JP7047538B2 - Work vehicle equipped with a remote control terminal and a remote control terminal - Google Patents

Description

The present invention relates to a remote control terminal and a work vehicle including the remote control terminal.

Conventionally, in a work vehicle provided with a work device such as a mobile crane or an aerial work platform, a work vehicle in which the actuator of the work device is remotely operated and a remote control terminal for operating the actuator of the work device have been proposed. In the work using the remote control terminal, the worker can perform the work while checking the moving state of the suspended load in the vicinity of the suspended load away from the operating device of the working device or at the target position of the suspended load.

In such a work vehicle, the relative positional relationship between the work device and the remote control terminal changes according to the work situation. Therefore, the worker who operates the work device by the remote control terminal needs to operate the operation tool of the remote control terminal while always considering the relative positional relationship with the work device. Therefore, regardless of the relative positional relationship between the work device and the remote control terminal, the operation direction of the operation tool of the remote control terminal and the operation direction of the work device are matched to easily and easily operate the work device. Remote control terminals that can be used are known. For example, as in Patent Document 1.

The remote control device (remote control terminal) described in Patent Document 1 is provided with a reference absolute orientation detecting means on the terminal side for detecting a reference absolute orientation in a horizontal plane. Similarly, the control device (controller) on the working machine (working device) side is provided with the reference absolute orientation detecting means on the working machine side for detecting the reference absolute orientation in the horizontal plane. The movement direction instruction signal from the remote control device is output as an argument with respect to the reference absolute direction of the terminal. The control device on the working machine (working device) side is configured to calculate the moving direction instructed by the remote control device from the declination with respect to the reference absolute orientation on the working machine side. Further, the remote control device is provided with a movement direction fixing switch for fixing the declination with respect to the reference absolute direction on the terminal side. By operating the movement direction fixing switch, the remote control device can keep the movement direction of the work equipment constant even if camera shake or the like occurs.

However, in the remote control device described in Patent Document 1, since the declination with respect to the reference absolute direction is fixed by the movement direction fixing switch, the movement direction of the working machine cannot be changed during the operation of the movement direction fixing switch. Further, in the remote control device, when the operation of the movement direction fixing switch is stopped, the declination angle with respect to the reference absolute direction is released, so that the work machine moves in a different direction even if the operation tool is operated in the same direction. May be done. Therefore, the operator needs to always grasp the reference absolute orientation of the remote control device while operating the remote control device, which is complicated to operate.

Japanese Unexamined Patent Publication No. 2007-126231

An object of the present invention is to provide a work vehicle provided with a remote control terminal and a remote control terminal capable of preventing erroneous operation during remote control of the work device and easily and easily performing remote control of the work device.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, the first invention is a remote control terminal of a work device provided in a work vehicle, which is configured to be communicable with the control device of the work device and controls the operation of the remote control terminal. The control unit includes a first operation unit for remotely controlling the work device and a second operation unit for setting a reference for the operating direction of the work device by operating the first operation unit. While the operating direction of the working device with respect to the operation of the first operating unit is calculated based on the set value of the second operating unit and transmitted to the control device, while the first operating unit is being operated. , A remote control terminal that prohibits the change of the set value.

In the second invention, when the control unit acquires an operation signal from the first operation unit, the control unit converts the operation signal of the first operation unit based on the set value of the second operation unit. It is a remote control terminal that transmits a signal to the control device and invalidates the operation signal of the second operation unit while acquiring the operation signal.

The third invention includes a third operation unit that permits transmission of a control signal obtained by converting the operation signal of the first operation unit based on the set value of the second operation unit. It is a remote control terminal that enables transmission of the control signal to the control device while acquiring the operation signal from the third operation unit, and invalidates the operation signal of the second operation unit.

The fourth invention is a remote control terminal of a work device provided in a work vehicle, which is configured to be communicable with the control device of the work device, and has a control unit that controls the operation of the remote control terminal, and the work. A first operation unit for remotely controlling the device and a reference setting unit for automatically setting a reference for the operating direction of the work device by the operation of the first operation unit are provided, and the control unit is the reference. The operating direction of the working device with respect to the operation of the first operating unit is calculated based on the set value of the setting unit and transmitted to the control device, and the setting is performed while the first operating unit is being operated. It is a remote control terminal that prohibits changing the value.

A fifth invention is a work vehicle including a work device to be remotely controlled, wherein the first operation unit for remotely controlling the work device and the operation direction of the work device by the operation of the first operation unit are defined. A remote control terminal having a second operation unit for setting a reference, and a control device configured to be communicable with the remote control terminal and controlling the operation of the work device, the remote control terminal comprises. The operating direction of the working device with respect to the operation of the first operating unit is calculated based on the set value of the second operating unit and transmitted to the control device, and the first operating unit is operated. Meanwhile, the control device is a work vehicle that prohibits the change of the set value and operates the work device in the operation direction of the work device acquired from the remote control terminal.

The present invention has the following effects.

In the first invention and the fifth invention, while the first operation unit is being operated, the reference of the operating direction of the working device arbitrarily set by the second operation unit is not changed, so that the operator is operating during the operation. The recognition of the operating direction of the working device with respect to the operating direction of the first operating unit is not lost. As a result, erroneous operation during remote control of the work device can be prevented, and remote control of the work device can be easily and easily performed.

In the second invention, while the first operation unit is being operated, even if the second operation unit is operated by mistake, the reference of the operating direction of the set working device is not changed, so that the operator can operate the second operation unit during the operation. The recognition of the operating direction of the working device with respect to the operating direction of the operating unit of 1 is not lost. As a result, erroneous operation during remote control of the work device can be prevented, and remote control of the work device can be easily and easily performed.

In the third invention, since the reference of the operating direction of the working device is not changed while the third operating unit acting as the deadman switch of the first operating unit is being operated, the first operation is performed by the operator. There is no loss of recognition of the operating direction of the work device with respect to the operating direction of the operating unit. As a result, erroneous operation during remote control of the work device can be prevented, and remote control of the work device can be easily and easily performed.

In the fourth invention, since the reference of the operating direction of the working device automatically set is not changed while the first operating unit is operating, the operator can work on the operating direction of the first operating unit during the operation. The recognition of the operating direction of the device is not lost. As a result, erroneous operation during remote control of the work device can be prevented, and remote control of the work device can be easily and easily performed.

A side view showing the overall configuration of the crane. The block diagram which shows the control composition of the crane in 1st Embodiment and 3rd Embodiment. The plan view which shows the schematic structure of the remote control terminal. The block diagram which shows the control composition of the remote control terminal in 1st Embodiment and 3rd Embodiment. (A) In the first embodiment, a partially enlarged view showing an operation direction reference when the reference change operation tool of the remote control terminal is operated, and (b) transport of the load when the suspended load movement operation tool is also operated. Partially enlarged view showing the direction. In the first embodiment, a schematic diagram showing a remote control terminal on which a suspended load moving operation tool is operated and an operating state of a crane by the operation thereof. (A) In the first embodiment, a partially enlarged view showing an operation direction reference when the reference change operation tool is operated while the suspended load movement operation tool of the remote control terminal is being operated, (b) the same remote control. Partial enlarged view showing the operation direction reference when the reference change operation tool is operated while the suspended load movement operation tool of the terminal is not operated. The block diagram which shows the control composition of the remote control terminal in 2nd Embodiment. (A) In the second embodiment, a partially enlarged view showing an operation direction reference when the reference change operation tool is operated while the suspended load movement operation tool of the remote control terminal is being operated, (b) the same remote control. Partial enlarged view showing the operation direction reference when the reference change operation tool is operated while the suspended load movement operation tool of the terminal is not operated. (A) In the third embodiment, a partially enlarged view showing the display state of the vehicle direction reference displayed on the remote control terminal in any direction, and (b) the vehicle direction reference when the direction of the remote control terminal is also changed. Partially enlarged view showing the display state. In the third embodiment, the schematic diagram showing the operation direction reference and the operating state of the crane when the direction of the remote control terminal on which the suspended load moving operation tool is operated is changed. (A) Enlarged view showing the image from the camera displayed on the remote control terminal in the first embodiment and the second embodiment, (b) Remote control when the reference change operation tool of the remote control terminal is also operated. An enlarged view showing the image from the camera displayed on the operation terminal. In the first embodiment and the second embodiment, an enlarged view showing the transport direction of the load when the suspended load moving operation tool is operated.

Hereinafter, a crane 1 which is a mobile crane (rough terrain crane) will be described as a work vehicle according to the first embodiment of the present invention with reference to FIGS. 1 and 2. In the present embodiment, the crane (rough terrain crane) will be described as the work vehicle 2, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.

As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2, a crane device 6 which is a working device, and a remote control terminal 32 (see FIG. 2) capable of remotely controlling the crane device 6.

The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels on the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended hydraulically on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 lifts the luggage W by a wire rope. The crane device 6 includes a swivel base 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. It is equipped with 17 and the like.

The swivel base 7 is configured so that the crane device 6 can be swiveled. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel hydraulic motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.

The turning hydraulic motor 8 which is an actuator is rotated by a turning valve 23 (see FIG. 2) which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 23. The swivel table 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel position (angle) and the swivel speed of the swivel table 7.

The boom 9, which is a boom, supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel table 7. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a. The jib 9a is held in a posture along the base boom member by a jib support portion provided on the base boom member of the boom 9. The base end of the jib 9a is configured to be connectable to the jib support portion of the top boom member.

The expansion / contraction hydraulic cylinder (not shown), which is an actuator, is expanded / contracted by the expansion / contraction valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with a telescopic sensor 28 for detecting the length of the boom 9 and a weight sensor 29 (see FIG. 2) for detecting the weight of the luggage W.

The camera 9b (see FIG. 2), which is a detection device, photographs the luggage W and the features around the luggage W. The camera 9b is provided at the tip of the boom 9. The camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W.

The main hook block 10 and the sub hook block 11 hang the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the luggage W.

The undulating hydraulic cylinder 12 which is an actuator raises and lays down the boom 9 and holds the posture of the boom 9. In the undulating hydraulic cylinder 12, the end portion of the cylinder portion is swingably connected to the swivel base 7, and the end portion of the rod portion is swingably connected to the base boom member of the boom 9. The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The undulating valve 25 can control the flow rate of the hydraulic oil supplied to the undulating hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with an undulation sensor 30 (see FIG. 2) that detects the undulation angle of the boom 9.

The main winch 13 and the sub winch 15 are used to carry out (wind up) and unwind (roll down) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which the main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub (not shown) in which the sub drum around which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.

The main hydraulic motor is rotated by a main valve 26 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26 m so that it can be operated at any feeding and feeding speed. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at any feed / feed speed.

The cabin 17 covers the cockpit. The cabin 17 is mounted on the swivel table 7. A cockpit (not shown) is provided. In the driver's seat, an operating tool for operating the vehicle 2, a turning operating tool 18 for operating the crane device 6, an undulating operating tool 19, a telescopic operating tool 20, a main drum operating tool 21m, a sub-drum operating tool 21s, etc. Is provided (see FIG. 2). The turning operation tool 18 can operate the turning hydraulic motor 8. The undulating operation tool 19 can operate the undulating hydraulic cylinder 12. The expansion / contraction operating tool 20 can operate the expansion / contraction hydraulic cylinder. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor.

The communication device 22 (see FIG. 2) receives a control signal from the remote control terminal 32 and transmits control information and the like from the crane device 6. The communication device 22 is provided in the cabin 17. When the communication device 22 receives a control signal or the like from the remote control terminal 32, the communication device 22 is configured to transfer the control signal or the like to the control device 31 via a communication line (not shown). Further, the communication device 22 is configured to transfer the control information from the control device 31 and the image i from the camera 9b to the remote control terminal 32 via a communication line (not shown).

As shown in FIG. 2, the control device 31 controls the actuator of the crane 1 via each operation valve. The control device 31 is provided in the cabin 17. The control device 31 may be substantially configured such that a CPU, ROM, RAM, HDD and the like are connected by a bus, or may be configured to be composed of a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.

The control device 31 is connected to the camera 9b, the turning operation tool 18, the undulating operation tool 19, the expansion / contraction operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s, acquires the image i of the camera 9b, and turns the rotation operation tool 18. , The operation amount of each of the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s can be acquired.

The control device 31 is connected to the communication device 22 and can acquire a control signal from the remote control terminal 32 and transmit control information from the crane device 6 and video i from the camera 9b.

The control device 31 is connected to the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the undulation valve 25, the main valve 26m and the sub. A control signal can be transmitted to the valve 26s.

The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the weight sensor 29, and the undulation sensor 30, and can acquire the swivel position, boom length, undulation angle, and weight of the luggage W of the swivel base 7. can.

The control device 31 generates a control signal corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub drum operation tool 21s.

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, in the crane 1, the boom 9 is erected at an arbitrary undulating angle by the undulating hydraulic cylinder 12 by the operation of the undulating operation tool 19, and the boom 9 is extended to an arbitrary boom 9 length by the operation of the expansion / contraction operation tool 20. By doing so, the lift and working radius of the crane device 6 can be expanded. Further, the crane 1 can convey the luggage W by lifting the luggage W by the sub-drum operating tool 21s or the like and turning the swivel base 7 by operating the swivel operating tool 18.

Next, the remote control terminal 32 will be described with reference to FIGS. 3 to 5.
As shown in FIG. 3, the remote control terminal 32 is used when the crane 1 is remotely controlled. The remote operation terminal 32 includes a main body 33, a suspended load moving operation tool 35 which is a first operation unit provided on the operation surface of the main body 33, a reference change operation tool 34 which is a second operation unit, and a terminal-side turning operation. Tool 36, terminal side telescopic operation tool 37, terminal side main drum operation tool 38m, terminal side sub drum operation tool 38s, terminal side undulation operation tool 39, terminal side display device 40, terminal side communication device 41 and terminal side control device 42 ( (See FIGS. 2 and 4) and the like. The remote control terminal 32 sets the operation direction reference Bo by the reference change operation tool 34, and sets the control signal of the operation valve of each actuator that moves the load W by operating the suspended load movement operation tool 35 or various operation tools to the crane device 6. Send to.

The operation direction reference Bo of the remote control terminal 32 is a reference for setting the movement direction of the luggage W moved by the tilting operation of the suspended load movement operation tool 35 with respect to the vehicle 2 (vehicle direction reference Bv). be. Specifically, the operation direction reference Bo is the moving direction (crane device) of the load W that moves by tilting the suspended load moving operation tool 35 in an arbitrary direction with respect to the vehicle direction reference Bv that is the reference of the vehicle 2. This is a reference for setting the correction angle θ1 for correcting the operating direction of 6). In the present embodiment, the vehicle direction reference Bv is set in the forward direction, which is the forward direction of the vehicle 2 (see the alternate long and short dash arrow), and the operation direction reference Bo of the remote control terminal 32 is directed toward the operation surface of the main body 33. It is set to the upward operation direction (see the dashed arrow).

The main body 33 is a main component of the remote control terminal 32. The main body 33 is configured in a housing having a size that can be held by the operator by hand. The main body 33 has a suspended load moving operation tool 35, a reference change operation tool 34, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, and a terminal side sub drum operation tool 38s on the operation surface. , A terminal-side undulating operation tool 39, a terminal-side display device 40, and a terminal-side communication device 41 (see FIGS. 2 and 4) are provided.

The reference changing operation tool 34, which is the second operation unit, is for inputting an instruction to change the position of the operation direction reference Bo with respect to the vehicle direction reference Bv. The reference changing operation tool 34 includes a rotation knob protruding from the operation surface of the main body 33, and a sensor (not shown) that detects a rotation direction and a rotation amount which are rotation positions of the rotation knob. The reference changing operation tool 34 is configured so that the rotation knob can be rotated in any direction. The reference change operating tool 34 sends a signal to the terminal side control device 42 about a correction angle θ1 (see FIG. 5A), which is an angle between the rotation position of the rotation knob and the vehicle direction reference Bv to the operation direction reference Bo. It is configured to communicate.

The suspended load moving operation tool 35, which is the first operating unit, receives an instruction to move the load W in an arbitrary direction at an arbitrary speed on an arbitrary horizontal plane. The suspended load moving operation tool 35 includes an operation stick that stands up substantially vertically from the operation surface of the main body 33, and a sensor (not shown) that detects the tilt direction and the tilt amount of the operation stick. The suspended load moving operation tool 35 is configured so that the operation stick can be tilted in any direction. The suspended load moving operation tool 35 sends a signal about the tilt angle θ2 (see FIG. 5B) between the tilt direction of the operation stick detected by the sensor and the operation direction reference Bo and the tilt amount thereof to the terminal side control device 42. It is configured to communicate to. The suspended load moving operation tool 35 includes an arrow Aa indicating an upward direction toward the operation surface of the main body 33, an arrow Ab indicating a right direction toward the operation surface, and an arrow Ac indicating a downward direction toward the operation surface. The arrow Ad indicating the left direction toward the operation surface is displayed as a guideline for the tilt angle θ2 of the suspended load moving operation tool 35.

The terminal-side turning operation tool 36 is for inputting an instruction to turn the crane device 6 in an arbitrary moving direction at an arbitrary moving speed. The terminal-side turning operation tool 36 includes an operation stick that stands up substantially vertically from the operation surface of the main body 33, and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The terminal-side turning operation tool 36 is configured to be tiltable in a direction instructing a left turn and a direction instructing a right turn, respectively.

The terminal-side expansion / contraction operation tool 37 is for inputting an instruction to expand / contract the boom 9 at an arbitrary speed. The terminal-side telescopic operation tool 37 includes an operation stick that stands up from the operation surface of the main body 33, and a sensor (not shown) that detects the tilt direction and tilt amount thereof. The terminal-side expansion / contraction operating tool 37 is configured to be tiltable in a direction instructing stretching and a direction instructing contraction.

The terminal-side main drum operating tool 38m is for inputting an instruction to rotate the main winch 13 in an arbitrary direction at an arbitrary speed. The terminal-side main drum operating tool 38m is composed of an operation stick that stands up from the operation surface of the main body 33 and a sensor (not shown) that detects the tilting direction and tilting amount thereof. The terminal-side main drum operating tool 38m is configured to be tiltable in a direction instructing winding and winding of the main wire rope 14, respectively. The terminal-side subdrum operating tool 38s is similarly configured.

The terminal-side undulating operation tool 39 is for inputting an instruction to undulate the boom 9 at an arbitrary speed. The terminal-side undulating operation tool 39 includes an operation stick that stands up from the operation surface of the main body 33, and a sensor (not shown) that detects the tilting direction and tilting amount thereof. The terminal-side undulating operation tool 39 is configured to be tiltable in a direction instructing standing up and a direction instructing undulation.

The terminal side display device 40 displays various information such as the attitude information of the crane 1 and the information of the luggage W. The terminal-side display device 40 is composed of an image display device such as a liquid crystal screen. The terminal-side display device 40 is provided on the operation surface of the main body 33. On the terminal side display device 40, a reference figure G schematically showing the vehicle 2 of the crane 1 is displayed as an image showing the direction of the operation direction reference Bo of the remote control terminal 32. The reference figure G is drawn so that the vehicle direction reference Bv in the vehicle 2 can be recognized. The reference figure G is rotated and displayed in conjunction with the rotation position of the reference change operation tool 34. That is, on the terminal side display device 40, the relative of the operation direction reference Bo (see the solid line arrow) and the vehicle direction reference Bv (see the two-dot chain arrow) reflecting the rotation direction and the amount of rotation of the reference change operation tool 34. The positional relationship is displayed.

Further, the terminal side display device 40 surrounds the reference figure G, and has an arrow Aa indicating an upward direction toward the operation surface of the main body 33, an arrow Ab indicating an upward direction toward the operation surface, and an arrow Ab indicating an upward direction toward the operation surface. The arrow Ac indicating the downward direction and the arrow Ad indicating the left direction toward the operation surface are displayed as a guideline for the tilt angle θ2 of the suspended load moving operation tool 35.

As shown in FIG. 4, the terminal-side communication device 41 receives the control information and the like of the crane device 6 and transmits the control information and the like from the remote control terminal 32. The terminal-side communication device 41 is provided inside the main body 33. The terminal-side communication device 41 is configured to transmit to the terminal-side control device 42 when it receives a video i, a control signal, or the like from the crane device 6. Further, the terminal-side communication device 41 is configured to transmit control information from the terminal-side control device 42 to the crane device 6 of the crane 1.

The terminal side control device 42, which is a control unit, controls the remote control terminal 32. The terminal side control device 42 is provided in the main body 33 of the remote control terminal 32. The terminal-side control device 42 may be substantially configured such that a CPU, ROM, RAM, HDD and the like are connected by a bus, or may be configured to be composed of a one-chip LSI or the like. The terminal-side control device 42 includes a suspended load moving operation tool 35, a reference change operation tool 34, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal. Various programs and data are stored for controlling the operation of the side undulating operation tool 39, the terminal side display device 40, the terminal side communication device 41, and the like.

The terminal-side control device 42 includes a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal-side undulation operation tool 39. It is connected and can acquire an operation signal consisting of the tilt direction and the tilt amount of the operation stick of each operation tool. Further, the terminal-side control device 42 is connected to the reference change operation tool 34, and can acquire an operation signal consisting of a rotation direction and a rotation angle which are rotation positions of the reference change operation tool 34.

The terminal-side control device 42 is an operation acquired from each sensor of the terminal-side turning operation tool 36, the terminal-side expansion / contraction operation tool 37, the terminal-side main drum operation tool 38m, the terminal-side sub-drum operation tool 38s, and the terminal-side undulation operation tool 39. From the stick operation signal, control signals for the corresponding turning valve 23, expansion / contraction valve 24, undulating valve 25, main valve 26m and sub valve 26s can be generated.

The terminal-side control device 42 is connected to the terminal-side display device 40, and the terminal-side display device 40 can display the image i and various information from the crane device 6. Further, the terminal-side control device 42 can rotate and display the reference figure G (or the reference coordinate axis) in conjunction with the rotation direction and the correction angle θ1 acquired from the rotation position of the rotation knob of the reference change operation tool 34. The terminal-side control device 42 is connected to the terminal-side communication device 41, and can transmit and receive various information to and from the communication device 22 of the crane device 6 via the terminal-side communication device 41.

As shown in FIG. 5A, the terminal side control device 42 (see FIG. 4) has a rotation direction which is a rotation position acquired from the reference change operation tool 34 which has been rotated, and an angle from the vehicle direction reference Bv. Based on the operation signal for a certain correction angle θ1, the operation direction reference Bo is rotated relative to the vehicle direction reference Bv. For example, when the reference changing operation tool 34 is rotated in one direction (right direction in FIG. 5A) to the position of the angle θ1, the terminal side control device 42 has the correction direction in the other direction (FIG. 5A). The operation direction reference Bo is rotated from the vehicle direction reference Bv as the correction angle θ1 to correct the direction of the operation direction reference Bo. At this time, the terminal-side control device 42 sets the reference figure G displayed on the terminal-side display device 40 in the direction of the operation direction reference Bo based on the operation signal for the correction angle θ1 from the reference change operation tool 34. The remote control terminal 32 is rotated from the upper direction to the position of the correction angle θ1 in one direction (right direction in FIG. 5A).

As shown in FIG. 5B, the terminal-side control device 42 (see FIG. 4) is tilted, which is an angle between the operation direction reference Bo and the tilting direction of the operation stick, which is acquired from the suspended load moving operation tool 35. The movement direction and movement speed of the luggage W from the operation direction reference Bo are calculated based on the operation signals for the angle θ2, the tilt direction, and the tilt amount. For example, in a state where the direction of the operation direction reference Bo and the direction of the vehicle direction reference Bv are the same, when the suspended load moving operation tool 35 is tilted to the left or right side of the operation direction reference Bo by the tilt angle θ2. The terminal-side control device 42 has a correction angle θ1 set by the reference changing operation tool 34 (correction angle θ1 is 0 ° in FIG. 5B) and its correction direction (correction angle θ1 in FIG. 5B). The correction direction is not set because it is 0 °), and the movement angle θ of the luggage W with respect to the vehicle direction reference Bv is calculated from the tilt angle θ2. The terminal-side control device 42 calculates a control signal for moving the load W in the direction of the movement angle θ at a movement speed according to the amount of tilt.

Next, the setting of the operation direction reference Bo in the remote control terminal 32 and the control of the crane device 6 by the remote control terminal 32 will be described with reference to FIGS. 6 to 8. As the direction of the vehicle 2 of the crane 1, the forward direction of the vehicle 2 (the direction of the cabin 17 with respect to the boom 9) is the forward direction, the reverse direction (the direction facing the boom 9 as the reference) is the backward direction, and the right side toward the front direction. Is to the right, and the left side is to the left when facing the front. In the present embodiment, the vehicle direction reference Bv (one-dot chain arrow in FIGS. 5 to 8) is set in the front direction of the vehicle 2, and the operation direction reference Bo (broken line arrow in FIGS. 5 to 8) of the remote control terminal 32 is set. Is set in the upward operation direction toward the operation surface of the main body 33 (direction of arrow Aa displayed on the suspended load moving operation tool 35 and the terminal side display device 40). Further, for the correction angle θ1 and the tilt angle θ2, the left direction from the arrow Aa direction is the + direction, the right direction from the arrow Aa direction is the − direction, and each code is used for adjusting the angle.

As shown in FIG. 6, when the reference change operating tool 34 is rotated to the right by the correction angle θ1 from the vehicle direction reference Bv as a rotation position where the vehicle direction reference Bv and the operation direction reference Bo do not match (FIG. 6). 5 (a)), the remote control terminal 32 corrects the operation direction reference Bo to a position rotated by the correction angle θ1 in the left direction which is the correction direction from the vehicle direction reference Bv. That is, in the remote control terminal 32, the operation direction reference Bo is set at a position rotated to the left by the correction angle θ1 from the vehicle direction reference Bv. At this time, on the terminal side display device 40 of the remote operation terminal 32, the direction of the correction angle θ1 is to the right from the arrow Aa in which the front direction of the reference figure G schematically representing the vehicle 2 of the crane 1 is the operation direction reference Bo. It is displayed facing.

As a tilting operation of the suspended load moving operation tool 35 of the remote control terminal 32 in an arbitrary direction, for example, when the tilting operation is performed by an arbitrary tilting amount in the direction of the tilting angle θ2 in the left direction from the arrow Aa which is the operation direction reference Bo. The terminal-side control device 42 outputs an operation signal regarding the tilt angle θ2 and the tilt amount, which is the angle between the operation direction reference Bo and the tilt direction in the left direction (+ direction) of the operation stick, and the load moving operation tool 35. Obtained from a sensor (not shown). Further, the terminal side control device 42 has a load from the vehicle direction reference Bv from the acquired operation signal and the correction angle θ1 in the left direction (+ direction) which is the correction amount of the operation direction reference Bo from the vehicle direction reference Bv. A control signal for moving the load W is calculated at a movement direction of W movement angle θ = correction angle θ1 + tilt angle θ2 and a movement speed according to the tilt amount. The remote control terminal 32 has a turning valve 23, a telescopic valve 24, an undulating valve 25, a main valve 26m, and a sub valve corresponding to the movement angle θ calculated by the terminal side control device 42 and the tilt amount. The control signal for 26s is generated and transmitted to the crane 1 by the communication device 41 on the terminal side.

The terminal-side control device 42 generates a control signal for the crane device 6 for moving the load W while acquiring operation signals for the tilt direction, tilt angle θ2, and tilt amount of the suspended load moving operation tool 35. During this period, the rotation process of the operation direction reference Bo with respect to the vehicle direction reference Bv when the operation signal for the correction angle is acquired from the reference change operation tool 34 is not performed.
For example, as shown in FIG. 7A, even if the reference changing operation tool 34 is rotated by an angle θa in one direction, the terminal side control device 42 determines that the operation signal of the reference changing operation tool 34 is invalid. Therefore, no correction is performed to further rotate the operation direction reference Bo by the correction angle θa.

On the other hand, the terminal side control device 42 outputs a control signal to the crane device 6 for moving the load W while the operation signals regarding the tilt direction, the tilt angle θ2 and the tilt amount of the suspended load moving operation tool 35 are not acquired. While it is not being generated, the rotation process of the operation direction reference Bo with respect to the vehicle direction reference Bv when the operation signal for the correction angle is acquired from the reference change operation tool 34 is performed.
For example, as shown in FIG. 7B, when the reference changing operation tool 34 is rotated by an angle θa in one direction, the terminal side control device 42 operates the operation direction based on the operation signal of the reference changing operation tool 34. Correction is performed by further rotating the reference Bo by the correction angle θa.

In this embodiment, the remote control terminal 32 determines that the operation signal from the reference change operation tool 34 is invalid while the operation signal of the suspended load movement operation tool 35 is acquired by the terminal side control device 42. However, a normally closed contact (B contact) may be provided between the reference changing operation tool 34 and the terminal side control device 42, and the contact may be cut off by operating the suspended load moving operation tool 35.

As shown in FIG. 6, when the crane 1 receives the control signal of the movement speed according to the movement angle θ of the luggage W and the tilt amount from the remote control terminal 32, the crane 1 receives the luggage from the front direction of the vehicle 2 which is the vehicle direction reference Bv. The luggage W is moved in the direction of the moving angle θ of W at a speed corresponding to the amount of tilt. In the crane 1, the suspended load moving operation tool 35 is tilted to the left (+ direction) from the arrow Aa by a predetermined tilting amount at an tilting angle θ2, so that the transport speed corresponding to the tilting amount of the suspended load moving operating tool 35. In the left direction (+ direction) of the vehicle direction reference Bv, the luggage W is moved in the direction of the movement angle θ of the luggage W = the correction angle θ1 + the tilt angle θ2. At this time, the crane 1 controls the turning hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like according to the movement locus of the load W.

With this configuration, the crane 1 is a suspended load moving operation tool by the reference changing operation tool 34 without the operator grasping the relative position of the remote control terminal 32 with respect to the crane device 6 from the remote control terminal 32. The operation direction reference Bo of 35 is set at an arbitrary angle with respect to the vehicle direction reference Bv of the work vehicle 2. At this time, since the operation direction reference Bo with respect to the vehicle direction reference Bv is displayed on the terminal side display device 40 of the remote control terminal 32, the operator visually understands the relationship between the vehicle direction reference Bv and the operation direction reference Bo. Easy to grasp. Further, the remote control terminal 32 cannot change the operation direction reference Bo arbitrarily set by the reference change operation tool 34 by the operation of the reference change operation tool 34 while the suspended load movement operation tool 35 is being operated. The person does not lose the recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operation tool 35. As a result, erroneous operation of the crane device 6 at the time of remote control can be prevented, and the remote control of the work device can be easily and easily performed.

Next, the crane 1, which is the second embodiment of the crane according to the present invention, will be described with reference to FIGS. 8 and 9. The crane 1 according to each of the following embodiments is assumed to be applied in place of the crane 1 in the crane 1 shown in FIGS. 1 to 10, by using the name, the drawing number, and the reference numeral used in the description. In the following embodiments, the same points as those of the above-described embodiments will be omitted, and the differences will be mainly described.

As shown in FIG. 8, the crane 1 has a remote control terminal 43 capable of remotely controlling the crane device 6. The remote control terminal 43 is used when the crane 1 is remotely controlled. The remote control terminal 43 has an operation permission in addition to the main body 33, the suspended load moving operation tool 35 which is the first operation unit provided on the operation surface of the main body 33, and the reference change operation tool 34 which is the second operation unit. It is equipped with a switch 44 and the like.

The operation permission switch 44 permits the transmission of control signals of the turning valve 23, the expansion / contraction valve 24, the undulating valve 25, the main valve 26m, and the sub valve 26s from the terminal side communication device 41. The operation permission switch 44 is provided at a position where the operator can operate the suspended load moving operation tool 35 at the same time. For example, the operation permission switch 44 is provided as a deadman switch on the side of the suspended load moving operation tool 35 of the main body 33 at a position where the operator grips the main body 33 when operating the suspended load moving operation tool 35. (See Fig. 9). With this configuration, the remote control terminal 43 permits the transmission of the control signal from the terminal-side communication device 41 when the operator intentionally operates the suspended load moving operation tool 35, and the operator's intention. No The control signal is not transmitted from the terminal-side communication device 41 in the operation of the suspended load moving operation tool 35.

The terminal-side control device 42 is connected to the operation permission switch 44, and can acquire the operation signal of the operation permission switch 44.

As shown in FIG. 9A, the suspended load moving operation tool 35 is in a state where the operation direction reference Bo is corrected to a position rotated by the correction angle θ1 in the left direction which is the correction direction from the vehicle direction reference Bv. When the tilting operation is performed by an arbitrary tilting amount in the direction of the tilting angle θ2 in the left direction from the arrow Aa which is the operation direction reference Bo, the terminal side control device 42 suspends and moves the operation signal regarding the tilting angle θ2 and the tilting amount. A control signal acquired from a sensor (not shown) of the operating tool 35 to move the luggage W from the vehicle direction reference Bv at a movement direction of the luggage W = correction angle θ1 + tilt angle θ2 and a movement speed according to the tilt amount. calculate. Then, the remote control terminal 43 includes a turning valve 23, a telescopic valve 24, an undulating valve 25, a main valve 26m, and a sub valve corresponding to the movement angle θ calculated by the terminal side control device 42 and the tilt amount. The control signal for 26s is generated and transmitted to the crane 1 by the communication device 41 on the terminal side.

While the terminal-side control device 42 is acquiring the operation signal of the operation permission switch 44, that is, while the operation permission switch 44 is being operated (see the black arrow), the terminal-side communication device 41 uses the calculated control signal. (See FIG. 8) to transmit. The terminal-side control device 42 rotates the operation direction reference Bo with respect to the vehicle direction reference Bv when the operation signal for the correction angle θ1 is acquired from the reference change operation tool 34 while the operation signal of the operation permission switch 44 is acquired. No processing is performed. For example, even if the reference change operation tool 34 is rotated by an angle θa in one direction, the terminal side control device 42 determines that the operation signal of the reference change operation tool 34 is invalid, and corrects the operation direction reference Bo by the correction angle θa. Do not make corrections to rotate as.

As shown in FIG. 9B, the terminal-side control device 42 is used from the reference changing operation tool 34 while the operation permission switch 44 is not being operated, that is, while the operation permission switch 44 is not being operated. Rotation processing of the operation direction reference Bo with respect to the vehicle direction reference Bv when the operation signal for the correction angle θ1 is acquired is performed. For example, when the reference change operation tool 34 is rotated by an angle θa in one direction, the terminal side control device 42 further rotates the operation direction reference Bo by a correction angle θa based on the operation signal of the reference change operation tool 34. Make corrections.

With this configuration, the crane 1 not only receives the control signal from the remote control terminal 43 but also receives the control signal from the remote control terminal 43 only while the operation permission switch 44 acting as the deadman switch of the suspended load moving operation tool 35 is operated. The reference of the operating direction of the crane device 6 is not changed during the operation of the operation permission switch 44. That is, the remote control terminal 43 not only prevents the crane device 6 from operating due to an unintended operation by the operator, but also suppresses the loss of recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operation tool 35. To. As a result, erroneous operation during remote control of the crane device 6 can be prevented, and remote control of the crane device 6 can be easily and easily performed.

Next, the crane 1, which is the third embodiment of the crane according to the present invention, will be described with reference to FIGS. 2, 4, 10, and 11. The crane 1 has a remote control terminal 45 capable of remotely controlling the crane device 6.

As shown in FIGS. 2 and 4, the vehicle 2 of the crane 1 and the remote control terminal 45 have a vehicle side orientation sensor 46 which is a reference setting unit for automatically setting a reference of the operating direction of the crane device 6. A terminal side orientation sensor 47 is provided. The vehicle-side directional sensor 46 and the terminal-side directional sensor 47 are composed of a three-axis type directional sensor. The vehicle side directional sensor 46 and the terminal side directional sensor 47 detect the geomagnetism and calculate the absolute azimuth. The vehicle side direction sensor 46 is configured to calculate the direction with respect to the front direction of the vehicle 2. The terminal-side orientation sensor 47 is configured to calculate an orientation with respect to the upward direction toward the operation surface of the main body 33 of the remote-controlled terminal 45.

The control device 31 is connected to the vehicle side directional sensor 46 and can acquire a directional signal in the front direction of the vehicle 2. Further, the terminal side control device 42 is connected to the terminal side direction sensor 47, and can acquire an upward direction signal toward the operation surface of the main body 33 of the remote control terminal 45. Further, the terminal-side control device 42 can acquire the directional signal in the front direction of the vehicle 2 via the terminal-side communication device 41.

As shown in FIG. 10, the terminal-side display device 40 displays various information. The terminal-side display device 40 displays an image showing the orientation of the remote-controlled terminal 45 with reference to the upward direction toward the operation surface of the main body 33. Further, in the terminal side display device 40, the reference figure G schematically representing the vehicle 2 of the crane 1 is displayed based on the directional signal from the vehicle side directional sensor 46 of the vehicle 2. That is, the reference figure G is displayed so that the direction in the front direction of the vehicle 2 and the direction displayed on the terminal side display device 40 match. That is, the terminal-side control device 42 displays the reference figure G on the terminal-side display device 40 in conjunction with the forward orientation of the vehicle 2 acquired via the terminal-side communication device 41.

As shown in FIG. 10A, in a state where the vehicle 2 is facing east and the operation direction reference Bo, which is upward toward the operation surface of the main body 33 of the remote control terminal 45, is facing north. On the terminal side display device 40, "N" indicating north, "E" indicating east, "S" indicating south, and "W" indicating west are displayed centering on the reference figure G. The reference figure G is displayed in a state where the front direction is directed to the "E" direction.

As shown in FIG. 10B, when the remote control terminal 45 is rotated by 45 ° with the correction angle θ3 toward the east side, the terminal side control device 42 moves from the north direction toward the east side, which is the correction direction. The azimuth signal from the terminal-side azimuth sensor 47 rotated by 45 ° is acquired, and the operation direction reference Bo is corrected to the northeast. At this time, on the terminal side display device 40 of the remote control terminal 45, "NE" indicating northeast is displayed at a position upward toward the operation surface of the main body 33, which is an operation direction reference Bo, and the corresponding positions are displayed. "SE" indicating southeast, "SW" indicating southwest, and "NW" indicating northwest are displayed in. Further, the front direction of the reference figure G is displayed facing east (the "E" direction in FIG. 10A), which is the direction of the correction angle θ3, on the east side of the operation direction reference Bo. As described above, the remote control terminal 45 is configured to automatically set the operation direction reference Bo by the vehicle side direction sensor 46 and the terminal side direction sensor 47.

As shown in FIG. 11, in a state where the remote control terminal 45 is rotated by 45 ° as a correction angle θ3 toward the east side, the operation direction reference Bo is used as a tilting operation of the suspended load moving operation tool 35 in an arbitrary direction. It is assumed that the tilting operation is performed by an arbitrary amount of tilting in the direction of 45 ° with the tilting angle θ2 from the northeastern direction to the eastern side. The remote control terminal 45 acquires an operation signal regarding the tilt angle θ2 and the tilt amount toward the east, which is an orientation of 45 ° from the northeast to the east, from a sensor (not shown) of the suspended load moving operation tool 35. Then, since the calculated tilting operation direction coincides with the east, which is the direction of the vehicle direction reference Bv, the remote control terminal 45 calculates the movement angle θ of the luggage W with respect to the vehicle 2 as the front direction of the vehicle 2. .. The remote control terminal 45 calculates a control signal for moving the luggage W at a movement speed according to the movement angle θ and the tilt amount. The remote control terminal 45 generates control signals for the turning valve 23, the expansion / contraction valve 24, the undulating valve 25, the main valve 26m, and the sub valve 26s, and transmits the control signals to the crane 1 by the terminal side communication device 41.

The terminal-side control device 42 generates a control signal for the crane device 6 for moving the load W while acquiring operation signals for the tilt direction, tilt angle θ2, and tilt amount of the suspended load moving operation tool 35. During this period, the operation direction reference Bo determined from the direction of the remote control terminal 45 at the time when the operation signal is acquired from the suspended load moving operation tool 35 is fixed. That is, the terminal-side control device 42 does not perform the rotation process of the operation direction reference Bo based on the directional signal from the terminal-side directional sensor 47. For example, even if the remote control terminal 45 is rotated in the direction of the correction angle θ3 in one direction (see the black arrow), the terminal side control device 42 determines that the direction signal from the terminal side direction sensor 47 is invalid, and determines that the direction signal is invalid. No correction is performed to rotate the operation direction reference Bo by the correction angle θ3. That is, the remote control terminal 45 is arranged with its upward direction facing north, but the operation direction reference Bo is maintained in the northeast direction. The terminal side control device 42 generates a control signal for the crane device 6 for moving the load W while the operation signals for the tilt direction, the tilt angle θ2 and the tilt amount of the suspended load moving operation tool 35 are not acquired. During this period, the operation direction reference Bo is rotated with respect to the vehicle direction reference Bv when the direction signal for the correction angle θ3 is acquired from the terminal side direction sensor 47.

With this configuration, the crane 1 is a crane device 6 that is automatically set from the vehicle side direction sensor 46 and the terminal side direction sensor 47 based on the geomagnetic direction while the suspended load moving operation tool 35 is being operated. The reference of the working direction of is not changed. That is, the remote control terminal 45 prevents the operator from unintentionally changing the correction angle θ3 during operation, and suppresses the loss of recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operation tool 35. As a result, erroneous operation during remote control of the crane device 6 can be prevented, and remote control of the crane device 6 can be easily and easily performed.

Next, the mode of displaying the image i of the luggage W by the camera 9b will be described with reference to FIGS. 12 and 13. The crane 1 can display the image i from the camera 9b provided at the tip of the boom 9 on the terminal side display device 40 of the remote control terminals 32, 43, 45.

The terminal-side control device 42 (see FIG. 4) of the remote-controlled terminals 32, 43, and 45 can acquire the image i captured by the camera 9b via the terminal-side communication device 41. Further, the terminal-side control device 42 can display the arrangement mark Ma on the acquired image (see FIG. 12). Further, the terminal-side control device 42 can rotate the acquired video i in response to the operation signal of the reference changing operation tool 34 and display it on the terminal-side display device 40 (see FIG. 12). Further, the terminal-side control device 42 can display the movement mark Mt in response to the acquired operation signal of the suspended load moving operation tool 35 (see FIG. 13).

As shown in FIG. 12A, the terminal-side display device 40 displays the image i from vertically above the luggage W photographed by the camera 9b. The image i includes an image in a predetermined range centered on the luggage W. Further, on the terminal side display device 40, in addition to the image i in a predetermined range centered on the luggage W, an arrangement mark Ma (triangular mark in the present embodiment) indicating the arrangement direction of the vehicle 2 or the crane device 6 is provided. It is displayed. Thereby, the operator can always grasp the arrangement direction of the vehicle 2 or the crane device 6 from the luggage W on the image i regardless of the direction of the camera 9b with respect to the vehicle 2 or the crane device 6. The frame shape of the image i displayed on the terminal side display device 40 may be rectangular or circular.

Further, on the terminal side display device 40, in addition to the image i in a predetermined range centered on the luggage W, a movement mark Mt (black arrow in FIG. 13) indicating the movement direction and movement speed of the luggage W is suspended. It can be displayed according to the tilting direction of the moving operation tool 35. As a result, the operator can always grasp the moving direction of the luggage W on the image i regardless of the orientation of the camera 9b with respect to the vehicle 2 or the crane device 6.

The terminal-side control device 42 of the remote-controlled terminals 32, 43, and 45 can acquire the image i taken by the camera 9b via the terminal-side communication device 41. Further, the terminal-side control device 42 can display the arrangement mark Ma on the acquired image. Further, the terminal-side control device 42 can rotate the acquired video i according to the operation signal of the reference change operation tool 34 and display it on the terminal-side display device 40. Further, the terminal-side control device 42 can display the movement mark Mt in response to the acquired operation signal of the suspended load moving operation tool 35.

As shown in FIG. 12B, the terminal-side control device 42 of the remote control terminals 32 and 45 is based on the rotation direction, which is the rotation position acquired from the reference change operation tool 34 that has been rotated, and the vehicle direction reference Bv. When the operation signal for the correction angle θ1 which is an angle is acquired, the image i displayed on the terminal side display device 40 is rotated by the correction angle θ1. For example, when the reference changing operation tool 34 is rotated in one direction (right direction in FIG. 5A) from the operation direction reference Bo to the position of the angle θ1, the terminal side control device 42 performs the image i and the arrangement mark Ma. Is rotated in one direction by the correction angle θ1 and displayed on the terminal side display device 40. As for the remote control terminal 43, the image i is rotated by the rotation of the remote control terminal 43 itself.

As shown in FIG. 13, the terminal-side control device 42 of the remote control terminals 32 and 45 has a tilt angle θ2, which is an angle between the operation direction reference Bo acquired from the suspended load moving operation tool 35 and the tilt direction of the operation stick. When the operation signals for the tilting direction and the tilting amount are acquired, an arrow indicating the moving direction of the luggage W is displayed on the terminal side display device 40 as a movement mark Mt in a size corresponding to the moving speed of the luggage W. For example, when the suspended load moving operation tool 35 is tilted to the left or right side of the operation direction reference Bo by the tilt angle θ2, the terminal side control device 42 adjusts the correction angle θ1 set by the reference change operation tool 34 and its correction. The movement mark Mt indicating the movement angle θ and the movement speed of the luggage W with respect to the vehicle direction reference Bv calculated from the direction and the tilt angle θ2 is displayed.

The terminal-side control device 42 of the remote-controlled terminals 32, 43, and 45 moves the load W while acquiring operation signals for the tilt direction, tilt angle θ2, and tilt amount of the suspended load moving operation tool 35, that is, the load W. While the control signal for the crane device 6 is being generated, the rotation processing of the image i and the arrangement mark Ma when the operation signal for the correction angle is acquired from the reference changing operation tool 34 is not performed.

With this configuration, the operator always recognizes the arrangement direction of the crane 1 with the arrangement mark Ma in the image i, and always recognizes the movement direction and the movement speed of the luggage W with the movement mark Mt. It is easy to grasp the positional relationship between 1 and the luggage W and its surroundings. As a result, the crane 1 can easily and easily remotely control the crane device 6.

The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. Further, of course, it can be carried out in various forms, and the scope of the present invention is indicated by the description of the scope of claims, and further, the equal meaning described in the scope of claims, and all within the scope. Including changes.

1 Crane 6 Crane device 31 Control device 32 Remote control terminal 34 Standard change operation tool 35 Suspended load movement operation tool 42 Terminal control device

Claims (5)

A remote control terminal for work equipment installed in a work vehicle.
A control unit configured to be able to acquire a signal from the control device of the work device and controlling the operation of the remote control terminal.
A first operation unit that remotely operates the work device,
A second operating unit for setting a reference for the operating direction of the working device by operating the first operating unit is provided.
The control unit calculates the operating direction of the work device with respect to the operation of the first operation unit based on the set value of the second operation unit and transmits it to the control device, and at the same time, the first operation unit. A remote control terminal that prohibits the change of the set value while the is being operated. When the control unit acquires the operation signal from the first operation unit, the control signal obtained by converting the operation signal of the first operation unit based on the set value of the second operation unit is transmitted to the control device. The remote control terminal according to claim 1, wherein the operation signal of the second operation unit is invalidated while transmitting and acquiring the operation signal. A third operation unit that permits transmission of a control signal obtained by converting an operation signal of the first operation unit based on a set value of the second operation unit is provided.
A claim that enables the control unit to transmit the control signal to the control device while the control unit acquires the operation signal from the third operation unit, and invalidates the operation signal of the second operation unit. Item 1. The remote control terminal according to item 1. A remote control terminal for work equipment installed in a work vehicle.
A control unit that is configured to be communicable with the control device of the work device and controls the operation of the remote control terminal.
A first operation unit that remotely controls the work device, and
A reference setting unit for automatically setting a reference for the operating direction of the work device by the operation of the first operation unit is provided.
The control unit calculates the operating direction of the work device with respect to the operation of the first operation unit based on the set value of the reference setting unit and transmits the operation direction to the control device, and the first operation unit operates. A remote control terminal that prohibits the change of the set value while the setting value is set. A work vehicle equipped with a remotely controlled work device
A remote control terminal having a first operation unit for remotely controlling the work device and a second operation unit for setting a reference for the operating direction of the work device by operating the first operation unit.
It is configured to be able to acquire a signal from the remote control terminal, and includes a control device that controls the operation of the work device.
The remote control terminal calculates the operating direction of the work device with respect to the operation of the first operation unit based on the set value of the second operation unit and transmits the operation direction to the control device, and at the same time, the first operation. While the unit is being operated, changing the set value is prohibited,
A work vehicle in which the control device operates the work device in the operating direction of the work device acquired from the remote control terminal.

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