane 10 in the operation mode switched by the mode switching unit 64 to the actuator control device 71 based on the tilt information of the tilt detection unit 51. , Control the operation of the actuator (step S307).

Next, the tilt information acquisition unit 61 acquires the tilt information of the joystick 40 detected by the tilt detection unit 51 (step S308).

Next, the tilt information acquisition unit 61 determines whether or not the information that has detected the neutral posture of the joystick 40 has been acquired (step S309). If it is determined that the information that detects the neutral posture of the joystick 40 has been acquired (YES in step S309), the process proceeds to step S310. On the other hand, if it is determined that the information that detects the neutral posture of the joystick 40 has not been acquired (NO in step S309), the process proceeds to step S307.

Proceeding to step S310, the mode switching unit 64 resets the operation mode (step S310). That is, the mode switching unit 64 switches the operation mode to the first mode 91.

Next, the control unit 60 determines whether or not to continue the operation control of the actuator (step S311). When it is determined that the operation control of the actuator is to be continued (YES in step S311), the process returns to step S301. On the other hand, when it is determined that the operation control of the actuator is not continued (NO in step S311), the process ends.

On the other hand, in step S315, the motion control unit 65 outputs an instruction to control the operation of the crane 10 in the first mode 91 to the actuator control device 71 based on the tilt information of the tilt detection unit 51, and outputs the instruction to control the operation of the crane 10 to the actuator control device 71. The operation is controlled (step S315), and the process proceeds to step S311.

On the other hand, if it is determined in step S303 that the pressing of the joystick 40 is not detected while the tilt of the joystick 40 is being detected (NO in step S303), the process proceeds to step S316.

Next, the mode switching unit 64 determines whether or not the tilt of the joystick 40 has been detected (step S316). When the tilt of the joystick 40 is detected (YES in step S316), the mode switching unit 64 switches the operation mode to the first mode 91 (step S317).

Next, the motion control unit 65 outputs an instruction to control the motion of the crane 10 in the first mode 91 to the actuator control device 71 based on the tilt information of the tilt detection unit 51, and controls the actuator motion (step). S318), the process proceeds to step S311.

On the other hand, when the tilt of the joystick 40 is not detected (NO in step S316), the motion control unit 65 does not output an instruction to control the motion of the crane 10 to the actuator control device 71 (step S319), and ends the process. do.

[Action of remote controller]
Hereinafter, the operation of the remote controller 30 of the third embodiment will be described.

In the remote controller 30 of the third embodiment, the mode switching unit 64 sets the mode switching unit 64 when the tilt detecting unit 51 detects the tilt of the joystick 40 and the pressing detecting unit 52 detects the pressing of the joystick 40. The operation mode is switched from the first mode 91 to the second mode 92 (FIG. 11).

As a result, when it is desired to reduce the operating speed of the controlled object (crane 10) during the tilting operation in the first mode 91, the operation mode is changed to the second mode 92, which is slower than the first mode 91, by performing the pressing operation. You can also switch. Therefore, when the control speed (crane 10) is desired to be slower than usual during the tilting operation in the first mode 91, the operating speed can be lowered by a simple operation.

Since other configurations and actions and effects are substantially the same as those in the above embodiment, description thereof will be omitted.

The industrial remote controller of the present invention has been described above based on the first to third embodiments. However, the specific configuration is not limited to these examples, and design changes and combinations of the examples are permitted as long as the gist of the invention according to each claim is not deviated from the claims. Will be done.

In Examples 1 to 3, the operation speed of the crane 10 in the second mode 92 is changed depending on whether the number of times of pressing is one or two. However, the operating speed of the crane 10 in the second mode 92 may be changed in three or more steps depending on the number of times of pressing three or more times. Further, the operating speed of the crane 10 in the second mode 92 does not have to be changed.

In Examples 1 to 3, two joysticks 40 are provided in the remote controller 30. However, one joystick may be provided on the remote controller, or three or more joysticks may be provided.

In Examples 1 to 3, an example in which the industrial remote controller of the present invention is applied to one having no accelerator lever is shown. However, the industrial remote controller of the present invention can be applied to a controller provided behind the grip portion 31 and having an accelerator lever for adjusting the operating speed of each actuator.

In Examples 1 to 3, an example is shown in which the present invention is applied to an industrial remote controller having a joystick 40 that can be operated with the thumb F. However, the present invention is not limited to the thumb, and can be applied to an industrial remote controller having a joystick that can be operated by a finger.

In Examples 1 to 3, an example in which the present invention is applied to an industrial remote controller for operating a crane 10 is shown. However, the present invention can also be applied to construction machines such as aerial work platforms and hydraulic excavators, and industrial machines.

10 Crane (an example of controlled object)
30 Remote controller (industrial remote controller)
40 Joystick 45 Switch 51 Tilt detection unit 52 Press detection unit 63 Press count calculation unit 64 Mode switching unit 65 Motion control unit 91 1st mode 92 2nd mode F Thumb (example of finger)

Claims (6)

It is an industrial remote controller that changes the operating speed of the controlled object according to the amount of tilt of the joystick that can operate the switch with a finger.
A tilt detection unit that detects the tilt and tilt amount of the joystick, and
A pressure detection unit that detects the pressure of the joystick, and
Based on the pressing information of the pressing detection unit, the first mode for controlling the operation of the controlled object at a normal speed and the second mode for controlling the operation of the controlled object at a lower speed than the first mode are set. Equipped with a mode switching unit to switch
An industrial remote controller including a motion control unit that controls the operation of the controlled object based on the tilt information of the tilt detection unit and the switching information of the mode switching unit. In the mode switching unit, when the pressure detecting unit detects the pressing of the joystick and the tilt detecting unit detects the tilt of the joystick, the mode switching unit changes the operation mode from the first mode to the above. The industrial remote controller according to claim 1, wherein the mode is switched to the second mode. In the mode switching unit, when the tilt detecting unit detects the tilt of the joystick after the pressing detecting unit detects the pressing of the joystick, the mode switching unit changes the operation mode from the first mode to the above. The industrial remote controller according to claim 1, wherein the mode is switched to the second mode. In the mode switching unit, when the tilt detecting unit detects the tilt of the joystick and the pressing detecting unit detects the pressing of the joystick, the mode switching unit changes the operation mode from the first mode to the above. The industrial remote controller according to claim 1, wherein the mode is switched to the second mode. A press count calculation unit for calculating the number of times the press detection unit is pressed is provided.
The mode switching unit according to any one of claims 1 to 4, wherein the mode switching unit changes the operating speed of the controlled object in the second mode based on the number of times detected by the pressing number calculation unit. Described industrial remote controller. In the second mode, when the pressure detection unit detects the release of the pressure and the tilt detection unit detects the neutral posture, the mode switching unit changes the operation mode from the second mode to the first mode. The industrial remote controller according to any one of claims 1 to 5, wherein the remote controller is switched to.

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