JP6791094B2 - Remote control system for industrial vehicle, remote control device, remote control program for industrial vehicle, remote control method for industrial vehicle and industrial vehicle - Google Patents

Description

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

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

JP-A-2002-104800

Here, in a configuration in which an industrial vehicle is remotely controlled by using a remote control device, improvement in operability may be required.
The present invention has been made in view of the above circumstances, and an object of the present invention is a remote control system for an industrial vehicle, a remote control device, a remote control program for an industrial vehicle, and a remote control for an industrial vehicle, which can improve operability. To provide operating methods and industrial vehicles.

A remote control system for an industrial vehicle that achieves the above object has an industrial vehicle having a vehicle communication unit and a remote communication unit that performs wireless communication with the vehicle communication unit, and is used for remote control of the industrial vehicle. Based on the operation device, the setting unit that sets the reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device, and the degree of change from the reference position. The industrial vehicle is characterized by including a determination unit for determining a remote control mode of the industrial vehicle and an execution unit for remotely controlling the industrial vehicle in the remote control mode determined by the determination unit.

According to such a configuration, the remote control mode of the industrial vehicle is determined based on the degree of change from the reference position, and the remote control mode of the industrial vehicle is performed in the remote control mode. The reference position is set by performing a reference setting operation by the operator. As a result, operability can be improved.

Regarding the remote control system for industrial vehicles, the remote control device has a posture detection unit that detects the posture of the remote control device, and the setting unit performs the reference setting operation on the remote control device. In this case, based on the detection result of the posture detection unit, as a reference posture which is a kind of the reference position, a reference posture setting unit for setting the posture of the remote control device when the reference setting operation is performed is provided. It is preferable that the determination unit includes a posture correspondence determination unit that determines the remote control mode of the industrial vehicle based on the degree of change in the posture of the remote control device from the reference posture.

According to such a configuration, the remote control mode of the industrial vehicle can be changed by changing the posture of the remote control device. As a result, the industrial vehicle can be remotely controlled in a desired remote control mode by controlling the posture of the remote control device.

Regarding the remote control system for industrial vehicles, the posture detection unit detects the rotation position of the remote control device in a specific rotation direction, and the reference posture setting unit is a reference rotation position which is a kind of the reference posture. As the reference setting operation is performed, the rotation position of the remote control device in the specific rotation direction is set, and the posture correspondence determination unit sets the remote control device from the reference rotation position in the specific rotation direction. The remote control mode of the industrial vehicle may be determined based on the degree of change in the rotational position of the industrial vehicle.

According to such a configuration, the industrial vehicle can be remotely controlled in a desired remote control mode by the operation of rotating the remote control device in a specific rotation direction.
Here, in the configuration in which the rotation in the specific rotation direction is adopted as the operation for determining the remote control mode of the industrial vehicle as described above, if the reference rotation position is fixed, the reference rotation depends on the posture of the operator. Inconveniences such as a limited range of rotation with respect to the position and an unnatural posture may occur in order to realize a desired remote control mode.

In this respect, according to this configuration, the reference rotation position can be appropriately changed by the operation of the operator, so that the above inconvenience can be suppressed. Therefore, the above-mentioned inconvenience caused by the adoption of rotation in a specific rotation direction as a kind of operation for determining the remote control mode can be suppressed, and the operability can be further improved.

Regarding the remote control system for an industrial vehicle, the posture correspondence determination unit determines the remote control mode of the industrial vehicle based on the degree of change in the rotation position of the remote control device from the reference rotation position in the specific rotation direction. The steering angle of the industrial vehicle may be determined.

According to such a configuration, the steering angle of the industrial vehicle can be controlled by rotating the remote control device in a specific rotation direction from the reference rotation position. As a result, intuitive remote control can be realized.
Regarding the remote control system for industrial vehicles, the remote control device may have a plate shape, and the specific rotation direction may be a rotation direction with the thickness direction of the remote control device as the rotation axis.

According to such a configuration, when the remote control device is gripped by both hands, the steering angle of the industrial vehicle can be changed by rotating the remote control device clockwise or counterclockwise when viewed from the operator. As a result, the steering angle of the industrial vehicle can be controlled as if the steering wheel is operated, and the operability can be improved.

Regarding the remote control system for industrial vehicles, the remote control device includes a touch panel and a touch sensor for detecting an input operation on the touch panel, and the reference setting operation is performed on the touch panel. It is good to be.

According to such a configuration, the reference position can be set by a relatively simple operation of inputting to the touch panel, so that the reference position can be easily set.
Regarding the remote control system for industrial vehicles, assuming that the position where the input operation is performed on the touch panel is set as the input operation position, the setting unit performs the reference setting operation on the remote control device. A reference input position setting unit for setting the input operation position when the reference setting operation is performed is provided as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. The determination unit may include a panel-compatible determination unit that determines the remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.

According to such a configuration, the industrial vehicle can be remotely controlled in a desired remote control mode by controlling the input operation position.
Regarding the remote control system for industrial vehicles, the panel correspondence determination unit determines the degree of change of the input operation position from the reference input position based on the relative position between the reference input position and the input operation position. It is advisable to determine the remote control mode of the industrial vehicle.

According to this configuration, an industrial vehicle can be operated in a desired remote control mode by performing a slide operation, which is a series of input operations in which an input operation is performed on the touch panel and then the input operation position is changed while maintaining the input operation. Can be operated remotely.

Regarding the remote control system for industrial vehicles, the panel correspondence determination unit determines the traveling speed of the industrial vehicle as a remote control mode of the industrial vehicle based on the relative position between the reference input position and the input operation position. Good.

According to such a configuration, the traveling speed can be made different according to the operation amount of the slide operation, and the intuitive operation becomes possible through it.
Regarding the remote control system for industrial vehicles, the industrial vehicle is a forklift having a fork, and the panel correspondence determination unit remotely controls the forklift based on a relative position between the reference input position and the input operation position. As an aspect, the operation mode of the fork may be determined.

According to such a configuration, the fork can be moved greatly or slightly according to the operation amount of the slide operation. As the operation mode of the fork, for example, the stroke amount of the reach operation, the stroke amount of the lift operation, the inclination angle of the tilt operation, and the like can be considered.

When the touch panel is subjected to a series of input operations including a start operation for starting the remote control and a continuous operation continued from the start operation, the remote control system for an industrial vehicle is used. The reference input position setting unit sets a start position, which is a position where the start operation is performed, as the reference input position based on the start operation performed as the reference setting operation, and the panel. The response determination unit may determine the remote control mode of the industrial vehicle based on the relative position between the start position and the continuous operation position, which is the position where the continuous operation is performed.

According to such a configuration, the start position is set by performing the start operation, and the remote control mode of the industrial vehicle is determined based on the relative position between the start position and the continuous operation position. As a result, it is not necessary to perform the reference setting operation separately from the series of input operations composed of the start operation and the continuous operation, so that the operation can be simplified.

Further, according to this configuration, since the reference input position is set each time the start operation is performed, the reference input position can be changed each time the remote operation is performed. Therefore, for example, when the posture is changed after performing a certain remote control and the remote control is performed again, the reference input position can be changed in response to the change in the posture. Therefore, the remote control corresponding to the changed posture is performed. Can be done.

Regarding the remote control system for industrial vehicles, the remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device. After the start of the remote control of the industrial vehicle, the first continuous operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started. The remote control control unit that continues the remote control of the industrial vehicle when both of the continuous second continuous operations are performed is provided, and the reference input position setting unit is the first start as the reference setting operation. It is a position where the first start operation is performed at the time when both the first start operation and the second start operation are performed, triggered by both the operation and the second start operation. The first start position is set as the reference input position, and the panel correspondence determination unit is based on a relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed. Therefore, the remote control mode of the industrial vehicle may be determined.

According to such a configuration, in order to start the remote control, it is necessary to perform both the first start operation and the second start operation. As a result, it is possible to prevent the remote control from being unintentionally performed or the remote control from being started while performing other work. Then, even after the start of the remote control, it is necessary to perform both continuous operations in order to continue the remote control. As a result, it is possible to suppress performing work other than remote control during remote control. Therefore, the safety can be improved.

Further, according to this configuration, the remote operation can be stopped by terminating at least one of both continuous operations. As a result, the operator can easily stop or start the remote control consciously. Therefore, the operator can easily perform, for example, temporarily stop the remote control, check the situation, and then perform the remote control again, and can improve convenience. ..

In particular, according to this configuration, the first start position is set as the reference input position by performing both start operations for starting the remote operation. As a result, it is not necessary to perform an operation for setting the reference input position separately from the operation for starting the remote control, so that the operation can be simplified. Further, since the first start position is set as the reference input position each time both start operations are performed, the reference input position can be changed each time the remote operation is performed.

Regarding the remote control system for industrial vehicles, the first start operation is an input operation for a specific area of the touch panel, and the first continuous operation is a remote control started regardless of whether the specific area is inside or outside. It is preferable that the input operation to the touch panel is continued from the first start operation at the time.

According to such a configuration, in order to start remote control, it is necessary to perform an input operation in a specific area using, for example, a finger or the like. Such an input operation within a specific area is relatively easy because it is an operation that can be performed using a finger, but since it is necessary to perform an input operation at a target location on the touch panel, appropriate attention should be paid. Needs. As a result, it is possible to start the remote control with a simple operation while calling the operator appropriate attention.

On the other hand, as for the first continuous operation, since the slide operation that extends beyond the specific area is possible, the degree of freedom of the first continuous operation can be increased. Further, even if the position where the first continuous operation is performed extends beyond the specific area due to the attempt to realize the desired remote control mode, the remote control is continued. Thereby, operability and convenience can be improved.

Regarding the remote control system for industrial vehicles, the remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device. After the start of the remote control of the industrial vehicle, the first continuous operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started. The remote control control unit that continues the remote control of the industrial vehicle when both of the continuous second continuous operations are performed is provided, and the reference input position setting unit is the first start as the reference setting operation. When both the operation and the second start operation are performed, the first start operation and the second start operation are performed at the time when both the first start operation and the second start operation are performed. The first start position and the second start position, which are the reserved positions, are set as the reference input positions, and the panel correspondence determination unit is the position where the first start position and the first continuous operation are performed. Based on both the relative position with respect to the first continuous operation position and the relative position between the second start position and the second continuous operation position, which is the position where the second continuous operation is performed, the industrial vehicle It is advisable to determine the remote control mode.

According to such a configuration, in order to start the remote control, it is necessary to perform both the first start operation and the second start operation. As a result, it is possible to prevent the remote control from being unintentionally performed or the remote control from being started while performing other work. Then, even after the start of the remote control, it is necessary to perform both continuous operations in order to continue the remote control. As a result, it is possible to suppress performing work other than remote control during remote control. Therefore, the safety can be improved.

Further, according to this configuration, the remote operation can be stopped by terminating at least one of both continuous operations. As a result, the operator can easily stop or start the remote control consciously. Therefore, the operator can easily perform, for example, temporarily stop the remote control, check the situation, and then perform the remote control again, and can improve convenience. ..

In particular, according to this configuration, the first start position and the second start position are set as the reference input positions by performing both start operations for starting the remote operation. As a result, it is not necessary to perform an operation for setting the reference input position separately from the operation for starting the remote control, so that the operation can be simplified. Further, since the reference input position is set each time both start operations are performed, the reference input position can be changed each time the remote operation is performed. Further, since the remote control mode is determined based on the two relative positions, the desired remote control mode can be realized by combining the two input operations.

Regarding the remote control system for industrial vehicles, the first start operation is an input operation for the first area of the touch panel, and the first continuous operation starts the remote control regardless of whether it is inside or outside the first area. This is an input operation to the touch panel that is continued from the first start operation when the operation is performed, and the second start operation is an input operation for the touch panel in a second area different from the first area. The second continuous operation may be an input operation to the touch panel that is continued from the second start operation when the remote operation is started, regardless of whether it is inside or outside the second area.

According to such a configuration, in order to start the remote control, it is necessary to perform the input operation at at least two different positions of the touch panel. As a result, it is assumed that the operator holds the remote control device with both hands in order to perform an input operation for two different positions. Therefore, it is possible to suppress remote control with one hand, and through this, it is possible to suppress remote control and other work from being performed at the same time.

Further, as for the first continuous operation, since the slide operation that extends beyond the first area is possible, the degree of freedom of the first continuous operation can be increased. Further, even if the position where the first continuous operation is performed extends beyond the first region due to the attempt to realize the desired remote control mode, the remote control is continued. The same applies to the second continuous operation. Therefore, operability and convenience can be improved.

Regarding the remote control system for industrial vehicles, the remote control device may be a smartphone or a tablet terminal.
According to such a configuration, remote control of an industrial vehicle can be realized by using an existing general-purpose product.

The remote control device that achieves the above object is used for remotely controlling an industrial vehicle having a vehicle communication unit, and a reference setting operation is performed with the remote communication unit that wirelessly communicates with the vehicle communication unit. Based on the above, a setting unit for setting a reference position for operation of the remote control device and a determination unit for determining a remote control mode of the industrial vehicle based on the degree of change from the reference position are provided. It is characterized by being.

The remote control program for an industrial vehicle that achieves the above object is for remotely controlling the industrial vehicle by using a remote control device provided with a remote communication unit that performs wireless communication with a vehicle communication unit provided in the industrial vehicle. Therefore, the remote control device is changed from the setting unit for setting the reference position for the operation of the remote control device and the reference position based on the reference setting operation performed on the remote control device. It is characterized in that it functions as a determination unit for determining a remote control mode of the industrial vehicle based on the degree of.

The remote control method for an industrial vehicle that achieves the above object is to remotely control the industrial vehicle by using a remote control device provided with a remote communication unit that performs wireless communication with a vehicle communication unit provided in the industrial vehicle. , The setting step of setting the reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device by the remote control device or the industrial vehicle, and the remote control device. Alternatively, a determination step in which the industrial vehicle determines a remote control mode of the industrial vehicle based on the degree of change from the reference position, and a remote control device or the industrial vehicle in which the remote control device or the industrial vehicle is determined by the determination step. It is characterized by including an execution step for remotely controlling the industrial vehicle in an operation mode.

An industrial vehicle that achieves the above object includes a vehicle communication unit that performs wireless communication with a remote communication unit provided in the remote control device, and is remotely controlled by the remote control device, with respect to the remote control device. Based on the fact that the reference setting operation has been performed, the remote control mode of the industrial vehicle is determined based on the setting unit that sets the reference position for the operation of the remote control device and the degree of change from the reference position. It is characterized by including a determination unit for remote control and an execution unit for remotely controlling the industrial vehicle in a remote control mode determined by the determination unit.

According to each of the above configurations, the remote control mode of the industrial vehicle is determined based on the degree of change from the reference position, and the remote control mode of the industrial vehicle is performed in the remote control mode. The reference position is set by performing a reference setting operation by the operator. As a result, operability can be improved.

According to the present invention, operability can be improved.

Schematic diagram of a remote control system for industrial vehicles. A block diagram showing an electrical configuration of a remote control system for an industrial vehicle. The conceptual diagram for explaining a remote control signal and a control signal. The conceptual diagram for demonstrating various modes set in the remote control system for industrial vehicles of 1st Embodiment. Front view of the remote control device on which the driving mode image is displayed. Front view of the remote control device with the lift mode image displayed. Front view of the remote control device with the reach mode image displayed. Front view of the remote control device displaying the tilt mode image. The flowchart which shows the remote control control process of 1st Embodiment. The flowchart which shows the operation mode processing of 1st Embodiment. A flowchart showing a forced stop process. An operation explanatory diagram schematically showing an example of operation for a remote control device. An operation explanatory diagram schematically showing an example of operation for a remote control device. An operation explanatory diagram schematically showing an example of operation for a remote control device. An operation explanatory diagram schematically showing an example of operation for a remote control device. Top view schematically showing the movement of the forklift with respect to the operation with respect to the remote control device. The front view of the remote control device which displayed the traveling mode image of 2nd Embodiment. Front view of the remote control device on which the cargo handling mode image is displayed. The flowchart which shows the remote control control process of 2nd Embodiment. The flowchart which shows the operation mode processing of 2nd Embodiment. The front view of the remote control device for explaining the operation of another example.

(First Embodiment)
Hereinafter, the first embodiment of the remote control system for industrial vehicles will be described.
As shown in FIG. 1, the remote control system 10 for an industrial vehicle includes a forklift 20 as an industrial vehicle and a remote control device 30 used for remotely controlling the forklift 20.

The forklift 20 includes wheels 21 and a fork 22 as a cargo handling device for loading or unloading luggage. The forklift 20 of the present embodiment is configured so that the driver can sit and operate it. The fork 22 is configured to be capable of lift operation, reach operation and tilt operation.

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

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

The traveling actuator 23 as a traveling driving unit is used for traveling the forklift 20, and specifically, the wheels 21 are rotationally driven and the steering angle (traveling direction) is changed. For example, if the forklift 20 is an engine type, the traveling actuator 23 is an engine and a steering device. For example, if the forklift 20 is an EV type, the traveling actuator 23 is an electric motor and a steering device that rotationally drive the wheels 21. Is.

The cargo handling actuator 24 is used for an operation different from traveling, and more specifically, drives the fork 22. For example, the cargo handling actuator 24 has a lift drive unit 24a that performs a lift operation that moves the fork 22 in the vertical direction, a reach drive unit 24b that performs a reach operation that moves the fork 22 in the front-rear direction, and a tilt operation that tilts the fork 22. It has a tilt drive unit 24c to perform the operation.

It can be said that the fork 22 is an operation target that performs an operation different from traveling, the operation of the fork 22 can be said to be an "operation different from traveling", and the cargo handling actuator 24 is used for an operation different from traveling. It can be said that.

The vehicle state detection unit 27 detects the state of the forklift 20. The vehicle state detection unit 27 detects, for example, the current traveling mode of the forklift 20 and the operating mode of the fork 22, and also detects the presence or absence of an abnormality in the forklift 20, and the traveling information, the operation information, and the abnormality information which are the detection results are obtained. The set detection signal is output to the vehicle CPU 25.

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

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

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

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

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

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

By the way, when the remote control device 30 is gripped sideways, the lateral direction of the touch panel 31 is the vertical direction or the front-rear direction when viewed from the operator, and the longitudinal direction of the touch panel 31 is the horizontal direction when viewed from the operator.

In the following description, when the remote control device 30 is gripped sideways so that the touch panel 31 can be visually recognized, the upper end side of the touch panel 31 (upward on the paper surface in FIGS. 5 to 8) is upward when viewed from the operator. The lower end side (downward of the paper surface in FIGS. 5 to 8) as viewed from the operator is downward.

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

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

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

For example, as shown in FIG. 1, when both ends of the remote control device 30 in the longitudinal direction are gripped by the operator, the posture detection unit 35 passes through the center of the remote control device 30 and is the remote control device 30. A rotation operation (hereinafter, simply referred to as "first rotation operation") with the first center line M1 extending in the thickness direction as the rotation axis is detected. Further, the attitude detection unit 35 is a rotation operation about the second center line M2 extending in the longitudinal direction of the remote control device 30 through the center of the remote control device 30 as a rotation axis (hereinafter, simply referred to as "second rotation operation". ) Is detected.

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

The posture detection unit 35 detects whether or not at least one of the first rotation operation and the second rotation operation is performed, and if at least one of both rotation operations is performed, the mode of the rotation operation is detected. , The detection result is output to the remote CPU 33. As a result, the remote CPU 33 can grasp the first rotation operation and the second rotation operation, which are a kind of operations for the remote control device 30.

The mode of the rotation operation is, for example, the degree of change in the angular velocity of the rotation operation. Specifically, the attitude detection unit 35 detects the angular acceleration as a mode of rotation operation. As a result, the remote control device 30 (specifically, the remote CPU 33) can grasp the angular acceleration in addition to the presence or absence of the rotation operation.

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

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

The vehicle communication unit 28 and the remote communication unit 36 are communication interfaces for performing wireless communication, for example. When the paired (registered) forklift 20 exists within the communication range, the remote communication unit 36 establishes a communication connection with the vehicle communication unit 28 of the forklift 20. As a result, signals can be exchanged between the remote control device 30 and the forklift 20.

In the present embodiment, the communication format between the vehicle communication unit 28 and the remote communication unit 36 is Wi-Fi (in other words, a wireless LAN of the IEEE802.11 standard). Both communication units 28 and 36 transmit and receive signals by packet communication.

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

Further, the communication format between the vehicle communication unit 28 and the remote communication unit 36 is not limited to Wi-Fi, and may be arbitrary, such as Bluetooth (registered trademark) and Zigbee (registered trademark).

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

The forklift 20 includes a signal conversion unit 29 that converts the remote control signal SG1 into a control signal SGa corresponding to the in-vehicle communication standard. The signal conversion unit 29 is electrically connected to the vehicle communication unit 28 and the vehicle CPU 25, and converts the remote control signal SG1 received by the vehicle communication unit 28 into a control signal SGa that can be recognized by the vehicle CPU 25. The control signal SGa is output to the vehicle CPU 25.

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

As shown in FIG. 3, the signal formats (in other words, signal forms) of the remote control signal SG1 and the control signal SGa are different due to the difference between the standard of the remote control signal SG1 and the standard of the control signal SGa. On the other hand, the information (in other words, the content) set in the remote control signal SG1 and the control signal SGa is the same. In other words, the signal conversion unit 29 converts the remote control signal SG1 of the wireless communication standard in which the information related to the remote control is set into the control signal SGa that can be recognized by the vehicle CPU 25 while holding the information related to the remote control. It can be said that it is a thing.

The remote control signal SG1 and the control signal SGa include travel operation information D1 relating to travel operation and cargo handling operation information D2 relating to cargo handling operation as information relating to remote control.
The traveling operation information D1 includes, for example, traveling speed information Dv in which the traveling speed of the forklift 20 is set, acceleration information Dα in which the acceleration of the forklift 20 is set, and steering angle information Dθ in which the steering angle of the forklift 20 is set. have.

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

When the control signal SGa is input from the signal conversion unit 29, the vehicle CPU 25 reads the remote operation execution program stored in the vehicle memory 26 and executes the remote operation execution program to execute the control signal SGa. The fork lift 20 (specifically, both actuators 23 and 24) is driven in a manner corresponding to the above.

For example, the control signal SGa in which each information Dv, Dα, Dθ of the traveling operation information D1 is a numerical value other than “0” and each information Dfa, Dfb, Dfc of the cargo handling operation information D2 is “0” or “null” is It is assumed that the input is input to the vehicle CPU 25. In this case, the vehicle CPU 25 controls the traveling actuator 23 to accelerate / decelerate at the acceleration set in the acceleration information Dα so as to be the traveling speed set in the traveling speed information Dv, and also performs acceleration / deceleration with the steering angle information. The steering angle of the forklift 20 is changed so that the steering angle is set to Dθ.

Further, for example, when the control signal SGa in which the lift information Dfa is a numerical value other than "0" and the other information is "0" or "null" is input to the vehicle CPU 25, the vehicle CPU 25 causes the lift information Dfa. The cargo handling actuator 24 is controlled so that the fork 22 moves in the vertical direction by the stroke amount set to.

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

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

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

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

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

Here, in a configuration in which the forklift 20 (industrial vehicle) is remotely controlled by using the remote control device 30, the operator does not need to get on the forklift 20, so that convenience can be improved. Safety is required. For example, since the operator does not need to get on the forklift 20, the operator has a high degree of freedom in action. Therefore, as an operator, for example, the remote control may be started while performing other work, or the remote control device 30 may be released during the remote control to perform a work other than the remote control. In this case, erroneous operation of the forklift 20 is likely to occur. Further, for example, in a configuration in which remote control is performed using the remote control device 30, an operation system different from normal operation using a handle or the like may occur, so that an erroneous operation may occur.

On the other hand, the remote control system 10 for industrial vehicles is configured to enhance safety in consideration of operability and the like. In view of this point, the configuration related to the remote control of the forklift 20 using the remote control device 30 will be described below.

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

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

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

When the remote control program 40 is activated, the remote CPU 33 first searches for a forklift 20 capable of communicating with the remote communication unit 36 within a communicable range, and if the forklift 20 exists, the vehicle of the forklift 20 A communication connection is established with the communication unit 28.

After that, the remote CPU 33 causes the touch panel 31 to display the operation image G10. The operation image G10 is stored in the remote control program 40. The remote CPU 33 basically displays the operation image G10 at all times while the remote control program 40 is running.

Subsequently, the remote CPU 33 reads out the remote control control process execution program 41 and periodically executes the remote control control process during the activation of the remote control program 40 to correspond to the operator's operation on the remote control device 30. Controls the transmission of the remote control signal SG1. As a result, the remote control of the forklift 20 using the remote control device 30 is controlled. The remote CPU 33 that executes the remote control control process corresponds to the "remote control unit".

Here, as shown in FIG. 4, in the remote control control process, an operation mode, a forced stop mode, and a stopped mode are set as control modes for remote control. That is, the remote control device 30 (specifically, the remote CPU 33) has an operation mode, a forced stop mode, and a stopped mode as control modes for remote control.

Before the detailed explanation of the remote control control process, each mode will be briefly described.
The operation mode is a control mode in which the forklift 20 is remotely controlled in response to an operation on the remote control device 30. In the operation mode, the forklift 20 is controlled so that the operation corresponding to the operation of the remote control device 30 is performed.

The operation mode has a plurality of modes, and more specifically, a travel mode in which the traveling actuator 23 is an operation target (control target), a lift mode in which the cargo handling actuator 24 is an operation target (control target), a reach mode, and a tilt. Has a mode.

The traveling mode is an operation mode for remotely controlling the traveling of the forklift 20. The lift mode is an operation mode for performing remote control regarding the lift operation of the fork 22. The reach mode is an operation mode for performing remote control regarding the reach operation of the fork 22. The tilt mode is an operation mode for performing remote control regarding the tilt operation of the fork 22. That is, in the present embodiment, the operation mode is set for each operation of a different type. In the following description, the lift mode, reach mode and tilt mode are collectively referred to as cargo handling mode.

The forced stop mode is a control mode for forcibly stopping the forklift 20. That is, the remote control device 30 of the present embodiment has a function of forcibly stopping the forklift 20. In the forced stop mode, the remote control by the remote control device 30 is stopped.

In the present embodiment, the forced stop mode is a control mode for forcibly stopping the forklift 20 when various operations are performed. The various movements are arbitrary, but are, for example, at least one of traveling and movement of the fork 22.

The stopped mode is, for example, a control mode set between the time when the forklift 20 is forcibly stopped and the time when the remote control is performed again. In the stopped mode, the remote control by the remote control device 30 is stopped.

By the way, the state in which the remote control by the remote control device 30 is stopped means a state in which the forklift 20 does not perform the operations corresponding to the various operations even when various operations are performed on the remote control device 30. To do. In other words, the forced stop mode and the stopped mode can be said to be control modes in which the remote control of the forklift 20 is restricted so that the operation corresponding to the operation of the remote control device 30 is not performed.

In the remote control control process, the remote CPU 33 has an operation mode and a forced stop mode based on the presence / absence of various operations on the remote control device 30, and in detail, the presence / absence of an input operation on the touch panel 31 on which the operation image G10 is displayed. , Shifts to one of the stopped modes. As a result, the forklift 20 is remotely controlled by using the remote control device 30, or the remote control is stopped. It can be said that the operation mode is a control mode in which remote control is permitted (allowed), while the forced stop mode and the stopped mode are control modes in which remote control is prohibited.

By the way, as already explained, the control mode includes a mode in which remote control is stopped. The control mode (that is, the initial control mode) set when the remote control program 40 is started is the stopped mode. Therefore, when the remote control program 40 is activated, the remote control of the forklift 20 using the remote control device 30 is not immediately started.

That is, the start / end of the remote control program 40 and the actual start / stop of the remote control of the forklift 20 are not completely synchronized, and the operation of the operator is performed during the start of the remote control program 40. Therefore, the remote control can be started / stopped repeatedly.

Further, in the present embodiment, in the operation mode, a dedicated mode is set for each operation type, and the remote CPU 33 is selected in advance from the traveling mode, the lift mode, the reach mode, and the tilt mode in the operation mode. The forklift 20 is remotely controlled in this mode. This avoids performing two or more types of operations at the same time.

Next, the operation image G10 displayed on the touch panel 31 when the remote control program 40 is activated will be described with reference to FIGS. 5 to 8.
As shown in FIGS. 5 to 8, the operation image G10 is displayed on the entire surface of the touch panel 31. Corresponding to the shape of the touch panel 31 having the longitudinal direction and the lateral direction (specifically, the rectangular shape), the operation image G10 has the shape having the longitudinal direction and the lateral direction (specifically, the rectangular shape). ..

The operation image G10 has a plurality of regions A1 to A4, each of which is partitioned. Specifically, the operation image G10 operates with the first region A1 as a specific region, the second region A2 provided at a position different from the first region A1, and the travel mode setting region (travel mode icon) A3. It has a cargo handling mode setting area (cargo handling mode icon) A4 as a mode setting area. These regions A1 to A4 are arranged apart from each other. It should be noted that the areas A1 to A4 are assumed to be input by the operator. Considering this point, each area A1 to A4 can be said to be an operation icon.

The first region A1 is arranged on the first end side of both ends in the longitudinal direction in the operation image G10. The first region A1 is provided at a position where the fingers (for example, the thumb) of the left hand are naturally arranged when the remote control device 30 is gripped by both hands. In the first region A1, an image relating to the operation of the forklift 20 is displayed, and the center line L is displayed.

The second region A2 is arranged on the second end side opposite to the first end portion of both ends in the longitudinal direction in the operation image G10. The first region A1 and the second region A2 are arranged so as to face each other so as to be separated from each other in the longitudinal direction of the touch panel 31 (in other words, the operation image G10). The second region A2 is provided at a position where the fingers (for example, the thumb) of the right hand are naturally arranged when the remote control device 30 is gripped by both hands. In the second region A2, an image urging the finger to come into contact is displayed.

According to this configuration, when the remote control device 30 is gripped by both hands, it is assumed that the thumb of the left hand is naturally arranged in the first region A1 and the thumb of the right hand is arranged in the second region A2. As a result, the operator can easily perform the input operation in the first area A1 and the input operation in the second area A2 at the same time.

The traveling mode setting area A3 is provided in the operation image G10 at a position separated from the first area A1 in the lateral direction of the remote control device 30. That is, the traveling mode setting area A3 and the first area A1 are arranged in the lateral direction. In the traveling mode setting area A3, an image indicating that the traveling mode is set, and the character "traveling" in the present embodiment are displayed.

The cargo handling mode setting area A4 is arranged between the first area A1 and the second area A2. The cargo handling mode setting area A4 includes a lift mode setting area A4a used for setting the lift mode, a reach mode setting area A4b used for setting the reach mode, and a tilt mode used for setting the tilt mode. It has a setting area A4c. The lift mode setting area A4a, the reach mode setting area A4b, and the tilt mode setting area A4c are arranged in the lateral direction. The lift mode setting area A4a, the reach mode setting area A4b, and the tilt mode setting area A4c can be said to be a lift mode icon, a reach mode icon, and a tilt mode icon, respectively.

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

The images displayed in the respective mode setting areas A3, A4a to A4c are arbitrary as long as the corresponding modes can be recognized. For example, instead of characters, the operations corresponding to each mode are schematically shown. An image or the like may be displayed.

In the present embodiment, the first region A1 and the second region A2 are wider than the mode setting regions A3, A4a to A4c. As a result, the first region A1 and the second region A2 are easier to touch than the other mode setting regions A3, A4a to A4c. Further, the traveling mode setting area A3 is narrower than the mode setting areas A4a to A4c.

The touch sensor 32 detects an input operation for each of the areas A1 to A4, and outputs the detection result to the remote CPU 33. As a result, the remote CPU 33 can grasp the input operation for each area A1 to A4.

Here, in the present embodiment, a plurality of operation images G10 are set in correspondence with a plurality of operation modes being set. Specifically, the operation image G10 includes a traveling mode image G11 corresponding to the traveling mode, a lift mode image G12 corresponding to the lift mode, a reach mode image G13 corresponding to the reach mode, and a tilt mode image corresponding to the tilt mode. Including G14. The remote CPU 33 is configured to display the operation image G10 corresponding to the operation mode.

While the mode images G11 to G14 have the same basic layout, the image displayed in the first area A1 and the highlighted portion are different.
In detail, as shown in FIG. 5, in the traveling mode image G11, an image of the forklift 20 and an image of an arrow extending in the lateral direction suggesting the traveling direction of the forklift 20 are displayed in the first region A1. There is. From these images, as an operator, the forklift 20 moves forward by sliding toward the side suggesting forward movement (specifically, the traveling mode setting area A3 side) using a finger or the like, and the forklift 20 moves forward on the opposite side (specifically, the side opposite to the side (specifically, the traveling mode setting area A3 side). In detail, it can be intuitively understood that the forklift 20 retracts by sliding the forklift 20 to the side suggesting the retract. Further, in the traveling mode image G11, the traveling mode setting area A3 is highlighted.

The slide operation is a series of input operations in which the position where the input operation is performed moves while maintaining the state in which the input operation (in other words, the touch operation) is performed on the touch panel 31. In other words, the slide operation is an input operation for the touch panel 31 whose input operation position changes continuously.

As shown in FIG. 6, in the lift mode image G12, an image suggesting the lift operation of the fork 22 is displayed in the first region A1. In detail, the image of the forklift 20 showing the descending operation and the image of the forklift 20 showing the ascending operation are displayed side by side in the lateral direction. Then, in the lift mode image G12, the lift mode setting area A4a is highlighted.

As shown in FIG. 7, in the reach mode image G13, an image suggesting the reach operation of the fork 22 is displayed in the first region A1. In detail, an image of the forklift 20 showing the forward movement of the fork 22 and an image of the forklift 20 showing the backward movement of the fork 22 are displayed side by side in the lateral direction. Then, in the reach mode image G13, the reach mode setting area A4b is highlighted.

As shown in FIG. 8, in the tilt mode image G14, an image suggesting a tilt operation of the fork 22 is displayed in the first region A1. In detail, an image of the forklift 20 showing the forward inclination of the fork 22 and an image of the forklift 20 showing the backward inclination of the fork 22 are displayed side by side in the lateral direction. Then, in the tilt mode image G14, the tilt mode setting area A4c is highlighted.

That is, an image relating to the traveling of the forklift 20 is displayed in the first region A1 in the traveling mode image G11. On the other hand, an image relating to the operation of the fork 22 is displayed in the first region A1 in the lift mode image G12, the reach mode image G13, and the tilt mode image G14.

The remote CPU 33 grasps the input operation for the operation image G10 by the remote control control process, controls the remote control based on the grasped result, and in detail, shifts to each mode, transmits the remote control signal SG1, and the like. Do. Hereinafter, the remote control control process will be described with reference to FIGS. 9 to 11.

As shown in FIG. 9, the remote CPU 33 first determines in step S101 whether or not the current control mode is the stopped mode.
Specifically, the remote control program 40 is provided with a control mode storage unit 42 in which control mode specific information for specifying the current control mode of the remote control device 30 (remote CPU 33) is set (FIG. 2). reference). In step S101, the remote CPU 33 refers to the control mode specific information stored in the control mode storage unit 42, grasps the current control mode, and determines whether or not the current control mode is the stopped mode. judge. As described above, in the present embodiment, the control mode at the time of starting the remote control program 40 is the stopped mode.

As shown in FIG. 9, when the remote CPU 33 determines that the current control mode is the stopped mode, the remote CPU 33 determines in steps S102 to S112 whether or not to shift from the stopped mode to the operation mode. Or, the operation mode is switched based on the switching operation.

First, the remote CPU 33 determines in steps S102 and S103 whether or not the remote operation start condition is satisfied. Specifically, the remote CPU 33 determines in step S102 whether or not the first start operation is being performed. In the present embodiment, the first start operation is an input operation within the first area A1. The remote CPU 33 determines whether or not an input operation into the first area A1 is being performed based on the detection result of the touch sensor 32.

The remote CPU 33 proceeds to step S110 when it is determined that the first start operation has not been performed, and proceeds to step S103 when it is determined that the first start operation has been performed.

In step S103, the remote CPU 33 determines whether or not a second start operation different from the first start operation is being performed. That is, the remote control start condition of the present embodiment is that both the first start operation and the second start operation are performed. Further, in the present embodiment, performing both the first start operation and the second start operation corresponds to the "start operation".

In the present embodiment, the second start operation is an input operation within the second region A2. The remote CPU 33 determines whether or not an input operation into the second area A2 is being performed based on the detection result of the touch sensor 32.

As a reminder, the first start operation and the second start operation are common in that they are input operations to the touch panel 31, but the positions where the input operations are performed are different. Therefore, both start operations are different operations from each other.

The remote CPU 33 proceeds to step S110 when it is determined that the second start operation has not been performed, and proceeds to step S104 when it is determined that the second start operation has been performed.

In step S104, the remote CPU 33 shifts the control mode from the stopped mode to the operation mode. Specifically, the remote CPU 33 updates the control mode specific information with the information corresponding to the operation mode.

That is, the remote CPU 33 grasps the presence / absence of the first start operation in step S102, grasps the presence / absence of the second start operation in step S103, and performs both the first start operation and the second start operation. The control mode is changed from the stopped mode to the operation mode based on the fact that the control mode is determined to be. As a result, the remote control of the forklift 20 using the remote control device 30 is started. In other words, the start condition of the remote control in the present embodiment is that both start operations are performed. In the following description, the first start operation and the second start operation are also referred to as both start operations.

Here, in the present embodiment, there are four operation modes as operation modes: a traveling mode, a lift mode, a reach mode, and a tilt mode. In step S104, the remote CPU 33 shifts to one of the four operation modes.

Specifically, the remote control program 40 is provided with an operation mode storage unit 43 in which operation mode specific information for specifying the operation mode is stored (see FIG. 2). As the control mode shifts to the operation mode, the remote CPU 33 identifies the currently set operation mode based on the operation mode specific information, and shifts to the operation mode. For example, when the traveling mode is set as the operation mode, the remote CPU 33 shifts from the stopped mode to the traveling mode in step S104.

In the following step S105, the remote CPU 33 inputs the first start position P10, which is the position where the first start operation is performed when the remote operation is started, as a reference position which is a kind of the reference position for the operation of the remote control device 30. Set as a position. As an example, the remote CPU 33 causes the start position storage unit 44 (see FIG. 2) provided in the remote control program 40 to store the position of the input operation with respect to the first area A1 detected in the remote control control process this time. .. The position can be said to be coordinates, and the first start position P10 can be said to be the first start coordinates. The remote CPU 33 that executes the process of step S105 corresponds to the "reference input position setting unit".

Here, the first start position P10 is the position of the first start operation when both start operations are performed, in other words, when the start condition of the remote operation is satisfied. Therefore, if the second start operation is performed after the first start operation is performed, the first start position P10 is the position of the first start operation at the time when the second start operation is performed. .. On the other hand, if the first start operation is performed after the second start operation is performed, the first start position P10 is the position where the input operation is first performed in the first area A1, that is, the first. This is the initial position of the start operation.

After that, in step S106, the remote CPU 33 starts tracking the first continuous operation position, which is the position where the first continuous operation is performed. The first continuous operation is an operation that is continued from the first start operation when the remote control is started.

Specifically, the remote CPU 33 stores the first start position P10 as the initial position (initial coordinates) of the first continuous operation position in the tracking storage unit 45 provided in the remote control program 40. Then, when the first continuous operation position continuously changes from the initial position (first start position P10) due to a finger slide operation or the like in the operation image G10, the remote CPU 33 sets the first continuous operation position. It tracks and recognizes that the first continuation operation is being performed.

The specific processing content related to the tracking of the first continuous operation position is arbitrary, but in the present embodiment, the tracking storage unit 45 is used. This will be described in step S201 described later. Further, the first continuous operation position can be said to be the current position of the first continuous operation, and can also be said to be the position where the touch operation is currently being performed.

In step S107, the remote CPU 33 executes a reference posture setting process for setting a reference posture, which is a kind of reference position for the operation of the remote control device 30. Specifically, the remote CPU 33 sets the posture of the remote control device 30 when the remote control is started as the reference posture. In the present embodiment, the remote CPU 33 sets the rotation position in the first rotation operation direction when both start operations are performed as the reference rotation position which is a kind of the reference posture based on the detection result of the posture detection unit 35. To do. As an example, the remote CPU 33 stores the current rotation position of the remote control device 30 in the first rotation operation direction in the reference rotation position storage unit 46 (see FIG. 2) provided in the remote control program 40. The remote CPU 33 that executes the process of step S107 corresponds to the “reference posture setting unit”.

That is, in the present embodiment, the remote CPU 33 sets the first start position P10 and the reference rotation position as the reference positions of the remote control device 30 based on the fact that both start operations have been performed. The processes of steps S105 and S107 correspond to the "setting step", and the remote CPU 33 that executes these processes corresponds to the "setting unit".

After that, in step S108, the remote CPU 33 sets the stop information in the remote control signal SG1 regardless of the operation on the remote control device 30. The stop information is information for maintaining the state in which the remote operation of the forklift 20 is stopped. Specifically, the information in which "0" is set in all of the travel operation information D1 and the cargo handling operation information D2. Is. The process of step S108 can also be said to be a process of generating the remote control signal SG1 in which the stop information is set. In the following description, the remote control signal SG1 in which the stop information is set is simply referred to as the stop remote control signal SG11.

After that, in step S109, the remote CPU 33 transmits the stopped remote control signal SG11 using the remote communication unit 36. When the vehicle communication unit 28 receives the stopped remote control signal SG11, the forklift 20 stops both the traveling of the forklift 20 and the driving of the fork 22. That is, in the situation where the remote control signal SG11 is being transmitted, the remote control of the forklift 20 is stopped.

Actually, since the remote control of the forklift 20 is stopped in the stopped mode, it can be said that the forklift 20 that has received the stopped remote control signal SG11 maintains the remote control stopped state.

On the other hand, when at least one of the first start operation and the second start operation is not performed, the remote CPU 33 determines in step S110 whether or not the operation mode switching condition, which is the operation mode switching condition, is satisfied. ..

In the present embodiment, the operation mode switching condition is that the switching operation is performed on the remote control device 30. The switching operation is, for example, an input operation performed on any one of the mode setting areas A3, A4a to A4c. Based on the detection result of the touch sensor 32, the remote CPU 33 determines whether or not there is an input operation for each of the mode setting areas A3, A4a to A4c.

When the remote CPU 33 determines that there is no input operation for each mode setting area A3, A4a to A4c, the remote CPU 33 proceeds to step S108. On the other hand, when the remote CPU 33 determines that there is an input operation for each mode setting area A3, A4a to A4c, it assumes that the operation mode switching condition is satisfied and executes the operation mode switching process for switching the operation mode in step S111. To do.

In step S111, the remote CPU 33 switches to the operation mode corresponding to the switching operation. Specifically, the remote CPU 33 identifies the mode setting area in which the input operation is performed based on the detection result of the touch sensor 32, and sets the operation mode to the mode corresponding to the specified mode setting area.

For example, when an input operation to the lift mode setting area A4a is detected in a situation where the operation mode is the travel mode, the remote CPU 33 switches the operation mode from the travel mode to the lift mode. Similarly, when an input operation for the tilt mode setting area A4c is detected in a situation where the operation mode is the reach mode, the remote CPU 33 switches the operation mode from the reach mode to the tilt mode. That is, the switching of the operation mode in the present embodiment includes switching between the traveling mode and the cargo handling mode and switching within the cargo handling mode.

As described above, the remote CPU 33 is configured to specify the operation mode based on the operation mode identification information stored in the operation mode storage unit 43. Therefore, in step S111, the remote CPU 33 updates the operation mode specific information with the information corresponding to the switching operation. As a result, the remote CPU 33 can grasp the switching of the operation mode.

As a reminder, switching the operation mode and switching the control mode are separate processes. Therefore, the control mode remains the stopped mode even when the operation mode switching process is performed.

In the following step S112, the remote CPU 33 displays the operation image G10 corresponding to the operation mode switched in step S111, and proceeds to step S108. For example, when the operation mode is switched from the travel mode to the lift mode in step S111, the remote CPU 33 displays the lift mode image G12 instead of the travel mode image G11 as the operation image G10. That is, in step S112, the remote CPU 33 switches the operation image G10 according to the operation mode.

According to such a configuration, when both the first start operation and the second start operation are performed on the remote control device 30 in the stopped mode, the control mode shifts from the stopped mode to the operation mode. Then, the remote control of the forklift 20 is started. On the other hand, if at least one of the first start operation and the second start operation is not performed on the remote control device 30, the remote control is not started.

Further, when at least one of the first start operation and the second start operation is not performed in the stopped mode and the switching operation is performed, the operation mode is switched. As a result, the operation mode when the remote control is started can be set to a desired mode by performing the switching operation in the stopped mode.

By the way, the operation mode switching process is executed in the stopped mode in which the remote control is stopped. Therefore, the operation mode is switched only when the remote control is stopped. That is, it can be said that the operation mode being the stopped mode is a part of the operation mode switching condition. In other words, it can be said that the operation mode switching condition is that the switching operation is performed in the situation where the operation mode is the stopped mode.

In particular, when both the start operation and the switching operation are executed, the transition of the control mode from the stopped mode to the operation mode is prioritized over the switching of the operation mode, and the operation mode is switched. Absent.

As shown in FIG. 9, when the current control mode is not the stopped mode, the remote CPU 33 negatively determines step S101, proceeds to step S113, and determines whether or not the current control mode is the operation mode. judge.

When the current control mode is the operation mode, the remote CPU 33 proceeds to step S114, executes the operation mode process corresponding to the operation mode, and ends the remote operation control process.

For example, in the predetermined remote operation control process, when the control mode shifts from the stopped mode to the operation mode, the operation is performed in the remote operation control process next executed for the predetermined remote operation control process. Mode processing will be executed.

The operation mode processing will be described with reference to FIG.
As shown in FIG. 10, the remote CPU 33 first grasps the presence / absence of the first continuous operation in step S201. In the present embodiment, the remote CPU 33 determines the presence or absence of the first continuous operation based on the detection result of the touch sensor 32 and the position stored in the tracking storage unit 45.

Specifically, the remote CPU 33 first determines whether or not there is an input operation on the touch panel 31 by the touch sensor 32.
When the input operation on the touch panel 31 is detected, the remote CPU 33 determines whether or not the position of the input operation detected this time and the position stored in the tracking storage unit 45 are continuous. .. For example, the remote CPU 33 compares the position of the input operation detected this time with the position stored in the tracking storage unit 45, and if both are within the specified range, determines that they are continuous. , If both are out of the specified range, it is judged that they are not continuous. In other words, the remote CPU 33 determines whether or not the finger is in contact with the touch panel 31, and if the finger is in contact, the contact position of the finger detected this time and the contact position detected last time are set. Based on this, it is determined whether or not the contact positions are continuous.

When a plurality of input operations are detected on the touch panel 31, the remote CPU 33 determines the position of the input operation closest to the position stored in the tracking storage unit 45 among the plurality of locations. It is a determination target, and it is determined whether or not the position and the position stored in the tracking storage unit 45 are continuous.

Then, when the remote CPU 33 determines that the position of the input operation detected this time and the position stored in the tracking storage unit 45 are continuous, the remote CPU 33 is detected this time by the tracking storage unit 45. The position stored in the tracking storage unit 45 is updated so that the position of the input operation is set, and the process proceeds to step S202. As a result, the position stored in the tracking storage unit 45 is updated following the movement of the finger. Therefore, the latest first continuous operation position is stored in the tracking storage unit 45. The first continuous operation position can also be said to be the current position (coordinates) related to the input operation on the touch panel 31 that triggered (grounds) for determining that the first continuous operation is being performed.

On the other hand, the remote CPU 33 has a position of the input operation detected this time and a position stored in the tracking storage unit 45 even when the input operation for the touch panel 31 is not detected or the input operation is detected. If the continuity is not satisfied between the two, it is determined that the first continuation operation has not been performed. In this case, the remote CPU 33 negatively determines step S201 and proceeds to step S209.

That is, the remote CPU 33 determines that the first continuous operation is being performed based on the fact that the input operation is being performed at a position relatively close to the position stored in the tracking storage unit 45. ..

By the way, paying attention to the fact that the remote control control process is periodically executed, in the present embodiment, the remote CPU 33 performs an input operation to the touch panel 31 for a period longer than the execution cycle of the remote control control process. If it is not performed, it can be said that it is determined that the first continuous operation has not been performed. Further, in the remote CPU 33, even when an input operation is performed on the touch panel 31, the position of the input operation detected this time and the position of the input operation detected in the previous remote control control process deviate from each other. If so, it is determined that the first continuous operation has not been performed.

That is, the first continuous operation of the present embodiment includes (A) there is an input operation on the touch panel 31, and (B) the position of the input operation detected this time and the position of the first continuous operation detected last time are defined ranges. It is an operation that satisfies the three conditions of (C) that the period from the detection timing of the previous first continuous operation to the detection timing of the current input operation is within a specific period. In other words, the first continuous operation of the present embodiment is continuously performed from the first start operation when the remote control is started, and the input operation position is the first when the remote control is started. It is an operation that is continuous from the position of the start operation.

By the way, the condition of the first continuous operation does not include that the position of the input operation detected this time is in the first area A1. Therefore, for example, as shown in FIG. 5, the first continuous operation includes the case where the finger slides from the first start position P10 to the first predetermined position P11 in the first region A1, and the first start position P10. It also includes the case where the finger slides from the first region to the second predetermined position P12 outside the first region A1.

Further, in the present embodiment, the specific period is the execution cycle of the remote control control process, but the present invention is not limited to this, and may be longer than this. For example, in a configuration in which the remote control control process is periodically executed, the remote CPU 33 determines that the first continuous operation is not performed when the input operation to the touch panel 31 is not detected twice in a row. May be good. In this case, the specific period is twice the execution cycle of the remote control control process.

As shown in FIG. 10, in step S202, the remote CPU 33 grasps the presence or absence of the second continuous operation. Specifically, the remote CPU 33 determines whether or not the input operation into the second area A2 is performed based on the detection result of the touch sensor 32. If the input operation into the second area A2 is not detected, the remote CPU 33 proceeds to step S209 assuming that the second continuous operation has not been performed. On the other hand, when the input operation into the second area A2 is detected, the remote CPU 33 positively determines step S202 on the assumption that the second continuous operation is being performed.

That is, the second continuous operation in the present embodiment is an input operation into the second area A2 that is continuously performed from the second start operation when the remote control is started. Therefore, for example, as shown in FIG. 5, the position where the second continuous operation is performed by the finger slide operation is from the second start position P20 to the position where the second start operation is performed to the second region A2. Even when the remote CPU 33 has moved to the predetermined position P21, the remote CPU 33 determines that the second continuous operation is being performed. On the other hand, when the position where the second continuous operation is performed by the finger slide operation moves from the second start position P20 to the predetermined position P22 outside the second area A2, the remote CPU 33 performs the second continuous operation. Judge that it is not broken.

By the way, paying attention to the fact that the remote control control process is periodically executed, in the present embodiment, the remote CPU 33 moves into the second region A2 for a period longer than the execution cycle of the remote control control process. If no input operation is performed, it can be said that it is determined that the second continuous operation has not been performed.

In other words, the second continuous operation in the present embodiment means that (D) there is an input operation in the second area A2, and (E) the previous input operation in the second area A2 is detected. It is an operation that satisfies the two conditions that the period from the timing to the timing when the input operation in the second region A2 is detected is within a specific period.

The second continuous operation of the present embodiment may be an input operation within the second area A2 that is continuously performed from the second start operation when the remote control is started, and the continuity of the input operation positions is high. It doesn't matter.

Further, in the present embodiment, the specific period is the execution cycle of the remote control control process, but the present invention is not limited to this, and may be longer than this. For example, in a configuration in which the remote control control process is periodically executed, if the remote CPU 33 does not detect the input operation into the second area A2 twice in a row, the second continuous operation is not performed. You may judge. In this case, the specific period is twice the execution cycle of the remote control control process.

As shown in FIG. 10, when it is determined that both the first continuous operation and the second continuous operation are being performed by the remote CPU 33 (step S201: YES and step S202: YES), in steps S203 to S208. , The process for transmitting the remote control signal SG1 corresponding to the operation mode and operation mode of the operation to the remote control device 30 is executed. In the following description, the remote control signal SG1 corresponding to the operation mode and operation mode of the operation of the remote control device 30 is usually referred to as the remote control signal SG12. Further, the first continuous operation and the second continuous operation are also referred to as both continuous operations.

Specifically, in step S203, the remote CPU 33 derives a relative position between the first start position P10 and the first continuous operation position based on the start position storage unit 44 and the tracking storage unit 45. In other words, the remote CPU 33 performs the initial position where the input operation was first performed and the current input operation in a series of input operations which are continuously performed from the start operation when the remote operation is started. It can be said that the position relative to the existing position is derived.

In the following step S204, the remote CPU 33 grasps the current operation mode based on the operation mode specific information.
After that, in step S205, the remote CPU 33 determines whether or not the current operation mode is the traveling mode. If the current operation mode is not the traveling mode, the remote CPU 33 proceeds to step S207.

On the other hand, when the current operation mode is the traveling mode, the remote CPU 33 grasps the operation angle of the first rotation operation, which is the operation mode of the first rotation operation, in step S206, and proceeds to step S207. Specifically, the remote CPU 33 grasps the rotation position in the first rotation operation direction of the current remote control device 30 based on the detection result of the posture detection unit 35, and remotely based on the storage information of the reference rotation position storage unit 46. Grasp the reference rotation position, which is the rotation position when the operation is started. Then, the remote CPU 33 grasps the operation angle which is the amount of change between the current rotation position and the reference rotation position.

For example, when the first rotation operation is performed counterclockwise from the reference rotation position by the first angle when viewed from the operator, the remote CPU 33 operates with a positive value and an absolute value of the first angle. Grasp the angle. On the other hand, when the first rotation operation is performed by the second angle clockwise from the reference rotation position when viewed from the operator, the remote CPU 33 operates with a negative value and an absolute value of the second angle. Grasp the angle. Thereby, the rotation direction can be specified based on the positive and negative of the operation angle, and the rotation amount can be specified based on the absolute value of the operation angle.

In step S207, the remote CPU 33 sets the remote control signal SG1 with information corresponding to at least the relative position and the current operation mode. Specifically, the remote CPU 33 sets a numerical value corresponding to the relative position or the like with respect to the information corresponding to the operation mode.

The process of step S207 when the operation mode is the traveling mode will be described.
For example, when the first continuous operation position is deviated from the first start position P10 in the lateral direction of the touch panel 31, the remote CPU 33 refers to the travel speed information Dv and the acceleration information Dα of the travel operation information D1. A value other than "0" is set, and "0" is set for the cargo handling operation information D2.

Further, in the present embodiment, the remote CPU 33 has the traveling speed information Dv so that the traveling speed of the forklift 20 increases as the distance between the first start position P10 and the first continuous operation position in the lateral direction of the touch panel 31 increases. The numerical value of the acceleration information Dα is set in correspondence with the traveling speed set in the traveling speed information Dv.

For example, as shown in FIG. 5, the second predetermined position P12 is farther from the first predetermined position P11 in the lateral direction of the touch panel 31 with respect to the first start position P10. In such a configuration, the absolute value of the traveling speed information Dv when the first continuous operation position is the second predetermined position P12 is the absolute value of the traveling speed information Dv when the first continuous operation position is the first predetermined position P11. Set higher than the value.

Further, in the situation where the operation mode is the traveling mode, the first continuous operating position is located above the first starting position P10, specifically, one end side (traveling mode setting area A3 side) of the touch panel 31 in the lateral direction. If so, the remote CPU 33 sets a value (for example, a positive value) corresponding to the forward movement in the traveling speed information Dv. On the other hand, when the first continuous operation position is located below the first start position P10, more specifically, on the other end side of the touch panel 31 in the lateral direction, the remote CPU 33 retreats to the traveling speed information Dv. Set the corresponding value, for example a negative number. That is, the remote CPU 33 determines whether to move forward or backward based on the slide operation direction from the first start position P10.

When the first continuous operation position is not deviated from the first start position P10 in the lateral direction of the touch panel 31, the remote CPU 33 provides numerical information related to the stop in both the traveling speed information Dv and the acceleration information Dα. Is set to "0".

Further, when the operation mode is the traveling mode, the remote CPU 33 sets a numerical value corresponding to the operation angle in the steering angle information Dθ. For example, the remote CPU 33 sets the steering angle information Dθ to a value corresponding to the left turn when the operation angle is positive, while the remote CPU 33 turns right to the steering angle information Dθ when the operation angle is negative. Set the value corresponding to. Further, the remote CPU 33 sets a value corresponding to a large steering angle in the steering angle information Dθ as the absolute value of the operation angle increases. Further, when the first rotation operation is not detected, that is, when the operation angle is "0", the remote CPU 33 sets "0" corresponding to the neutral steering angle in the steering angle information Dθ.

Next, the process of step S207 when the operation mode is the cargo handling mode will be described.
For example, in a situation where the operation mode is the lift mode, when the first continuous operation position is located above the first start position P10, more specifically on the image side of the forklift 20 indicating a descending operation, the remote CPU 33 lifts. A value (for example, a negative value) corresponding to the descending motion is set in the information Dfa. On the other hand, when the first continuous operation position is located below the first start position P10, specifically on the image side of the forklift 20 showing the ascending operation, the remote CPU 33 is subjected to the ascending operation according to the lift information Dfa. Set the corresponding value (for example, a positive number). Further, the remote CPU 33 sets a larger numerical value in the lift information Dfa as the difference between the two positions of the touch panel 31 in the lateral direction increases.

In a situation where the operation mode is the reach mode, when the first continuous operation position is located above the first start position P10, specifically on the image side of the forklift 20 indicating forward movement, the remote CPU 33 has the reach information Dfb. Is set to a value corresponding to forward movement (for example, a positive value). On the other hand, when the first continuous operation position is located below the first start position P10, specifically on the image side of the forklift 20 indicating backward movement, the remote CPU 33 is moved backward according to the reach information Dfb. Set the corresponding value (for example, a negative number). Further, the remote CPU 33 sets a larger numerical value in the reach information Dfb as the difference between the two positions of the touch panel 31 in the lateral direction increases.

In a situation where the operation mode is the tilt mode, when the first continuous operation position is located above the first start position P10, more specifically on the image side of the forklift 20 indicating a forward tilt, the remote CPU 33 uses the tilt information Dfc. Is set to a value corresponding to the forward inclination (for example, a positive value). On the other hand, when the first continuous operation position is located below the first start position P10, specifically on the image side of the forklift 20 indicating the rearward inclination, the remote CPU 33 is tilted backward according to the reach information Dfb. Set the corresponding value (for example, a negative number). Further, the remote CPU 33 sets a larger numerical value in the tilt information Dfc as the difference between the two positions of the touch panel 31 in the lateral direction increases.

That is, the remote CPU 33 relatives the information corresponding to the current operation mode to the position where the first start position P10 and the first continuous operation are performed (in addition to the relative position in the traveling mode). Set the numerical value corresponding to the operation angle). Then, the remote CPU 33 generates the normal remote control signal SG12 in which the above numerical values are set in the information corresponding to the current operation mode and "0" is set in the other information.

The information corresponding to the traveling mode is traveling speed information Dv, acceleration information Dα, and steering angle information Dθ. The information corresponding to the lift mode is the lift information Dfa, the information corresponding to the reach mode is the reach information Dfb, and the information corresponding to the tilt mode is the tilt information Dfc.

As a result, in the forklift 20, while the operation corresponding to the current operation mode is performed, it is prohibited (in other words, regulated) so that no other operation is performed. That is, the remote CPU 33 allows remote control of operations corresponding to the current operation mode, while prohibiting remote control of operations corresponding to operation modes different from the current operation mode. Focusing on this point, it can be said that the traveling mode is an operation mode in which the remote control related to the fork 22 is prohibited while the remote control related to the traveling is performed, and the cargo handling mode is the operation mode in which the remote control related to the fork 22 is performed while the traveling mode is performed. It can be said that this is an operation mode in which remote control is prohibited.

By the way, the relative position and the operation angle are the degree of change from the first start position P10 and the reference rotation position as the reference position set when both start operations are performed (remote control is started). (Detailedly, the amount of change). Considering this point, it can be said that in step S207, the remote CPU 33 determines the remote control mode of the forklift 20 based on the degree of change from the reference position (specifically, the amount of change). The reference position can be said to be a reference operation mode, and the degree of change can be said to be a change mode.

The process of step S207 corresponds to the "determination step", and the remote CPU 33 that executes the process of step S207 corresponds to the "determination unit", the "posture correspondence determination unit", and the "panel correspondence determination unit".

In the present embodiment, the information normally set in the remote control signal SG12 changes according to the operation mode of the first continuous operation (first continuous operation position), but does not depend on the operation mode of the second continuous operation. .. That is, although the second continuous operation is a condition for performing the remote control, it is not included in the elements that determine the specific operation mode of the remote control.

After that, in step S208, the remote CPU 33 transmits the normal remote control signal SG12 to end the operation mode process. Normally, the remote control signal SG12 is received by the vehicle communication unit 28, converted into a control signal SGa by the signal conversion unit 29, and the control signal SGa is input to the vehicle CPU 25. The vehicle CPU 25 controls one of the actuators 23 and 24 based on the control signal SGa. As a result, in the forklift 20, the operation corresponding to the current operation mode and the degree of change from the reference position is performed.

Focusing on the fact that the forklift 20 operates in the remote control mode determined in step S207 by transmitting the normal remote control signal SG12, the process of step S208 is an operation of the remote control device 30. It can also be said to be a process of remotely controlling the forklift 20 in a remote control mode determined based on the mode. The process of step S208 corresponds to the "execution step", and the remote CPU 33 that executes the process of step S208 corresponds to the "execution unit". Further, in the present embodiment, the first start position P10 and the first continuous operation position correspond to the “input operation position”.

When at least one of the first continuous operation and the second continuous operation is not performed, the remote CPU 33 erases the information regarding the first start position P10 stored in the start position storage unit 44 in step S209. At the same time, the information regarding the first continuous operation position stored in the tracking storage unit 45 is deleted. Further, the remote CPU 33 erases the information regarding the reference rotation position stored in the reference rotation position storage unit 46.

After that, in step S210, the remote CPU 33 shifts the control mode from the operation mode to the forced stop mode. Specifically, the remote CPU 33 updates the control mode specific information with the information corresponding to the forced stop mode.

Then, the remote CPU 33 performs forced stop control for forcibly stopping the forklift 20 in steps S211 and S212. That is, in the present embodiment, the execution trigger of the forced stop control is that at least one of the first continuous operation and the second continuous operation is not performed.

Specifically, in step S211 the remote CPU 33 sets the forced stop information for forcibly stopping the operation of the forklift 20 in the remote control signal SG1 regardless of the operation on the remote control device 30.

Here, the forced stop information is preset in correspondence with the operation mode. For example, in the forced stop information when the operation mode is the traveling mode, the deceleration for forced stopping is set in the acceleration information Dα, and "0" is set in other information including the traveling speed information Dv and the steering angle information Dθ. It is set. Further, in the forced stop information when the operation mode is the cargo handling mode (lift mode, reach mode or tilt mode), "0" is set for both the traveling operation information D1 and the cargo handling operation information D2.

In step S211 the remote CPU 33 grasps the currently set operation mode based on the operation mode specific information, and sets the forced stop information corresponding to the operation mode in the remote operation signal SG1. The remote control signal SG1 in which the forced stop information is set is referred to as the forced stop remote control signal SG13.

Then, in step S212, the remote CPU 33 uses the remote communication unit 36 to transmit the forced stop remote control signal SG13. Forced stop The forklift 20 that has received the remote control signal SG13 is forced to stop. Specifically, the forklift 20 decelerates and stops at the deceleration for forced stop when the forklift 20 is running, and immediately stops the operation of the fork 22 when the fork 22 is in operation.

According to such a configuration, after the transition from the stopped mode to the operation mode (that is, after the start of the remote operation), the remote operation is continued when both continuous operations are known, while the both continuous operations are performed. Based on the fact that at least one of them is not performed, the forklift 20 is forcibly stopped and the remote control using the remote control device 30 is stopped.

As described above, the state in which the remote control is stopped means that the forklift 20 does not perform the operations corresponding to the various operations even when various operations are performed on the remote control device 30. Means. Therefore, regardless of various operations on the remote control device 30, the forced stop remote control signal SG13 or the stopped remote control signal SG11 is transmitted, and the forklift 20 maintains the forced stop or stop state based on these signals. It can be said that the remote control by the remote control device 30 is stopped.

Here, a series of input operations including the first start operation and the first continuation operation is referred to as a first operation, and a series of input operations including the second start operation and the second continuation operation is referred to as a second operation. The first operation is a series of input operations for the touch panel 31 which is limited to the first area A1 until the remote control is started and is not limited to the first area A1 after the remote control is started. The second operation is a series of input operations within the second area A2 regardless of before or after the start of the remote control.

In this case, the remote CPU 33 performs the remote control when both the first operation and the second operation are performed, while the remote control is performed based on the fact that at least one of the first operation and the second operation is not performed. It can be said that forced stop control is performed as well as stopping.

As shown in FIG. 9, when the current control mode is not the operation mode, the remote CPU 33 negatively determines step S113, proceeds to step S115, executes the forced stop process corresponding to the forced stop mode, and performs the remote control. End the operation control process. The forced stop process is a process in which the forced stop control is continued until the forced stop of the forklift 20 is completed, and then the control mode is shifted to the stopped mode after the forced stop is completed.

The forced stop process will be described with reference to FIG.
As shown in FIG. 11, the remote CPU 33 first determines in step S301 whether or not the forced stop of the forklift 20 is completed.

Specifically, the vehicle CPU 25 grasps the traveling state of the forklift 20 and the operating state of the fork 22 based on the detection result of the vehicle state detecting unit 27, and sends an operation status signal in which the grasped result is set to the vehicle communication unit. 28 is used to periodically transmit to the remote communication unit 36. The remote CPU 33 is configured to be able to grasp the traveling status of the forklift 20 and the operating status of the fork 22 based on the operation status signal received by the remote communication unit 36. In such a configuration, in step S301, the remote CPU 33 determines whether or not both the traveling of the forklift 20 and the operation of the fork 22 are stopped.

When the remote CPU 33 determines that the forced stop has not been completed, the remote CPU 33 continuously executes the instruction related to the forced stop. Specifically, the remote CPU 33 executes the process related to the transmission of the forced stop remote control signal SG13 in steps S302 and S303, and ends the forced stop process.

On the other hand, when the remote CPU 33 determines that the forced stop is completed, the remote CPU 33 shifts the control mode from the forced stop mode to the stopped mode in step S304. Specifically, the remote CPU 33 updates the control mode specific information with the information corresponding to the stopped mode.

After that, in step S305 and step S306, the remote CPU 33 executes the process related to the transmission of the stopped remote control signal SG11, and ends the forced stop process.
Next, the operation of this embodiment will be described with reference to FIGS. 12 to 16. For convenience of explanation, FIGS. 12 to 15 show a case where the operation mode is the traveling mode, and the remote control device 30 is operated in a state where the lateral direction of the remote control device 30 coincides with the vertical direction. It is assumed that the person is holding it. Further, in FIG. 16, the initial position of the forklift 20 is indicated by a two-dot chain line.

As shown in FIG. 12, it is assumed that both start operations are performed in a state where the longitudinal direction of the remote control device 30 coincides with the horizontal direction. In this case, the posture of the remote control device 30 in a state where the longitudinal direction of the remote control device 30 coincides with the horizontal direction becomes the reference posture, and the rotation position in the first rotation operation direction in the above state becomes the reference rotation position. Further, since both start operations are performed, the first start position P10 is set as the reference input position. That is, in the present embodiment, both start operations that trigger the execution of the start of the remote control are the reference setting operations that trigger the setting of the reference posture and the reference input position. It is assumed that the first start position P10 this time is above the center line L.

After that, as shown in FIG. 13, the first continuous operation position is arranged at the third predetermined position P13 separated from the first start position P10 by the slide operation, and the first rotation operation at the first operation angle θ1 is performed. Suppose. The third predetermined position P13 is arranged in the first region A1. The first operating angle θ1 is a change angle from the reference rotation position.

In this case, as shown in FIG. 16, the forklift 20 has a first traveling speed v1 corresponding to a first distance Y1 which is a distance between both positions P10 and P13 in the lateral direction of the touch panel 31, and a first operating angle θ1. It travels at the first steering angle θf1 corresponding to.

On the other hand, as shown in FIG. 14, it is assumed that both start operations are performed in a state where the longitudinal direction of the remote control device 30 is rotated counterclockwise in advance with respect to the horizontal direction. In this case, the posture of the remote control device 30 in the state of rotating counterclockwise as described above becomes the reference posture, and the rotation position in the first rotation direction in the above state becomes the reference rotation position. Further, since both start operations are performed, the first start position P10 is set as the reference input position. It is assumed that the first start position P10 this time is below the center line L.

After that, as shown in FIG. 15, the first continuous operation position is arranged at the fourth predetermined position P14 separated from the first start position P10 by the slide operation, and the first rotation operation at the second operation angle θ2 is performed. Suppose. In this case, since the fourth predetermined position P14 is arranged outside the first region A1 and the first start position P10 is below the center line L, the first start position P10 in the lateral direction of the touch panel 31 The second distance Y2 between the and the fourth predetermined position P14 is larger than the first distance Y1.

Here, as shown in FIGS. 13 and 15, the rotation position itself of the remote control device 30 in the state where the first rotation operation is performed, that is, the inclination angle of the remote control device 30 with respect to the horizontal direction becomes the same. There is. However, as already explained, the second operation angle θ2 is a change angle from the reference rotation position, and the reference rotation position is in a state of being rotated counterclockwise in advance with respect to the horizontal direction. The operating angle θ2 is larger than the first operating angle θ1 by the amount that has been rotated counterclockwise in advance.

When such an operation is performed, as shown in FIG. 16, the forklift 20 travels at a second traveling speed v2 corresponding to the second distance Y2 and a second steering angle θf2 corresponding to the second operating angle θ2. .. The second traveling speed v2 is larger than the first traveling speed v1, and the second steering angle θf2 is larger than the first steering angle θf1. That is, even if the tilt angle of the remote control device 30 with respect to the horizontal direction is the same, the remote control mode of the forklift 20 can be changed by changing the reference position.

As described above, in the present embodiment, the remote control is started and the reference position (reference input position and reference posture) is set by performing both start operations. Then, during remote control, the relative position between the first continuous operation position and the first start position P10, which is the amount of change from the reference input position, and the operation angle, which is the amount of change from the reference rotation position as the reference posture. The forklift 20 is remotely controlled in a remote control mode corresponding to the above.

Although the traveling mode has been described in the above description, the same applies to the other operation modes.
For example, when the operation mode is the lift mode, the movement direction (up or down) in the vertical direction of the fork 22 is switched according to the movement direction of the first continuous operation position from the first start position P10, and the first The stroke amount changes according to the distance between the start position P10 and the first continuous operation position in the lateral direction. In the present embodiment, the larger the distance, the larger the stroke amount.

When the operation mode is the reach mode, the movement direction (forward movement or backward movement) in the front-rear direction of the fork 22 is switched according to the movement direction of the first continuous operation position from the first start position P10. Further, the stroke amount changes according to the distance between the first start position P10 and the first continuous operation position in the lateral direction. In the present embodiment, the larger the distance, the larger the stroke amount.

When the operation mode is the tilt mode, the inclination direction (forward inclination or backward inclination) of the fork 22 is switched according to the movement direction of the first continuous operation position from the first start position P10, and the first start position P10. The tilt angle changes according to the distance between the and the first continuous operation position in the lateral direction. In the present embodiment, the larger the distance, the larger the inclination angle.

By the way, the remote control is continued for the period during which both continuous operations are performed. On the other hand, when at least one of the two continuous operations is not performed, that is, when one of the two touch operations on the touch panel 31 is not performed, the forklift 20 is forcibly stopped. Then, the remote control by the remote control device 30 is stopped until the forced stop of the forklift 20 is completed and until both start operations are performed again after the forced stop of the forklift 20.

According to the present embodiment described in detail above, the following effects are obtained.
(1) The remote control system 10 for an industrial vehicle includes a forklift 20 having a vehicle communication unit 28 and a remote control device 30 having a remote communication unit 36 that wirelessly communicates with the vehicle communication unit 28. The remote CPU 33 of the remote control device 30 executes the processes of steps S105 and S107 for setting the reference position for the operation of the remote control device 30 based on the reference setting operation performed on the remote control device 30. .. Then, the remote CPU 33 executes the process of step S207 for determining the remote control mode of the forklift 20 based on the degree of change from the reference position, and remotely controls the forklift 20 in the determined remote control mode.

In other words, the remote control method of the forklift 20 (remote control method for industrial vehicles) of the present embodiment sets the reference position for the operation of the remote control device 30 based on the reference setting operation performed. Step S107 is provided. Then, in the remote control method of the present embodiment, a step S207 for determining the remote control mode of the forklift 20 based on the degree of change from the reference position and a step for remotely controlling the forklift 20 with the determined remote control mode. It is equipped with S208.

According to such a configuration, the remote control mode of the forklift 20 is determined based on the degree of change from the reference position, and the forklift 20 is remotely controlled in the remote control mode. The reference position is set by performing a reference setting operation by the operator. As a result, operability can be improved.

More specifically, as a configuration for determining the remote control mode of the forklift 20, for example, a configuration for determining the remote control mode based on the operation position itself, not on the degree of change from the reference position, can be considered. In this configuration, for example, in the traveling mode, when the input operation is performed above the center line L in the first area A1, the input operation is advanced, and the input operation is performed below the center line L in the first area A1. It is conceivable to retreat when it is done.

In order to realize a desired remote control mode in such a configuration, it is necessary to precisely adjust the input operation, which reduces operability. For example, in the above configuration, in order to advance the forklift 20, it is necessary to perform an input operation in a portion of the first region A1 above the center line L. Therefore, the area corresponding to the input operation for advancing is narrowed, and there is a concern that the operability may be deteriorated. Further, since it is necessary for the operator to operate while recognizing the center line L, it is easy for the operator to perform the input operation while looking at the operation image G10 instead of the forklift 20, and there is a concern that the safety may be lowered.

On the other hand, in the present embodiment, since the remote control mode of the forklift 20 is determined based on the degree of change from the reference position, it is not necessary to strictly adjust the operation mode of the input operation as described above. , The operability can be improved. For example, in the present embodiment, if the first start position P10 is set below the center line L in the first region A1 in the traveling mode, it is upward from the first start position P10 regardless of the center line L. The forklift 20 can be advanced by sliding it toward it.

Here, in the configuration in which the forklift 20 is remotely controlled by using the remote control device 30, the operator does not need to get on the forklift 20, so that the operator has a high degree of freedom in posture. Therefore, the operator can remotely control the forklift 20 in a free posture. Therefore, for example, the forklift 20 can be remotely controlled while looking into a blind spot or an important part.

In the configuration in which various variations in the operating posture are considered as described above, the operable range may be changed or limited depending on the operating posture. If the reference position is fixed under such usage conditions, it may not be possible to secure a sufficient operable range from the reference position depending on the operating posture, or the reference position may be set with respect to a desired remote control mode. There may be inconveniences such as insufficient range of control from the vehicle or an unreasonable posture when trying to operate in a desired remote control mode.

In this regard, according to the present embodiment, a desired reference position can be set by performing the reference setting operation. As a result, even under conditions where the operable range is limited, the degree of freedom of the degree of change from the reference position can be increased, and the operability can be improved.

(2) The remote control device 30 includes a posture detection unit 35 that detects the posture of the remote control device 30. When both start operations are performed, the remote CPU 33 sets the posture of the remote control device 30 when both start operations are performed based on the detection result of the posture detection unit 35 as a reference posture which is a kind of reference position. Set as. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the degree of change from the reference posture.

According to such a configuration, the remote control mode of the forklift 20 can be changed by changing the posture of the remote control device 30. As a result, the forklift 20 can be remotely controlled in a desired remote control mode by controlling the posture of the remote control device 30.

(3) The posture detection unit 35 detects the first rotation operation. The remote CPU 33 sets the rotation position of the remote control device 30 in the first rotation operation direction when both start operations are performed as a reference rotation position which is a kind of reference posture. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the position change of the remote control device 30 from the reference rotation position in the first rotation operation direction.

According to such a configuration, the forklift 20 can be remotely controlled in a desired remote control mode by the operation of rotating the remote control device 30 in the first rotation operation direction, that is, the first rotation operation.

Here, if the reference rotation position is fixed in the configuration in which the first rotation operation is adopted as the operation for determining the remote control mode as described above, depending on the posture of the operator, the first rotation position may be changed with respect to the reference rotation position. Inconveniences such as a limited range in which one rotation operation is possible and an unnatural posture may occur in order to realize a desired remote control mode. For example, as shown in FIG. 12, when trying to secure the second operation angle θ2 under the condition that the longitudinal direction of the remote control device 30 coincides with the horizontal direction as the reference rotation position, the remote control device 30 is used. It is necessary to rotate it more clockwise than in the case shown in FIG. In this case, there may be a disadvantage that the operator is difficult to operate.

In this regard, according to the present embodiment, the reference rotation position can be appropriately changed by the operation of the operator, so that the above inconvenience can be suppressed. For example, as shown in FIG. 14, by setting the state of being rotated counterclockwise in advance as the reference rotation position, the second operation angle θ2 can be secured without becoming an unreasonable posture. Therefore, the above-mentioned inconvenience caused by the adoption of the first rotation operation as one of the operations for determining the remote control mode can be suppressed, and the operability can be further improved.

(4) The remote CPU 33 determines the steering angle of the forklift 20 based on the first rotation operation, specifically, the degree of change (change amount) from the reference rotation position in the first rotation operation direction. According to such a configuration, the steering angle of the forklift 20 can be controlled by rotating the remote control device 30 from the reference rotation position in the first rotation operation direction. As a result, intuitive remote control can be realized.

(5) The remote control device 30 has a rectangular plate shape, and the first rotation operation direction is a rotation direction with the thickness direction of the remote control device 30 as the rotation axis. According to this configuration, when the remote control device 30 is gripped by both hands, the steering angle of the forklift 20 can be changed by rotating the remote control device 30 clockwise or counterclockwise as viewed from the operator. As a result, the steering angle of the forklift 20 can be controlled as if the steering wheel is operated, and the operability can be improved.

(6) The remote control device 30 includes a touch panel 31 and a touch sensor 32 that detects an input operation on the touch panel 31. The reference setting operation is an input operation on the touch panel 31.

According to such a configuration, the reference position can be set by a relatively simple operation of inputting to the touch panel 31, so that the reference position can be easily set.
In particular, since the desired posture can be set as the reference posture by performing an input operation on the touch panel 31 after setting the desired posture in advance, it is easy to adjust the reference posture. Further, the input operation to the touch panel 31 can be performed without breaking the posture of the remote control device 30. Therefore, it is unlikely that the reference posture will deviate from the desired posture by performing the reference setting operation. Therefore, it is easy to set the reference position to a desired one, and the operability can be improved.

(7) When both start operations are performed, the remote CPU 33 sets the input operation position when both start operations are performed as a reference input position which is a kind of reference position based on the detection result of the touch sensor 32. The first start position P10 is set. Then, the remote CPU 33 determines the remote operation mode of the forklift 20 based on the degree of change in the input operation position with respect to the touch panel 31 from the first start position P10. According to such a configuration, the forklift 20 can be remotely controlled in a desired remote control mode by controlling the input operation on the touch panel 31.

(8) The remote CPU 33 determines the remote operation mode of the forklift 20 based on the relative position between the first start position P10 and the first continuous operation position.
According to such a configuration, the forklift 20 can be remotely controlled in a desired remote control mode by performing a slide operation which is a series of input operations of touching the touch panel 31 and then changing the touch position.

Here, for example, if the remote control mode is determined based on the relative position between the predetermined predetermined position and the first continuous operation position instead of the first start position P10, the settable relative position is limited. , The remote control mode may be restricted. For example, when the reference input position is fixed to the center line L, the upper limit of the distance from the reference input position to the first continuous operation position in the lateral direction of the touch panel 31 is from the center line L to the upper end of the touch panel 31. Limited to distance.

On the other hand, according to the present embodiment, the range in which the slide operation can be performed can be adjusted by freely setting the first start position P10. For example, as shown in FIG. 14, by setting the first start position P10 below the center line L, the range in which the slide operation can be performed upward can be widened, and the first start position P10 and the first continuous operation in the lateral direction can be widened. The distance from the position can be made longer than the distance from the center line L to the upper end of the touch panel 31. This makes it possible to more precisely adjust the movement caused by the upward sliding operation (forward in the case of the traveling mode) and to increase the settable speed range.

(9) When the operation mode is the travel mode, the remote CPU 33 determines the travel speed of the forklift 20 based on the relative position between the first start position P10 and the first continuous operation position. According to such a configuration, the traveling speed can be made different according to the operation amount of the slide operation, and the intuitive operation becomes possible through it.

(10) When the operation mode is the cargo handling mode, the remote CPU 33 determines the operation mode of the fork 22 based on the relative position. According to such a configuration, the fork 22 can be moved greatly or slightly according to the operation amount of the slide operation.

(11) The remote CPU 33 starts the remote operation based on the two start operations being performed, and then continues the remote operation when both continuous operations are performed, while at least one of the two continuous operations is performed. Stop remote control based on the fact that it will not be lost.

According to such a configuration, in order to start the remote control, it is necessary to perform both the first start operation and the second start operation. As a result, it is possible to prevent the remote control from being unintentionally performed or the remote control from being started while performing other work. Then, even after the start of the remote control, it is necessary to perform both continuous operations in order to continue the remote control. As a result, it is possible to suppress performing work other than remote control during remote control. Therefore, the safety can be improved.

Further, according to the present embodiment, the remote operation can be stopped by terminating at least one of both continuous operations. As a result, the operator can easily stop or start the remote control consciously. Therefore, the operator can easily perform, for example, temporarily stop the remote control, check the situation, and then perform the remote control again, and can improve convenience. ..

(12) The reference setting operation is that both the first start operation and the second start operation are performed, and the remote CPU 33 operates the remote control device 30 when both start operations are performed (first start). Position P10 and the rotation position in the first rotation operation direction) are set as reference positions.

According to such a configuration, the reference position is set by performing both start operations for starting the remote control. As a result, it is not necessary to perform an operation for setting the reference position separately from both start operations, so that the operation can be simplified.

Further, according to the present embodiment, since the reference position is set each time both start operations are performed, the reference position can be changed each time the remote operation is started. Therefore, for example, when the posture is changed after performing a certain remote control and the remote control is performed again, the reference position can be changed in response to the change in the posture, so that the remote control corresponding to the changed posture can be performed. it can.

(13) The first start operation is an input operation for the inside of the first area A1 of the touch panel 31, and the first continuous operation is the first operation when the remote operation is started regardless of the inside or outside of the first area A1. This is an input operation to the touch panel 31 that is continued from the input operation in one area A1.

According to this configuration, in order to start the remote control, it is necessary to perform an input operation in the first region A1 using, for example, a finger or the like. Such an input operation in the first area A1 is relatively easy because it is an operation that can be performed by using a finger, but it is appropriate because it is necessary to perform an input operation at a target location on the touch panel 31. It takes attention. As a result, it is possible to start the remote control with a simple operation while calling the operator appropriate attention.

Further, as the first continuous operation, since the input operation to the touch panel 31 that is continued from the input operation in the first area A1 when the remote control is started is adopted, the input operation is performed after the remote control is started. The remote control is stopped only by releasing (for example, releasing a finger or the like from the touch panel 31). As a result, for example, when the finger is released from the touch panel 31 to perform another work during the remote control, the remote control is stopped, so that it is possible to suppress the other work during the remote control. Further, since the remote control can be stopped only by releasing the finger from the touch panel 31, the remote control can be stopped consciously easily and quickly.

In particular, as for the first continuous operation, since the slide operation that protrudes outside the first area A1 is possible, the degree of freedom of the first continuous operation can be increased. Further, even if the first continuous operation position protrudes outside the first region A1 due to the attempt to realize the desired remote control mode, the remote control is continued. Thereby, operability and convenience can be improved.

(14) The remote CPU 33 causes the touch panel 31 to display the operation image G10 including the first area A1 and the second area A2. The second start operation is an input operation in the second area A2, and the second continuous operation is an input operation in the touch panel 31 that is continued from the input operation in the second area A2 when the remote operation is started. ..

According to such a configuration, in order to start the remote control, it is necessary to perform the input operation at at least two different positions of the touch panel 31. As a result, it is assumed that the operator holds the remote control device 30 with both hands in order to perform an input operation for two different positions. Therefore, it is possible to suppress remote control with one hand, and through this, it is possible to suppress remote control and other work from being performed at the same time.

(15) During remote operation (specifically, when both continuous operations are performed), the remote CPU 33 is not an operation mode of the second continuous operation, but a series of operations including the first start operation and the first continuous operation. The forklift 20 is remotely controlled based on the operation mode of the first operation, which is an input operation. The operation mode of the first operation of the present embodiment is the degree of change (specifically, the relative position) of the first continuous operation position from the first start position P10. According to such a configuration, the operation mode of the first operation affects the remote control of the forklift 20, while the operation mode of the second operation consisting of the second start operation and the second continuous operation is the remote control of the forklift 20. Does not affect. As a result, the operator only has to concentrate on the first operation, and the operation can be facilitated. Therefore, erroneous operation of the forklift 20 can be suppressed.

(16) The second continuous operation is an input operation within the second area A2 that is continued from the second start operation when the remote control is started.
According to this configuration, since the second continuous operation is an input operation within the second area A2, the finger is separated from the second area A2 or the finger slides to touch the outside of the second area A2. In that case, the remote control is stopped. As a result, other work during remote control can be suppressed, and safety can be improved.

Here, the second continuous operation is an operation necessary for continuing the remote control of the forklift 20, but does not contribute to the remote control mode. Therefore, it is not necessary to perform an operation such as changing the second continuous operation position. Therefore, even if the second continuous operation is limited to the input operation in the second region A2 as described above, inconvenience such as deterioration of operability is unlikely to occur.

(17) The forklift 20 includes a traveling actuator 23 used for traveling the forklift 20, and a cargo handling actuator 24 used for operating the fork 22, which is an operation different from traveling. The remote CPU 33 has, as an operation mode, a travel mode in which the travel actuator 23 is the operation target and a cargo handling mode (lift mode, reach mode or tilt mode) in which the cargo handling actuator 24 is the operation target. The remote CPU 33 controls the traveling actuator 23 based on the operation mode of the first operation in the traveling mode, while controlling the cargo handling actuator 24 based on the operating mode of the first operation in the cargo handling mode. ..

According to this configuration, since the traveling mode and the cargo handling mode are set separately as the operation modes, it is possible to suppress that the remote control related to the traveling of the forklift 20 and the remote control related to the operation of the fork 22 are simultaneously performed. , It is possible to suppress erroneous operation.

Further, in both the traveling mode and the cargo handling mode, both actuators 23 and 24 are controlled based on the operation mode of the first continuous operation (first operation). As a result, the forklift 20 can be remotely controlled by a common operation regardless of the operation mode, so that the operation can be simplified.

(18) When the operation mode switching condition is satisfied, the remote CPU 33 executes a process of switching the operation mode (step S111). The operation mode switching condition includes that a switching operation is performed on the remote control device 30.

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

(19) The operation mode switching condition is that the switching operation is performed in the stopped mode. According to such a configuration, the operation mode is switched by performing the switching operation in the situation where the remote control is stopped, but when the remote control is performed, even if the switching operation is performed. The operation mode does not switch. As a result, it is possible to prevent the forklift 20 from performing an unintended operation due to the switching of the operation mode during remote control.

(20) When the remote CPU 33 grasps that both the start operation and the switching operation have been performed in the stopped mode, the remote CPU 33 operates the control mode from the stopped mode without executing the operation mode switching process. Execute the process to shift to the mode.

When both start operation and switching operation are performed, it is highly probable that the switching operation is performed by mistake. In such a case, if the operation mode is switched and the remote control is started in that state, there is a high possibility that the forklift 20 will perform an unintended operation.

In this respect, in the present embodiment, when it is grasped that both the start operation and the switching operation have been performed, the remote operation is started without switching the operation mode. As a result, it is possible to prevent the remote control from being started in a state where the operation mode is unintentionally switched.

(21) In the operation image G10, a traveling mode setting area A3 for setting the traveling mode and a cargo handling mode setting area A4 for setting the cargo handling mode are displayed. The switching operation is an input operation for the traveling mode setting area A3 or an input operation for the cargo handling mode setting area A4. According to such a configuration, the operation mode can be switched by the input operation on the touch panel 31.

Here, as the switching operation, an input operation for the mode setting areas A3 and A4 provided separately from both areas A1 and A2 is set, so that the operator performing both start operation or both continuous operation performs the switching operation. It is assumed that the right hand or the left hand is once separated from the touch panel 31 in order to perform the above. As a result, the start operation or the continuous operation is not naturally performed, the remote operation is stopped, and the switching operation is performed in the state where the remote operation is stopped. Therefore, the operator can smoothly switch the operation mode without being particularly conscious of setting the control mode to the stopped mode. Therefore, both safety and convenience can be achieved.

(22) The first area A1 and the second area A2 are arranged apart from each other, and at least a part of both mode setting areas A3 and A4, and in this embodiment, each mode setting area A4a to the cargo handling mode setting area A4. A4c is arranged between the first region A1 and the second region A2.

According to this configuration, since the mode setting areas A4a to A4c are arranged between the first area A1 and the second area A2, either the right hand or the left hand can input to each mode setting area A4a to A4c. You can perform operations. As a result, the switching operation can be facilitated.

Further, since the cargo handling mode setting area A4 is arranged between the first area A1 and the second area A2, it is unlikely that an input operation is mistakenly performed on the cargo handling mode setting area A4. As a result, erroneous operation can be suppressed.

(23) The remote CPU 33 displays an image related to traveling in the first area A1 when the operation mode is the traveling mode, and displays an image relating to the operation of the fork 22 when the operating mode is the cargo handling mode. Let me. According to such a configuration, the operator can easily confirm the current operation mode (operation target).

In particular, in the present embodiment, the remote operation mode of the forklift 20 is determined by a common operation (specifically, the first operation) regardless of the operation mode. Therefore, even if the operation on the touch panel 31 is the same, if the operation mode is different, the forklift 20 performs different operations, so that it is necessary to accurately grasp the operation mode. In this respect, in the present embodiment, since the image displayed in the first area A1 differs depending on the operation mode, the operation mode can be easily confirmed based on the image displayed in the first area A1.

Further, in the present embodiment, since the remote operation mode of the forklift 20 is determined by the operation mode of the first operation triggered by the input operation into the first area A1, the inside of the first area A1 is the second area A2. It can be said that this is a place that is particularly easy for the operator to pay attention to compared to the surrounding area. Since the image suggesting the operation mode is displayed in such a place where the operator can easily pay attention, it is possible to suppress the operator's oversight.

(24) The touch panel 31 has a shape having a longitudinal direction and a lateral direction, and both regions A1 and A2 are arranged to face each other in the longitudinal direction of the touch panel 31. According to this configuration, since both regions A1 and A2 are arranged to face each other in the longitudinal direction of the touch panel 31, it is difficult to perform an input operation on both regions A1 and A2 with one hand. As a result, it is possible to encourage the remote control device 30 to be gripped by both hands. Further, even if a plurality of fingers of one hand accidentally touch the touch panel 31, it is unlikely that an input operation is performed on both the areas A1 and A2. As a result, safety can be improved.

(25) The remote control device 30 is a smartphone or a tablet terminal. According to such a configuration, remote control of the forklift 20 can be realized by using an existing general-purpose product.
(26) The remote control program 40 for remotely controlling the forklift 20 using the remote control device 30 includes a remote control control process execution program 41 that causes the remote CPU 33 to execute the remote control control process. The remote control control process is based on a process of setting a reference position for the operation of the remote control device 30 based on the reference setting operation performed on the remote control device 30, and a degree of change from the reference position. , A process of determining the remote control mode of the forklift 20 and a process of remotely controlling the forklift 20 in the determined remote control mode (step S208). As a result, the effects such as (1) are exhibited.

(Second Embodiment)
In the present embodiment, the operation image and the operation on the remote control device 30 for performing the remote control are different from those in the first embodiment. The differences will be described below.

In the present embodiment, there are two types of operation modes, a traveling mode and a cargo handling mode. The remote CPU 33 displays the travel mode image G21 when the operation mode is the travel mode, and displays the cargo handling mode image G22 when the operation mode is the cargo handling mode.

As shown in FIG. 17, the traveling mode image G21 of the present embodiment includes a first region A11, a second region A12, a traveling mode setting area (traveling mode icon) A21, and a cargo handling mode setting area (cargo handling mode icon). It has A22. In the traveling mode image G21, the traveling mode setting area A21 is highlighted.

In the first area A11, the forward icon Ic1 and the backward icon Ic2 arranged to face each other in the lateral direction of the touch panel 31 are displayed. In the second area A12, the left icon Ic3 and the right icon Ic4 arranged to face each other in the longitudinal direction of the touch panel 31 are displayed.

The traveling mode setting area A21 and the cargo handling mode setting area A22 are arranged so as to face each other in the lateral direction of the touch panel 31. The traveling mode setting area A21 and the cargo handling mode setting area A22 are positioned so as to be offset from both sides of the touch panel 31 in the first area A11 in the lateral direction, and both sides of the touch panel 31 in the second area A12 in the longitudinal direction. It is placed at a position offset from the relative. Specifically, the traveling mode setting area A21 and the cargo handling mode setting area A22 are between the two areas A11 and A12 in the longitudinal direction of the touch panel 31, and the touch panel 31 is more than the two areas A11 and A12 in the lateral direction of the touch panel 31. It is located on both ends of the. As a result, even if the finger in contact with the first region A11 slides in the vertical direction, it is difficult for the finger to come into contact with both mode setting areas A21 and A22. Further, even if the finger in contact with the second region A12 slides in the left-right direction, it is difficult for the finger to come into contact with both mode setting areas A21 and A22.

As shown in FIG. 18, the cargo handling mode image G22 has a first region A11, a second region A12, a traveling mode setting region A21, a cargo handling mode setting region A22, and a third region A13. .. In the cargo handling mode image G22, the cargo handling mode setting area A22 is highlighted.

In the first area A11, a display for notifying the tilt operation and a first upper icon Ic11 and a first lower icon Ic12 are displayed.
In the second area A12, a display for notifying the lift operation and a second upper icon Ic13 and a second lower icon Ic14 are displayed.

The third region A13 is located between the first region A11 and the second region A12, and is arranged between the traveling mode setting region A21 and the cargo handling mode setting region A22. In the third area A13, a display for notifying the reach operation and a third upper icon Ic15 and a third lower icon Ic16 are displayed.

In the present embodiment, when the operation mode is the traveling mode, the remote CPU 33 performs remote control regarding the traveling of the forklift 20 based on the operation mode of both continuous operations, and when the operation mode is the cargo handling mode, the remote CPU 33 performs remote control. Remote control of the fork 22 is performed based on the operation mode of both continuous operations. Including this point, the remote control control process of the present embodiment will be described with reference to FIG.

Since the processes of steps S401, S404 to S406, S408, S409, S413, and S415 of the remote control control process of the present embodiment are the same as the corresponding processes of the first embodiment, detailed description thereof will be omitted.

As shown in FIG. 19, the remote CPU 33 grasps the presence or absence of the first start operation in step S402 after executing the process of step S401. The first start operation in the present embodiment is an input operation in the first area A11 when the operation mode is the traveling mode. On the other hand, when the operation mode is the cargo handling mode, the first start operation is an input operation for any of the three areas A11 to A13.

Further, the remote CPU 33 grasps the presence / absence of the second start operation in step S403. The second start operation in the present embodiment is an input operation in the second area A12 when the operation mode is the traveling mode.

On the other hand, when the operation mode is the cargo handling mode, the second start operation is an input operation for an area other than the area corresponding to the first start operation among the three areas A11 to A13. For example, if the remote CPU 33 determines in step S402 that the first start operation is being performed based on the input operation in the first area A11, in step S403, it is in the second area A12 or the third. It is determined whether or not an input operation has been performed in the area A13, and if the input operation has been performed, it is determined that a second start operation has been performed. In other words, the area corresponding to the first start operation is the area where the input operation that triggered the determination that the first start operation is being performed is being performed.

That is, in the cargo handling mode in which the three areas A11 to A13 are set, the remote CPU 33 may perform an input operation in at least two of the three areas A11 to A13. It is determined that both start operations are being performed. On the other hand, in the remote CPU 33, when the input operation is performed only in one of the three areas A11 to A13, or the input operation is performed in any of the three areas A11 to A13. If it has not been performed, it is determined that at least one of the two start operations has not been performed.

In the present embodiment, any one of the three regions A11 to A13 corresponds to the "specific region" and the "first region", and the region different from the "specific region" corresponds to the "second region".
Further, in the present embodiment, the remote CPU 33 starts the second start position P20, which is the position where the second start operation was performed when the remote operation was started, in step S416 after executing the process of step S406. It is stored in the position storage unit 44.

In the following step S417, the remote CPU 33 stores the second start position P20 in the tracking storage unit 45 as the initial position of the second continuous operation position, which is the position where the second continuous operation is performed, and the second continuation. Start tracking the operating position. That is, in the present embodiment, the remote CPU 33 is configured to track the second continuous operation position in addition to the first continuous operation position. Since the specific content of this process is the same as the tracking of the first continuous operation position in the first embodiment, detailed description thereof will be omitted.

In the present embodiment, the start position storage unit 44 stores both the first start position P10 and the second start position P20, and the tracking storage unit 45 stores the first continuous operation position and the second continuous operation. I remember both positions. Further, in the present embodiment, the process corresponding to step S107 is not executed.

In the present embodiment, a series of input operation positions including a first start operation and a first continuation operation, that is, a first start position P10 and a first continuation operation position, and a series of second start operation and a second continuation operation. Both the input operation position, that is, the second start position P20 and the second continuous operation position correspond to the "input operation position".

The remote CPU 33 determines in step S410 whether or not the switching operation has been performed, based on the fact that it has been determined that at least one of the two start operations has not been performed. The switching operation in the present embodiment is an input operation for either one of the two mode setting areas A21 and A22.

When it is determined that the switching operation is being performed, the remote CPU 33 proceeds to step S411 to switch the operation mode. Specifically, the remote CPU 33 sets the operation mode to the travel mode when there is an input operation in the travel mode setting area A21, while the remote CPU 33 sets the operation mode to the travel mode when there is an input operation in the cargo handling mode setting area A22. Set the operation mode to cargo handling mode. Then, in step S412, the remote CPU 33 displays the operation image G10 (specifically, the traveling mode image G21 or the cargo handling mode image G22) corresponding to the operation mode.

Next, the operation mode processing of step S414 in this embodiment will be described.
As shown in FIG. 20, the remote CPU 33 grasps the presence / absence of the first continuous operation in step S501. The first continuous operation is an input operation on the touch panel 31 that is continued from the first start operation when the remote operation is started, regardless of whether it is inside or outside the area where the first start operation is performed. The process of step S501 is the same as that of the first embodiment.

Further, the remote CPU 33 grasps the presence / absence of the second continuous operation in step S502. The second continuous operation in the present embodiment is an input operation for the touch panel 31 that is continued from the second start operation when the remote control is started. In the present embodiment, the second continuous operation also includes an input operation that extends beyond the area where the second start operation is performed. That is, the second continuous operation is an input operation on the touch panel 31 that is continued from the second start operation when the remote operation is started, regardless of whether the area is inside or outside the area where the second start operation is performed.

The specific process of step S502 is the same as that of step S202 of the first embodiment. Specifically, the remote CPU 33 identifies the input operation closest to the second continuous operation position stored in the tracking storage unit 45 among the plurality of input operations detected this time. Then, the remote CPU 33 determines whether or not the position of the specified input operation and the second continuous operation position (the previously detected second continuous operation position) stored in the tracking storage unit 45 are continuous. judge.

That is, the second continuous operation of the present embodiment includes (A) there is an input operation on the touch panel 31, and (B) the position of the input operation detected this time and the position of the second continuous operation detected last time are defined ranges. It is an operation that satisfies the following three conditions: (C) the period from the detection timing of the previous second continuous operation to the detection timing of the current input operation is within a specific period.

When the remote CPU 33 determines that both are continuous, it determines that the second continuous operation is being performed, and this time, the remote CPU 33 detects the second continuous operation position stored in the tracking storage unit 45. Update to the position of the input operation.

As shown in FIG. 20, when it is determined that both continuous operations are being performed, the remote CPU 33 proceeds to step S503 and obtains the information stored in the start position storage unit 44 and the tracking storage unit 45. Based on this, the first relative position, which is the relative position between the first start position P10 and the first continuous operation position, is derived.

In the following step S504, the remote CPU 33 derives a second relative position, which is a relative position between the second start position P20 and the second continuous operation position, based on the storage information of the start position storage unit 44 and the tracking storage unit 45. To do.

After that, in step S505, the remote CPU 33 grasps the current operation mode. In the subsequent step S506, the remote CPU 33 sets the remote control signal SG1 with information corresponding to the current operation mode and both relative positions. After that, in step S507, the remote CPU 33 uses the remote communication unit 36 to transmit the normal remote control signal SG12, which is the remote control signal SG1 in which the above information is set. The forklift 20 that has received the normal remote control signal SG12 performs traveling or the operation of the fork 22 corresponding to the information set in the normal remote control signal SG12.

Step S506 will be described in detail.
When the operation mode is the traveling mode, the remote CPU 33 sets numerical values (traveling speed and acceleration) corresponding to the first relative position with respect to the traveling speed information Dv and the acceleration information Dα, and sets the numerical values (traveling speed and acceleration) corresponding to the first relative position with respect to the steering angle information Dθ. 2 While setting the numerical value (steering angle) corresponding to the relative position, "0" is set for the cargo handling operation information D2. As a result, both the operation mode of both continuous operations, in other words, the degree of change in the first continuous operation position from the first start position P10 and the degree of change in the second continuous operation position from the second start position P20. The corresponding traveling actuator 23 is controlled.

As an example, the remote CPU 33 specifies whether to move forward or backward based on the vertical slide operation direction from the first start position P10, and sets the first start position P10 and the first continuous operation position in the lateral direction of the touch panel 31. The running speed and acceleration are set based on the distance of. This point is the same as that of the first embodiment.

Further, the remote CPU 33 specifies whether to turn right or left based on the left and right slide operation directions from the second start position P20, and sets the second start position P20 and the second continuous operation position in the longitudinal direction of the touch panel 31. The absolute value of the steering angle is set based on the distance of. For example, when the second continuous operation position is on the right icon Ic4 side of the second start position P20, the remote CPU 33 sets the steering angle corresponding to the right turn, and the second start position P20 and the second continuation The larger the distance from the operating position, the larger the absolute value of the steering angle is set.

That is, in the present embodiment, when the operation mode is the traveling mode, the forward or backward movement is determined by the operation of the hand (left hand) on the first region A11 side, the speed is controlled, and the hand on the second region A12 side is performed. Steering angle control is performed by the operation of (right hand). As a result, the remote control device 30 can be remotely controlled for traveling of the forklift 20 without performing the first rotation operation. In the present embodiment, the first rotation operation is not set as an operation for determining the remote operation mode of the forklift 20. Therefore, in the present embodiment, the reference rotation position storage unit 46 may be omitted.

When the operation mode is the cargo handling mode, in step S506, the remote CPU 33 identifies the area where the first start operation is performed based on the storage information of the start position storage unit 44, and the first start operation is performed. The cargo handling operation information D2 corresponding to the area is specified. Then, the remote CPU 33 sets a numerical value corresponding to the first relative position in the specified cargo handling operation information D2.

For example, when the area where the first start operation is performed is the first area A11, the remote CPU 33 sets a numerical value (tilt angle) corresponding to the first relative position in the tilt information Dfc. Specifically, when the first continuous operation position is closer to the first upper icon Ic11 than the first start position P10, the remote CPU 33 sets an inclination angle corresponding to the forward inclination. Further, the remote CPU 33 sets a larger inclination angle as the distance between the two positions in the lateral direction increases.

Further, the remote CPU 33 specifies the area where the second start operation is performed based on the storage information of the start position storage unit 44, and specifies the cargo handling operation information D2 corresponding to the area where the second start operation is performed. .. Then, the remote CPU 33 sets a numerical value corresponding to the second relative position in the specified cargo handling operation information D2. That is, the remote CPU 33 controls the cargo handling actuator 24 according to the operation mode of both continuous operations. The operation mode of the first continuous operation can be said to be the degree of change in the first continuous operation position from the first start position P10, and the operation mode of the second continuous operation is the second continuous operation from the second start position P20. It can be said that the degree of change in position.

For example, when the area where the second start operation is performed is the second area A12, the remote CPU 33 sets a numerical value (stroke amount) corresponding to the second relative position in the lift information Dfa. Specifically, when the second continuous operation position is closer to the second upper icon Ic13 than the second start position P20, the remote CPU 33 sets the stroke amount corresponding to the ascent. Further, the remote CPU 33 sets a larger stroke amount as the distance between the two positions in the lateral direction increases.

Further, for example, when the area where the second start operation is performed is the third area A13, the remote CPU 33 sets a numerical value (stroke amount) corresponding to the second relative position in the reach information Dfb. Specifically, the remote CPU 33 sets the stroke amount corresponding to the forward movement when the second continuous operation position is closer to the third upper icon Ic15 than the second start position P20. Further, the remote CPU 33 sets a larger stroke amount as the distance between the two positions in the lateral direction increases.

That is, the remote CPU 33 of the present embodiment controls the remote control mode of the forklift 20 by controlling the numerical value set in the remote control signal SG1 according to both relative positions.

Further, when the operation mode is the cargo handling mode, the remote control system 10 for industrial vehicles can execute the first operation and the second operation of different types. Thereby, for example, the lift operation and the reach operation can be performed at the same time. When the operation mode is the cargo handling mode, the operation of the fork 22 corresponding to the first continuous operation among the lift operation, the reach operation and the tilt operation is also referred to as a "first operation" and corresponds to the second continuous operation. The operation of the fork 22 is also referred to as a "second operation".

As shown in FIG. 20, when it is determined that at least one of the two continuous operations has not been performed, the remote CPU 33 has the two start positions P10, which are stored in the start position storage unit 44, in step S508. The information about P20 is erased, and the information about both continuous operation positions stored in the tracking storage unit 45 is erased.

After that, the remote CPU 33 executes the processes of steps S509 to S511. The processing of steps S509 to S511 is the same as the processing of steps S210 to S212 of the first embodiment.

According to the present embodiment described in detail above, the following effects are obtained.
(27) The remote CPU 33 sets both start positions P10 and P20, which are input operation positions of the touch panel 31 at that time, as reference input positions based on the fact that both start operations have been performed. Then, the remote CPU 33 remotely controls the forklift 20 based on the degree of change in the first continuous operation position from the first start position P10 and the degree of change in the second continuous operation position from the second start position P20. Determine the aspect. Specifically, the remote CPU 33 is a forklift based on the first relative position between the first start position P10 and the first continuous operation position and the second relative position between the second start position P20 and the second continuous operation position. Twenty remote control modes are determined. According to such a configuration, the remote control of the forklift 20 can be preferably performed by combining the changes in both continuous operation positions.

(28) In the traveling mode, the remote CPU 33 determines the forward or backward movement of the forklift 20 based on the first relative position, and determines the steering angle of the forklift 20 based on the second relative position. According to such a configuration, the forklift 20 can be driven in a desired direction without performing the first rotation operation.

(29) In the cargo handling mode, the remote CPU 33 determines the operation mode of the first operation, which is one of the lift operation, the reach operation, and the tilt operation, based on the first relative position, and sets the remote CPU 33 in the second relative position. Based on this, the operation mode of the second operation different from the first operation is determined. According to this configuration, two types of operations related to the fork 22 can be performed at the same time. This makes it possible to perform remote control with a higher degree of freedom, such as performing a lift operation while performing a tilt operation.

(30) The first continuous operation is an input operation for the touch panel 31 that is continued from the first start operation when the remote operation is started, regardless of whether the area is inside or outside the area where the first start operation is performed. The continuous operation is an input operation on the touch panel 31 that is continued from the second start operation when the remote operation is started, regardless of whether it is inside or outside the area where the second start operation is performed. For example, in the traveling mode, the first continuous operation is an input operation to the touch panel 31 that is continued from the first start operation when the remote control is started regardless of whether it is inside or outside the first area A11. The second continuous operation is an input operation to the touch panel 31 that is continued from the second start operation when the remote control is started, regardless of whether it is inside or outside the second area A12.

According to this configuration, the first continuous operation can be slid so as to protrude outside the first region A11, so that the degree of freedom of the first continuous operation can be increased. Further, even if the first continuous operation position protrudes outside the first region A11 due to the attempt to obtain the desired remote control mode, the remote control is continued. Thereby, operability and convenience can be improved.

Similarly, with respect to the second continuous operation, since the slide operation can be performed so as to protrude outside the second region A12, the degree of freedom of the second continuous operation can be increased. Further, even if the second continuous operation position protrudes outside the second region A12 due to the attempt to obtain the desired remote control mode, the remote control is continued. Thereby, operability and convenience can be improved.

In addition, each of the above-mentioned embodiments may be changed as follows.
○ The reference setting operation is not limited to both start operations and is arbitrary. For example, the reference setting operation may be an operation performed separately from both start operations. For example, when the remote control device 30 is provided with an operation button, the reference setting operation may be performed by the operation button. In this case, the remote CPU 33 sets the posture of the remote control device 30 and the input operation position with respect to the touch panel 31 at the operation timing as the reference posture and the reference input position based on the operation of the operation button. May be good. Further, as the reference setting operation, for example, the second rotation operation may be adopted. That is, the reference setting operation is not limited to the input operation for the touch panel 31, and the reference input position is not limited to the start position.

○ As a kind of operation for determining the remote operation mode of the forklift 20, a second rotation operation may be adopted in place of or in addition to the first rotation operation.
For example, as another example of the second embodiment, as shown in FIG. 21, the cargo handling mode image G32 in which the third region A13 is omitted may be displayed. In this case, the remote CPU 33 performs a remote operation related to the reach operation based on the first operation (specifically, the first start operation and the first continuation operation) triggered by the input operation into the first area A11, and the first operation is performed. Based on the second operation (specifically, the second start operation and the second continuous operation) triggered by the input operation in the two areas A12, the remote operation related to the lift operation is performed.

Then, the remote CPU 33 may perform a remote operation related to the tilt operation based on the operation mode of the second rotation operation. Specifically, the remote CPU 33 sets the rotation position in the second rotation operation direction at that time as the reference rotation position based on the performance of both start operations, and stores the rotation position in the reference rotation position storage unit 46. Then, when both continuous operations are performed, the remote CPU 33 tilts in the front-rear direction from the reference rotation position as seen from the operator, the degree of change from the reference rotation position in the second rotation operation direction. The tilt angle of the tilt operation is set based on the angle. This makes it possible to execute three operations at the same time. Further, since the operation of tilting the remote control device 30 back and forth and the tilt operation are linked, the tilt operation can be performed with an intuitive operation feeling, and the operability can be improved.

○ In the first embodiment, the remote CPU 33 employs the operation angle as the degree of change from the reference posture, but the present invention is not limited to this, and any parameter that changes may be adopted, for example, angular acceleration may be adopted. .. In this case, for example, when the first rotation operation is performed during the remote operation, the remote CPU 33 may be remotely controlled so that the steering angle of the forklift 20 increases as the angular acceleration in the first rotation operation direction increases.

○ In the first embodiment, the remote CPU 33 may determine the traveling speed or the like based on the second rotation operation. In this case, the remote CPU 33 does not have to determine the remote control mode in correspondence with the relative position between the first start position P10 and the first continuous operation position. That is, the remote CPU 33 may determine the remote control mode of the forklift 20 based only on the posture change of the remote control device 30 without using the input operation on the touch panel 31. Further, in this case, the first start operation or the second start operation may be omitted from the remote operation start condition, or the first continuous operation or the second continuous operation may be omitted from the remote control continuation condition.

-In the first embodiment, the relative position between the first start position P10 and the first continuous operation position is adopted as the degree of change of the first continuous operation position from the first start position P10, but this is limited to this. I can't. For example, the remote CPU 33 may determine the remote control mode of the forklift 20 based on the slide movement speed from the first start position P10 to the first continuous operation position. For example, the remote CPU 33 may set the acceleration to be larger as the slide movement speed is higher in the traveling mode. The same applies to the cargo handling mode and the second embodiment.

○ At least one of the first start operation and the second start operation may be an operation other than the input operation on the touch panel 31.
For example, when the remote control device 30 is provided with an operation button, the second start operation may be performed by operating the operation button. In this case, the remote control device 30 may have a detection unit for detecting the presence or absence of operation of the operation button as an operation grasping unit. The second continuous operation that is continued from the second start operation when the remote control is started means that the operation buttons are continuously operated from the time when the remote control is started. Further, in a configuration in which a finger detection sensor for detecting a finger is provided on the back surface of the remote control device 30, the second start operation may be performed by touching the finger detection sensor. The operation button may be a dedicated button used for the start operation and the continuous operation, or may be a button used for other purposes.

○ As described above, when an operation other than the input operation for the touch panel 31 is adopted as the second start operation, the first start operation may be an input operation for any one of the entire touch panel 31. That is, the "specific area" includes the entire touch panel 31. Further, in such another example, the first continuous operation may be an operation satisfying the conditions (A) and (C).

○ The first continuous operation may be limited to the input operation in the first areas A1 and A11. Specifically, the remote CPU 33 may determine that the first continuous operation has not been performed when the first continuous operation position is outside the first areas A1 and A11.

○ The specific layout of the operation image G10 is arbitrary, and may be appropriately changed as necessary.
For example, the first regions A1 and A11 and the second regions A2 and A12 may be interchanged. In this case, in the first embodiment, the forklift 20 can be made to perform a desired operation by operating the right hand.

Further, the first regions A1 and A11 and the second regions A2 and A12 may be arranged apart from each other in the lateral direction, or they may be continuous without being separated from each other. However, from the viewpoint of encouraging operation with both hands, it is preferable that the two are separated from each other.

Further, the images displayed in the first areas A1 and A11 may be the same regardless of the operation mode.
○ In the first embodiment, the second continuous operation is a touch panel that is continued from the second start operation (input operation to the inside of the second area A2) when the remote operation is started, regardless of whether it is inside or outside the second area A2. The input operation for 31 may be performed. In other words, the second operation is limited to the second area A2 until the remote control is started, and is not limited to the second area A2 after the remote control is started. Good.

○ The remote CPU 33 has a traveling mode and a cargo handling mode as operation modes, and is configured so that the traveling control of the forklift 20 and the control of the fork 22 cannot be performed at the same time, but the present invention is not limited to this. For example, the remote CPU 33 may be configured so that the traveling control of the forklift 20 and the control of the fork 22 can be performed at the same time. That is, both modes are not essential.

Specifically, the remote CPU 33 may display an operation icon related to running and an operation icon related to control of the fork 22 on the operation image G10, and transmit a remote operation signal SG1 corresponding to an input operation for these operation icons. Good.

However, paying attention to the point of suppressing erroneous operation due to complicated operation, it is preferable that the remote CPU 33 is configured so that the traveling control of the forklift 20 and the control of the fork 22 cannot be performed at the same time.

Further, the remote control device 30 may be configured to select one or a plurality of desired operations from the traveling of the forklift 20 and each operation of the fork 22, and the selected operations can be executed at the same time.

Specifically, the remote CPU 33 displays a selection image for selecting one or a plurality of traveling, lifting, reaching, and tilting operations. Then, when traveling and lift operation are selected, the remote CPU 33 performs remote control related to traveling based on the degree of change in the first continuous operation position from the first start position P10, and performs remote control regarding travel, and the second start position P20. The lift operation may be remotely controlled based on the degree of change in the second continuous operation position from the above.

○ In each embodiment, the traveling speed, stroke amount, or inclination angle increases as the distance between the first start position P10 and the first continuous operation position in the lateral direction of the touch panel 31 increases. Not limited. The remote control mode of the forklift 20 may be controlled according to the relative position between the first start position P10 and the first continuous operation position, and the specific setting mode thereof is arbitrary.

○ In the first embodiment, the remote CPU 33 steers based on the slide operation direction from the first start position P10 in the longitudinal direction of the touch panel 31 and the distance between the first start position P10 and the first continuous operation position in the longitudinal direction. The angle may be determined. In this case, the remote CPU 33 does not have to determine the steering angle based on the first rotation operation.

○ The operation mode switching condition is that the switching operation is performed in the stopped mode, but the switching operation is not limited to this. For example, the operation mode switching condition may be that the switching operation is performed regardless of the control mode.

○ Further, the switching operation is not limited to the input operation for each mode setting area A3, A4, A21, A22, and is arbitrary. For example, when the remote control device 30 is provided with the operation mode switching button, the switching operation is performed. The button may be operated, or the second rotation operation may be performed.

○ When the remote CPU 33 determines that both the start operation and the switching operation have been performed, it determines that an erroneous operation has been performed, switches the operation mode, and switches from the stopped mode to the operation mode. Both control mode transitions may be prohibited.

○ In the remote control signal SG1, "0" is set for information other than the operation target, but the present invention is not limited to this, and may be, for example, "null".
○ In the first embodiment, the remote CPU 33 may shift the control mode from the forced stop mode to the operation mode based on the fact that both start operations are performed during the forced stop mode. As a result, the control related to the forced stop is stopped and the remote control is restarted.

○ In the remote control system 10 for industrial vehicles, the specific processing configuration for stopping the remote control by the remote control device 30 is arbitrary. For example, as in the first and second embodiments, the remote control device 30 may be configured to transmit the remote control signal SG1 relating to the stop regardless of the operation on the remote control device 30, or the forklift 20 may transmit the remote control signal SG1. It may be configured not to perform the operation based on, or it may be other than that.

○ The industrial vehicle is not limited to the forklift 20 and may be an arbitrary vehicle, for example, an automatic guided vehicle. Further, it may be an industrial vehicle having no driving object other than traveling. That is, the motion drive unit used for the motion different from the running is not indispensable.

○ The communication method between the two communication units 28 and 36 is not limited to wireless communication and may be wired communication.
○ The attitude detection unit 35 detects the first rotation operation in a state where the thickness direction of the remote control device 30 intersects or is orthogonal to the vertical direction, while the thickness direction of the remote control device 30 coincides with the vertical direction. In this state, the first rotation operation may not be detected. Normally, when the remote control device 30 is gripped with both hands to visually recognize the touch panel 31, the thickness direction of the remote control device 30 tends to intersect or be orthogonal to the vertical direction. Therefore, even if the first rotation operation is not detected in a state where the thickness direction of the remote control device 30 coincides with the vertical direction, the problem is unlikely to occur.

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

○ The remote control system 10 for industrial vehicles may be in a state where remote control can be performed at all times while the remote control program 40 is activated, or is forcibly stopped based on the fact that at least one of both continuous operations is no longer performed. You do not have to perform control. That is, the stopped mode and the forced stop mode may be omitted. In short, the "remote control unit" is not essential.

○ The remote control program 40 may be stored in the vehicle memory 26. In this case, the remote CPU 33 periodically sends an operation signal in which information related to various operations to the remote control device 30 (for example, information about the posture of the remote control device 30 and an input operation position to the touch panel 31) is set toward the vehicle communication unit 28. Send to. The vehicle CPU 25 determines the remote control mode and the control mode by executing the remote control control process based on the operation signal, controls the actuators 23 and 24, and sets the determined control mode information. The remote control device 30 may be controlled by transmitting a signal to the remote control device 30. In such a configuration, the vehicle CPU 25 corresponds to the "setting unit", the "determining unit", and the "execution unit". The specific configuration for determining the remote control mode and the control mode based on the operation signal is as described in the first embodiment and the like.

○ Each embodiment and each other example may be combined as appropriate.

10 ... Remote control system for industrial vehicles, 20 ... Fork lift (industrial vehicle), 22 ... Forks, 23 ... Travel actuators, 24 ... Cargo handling actuators, 25 ... Vehicle CPU, 28 ... Vehicle communication unit, 29 ... Signal conversion unit, 30 ... Remote control device, 31 ... Touch panel, 32 ... Touch sensor, 33 ... Remote CPU, 35 ... Attitude detection unit, 36 ... Remote communication unit, 40 ... Remote control program (remote control program for industrial vehicles), 41 ... Remote control control processing Execution program, P10 ... 1st start position (position of 1st start operation when remote control is started), P20 ... 2nd start position (position of 2nd start operation when remote control is started), G10 ... Operation image, A1, A11 ... 1st area (specific area), A2, A12 ... 2nd area, A3, A21 ... Travel mode setting area, A4, A22 ... Cargo handling mode setting area, SG1 ... Remote control signal.

Claims (15)

Industrial vehicles with a vehicle communication department and
A remote control device that has a remote communication unit that wirelessly communicates with the vehicle communication unit , a touch panel, and a touch sensor that detects an input operation on the touch panel, and is used for remote control of the industrial vehicle.
A setting unit that sets a reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device.
A determination unit that determines the remote control mode of the industrial vehicle based on the degree of change from the reference position.
An execution unit that remotely controls the industrial vehicle in a remote control mode determined by the determination unit,
Based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device, the remote control of the industrial vehicle is started, and the remote control of the industrial vehicle is started. After that, both the first continuous operation continued from the first start operation when the remote control is started and the second continuous operation continued from the second start operation when the remote control is started. A remote control unit that continues remote control of the industrial vehicle when
Equipped with a,
The reference setting operation is that an input operation is performed on the touch panel.
Assuming that the position where the input operation is performed on the touch panel is the input operation position,
When the reference setting operation is performed on the remote control device, the setting unit performs the reference setting operation as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. A reference input position setting unit for setting the input operation position when the operation is performed is provided.
The determination unit includes a panel-compatible determination unit that determines a remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
In the reference input position setting unit, both the first start operation and the second start operation are triggered by both the first start operation and the second start operation as the reference setting operation. The first start position, which is the position where the first start operation is performed at the time when the first start operation is performed, is set as the reference input position.
The panel correspondence determination unit determines the remote control mode of the industrial vehicle based on the relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed. A remote control system for industrial vehicles featuring. The remote control device has a posture detection unit that detects the posture of the remote control device.
When the reference setting operation is performed on the remote control device, the setting unit performs the reference setting operation as a reference posture which is a kind of the reference position based on the detection result of the posture detection unit. It is provided with a reference posture setting unit that sets the posture of the remote control device when it is performed.
The industrial vehicle according to claim 1, wherein the determination unit includes a posture correspondence determination unit that determines a remote control mode of the industrial vehicle based on the degree of change in the posture of the remote control device from the reference posture. For remote control system. The posture detection unit detects the rotation position of the remote control device in a specific rotation direction.
The reference posture setting unit sets the rotation position of the remote control device in the specific rotation direction when the reference setting operation is performed as a reference rotation position which is a kind of the reference posture.
The industry according to claim 2, wherein the posture correspondence determining unit determines a remote control mode of the industrial vehicle based on the degree of change in the rotation position of the remote control device from the reference rotation position in the specific rotation direction. Remote control system for vehicles. The attitude correspondence determination unit determines the steering angle of the industrial vehicle as a remote control mode of the industrial vehicle based on the degree of change in the rotation position of the remote control device from the reference rotation position in the specific rotation direction. The remote control system for industrial vehicles according to claim 3. The remote control device has a plate shape.
The remote control system for an industrial vehicle according to claim 4, wherein the specific rotation direction is a rotation direction with the thickness direction of the remote control device as a rotation axis. The panel correspondence determination unit determines the traveling speed of the industrial vehicle as a remote control mode of the industrial vehicle based on the relative position between the first start position and the first continuous operation position . The remote control system for industrial vehicles described in any one of them . The industrial vehicle is a forklift with a fork.
Any of claims 1 to 5, wherein the panel correspondence determination unit determines the operation mode of the fork as a remote control mode of the forklift based on the relative position between the first start position and the first continuous operation position. The remote control system for industrial vehicles described in item 1 . The first start operation is an input operation for a specific area of the touch panel.
The first continuous operation is any one of claims 1 to 7, which is an input operation to the touch panel that is continued from the first start operation when the remote control is started, regardless of whether it is inside or outside the specific area . The remote control system for industrial vehicles described in paragraph 1 . Industrial vehicles with a vehicle communication department and
A remote control device that has a remote communication unit that wirelessly communicates with the vehicle communication unit, a touch panel, and a touch sensor that detects an input operation on the touch panel, and is used for remote control of the industrial vehicle.
A setting unit that sets a reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device.
A determination unit that determines the remote control mode of the industrial vehicle based on the degree of change from the reference position.
An execution unit that remotely controls the industrial vehicle in a remote control mode determined by the determination unit,
Based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device, the remote control of the industrial vehicle is started, and the remote control of the industrial vehicle is started. After that, both the first continuous operation continued from the first start operation when the remote control is started and the second continuous operation continued from the second start operation when the remote control is started. A remote control unit that continues remote control of the industrial vehicle when
With
The reference setting operation is that an input operation is performed on the touch panel.
Assuming that the position where the input operation is performed on the touch panel is the input operation position,
When the reference setting operation is performed on the remote control device, the setting unit performs the reference setting operation as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. A reference input position setting unit for setting the input operation position when the operation is performed is provided.
The determination unit includes a panel-compatible determination unit that determines a remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
In the reference input position setting unit, both the first start operation and the second start operation are triggered by both the first start operation and the second start operation as the reference setting operation. The first start position and the second start position, which are the positions where the first start operation and the second start operation are performed at the time when the operation is performed, are set as the reference input positions.
The panel correspondence determination unit has a relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed, and the second start position and the second continuous operation. A remote control system for an industrial vehicle , characterized in that a remote control mode of the industrial vehicle is determined based on both a position relative to a second continuous operation position, which is a position where the operation is performed. The first start operation is an input operation for the inside of the first area of the touch panel.
The first continuous operation is an input operation to the touch panel that is continued from the first start operation when the remote control is started regardless of whether it is inside or outside the first area.
The second start operation is an input operation in a second area of the touch panel different from the first area.
The industrial vehicle according to claim 9 , wherein the second continuous operation is an input operation to the touch panel that is continued from the second start operation when the remote control is started, regardless of whether it is inside or outside the second region. For remote control system. The remote control system for an industrial vehicle according to any one of claims 1 to 10 , wherein the remote control device is a smartphone or a tablet terminal. A remote control device used to remotely control an industrial vehicle having a vehicle communication unit.
A remote communication unit that performs wireless communication with the vehicle communication unit,
A setting unit that sets a reference position for the operation of the remote control device based on the reference setting operation,
A determination unit that determines the remote control mode of the industrial vehicle based on the degree of change from the reference position.
Touch panel and
A touch sensor that detects an input operation on the touch panel and
Based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device, the remote control of the industrial vehicle is started, and the remote control of the industrial vehicle is started. After that, both the first continuous operation continued from the first start operation when the remote control is started and the second continuous operation continued from the second start operation when the remote control is started. A remote control unit that continues remote control of the industrial vehicle when
With
The reference setting operation is that an input operation is performed on the touch panel.
Assuming that the position where the input operation is performed on the touch panel is the input operation position,
When the reference setting operation is performed on the remote control device, the setting unit performs the reference setting operation as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. A reference input position setting unit for setting the input operation position when the operation is performed is provided.
The determination unit includes a panel-compatible determination unit that determines a remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
In the reference input position setting unit, both the first start operation and the second start operation are triggered by both the first start operation and the second start operation as the reference setting operation. The first start position, which is the position where the first start operation is performed at the time when the first start operation is performed, is set as the reference input position.
The panel correspondence determination unit determines the remote control mode of the industrial vehicle based on the relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed. A remote control device characterized by. An industry for remotely controlling an industrial vehicle by using a remote communication unit that wirelessly communicates with a vehicle communication unit provided in an industrial vehicle , a touch panel, and a remote control device equipped with a touch sensor that detects an input operation to the touch panel. A remote control program for vehicles
The remote control device
A setting unit that sets a reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device.
A determination unit that determines the remote control mode of the industrial vehicle based on the degree of change from the reference position.
Based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device, the remote control of the industrial vehicle is started, and the remote control of the industrial vehicle is started. After that, both the first continuous operation continued from the first start operation when the remote control is started and the second continuous operation continued from the second start operation when the remote control is started. A remote control unit that continues remote control of the industrial vehicle when
Is intended to function as a,
The reference setting operation is that an input operation is performed on the touch panel.
Assuming that the position where the input operation is performed on the touch panel is the input operation position,
When the reference setting operation is performed on the remote control device, the setting unit performs the reference setting operation as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. A reference input position setting unit for setting the input operation position when the operation is performed is provided.
The determination unit includes a panel-compatible determination unit that determines a remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
In the reference input position setting unit, both the first start operation and the second start operation are triggered by both the first start operation and the second start operation as the reference setting operation. The first start position, which is the position where the first start operation is performed at the time when the first start operation is performed, is set as the reference input position.
The panel correspondence determination unit determines the remote control mode of the industrial vehicle based on the relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed. A remote control program for industrial vehicles featuring. For industrial vehicles that remotely control the industrial vehicle using a remote communication unit that wirelessly communicates with the vehicle communication unit provided in the industrial vehicle , a touch panel, and a remote control device equipped with a touch sensor that detects an input operation to the touch panel . It ’s a remote control method.
A setting step in which the remote control device or the industrial vehicle sets a reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device.
A determination step in which the remote control device or the industrial vehicle determines a remote control mode of the industrial vehicle based on the degree of change from the reference position.
An execution step in which the remote control device or the industrial vehicle remotely controls the industrial vehicle in the remote control mode determined by the determination step.
The remote control device or the industrial vehicle starts the remote control of the industrial vehicle based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device. Then, after the start of the remote control of the industrial vehicle, the first continuous operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started. A remote control control step for continuing the remote control of the industrial vehicle when both of the second continuous operations continued from the above are performed, and
With
The reference setting operation is that an input operation is performed on the touch panel.
Assuming that the position where the input operation is performed on the touch panel is the input operation position,
In the setting step, when the reference setting operation is performed on the remote control device, the reference setting operation is performed as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. A reference input position setting step for setting the input operation position when the operation is performed is provided.
The determination step includes a panel correspondence determination step for determining a remote operation mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
In the reference input position setting step, both the first start operation and the second start operation are triggered by both the first start operation and the second start operation as the reference setting operation. The first start position, which is the position where the first start operation is performed at the time when the first start operation is performed, is set as the reference input position.
The panel correspondence determination step determines the remote control mode of the industrial vehicle based on the relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed. A remote control method for industrial vehicles characterized by. An industrial vehicle provided with a remote control unit provided in a touch panel and a remote control device having a touch sensor for detecting an input operation on the touch panel, and a vehicle communication unit that performs wireless communication, and is remotely controlled by the remote control device.
A setting unit that sets a reference position for the operation of the remote control device based on the reference setting operation performed on the remote control device.
A determination unit that determines the remote control mode of the industrial vehicle based on the degree of change from the reference position.
An execution unit that remotely controls the industrial vehicle in a remote control mode determined by the determination unit,
Based on the fact that both the first start operation and the second start operation, which are input operations to the touch panel, are performed on the remote control device, the remote control of the industrial vehicle is started, and the remote control of the industrial vehicle is started. After that, both the first continuous operation continued from the first start operation when the remote control is started and the second continuous operation continued from the second start operation when the remote control is started. A remote control unit that continues remote control of the industrial vehicle when
With
The reference setting operation is that an input operation is performed on the touch panel.
Assuming that the position where the input operation is performed on the touch panel is the input operation position,
When the reference setting operation is performed on the remote control device, the setting unit performs the reference setting operation as a reference input position which is a kind of the reference position based on the detection result of the touch sensor. A reference input position setting unit for setting the input operation position when the operation is performed is provided.
The determination unit includes a panel-compatible determination unit that determines a remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
In the reference input position setting unit, both the first start operation and the second start operation are triggered by both the first start operation and the second start operation as the reference setting operation. The first start position, which is the position where the first start operation is performed at the time when the first start operation is performed, is set as the reference input position.
The panel correspondence determination unit determines the remote control mode of the industrial vehicle based on the relative position between the first start position and the first continuous operation position, which is the position where the first continuous operation is performed. An industrial vehicle featuring.