WO2018142992A1 - Remote control system for industrial vehicles, industrial vehicle, remote control device, remote control program for industrial vehicles, and remote control method for industrial vehicles - Google Patents

Remote control system for industrial vehicles, industrial vehicle, remote control device, remote control program for industrial vehicles, and remote control method for industrial vehicles Download PDF

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Publication number
WO2018142992A1
WO2018142992A1 PCT/JP2018/001843 JP2018001843W WO2018142992A1 WO 2018142992 A1 WO2018142992 A1 WO 2018142992A1 JP 2018001843 W JP2018001843 W JP 2018001843W WO 2018142992 A1 WO2018142992 A1 WO 2018142992A1
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WO
WIPO (PCT)
Prior art keywords
mode
remote operation
vehicle
remote
communication unit
Prior art date
Application number
PCT/JP2018/001843
Other languages
French (fr)
Japanese (ja)
Inventor
知典 神谷
孝治 比嘉
浩伸 岡本
楫屋　宣敏
新矢 後藤
Original Assignee
株式会社 豊田自動織機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from JP2017133751A external-priority patent/JP6819490B2/en
Application filed by 株式会社 豊田自動織機 filed Critical 株式会社 豊田自動織機
Priority to EP18748504.0A priority Critical patent/EP3578501B1/en
Priority to US16/482,489 priority patent/US11454965B2/en
Publication of WO2018142992A1 publication Critical patent/WO2018142992A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls

Definitions

  • the present invention relates to an industrial vehicle remote control system, an industrial vehicle, a remote control device, an industrial vehicle remote control program, and an industrial vehicle remote control method.
  • Patent Document 1 discloses a remote control device as a remote operation device for remotely operating a forklift. This document describes remotely operating a forklift handling work from a position away from the forklift.
  • the industrial vehicle and the remote control device perform wireless communication with each other.
  • remote operation related to traveling may be possible from a position that is excessively distant from an appropriate range that is fully visible to the operator.
  • an erroneous operation or the like may occur in the remote operation related to traveling of the industrial vehicle.
  • An object of the present invention is to provide an industrial vehicle remote control system, an industrial vehicle, a remote control device, and an industrial vehicle that can prevent an operator from performing remote control related to traveling of the industrial vehicle from a position that is excessively separated by using the remote control device.
  • a remote control program for industrial use and a remote control method for industrial vehicles are provided.
  • an industrial vehicle having a vehicle communication unit, an operating device communication unit that performs wireless communication with the vehicle communication unit, and remotely controlling the industrial vehicle are provided.
  • the remote control system for industrial vehicles provided with the remote control apparatus used for is provided.
  • the industrial vehicle remote control system includes a grasping unit that grasps a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller communication unit, and a received radio wave intensity grasped by the grasping unit is determined in advance.
  • the industrial vehicle is disposed within a permission range in which remote operation relating to traveling of the industrial vehicle by the remote operation device is permitted.
  • a state in which the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or lower than the first threshold intensity is continued for a predetermined second determination period.
  • the prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
  • an industrial vehicle that is remotely operated by a remote operation device having an operation device communication section.
  • the industrial vehicle has a vehicle communication unit that performs wireless communication with the controller communication unit, a grasping unit that grasps a received radio wave intensity of a signal received by the vehicle communication unit, and a received radio wave intensity that is grasped by the grasping unit.
  • the industrial vehicle falls within a permitted range in which remote operation related to the travel of the industrial vehicle by the remote operation device is permitted when the state equal to or higher than the first threshold intensity is continued for a predetermined first determination period.
  • a determination unit that determines whether or not the industrial vehicle is located within a prohibited range that is farther from the remote control device than the permitted range when it is continued.
  • the prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
  • a remote control device used for remotely controlling an industrial vehicle having a vehicle communication unit.
  • the remote operation device includes an operation device communication unit that performs wireless communication with the vehicle communication unit, a grasping unit that grasps a received radio wave intensity of a signal received by the operation device communication unit, and a received radio wave intensity grasped by the grasping unit.
  • the remote control related to the traveling of the industrial vehicle by the remote control device is permitted.
  • a state in which the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or lower than the first threshold intensity is a predetermined second determination period.
  • a determination unit for determining whether or not the industrial vehicle is disposed within a prohibited range that is further away from the remote control device than the permitted range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
  • an industrial vehicle including a vehicle communication unit is remotely controlled using a remote operation device including an operation device communication unit that performs wireless communication with the vehicle communication unit.
  • An industrial vehicle remote control program for operation is provided.
  • the industrial vehicle remote control program is grasped by the grasping unit and the grasping unit for grasping the received radio wave intensity of the signal wirelessly communicated between the vehicle communication unit and the operation device communicating unit for the industrial vehicle or the remote operation device.
  • a state in which the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity is determined in advance. 2
  • it functions as a determination unit for determining whether or not an industrial vehicle is disposed within a prohibited range that is farther from the remote control device than the permitted range.
  • the prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
  • an industrial vehicle including a vehicle communication unit is remotely controlled using a remote operation device including an operation device communication unit that performs wireless communication with the vehicle communication unit.
  • a remote control method for an industrial vehicle to operate is provided.
  • the industrial vehicle remote control method includes a grasping step for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller communication unit, and a received radio wave intensity grasped by the grasping step is determined in advance.
  • the industrial vehicle is disposed within a permission range in which remote operation relating to traveling of the industrial vehicle by the remote operation device is permitted.
  • the state in which the received radio wave intensity grasped by the grasping step is less than the second threshold intensity set to be equal to or lower than the first threshold intensity is continued for a predetermined second determination period.
  • the prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
  • an industrial vehicle having a vehicle communication unit and an operation device communication unit for performing wireless communication with the vehicle communication unit are provided to remotely operate the industrial vehicle.
  • the remote control system for industrial vehicles provided with the remote control apparatus used for is provided.
  • the remote control mode related to the travel of the industrial vehicle by the remote control device includes a permission mode and a grace mode in which the remote control related to the travel of the industrial vehicle by the remote control device is permitted, a vehicle communication unit, This includes a prohibit mode in which remote control related to traveling of an industrial vehicle by a remote control device is prohibited even under a situation where wireless communication with the control device communication unit is performed.
  • the industrial vehicle remote control system includes a grasping unit that grasps a physical quantity related to a distance between the vehicle communication unit and the controller communication unit, and an industrial vehicle within the first range or the first range based on the physical quantity grasped by the grasping unit.
  • the availability determination unit for determining whether it is arranged in the second range farther away from the remote control device than the above, and the industrial vehicle by the availability determination under the situation where the remote operation mode is the permission mode Is provided with a remote operation mode control unit that shifts the remote operation mode from the permission mode to the grace mode, and a notification unit that notifies the remote operation mode. .
  • the remote operation mode control unit shifts the remote operation mode from the grace mode to the permission mode based on the fact that a predetermined permission mode transition condition is satisfied under the situation where the remote operation mode is the grace mode. After the operation mode shifts from the permission mode to the grace mode, the remote operation mode shifts from the grace mode to the prohibit mode based on the elapse of a predetermined grace period without the permission mode transition condition being satisfied.
  • an industrial vehicle having a vehicle communication unit, an operating device communication unit that performs wireless communication with the vehicle communication unit, and remotely controlling the industrial vehicle are provided.
  • the remote control system for industrial vehicles provided with the remote control apparatus used for is provided.
  • the industrial vehicle remote control system stores a grasping unit for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller communication unit, and threshold information regarding a threshold intensity that is a threshold value of the received radio wave intensity.
  • Permission range for remote control of industrial vehicle travel by remote control device based on comparison between stored storage unit, received radio wave intensity grasped by grasping part and threshold intensity set in threshold information A determination unit for determining whether or not the industrial vehicle is located in a prohibited range farther away from the remote control device than the permitted range.
  • the prohibited range is a range in which remote operation related to the traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed, and threshold information is determined in advance. It is updated when the updated condition is satisfied.
  • the schematic diagram of the remote control system for industrial vehicles The top view which shows each range typically.
  • the block diagram which shows the electric constitution of the remote control system for industrial vehicles in 1st Embodiment.
  • the graph which shows the relationship between received electric wave intensity and distance.
  • the flowchart which shows a remote operation start process.
  • the flowchart which shows a signal conversion control process.
  • the flowchart which shows a part of remote control mode control process.
  • the schematic diagram which shows typically a remote control device and a forklift when a forklift is arrange
  • the front view of the remote control device with which the operation screen in permission mode was displayed.
  • the front view of the remote control device with which the operation screen in prohibit mode was displayed.
  • the industrial vehicle remote control system 10 includes a forklift 20 as an industrial vehicle and a remote control device 50 used to remotely control the forklift 20.
  • the forklift 20 includes a body 22 in which a driver's seat 21 is formed, wheels 23, and a fork 24 that can move in the vertical direction as a cargo handling device that loads or unloads luggage. I have.
  • the body 22 has a frame 22a erected so as to surround the driver's seat 21, and a roof 22b that covers the driver's seat 21 from above.
  • the forklift 20 is configured such that a driver can sit on the driver's seat 21 and operate it.
  • Forklift 20 may be, for example, an engine type on which an engine is mounted, an EV type on which a power storage device and an electric motor are mounted, or an FCV type on which a fuel cell and an electric motor are mounted. May be.
  • the forklift 20 may be an HV type having an engine, a power storage device, and an electric motor, for example.
  • the forklift 20 includes a traveling actuator 25, a cargo handling actuator 26, a vehicle CPU 27 that controls the traveling actuator 25 and the cargo handling actuator 26, a vehicle memory 28, and a vehicle communication as a vehicle communication unit.
  • Unit 30 the forklift 20 includes a traveling actuator 25, a cargo handling actuator 26, a vehicle CPU 27 that controls the traveling actuator 25 and the cargo handling actuator 26, a vehicle memory 28, and a vehicle communication as a vehicle communication unit. Unit 30.
  • the traveling actuator 25 causes the forklift 20 to travel.
  • the travel actuator 25 rotates the wheel 23 and changes the traveling direction of the forklift 20.
  • the travel actuator 25 is an engine, a steering device, or the like.
  • the travel actuator 25 is an electric motor, a steering device, or the like that drives the wheels 23 to rotate. .
  • the cargo handling actuator 26 drives the fork 24.
  • the cargo handling actuator 26 includes a cargo handling motor and a mechanism for moving the fork 24 in the vertical direction using the driving force of the cargo handling motor.
  • the vehicle CPU 27 is configured to receive a control signal SGa. When the control signal SGa is input, the vehicle CPU 27 reads the control program stored in the vehicle memory 28 and executes the control program. The traveling actuator 25 and the cargo handling actuator 26 are controlled.
  • the vehicle CPU 27 can be said to be a vehicle ECU or a vehicle MPU.
  • the control signal SGa is a signal used in the network within the forklift 20 and is, for example, a CAN communication format signal.
  • the signal format of the control signal SGa is not limited to this and is arbitrary.
  • the vehicle communication unit 30 performs wireless communication with a remote control device 50 having a wireless communication function.
  • the vehicle communication unit 30 receives a remote operation signal SGb transmitted from the remote operation device 50 or transmits a transmission detection signal that is a signal related to vehicle information to the remote operation device 50.
  • the vehicle communication unit 30 controls the first and second antennas 31 and 32 for receiving the remote operation signal SGb transmitted from the remote operation device 50 and the remote operation signal SGb.
  • a signal conversion unit 33 configured to be convertible to the signal SGa and an interface 34 that outputs the control signal SGa converted by the signal conversion unit 33 are provided.
  • the first antenna 31 and the second antenna 32 are spaced apart from each other. Both antennas 31 and 32 are attached to the upper surface of the roof 22 b and are spaced apart in the left-right direction of the forklift 20.
  • both antennas 31 and 32 are not limited to the above, but are arbitrary.
  • the first antenna 31 may be disposed in the front portion of the forklift 20 in the roof 22b
  • the second antenna 32 may be disposed in the rear portion of the forklift 20 in the roof 22b.
  • both the antennas 31 and 32 may be shifted and arrange
  • At least one of the antennas 31 and 32 may be installed on the frame 22a.
  • the separation distance between the two antennas 31 and 32 may be sufficiently separated so that the two antennas 31 and 32 are not arranged at the null point at the same time.
  • the vehicle communication unit 30 selects either one of the antennas 31 and 32, and transmits / receives a signal to / from the remote communication unit 53 provided in the remote operation device 50 using the selected antenna. Specifically, the vehicle communication unit 30 receives from the remote communication unit 53 a remote operation signal SGb including remote operation data related to remote operation. The vehicle communication unit 30 is configured such that the received remote operation signal SGb is input to the signal conversion unit 33.
  • the signal format of the remote operation signal SGb is a format corresponding to wireless communication, and is different from the signal format of the control signal SGa.
  • the signal conversion unit 33 performs signal conversion between the remote operation signal SGb and the control signal SGa having different signal formats (in other words, signal forms). It can be said that the remote operation signal SGb is a signal in a wireless communication format.
  • the remote operation signal SGb and the control signal SGa have different signal formats, but the content of the data included in the signal, specifically, the remote operation data that determines the specific operation mode of the forklift 20 is the same. That is, the signal conversion unit 33 can recognize the remote operation signal SGb, which is a communication format signal exchanged between the communication units 30 and 53 and is set with information related to remote operation (remote operation data), by the vehicle CPU 27. It is converted into a control signal SGa having a communication format signal and information relating to the remote operation set in the remote operation signal SGb.
  • the control signal SGa converted by the signal converter 33 is output from the interface 34 to the vehicle CPU 27. Thereby, the control signal SGa corresponding to the remote operation signal SGb is input to the vehicle CPU 27. Then, when the vehicle CPU 27 drives the travel actuator 25 based on the control signal SGa, the forklift 20 travels corresponding to the remote operation signal SGb.
  • the forklift 20 is configured such that the traveling speed is limited when remote control is performed. Specifically, the forklift 20 is configured such that the maximum speed during remote operation is lower than the maximum speed when operated directly from the driver's seat 21.
  • the vehicle communication unit 30 includes a vehicle wireless memory 35 and a vehicle wireless CPU 36.
  • the vehicle radio memory 35 stores a remote operation program 40.
  • the remote operation program 40 includes execution programs 41 to 43 for executing various processes and various information storage units 44.
  • the remote operation program 40 corresponds to the “industrial vehicle remote operation program”.
  • the vehicle wireless memory 35 is a “computer-readable recording medium” that stores an industrial vehicle remote control program.
  • the computer-readable recording medium may be any medium that stores various computer programs in any manner such as electronic, magnetic, optical, and electromagnetic.
  • the computer readable recording medium includes a non-transitory computer readable recording medium.
  • the vehicle wireless CPU 36 controls the signal conversion unit 33 by reading out the execution programs 41 to 43 stored in the vehicle wireless memory 35 and executing various processes. In this case, the vehicle wireless CPU 36 permits or prohibits signal conversion by the signal conversion unit 33 according to the remote operation mode. The processing contents of the vehicle wireless CPU 36 will be described later.
  • the remote operation device 50 is an operation terminal having a wireless communication function.
  • the remote control device 50 is a general-purpose product such as a mobile phone, a smartphone, a tablet terminal, or a virtual reality terminal.
  • the remote control device 50 is not limited to this, and may be a dedicated product for remote control.
  • the remote operation device 50 includes a remote CPU 51, a remote memory 52, a remote communication unit 53 as an operation device communication unit, and a touch panel 54.
  • the remote CPU 51 executes various processes using various programs stored in the remote memory 52.
  • the remote CPU 51 is electrically connected to the remote communication unit 53 and the touch panel 54 and can exchange signals with the remote communication unit 53 and the touch panel 54.
  • the remote communication unit 53 is configured to be capable of wireless communication with the vehicle communication unit 30. As a result, signals can be transmitted and received between the remote control device 50 and the forklift 20.
  • the communication format between the vehicle communication unit 30 and the remote communication unit 53 is Wi-Fi (in other words, IEEE802.11 standard wireless LAN). Both communication units 30 and 53 transmit and receive signals by packet communication. That is, the remote communication unit 53 transmits a remote operation signal SGb, which is a signal format signal corresponding to Wi-Fi, to the vehicle communication unit 30 by packet communication.
  • a remote operation signal SGb which is a signal format signal corresponding to Wi-Fi
  • Wi-Fi has a plurality of standards such as IEEE802.11a and IEEE802.11ac, but the communication format between the vehicle communication unit 30 and the remote communication unit 53 may be any of a plurality of standards. Moreover, transmission / reception of the signals of both the communication units 30 and 53 is not limited to packet communication and is arbitrary.
  • the touch panel 54 is formed on one surface of the remote control device 50.
  • the touch panel 54 is configured by a display screen having a touch sensor.
  • the touch panel 54 outputs a signal related to an input operation (touch) on the touch panel 54 to the remote CPU 51.
  • the remote CPU 51 can grasp various input operations on the touch panel 54, for example, if the icon is displayed on the touch panel 54, or not. That is, the touch panel 54 can be said to be an input unit operated by an operator or a reception unit that receives an input operation.
  • the remote CPU 51 performs display control of the touch panel 54. For example, when performing remote operation of the forklift 20, the remote CPU 51 displays an operation screen G0 for performing remote operation. As a result, the operator can perform various input operations related to the remote operation.
  • the operation screen G0 includes, for example, a forward icon Ic1 for advancing the forklift 20, a reverse icon Ic2 for reversing the forklift 20, a left icon Ic3 for bending the forklift 20 to the left, and a forklift 20 on the right A right icon Ic4 to be bent is displayed.
  • the current remote operation mode is displayed on the operation screen G0.
  • the remote operation mode will be described later.
  • the touch panel 54 corresponds to the “notification unit”.
  • the display content of the operation screen G0 is not limited to this, and is arbitrary. For example, a handle-shaped icon may be displayed.
  • the remote memory 52 stores various programs for remotely operating the forklift 20.
  • the remote memory 52 stores an execution program for executing a remote operation signal transmission process for generating the remote operation signal SGb and transmitting the remote operation signal SGb.
  • the remote CPU 51 reads the execution program stored in the remote memory 52 and executes the remote operation signal transmission process under the situation where the operation screen G0 is displayed on the touch panel 54.
  • the remote operation signal transmission process is periodically executed at a predetermined specific period Ta. That is, the remote operation device 50 periodically transmits the remote operation signal SGb with a specific period Ta.
  • the remote CPU 51 grasps an input operation mode on the touch panel 54. For example, when the icons Ic1 to Ic4 are displayed on the operation screen G0, the remote CPU 51 grasps which of the icons Ic1 to Ic4 has been input (touched). Then, the remote CPU 51 generates a remote operation signal SGb corresponding to the input operation mode to each icon Ic1 to Ic4 of the touch panel 54.
  • the remote operation signal SGb includes operation data having contents corresponding to the input operation mode on the operation screen G0.
  • the remote CPU 51 determines that the forward icon Ic1 has been operated (touched)
  • the remote CPU 51 executes a process of generating a remote operation signal SGb in which operation data corresponding to the forward movement of the forklift 20 is set.
  • the remote CPU 51 determines that the right icon Ic4 has been operated (touched)
  • the remote CPU 51 executes a process of generating a remote operation signal SGb in which operation data corresponding to the right turn of the forklift 20 is set. Thereafter, the remote CPU 51 transmits a remote operation signal SGb using the remote communication unit 53.
  • the remote CPU 51 when there is no input operation on the operation screen G0, that is, when the operator is not performing an operation, the remote CPU 51 performs a remote operation in which operation data (for example, null data) indicating that there is no input operation is set. A signal SGb is generated and a remote operation signal SGb is transmitted. That is, the remote operation device 50 is configured to transmit the remote operation signal SGb at a specific period Ta regardless of whether or not there is an input operation on the operation screen G0. As a result, the forklift 20 (specifically, the vehicle communication unit 30) periodically receives the remote operation signal SGb at the specific period Ta.
  • operation data for example, null data
  • the remote communication unit 53 transmits the remote operation signal SGb with a constant radio wave intensity. For this reason, the transmission radio wave intensity of the remote operation signal SGb does not vary.
  • the remote operation of the forklift 20 is performed using the remote operation signal SGb transmitted from the remote operation device 50, as shown in FIG. 2, communication between both communication units 30 and 53, which is a transmission / reception range of the remote operation signal SGb, is performed. If the forklift 20 is disposed within the range A0, remote operation using the remote operation device 50 is possible. In other words, the communication range A0 can be said to be a remotely operable range of the remote operation device 50.
  • the forklift 20 can be remotely operated even when the forklift 20 is disposed at a position where it is difficult for an operator operating the remote operation device 50 to visually recognize the forklift 20. There are concerns about misoperation.
  • Wi-Fi is adopted as a communication format for both communication units 30 and 53.
  • the Wi-Fi communication range A0 may be in the range of several tens of meters to several hundreds of meters. For this reason, it becomes possible to perform the remote operation of the forklift 20 even at an excessively remote position that is difficult for the operator to visually recognize.
  • the industrial vehicle remote control system 10 is configured such that remote control by the remote control device 50 is prohibited when the forklift 20 is disposed at an excessively separated position as described above. ing. Specifically, the industrial vehicle remote control system 10 grasps the position of the forklift 20 based on the received radio wave intensity RS of the remote control signal SGb, and based on the position of the forklift 20, remote control related to traveling by the remote control device 50. It is configured to determine whether to permit or prohibit.
  • FIG. 4 is a graph showing the relationship between the received radio wave intensity RS and the distance between the communication units 30 and 53.
  • the solid line shows an ideal curve (or an approximate curve derived from a plurality of data), and is a broken line and a one-dot chain line. These are graphs of the actual received radio wave intensity RS measured under the same conditions.
  • the received radio wave intensity RS is the intensity of the remote operation signal SGb transmitted from the remote communication unit 53 and the remote operation signal SGb received by the vehicle communication unit 30 (specifically, one of the antennas 31 and 32). It is a parameter calculated based on the ratio with the intensity.
  • the received radio wave intensity RS decreases as the distance between the communication units 30 and 53 increases. For this reason, the distance between the communication units 30 and 53 can be estimated based on the received radio wave intensity RS of the remote operation signal SGb received by the vehicle communication unit 30.
  • the industrial vehicle remote control system 10 has the forklift 20 disposed within the permitted range A1 based on the received radio wave intensity RS, or within the prohibited range A2 that is further away from the remote control device 50 than the permitted range A1. It is determined whether it is arranged.
  • the industrial vehicle remote control system 10 permits the remote operation related to traveling by the remote control device 50 when the forklift 20 is disposed within the permitted range A1, while the forklift 20 is disposed within the prohibited range A2.
  • the remote control device 50 is configured to prohibit remote control related to traveling.
  • the forklift 20 stops on the spot when remote operation is prohibited during traveling.
  • the permitted range A ⁇ b> 1 in which the remote operation related to traveling by the remote operation device 50 is permitted is a range centering on the remote operation device 50 (remote communication unit 53).
  • the permitted range A1 is a range closer to the remote operation device 50 than the prohibited range A2, and is assumed to be an appropriate range in which the operator can easily see the forklift 20.
  • the permitted range A1 includes at least a circular range centered on the remote control device 50 (remote communication unit 53) and having a radius of the first distance L1 in a situation where there are no obstacles.
  • the prohibited range A2 where the remote operation related to traveling by the remote control device 50 is prohibited is a range arranged outside the permitted range A1.
  • the prohibited range A2 is assumed to be a range in which it is difficult for the operator to visually recognize the forklift 20 as compared to the permitted range A1.
  • the prohibited range A2 includes a range that is at least a second distance L2 away from the remote control device 50 (remote communication unit 53).
  • the second distance L2 is set longer than the first distance L1.
  • Specific numerical values of the first distance L1 and the second distance L2 may be set as appropriate in consideration of ease of visual recognition by the operator.
  • the first distance L1 may be 5 m or more and less than 10 m
  • the second distance L2 may be 10 m or more.
  • the permitted range A1 and the prohibited range A2 are set within the communication range A0.
  • the first distance L1 and the second distance L2 are set to be shorter than the communicable distance between the communication units 30 and 53.
  • an error corresponding range A3 is set between the allowable range A1 and the prohibited range A2.
  • the error corresponding range A3 is a range set in consideration of the error of the received radio wave intensity RS.
  • the forklift 20 is disposed within the permitted range A ⁇ b> 1 when the received radio wave intensity RS is equal to or higher than a predetermined threshold intensity RSth for the first determination period T ⁇ b> 1. It is comprised so that it may determine with.
  • the forklift 20 is disposed within the prohibited range A2 when the state in which the received radio wave intensity RS is less than the threshold intensity RSth continues for the second determination period T2. It is comprised so that it may determine. Determining whether the forklift 20 is disposed within the permitted range A1 or the prohibited range A2 based on the received radio wave intensity RS and both determination periods T1 and T2 is referred to as “allowability determination”.
  • the received radio wave intensity RS has a characteristic that the error is large. For this reason, the received radio wave intensity RS actually grasped (detected) may deviate from the ideal curve.
  • the threshold strength RSth is set to be higher than the received radio wave intensity RS corresponding to the second distance L2, for example, regardless of the error of the received radio wave intensity RS. Specifically, the threshold strength RSth is set to be higher than a value obtained by adding the assumed maximum error or standard deviation to the received radio wave strength RS corresponding to the second distance L2 in the ideal curve. As a result, even if the received radio wave intensity RS has an error, if both communication units 30 and 53 are separated from the second distance L2, the received radio wave intensity RS is less than the threshold intensity RSth. This state is likely to be continued for the second determination period T2 or more, so that it is easy to determine that the forklift 20 is disposed within the prohibited range A2.
  • the threshold strength RSth is set lower than a value obtained by subtracting the assumed maximum error or standard deviation from the received radio wave strength RS corresponding to the first distance L1 in the ideal curve, for example.
  • the received radio wave intensity RS has an error
  • the received radio wave intensity RS is equal to or greater than the threshold intensity RSth. Is likely to be continued over the first determination period T1 or more, so it is easy to determine that the forklift 20 is disposed within the permitted range A1. Focusing on the above relationship, it can be said that the first distance L1 is a distance corresponding to the received radio wave intensity RS obtained by adding the maximum error or the standard deviation to the threshold intensity RSth in the ideal curve.
  • the error of the received radio wave intensity RS is assumed to be a measurement error, an error of a high frequency component, etc., and does not include the fluctuation of the received radio wave intensity RS caused by the factors of the installation environment of the forklift 20.
  • the fluctuations in the received radio wave intensity RS caused by the factors of the installation environment of the forklift 20 include, for example, the fact that the received radio wave intensity RS is shifted up and down as a whole or a specific range (dead spot Ax and hot spot Ay within the communication range A0). ) Is a local change. Variations in the received radio wave intensity RS caused by the installation environment of the forklift 20 will be described in the third and fourth embodiments.
  • the error corresponding range A3 provided between the permitted range A1 and the prohibited range A2 is a range corresponding to the error of the received radio wave intensity RS.
  • the comparison result between the received radio wave intensity RS and the threshold intensity RSth can be changed according to the error of the radio wave intensity RS. For this reason, when the forklift 20 is disposed within the error handling range A3, it may be determined that the forklift 20 is disposed within the permitted range A1, or is disposed within the prohibited range A2. May be determined.
  • the remote operation mode of the forklift 20 using the remote operation device 50 will be described with reference to FIG.
  • the forklift 20 does not exist within the communication range A0, that is, when both the communication units 30 and 53 cannot perform wireless communication, remote control by the remote control device 50 is not possible. For this reason, in the following description, it is assumed that the forklift 20 exists in the communication range A0.
  • the industrial vehicle remote control system 10 includes a plurality of remote control modes related to the running of the forklift 20 by the remote control device 50.
  • the plurality of remote operation modes include an initial mode, a permission mode, a warning mode, and a prohibition mode.
  • the initial mode is a remote operation mode set at the start of remote operation.
  • the start of remote operation is, for example, when the remote control device 50 is turned on (started), when an application related to remote control is started, when communication between the remote control device 50 and the forklift 20 is started, or when the remote control device 50 is started. It can be considered that the pairing between the forklift 20 and the forklift 20 is completed.
  • the initial mode is a remote operation mode set under the above situation, in the initial mode, the position of the forklift 20, that is, the forklift 20 is arranged in either the permitted range A1 or the prohibited range A2. It is indeterminate. In the initial mode, remote operation related to traveling by the remote operation device 50 is prohibited.
  • the permission mode is a remote operation mode that assumes that the forklift 20 is disposed within the permission range A1.
  • the permission mode is a remote operation mode in which a remote operation related to traveling is permitted.
  • the warning mode is a remote operation mode that assumes that the forklift 20 has moved from the permitted range A1 to the prohibited range A2.
  • the warning mode is a remote operation mode in which remote operation related to traveling is permitted.
  • the warning mode corresponds to “grace mode”.
  • the prohibit mode is a remote operation mode that assumes that the forklift 20 is disposed within the prohibit range A2.
  • the prohibit mode is a remote operation mode in which remote control relating to traveling is prohibited even under a situation where wireless communication between both communication units 30 and 53 is performed. That is, the prohibit mode is not a state in which the remote operation is not performed due to the inability to perform wireless communication between the two communication units 30 and 53, but under the situation where the wireless communication between both the communication units 30 and 53 is performed.
  • this is a remote operation mode in which remote operation by the remote operation device 50 is actively prohibited.
  • the prohibited range A2 is a range in which remote operation related to traveling is prohibited even under a situation where wireless communication between both communication units 30 and 53 is performed.
  • the situation where wireless communication between both communication units 30 and 53 is performed is a situation where signals such as the remote operation signal SGb can be normally transmitted and received, and a situation where data communication is possible.
  • the vehicle radio CPU 36 performs a remote operation start process related to the initial setting of the remote operation mode, a signal conversion control process that permits or prohibits signal conversion by the signal conversion unit 33 according to the remote operation mode, determination of availability, and And a remote operation mode control process for controlling the remote operation mode based on the result (availability determination result).
  • the vehicle radio CPU 36 reads out the remote operation start process execution program 41 stored in the remote operation program 40 when the remote operation device 50 starts the remote operation, and executes the remote operation start process.
  • the vehicle radio CPU 36 sets the remote operation mode to the initial mode in step S101.
  • the various information storage unit 44 of the remote operation program 40 includes remote operation mode specifying information for specifying the current remote operation mode.
  • the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the initial mode.
  • step S102 the vehicle radio CPU 36 selects the first antenna 31 as the antenna to be used.
  • the first antenna 31 becomes the selection antenna, and the vehicle radio CPU 36 transmits and receives signals using the first antenna 31 until the selection antenna is switched.
  • the vehicle radio CPU 36 executes an initial mode notification process for notifying that the remote operation mode is the initial mode. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the initial mode is set using the first antenna 31 to the remote communication unit 53. Then, the vehicle radio CPU 36 ends the remote operation start process.
  • the remote CPU 51 When the remote communication unit 53 receives a notification signal, the remote CPU 51 notifies the initial mode using the touch panel 54. For example, the remote CPU 51 displays on the operation screen G0 that the initial mode is set.
  • the vehicle radio CPU 36 After executing the remote operation start process, the vehicle radio CPU 36 reads the signal conversion control process execution program 42 of the remote operation program 40 every time the remote operation signal SGb is received, and executes the signal conversion control process for controlling the signal converter 33. To do.
  • the vehicle wireless CPU 36 first grasps the current remote operation mode by referring to the remote operation mode specifying information in step S201.
  • the vehicle radio CPU 36 can receive the remote operation signal SGb that triggered the execution of the current signal conversion control process using the first antenna 31 or the second antenna 32 (in other words, the selected antenna).
  • the remote CPU 51 confirms that the transmission of the remote operation signal SGb is normally completed based on the reception of the reply signal SGc by the remote communication unit 53. That is, during the execution of the remote operation, transmission / reception of the remote operation signal SGb and the reply signal SGc is periodically performed between the communication units 30 and 53.
  • step S203 the vehicle radio CPU 36 determines whether or not the current remote operation mode grasped in step S201 is a permission mode or a warning mode. If the current remote operation mode is the permission mode or the warning mode, the vehicle radio CPU 36 proceeds to step S204 and controls the signal conversion unit 33 to convert the remote operation signal SGb into the control signal SGa. The signal conversion control process ends. As a result, the control signal SGa is output to the vehicle CPU 27 via the interface 34.
  • step S203 the vehicle radio CPU 36 makes a negative determination in step S203 and proceeds to step S205.
  • step S205 the vehicle radio CPU 36 executes a signal conversion prohibition process that prohibits signal conversion by the signal converter 33, and ends the signal conversion control process.
  • the control signal SGa is not output toward the vehicle CPU 27.
  • the control signal SGa corresponding to the remote operation signal SGb is output to the vehicle CPU 27, and each actuator 25 corresponding to the control signal SGa is output by the vehicle CPU 27. , 26 are controlled. Thereby, the remote operation of the forklift 20 by the remote operation device 50 is performed.
  • the remote operation mode is the initial mode or the prohibit mode
  • the control signal SGa corresponding to the remote operation signal SGb is not output to the vehicle CPU 27. For this reason, the remote operation of the forklift 20 by the remote operation device 50 is not performed.
  • the remote operation mode is the initial mode or the prohibit mode
  • the conversion from the remote operation signal SGb to the control signal SGa is not performed, remote operation of all operations including traveling is prohibited. For this reason, when the remote operation mode is the initial mode or the prohibit mode, the remote operation of the fork 24 is also prohibited.
  • the vehicle radio CPU 36 every time the vehicle radio CPU 36 receives the remote operation signal SGb, the vehicle radio CPU 36 reads out the remote operation mode control process execution program 43 of the remote operation program 40 and executes the remote operation mode control process.
  • the remote operation mode control process is periodically executed at the specific cycle Ta. That is, the vehicle radio CPU 36 executes both the signal conversion control process and the remote operation mode control process based on receiving the remote operation signal SGb.
  • the vehicle radio CPU 36 first determines in step S301 whether or not it is currently being determined. Specifically, the various information storage unit 44 is provided with a determination-in-progress flag storage area for storing a determination-in-progress flag for specifying whether or not determination is possible. The vehicle radio CPU 36 determines that the determination is being made when the determination flag is stored in the determination flag storage area, while the determination is not being made if the determination flag is not stored. judge. The in-determination flag is OFF in the initial state.
  • the vehicle radio CPU 36 proceeds to step S304 if it is being determined whether or not it is possible, whereas if it is not being determined to be possible or not, it executes initial setting for starting the availability determination in steps S302 and S303. The process proceeds to S304.
  • the vehicle radio CPU 36 sets the in-determination flag to ON, and sets the antenna switching flag in the antenna switching flag storage area provided in the various information storage units 44 to OFF.
  • the antenna switching flag is a flag for determining whether or not the selected antenna is switched during the availability determination.
  • the vehicle radio CPU 36 sets the first counter C1 and the second counter C2 provided in the various information storage unit 44 to “0”.
  • the first counter C1 is a counter used for counting the first determination period T1
  • the second counter C2 is a counter used for counting the second determination period T2.
  • step S304 the vehicle radio CPU 36 grasps the received radio wave intensity RS of the remote operation signal SGb that has triggered the current remote operation mode control process. Specifically, the vehicle radio CPU 36 detects the strength (in other words, received power) of the remote operation signal SGb received by the selected antenna. The various information storage unit 44 stores information related to the transmission strength (in other words, transmission power) of the remote operation signal SGb. The vehicle radio CPU 36 calculates the received radio wave intensity RS from these values.
  • the process of step S304 corresponds to the “grasping step”, and the vehicle radio CPU 36 that executes the process of step S304 corresponds to the “grasping part”.
  • the vehicle communication unit 30 may have a dedicated hardware circuit that calculates the received radio wave intensity RS, separately from the vehicle wireless CPU 36.
  • the vehicle radio CPU 36 grasps the received radio wave intensity RS based on the signal from the hardware circuit.
  • step S305 the vehicle radio CPU 36 determines whether or not the received radio wave intensity RS obtained in step S304 is equal to or greater than the threshold intensity RSth.
  • the various information storage unit 44 is provided with a threshold information storage unit 44a as a storage unit in which threshold information D1 that is information related to the threshold strength RSth is stored.
  • the vehicle radio CPU 36 reads the threshold information D1 stored in the threshold information storage unit 44a, and determines whether the threshold information RSth is set in the threshold information D1. Specifically, the vehicle radio CPU 36 determines whether or not the received radio wave intensity RS grasped in step S304 is greater than or equal to the threshold intensity RSth set in the threshold information D1.
  • the threshold strength RSth is as described above.
  • Threshold information D1 is numerical data itself of the threshold intensity RSth.
  • the present invention is not limited to this, and the threshold information D1 is arbitrary as long as the threshold strength RSth can be uniquely derived, and may be predetermined function data.
  • the threshold information D1 stored in the threshold information storage unit 44a may be updateable data or non-updatable data. That is, the threshold strength RSth may be a variable value or a fixed value.
  • the vehicle radio CPU 36 proceeds to step S306.
  • step S306 the vehicle radio CPU 36 counts up (increments) the first counter C1. Specifically, the vehicle radio CPU 36 adds “1” to the first counter C1. Then, the vehicle radio CPU 36 sets the second counter C2 to “0”.
  • the vehicle radio CPU 36 determines whether or not the first counter C1 is equal to or greater than a predetermined first specified value Cth1.
  • the first specified value Cth1 is set in correspondence with the first determination period T1, and specifically is a value obtained by dividing the first determination period T1 by the specific period Ta.
  • the first specified value Cth1 is a numerical value equal to or greater than “2”. For this reason, the first determination period T1 is twice or more the specific period Ta.
  • step S307 when the received radio wave intensity RS is equal to or greater than the threshold intensity RSth, the processing of step S307 is performed in view of the fact that the first counter C1 is incremented by one remote operation mode control process. It can be said that it is the process which determines whether the state where RS is more than threshold strength RSth continues more than 1st determination period T1.
  • the vehicle radio CPU 36 proceeds to step S322.
  • the first counter C1 is equal to or greater than the first specified value Cth1
  • the vehicle radio CPU 36 determines that the forklift 20 is disposed within the permitted range A1, that is, the current availability determination result is within the permitted range A1, and corresponds to the permitted mode in steps S308 to S310. Execute the process.
  • step S308 the vehicle radio CPU 36 executes a process of setting the remote operation mode to the permission mode. For example, when the current remote operation mode is the initial mode, the warning mode, or the prohibit mode, the vehicle wireless CPU 36 shifts the remote operation mode from these modes to the permission mode. Specifically, the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the permission mode. When the remote operation mode is the permission mode, the vehicle radio CPU 36 executes a process for maintaining the permission mode in step S308.
  • step S309 the vehicle radio CPU 36 sets the in-determination flag to OFF in order to indicate that the current availability determination has been completed.
  • step S310 the vehicle radio CPU 36 executes a permission mode notification process for notifying that the remote operation mode is the permission mode, and ends the remote operation mode control process. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the permission mode is set to the remote communication unit 53 using the selected antenna.
  • the remote CPU 51 When the remote communication unit 53 receives a notification signal, the remote CPU 51 notifies the permission mode using the touch panel 54. For example, the remote CPU 51 displays a permission mode on the operation screen G0.
  • the vehicle radio CPU 36 makes a negative determination in step S305 and performs step S311. Proceed to
  • step S311 the vehicle radio CPU 36 determines whether or not the selected antenna has been switched. Specifically, the vehicle radio CPU 36 determines whether or not the antenna switching flag is ON (set).
  • the vehicle radio CPU 36 executes an antenna switching process for switching the selected antenna in step S312. Specifically, the vehicle radio CPU 36 switches the selected antenna from the first antenna 31 to the second antenna 32 when the first antenna 31 is currently selected as the selected antenna. On the other hand, when the second antenna 32 is currently selected as the selected antenna, the vehicle radio CPU 36 switches the selected antenna from the second antenna 32 to the first antenna 31. As a result, the remote operation signal SGb subsequent to the remote operation signal SGb that is the trigger for execution of the current remote operation mode control process is received using the selection antenna of the switching destination.
  • step S313 the vehicle radio CPU 36 sets the antenna switching flag to ON, and proceeds to step S322. Thereby, it can be specified that the selected antenna has been switched in the current determination of availability. That is, in this case, the specified number of times that the selected antenna is switched in the one-time determination is “1”.
  • the vehicle radio CPU 36 makes a positive determination in step S311 and proceeds to step S314.
  • step S314 the vehicle radio CPU 36 counts up (increments) the second counter C2. Specifically, the vehicle radio CPU 36 adds “1” to the second counter C2.
  • step S314 the vehicle radio CPU 36 sets the first counter C1 to “0”. That is, the vehicle radio CPU 36 resets the first counter C1 to “0” when the received radio wave intensity RS becomes less than the threshold intensity RSth before the first counter C1 reaches the first specified value Cth1. . This prevents the first counter C1 from being intermittently counted up and reaching the first specified value Cth1. The same applies to the second counter C2.
  • the vehicle radio CPU 36 determines whether or not the second counter C2 is equal to or larger than a predetermined second specified value Cth2.
  • the second specified value Cth2 is set in correspondence with the second determination period T2, and is specifically a value obtained by dividing the second determination period T2 by the specific period Ta.
  • the second specified value Cth2 is a numerical value equal to or greater than “2”. For this reason, the second determination period T2 is twice or more the specific period Ta.
  • the first specified value Cth1 and the second specified value Cth2 are the same. However, it is not restricted to this, Both may be different values. That is, the first determination period T1 and the second determination period T2 may be the same or different.
  • the vehicle radio CPU 36 proceeds to step S322 when the second counter C2 is less than the second specified value Cth2.
  • the second counter C2 is equal to or greater than the second specified value Cth2 it means that the state where the received radio wave intensity RS is less than the threshold intensity RSth is continued for the second determination period T2.
  • the vehicle radio CPU 36 determines that the forklift 20 is disposed within the prohibited range A2, that is, the current availability determination result is within the prohibited range A2, and executes the processes after step S316.
  • step S316 the vehicle radio CPU 36 sets the in-determination flag to OFF to indicate that the current availability determination has been completed. Thereafter, in step S317, the vehicle radio CPU 36 refers to the remote operation mode specifying information to determine whether or not the current remote operation mode is the permission mode (that is, whether or not it is in the permission mode). .
  • the vehicle radio CPU 36 executes a process for shifting the remote operation mode from the permission mode to the warning mode in steps S318 to S320.
  • the vehicle radio CPU 36 executes a process of setting the remote operation mode to the warning mode in step S318. Specifically, the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the warning mode. In subsequent step S319, the vehicle radio CPU 36 sets a third counter C3 for counting the grace period T3 to “0”, and starts counting the grace period T3. In step S320, the vehicle radio CPU 36 executes a warning mode notification process for notifying that the remote operation mode is the warning mode, and ends the remote operation mode control process. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the warning mode is set to the remote communication unit 53 using the selected antenna.
  • the remote CPU 51 uses the touch panel 54 to notify that it is in the warning mode. For example, the remote CPU 51 displays a warning mode on the operation screen G0.
  • the vehicle radio CPU 36 makes a negative determination in step S317 and refers to the remote operation mode specifying information in step S321 to It is determined whether or not the remote operation mode is the initial mode (that is, whether or not it is in the initial mode).
  • the vehicle radio CPU 36 proceeds to step S325, whereas when the current remote operation mode is not the initial mode, that is, the current remote operation mode is the warning mode or the prohibit mode. In the case, the process proceeds to step S322.
  • step S322 the vehicle radio CPU 36 refers to the remote operation mode specifying information to determine whether or not the current remote operation mode is the warning mode (that is, whether or not it is in the warning mode).
  • the vehicle radio CPU 36 ends the remote operation mode control process as it is. If the current remote operation mode is the warning mode, the vehicle wireless CPU 36 proceeds to step S323, 3 The counter C3 is counted up (incremented).
  • step S324 the vehicle radio CPU 36 determines whether or not the third counter C3 is greater than or equal to the grace prescribed value Cth3.
  • the grace prescribed value Cth3 is a value obtained by dividing a predetermined grace period T3 by a specific period Ta.
  • the grace period T3 is a warning mode execution period.
  • the grace period T3 is set longer than, for example, the first determination period T1 and the second determination period T2. Specifically, the grace period T3 is set to a multiple of the first determination period T1 and the second determination period T2. For this reason, the variable determination can be executed a plurality of times during the warning mode.
  • the grace period T3 may be set shorter than a value obtained by dividing the difference between the distance Lx corresponding to the threshold strength RSth and the second distance L2 by the maximum speed of the forklift 20 during remote operation.
  • the vehicle radio CPU 36 ends the remote operation mode control process as it is and continues the warning mode.
  • the vehicle radio CPU 36 executes a process for shifting the remote operation mode from the warning mode to the prohibit mode in Step S325 and Step S326. .
  • the vehicle radio CPU 36 executes processing for setting the remote operation mode to the prohibit mode in step S325. Specifically, the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the prohibit mode.
  • step S325 the vehicle radio CPU 36 controls the signal converter 33 so that the control signal SGa corresponding to the stop is transmitted to the vehicle CPU 27 via the interface 34.
  • the vehicle CPU 27 controls the travel actuator 25 to stop based on the input of the control signal SGa corresponding to the stop.
  • step S326 the vehicle radio CPU 36 executes a prohibit mode notification process for notifying that the remote control mode is the prohibit mode, and ends the remote control mode control process. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the prohibit mode is set to the remote communication unit 53 using the selected antenna.
  • the remote CPU 51 When the remote communication unit 53 receives a notification signal, the remote CPU 51 notifies the prohibit mode using the touch panel 54. For example, the remote CPU 51 displays on the operation screen G0 that the prohibit mode is set.
  • the vehicle radio CPU 36 since the remote operation mode control process is periodically executed at a specific period Ta, the vehicle radio CPU 36 periodically grasps the received radio wave intensity RS and grasps the received radio wave intensity RS at the specific period Ta. Each time the received radio wave strength RS is grasped, the threshold strength RSth is compared. Since both the determination periods T1 and T2 are set to be twice or more the specific period Ta, the reception radio wave intensity RS, the reception radio wave intensity RS, and the threshold value are obtained before one determination result is obtained. The comparison of the intensity RSth is performed a plurality of times.
  • step S305, step S307, and step S315 corresponds to “determinability determination” or “determinability determination step”
  • the vehicle wireless CPU 36 that executes the processing of step S305, step S307, and step S315 is “determinability determination unit”.
  • the vehicle radio CPU 36 that executes the process of step S305 corresponds to a “comparator”.
  • wireless CPU36 which performs the process of step S101, step S308, step S318, and step S325 respond
  • the vehicle radio CPU 36 that executes the processes of steps S102 and S312 corresponds to the “antenna selection unit”, and the vehicle radio CPU 36 that executes the processes of steps S311 and S313 corresponds to the “switching prohibition unit”. That is, the forklift 20 includes a “grasping part” and a “probability determination part”.
  • the threshold intensity RSth corresponds to “first threshold intensity” and “second threshold intensity”.
  • the “first threshold strength” and the “second threshold strength” are the same.
  • the remote operation device 50 (specifically, the remote communication unit 53) continues to transmit the remote operation signal SGb at the specific period Ta regardless of the remote operation mode during execution of the remote operation.
  • the remote communication unit 53 periodically transmits the remote operation signal SGb even when the remote operation mode is the prohibit mode. For this reason, transmission / reception of signals is performed between the remote operation device 50 and the forklift 20 even in a situation where the remote operation mode is the prohibit mode.
  • the vehicle radio CPU 36 executes the remote operation mode control process every time it receives the remote operation signal SGb, the remote operation mode control process is executed even when the remote operation mode is the prohibit mode.
  • the vehicle radio CPU 36 When the current remote operation mode is the prohibit mode, the vehicle radio CPU 36 periodically determines whether or not the remote operation mode control process is possible. That is, the vehicle radio CPU 36 periodically determines whether or not it is possible regardless of the remote operation mode.
  • the vehicle radio CPU 36 maintains the prohibit mode as it is when the determination result is within the prohibition range A2, while the remote operation mode is set to the prohibit mode when the determination result is within the permission range A1.
  • the transition condition from the prohibit mode to the permit mode is that the determination result is within the permit range A1 under the situation where the remote operation mode is the prohibit mode.
  • the present invention is not limited to this, and the transition condition from the prohibit mode to the permit mode is arbitrary.
  • the availability determination flag is turned OFF by the completion of the availability determination, the availability determination is performed again from the next remote operation mode control processing for the remote operation mode control processing for which the availability determination flag is turned OFF. .
  • the determination of availability is repeatedly performed regardless of the remote operation mode. That is, the industrial vehicle remote control system 10 is configured to repeatedly execute the feasibility determination regardless of the remote control mode.
  • each remote operation mode derived from the remote operation mode control process will be described with reference to FIG. As shown in FIG. 10, the remote operation mode shifts from the permission mode to the warning mode based on the determination result of the permission / prohibition being within the prohibited range A2 under the condition of the permission mode.
  • the remote operation mode shifts from the warning mode to the permission mode based on whether the determination result is within the permission range A1 under the condition of the warning mode. That is, the permission mode transition condition for the remote operation mode to transition from the warning mode to the permission mode is that the determination result is within the permission range A1 during the warning mode.
  • the remote operation mode shifts to the warning mode and the prohibit mode.
  • the prohibition mode transition condition which is a condition for shifting from the warning mode to the prohibition mode, is that (A) the grace period T3 elapses after the transition from the permission mode to the warning mode, and (B) the grace period T3 is This is because the determination result is not within the permission range A1 until the time has elapsed. It can be said that the condition (B) is that all the results of the feasibility determination made during the grace period T3 were within the prohibited range A2.
  • the availability determination is executed even during the prohibit mode, and the remote operation mode shifts from the prohibit mode to the permit mode when the enable / disable determination result is within the allow range A1 during the prohibit mode.
  • the transfer destination of the remote operation mode varies depending on the first determination result. Specifically, when the determination result is within the permission range A1, the remote operation mode shifts from the initial mode to the permission mode, while when the determination result is within the prohibition range A2, the remote operation mode is Transition from the initial mode to the prohibit mode.
  • the industrial vehicle remote control system 10 is configured so that the transition from the permission mode, the warning mode, or the prohibition mode to the initial mode does not occur.
  • the remote operation mode is the permission mode.
  • the operation screen G0 includes a display indicating that the permission mode is set. Thereby, the operator can recognize that the remote operation using the remote operation device 50 is permitted in the permission mode.
  • the remote operation mode is The mode is shifted from the permission mode to the prohibition mode through the warning mode. In this case, remote operation of the forklift 20 by the remote operation device 50 is prohibited.
  • the operation screen G0 includes a display indicating that the prohibit mode is in effect. Accordingly, the operator can recognize that the prohibit mode is in effect and the remote operation using the remote operation device 50 is prohibited.
  • the remote operation of the forklift 20 using the remote control device 50 is limited to a relatively close range (permitted range A1 or error handling range A3) that is easy for the operator to visually recognize, and is located away from the above range. It is restricted so that it cannot be performed from (in the prohibited range A2). That is, it can be said that the industrial vehicle remote control system 10 restricts the remote operation of the forklift 20 by the remote control device 50 to a range narrower than the communication range A0 of both the communication units 30 and 53.
  • FIG. 15 and FIG. 16 are time charts showing how each element changes as the position of the forklift 20 changes. 15 and 16, (a) shows the position of the forklift 20, (b) shows the comparison result between the received radio wave intensity RS and the threshold intensity RSth, (c) shows the determination result, and (d) The remote operation mode is shown, and (e) shows whether or not the remote operation is possible (permitted / prohibited). For convenience of illustration, the periods T1 to T3 and the specific period Ta are shown different from the actual ratio.
  • the first pattern is a pattern in which the forklift 20 moves from the permitted range A1 to the prohibited range A2 and is arranged in the prohibited range A2 as it is.
  • the forklift 20 is disposed within the permitted range A1.
  • the received radio wave intensity RS is equal to or greater than the threshold intensity RSth and the determination result is within the permitted range A1.
  • the remote operation mode is maintained in the permission mode. For this reason, remote operation is permitted as shown in FIG.
  • the continuation period (the first determination period T1 and the second determination period T2) is included in the determination condition in the determination of availability, the availability determination result is immediately within the prohibited range as shown in FIG. It will never be in A2. Therefore, as shown in FIGS. 15D and 15E, the remote operation mode is maintained in the permission mode, and the remote operation using the remote operation device 50 is also permitted.
  • the received radio wave intensity RS becomes equal to or greater than the threshold intensity RSth at the timing t3 after the specific period Ta has elapsed with respect to the timing t2. That is, in the next remote operation mode control process in which the determination result that the received radio wave intensity RS is less than the threshold intensity RSth is obtained, the determination result that the received radio wave intensity RS is equal to or greater than the threshold intensity RSth is obtained.
  • the count of the first counter C1 starts again from the timing of t3.
  • the availability determination result within the permission range A1 is obtained.
  • the remote operation mode maintains the warning mode without shifting to the permission mode.
  • the received radio wave intensity RS once exceeds the threshold intensity RSth due to the error of the received radio wave intensity RS, and the timing at t9 when the specific period Ta has elapsed from the t8 timing. Then, it is assumed that the received radio wave intensity RS again becomes less than the threshold intensity RSth. In this case, at the timing t8, the count of the second counter C2 is reset, and the count of the first counter C1 starts. Thereafter, at the timing t9, the count of the first counter C1 is reset, and the count of the second counter C2 starts.
  • the continuation period (the first determination period T1 and the second determination period T2) is included in the determination condition in the determination of availability, immediately as shown in FIG. 15C, at the timing of t8.
  • the availability determination result does not fall within the permitted range A1. For this reason, as shown in FIG. 15D, the remote operation mode is maintained in the warning mode.
  • the remote operation mode maintains the warning mode without shifting to the permission mode.
  • the remote operation mode shifts from the warning mode to the prohibit mode at the timing t11 when the grace period T3 has elapsed since the remote operation mode shifted to the warning mode. Thereby, as shown in FIG.15 (e), remote operation is prohibited.
  • the prohibited range A2 is not a range in which remote operation is immediately prohibited because the forklift 20 is arranged in the prohibited range A2, but remote operation is prohibited after a predetermined grace period T3 is granted. It can be said that it is a range.
  • the forklift 20 moves from the permitted range A1 to the prohibited range A2, and then moves from the prohibited range A2 to the permitted range A1 during the grace period T3. It is a pattern.
  • the operation from the timing t21 to the timing t27 is the same as the operation from the timing t1 to the timing t7.
  • the operator operates the forklift 20 closer to the remote operation device 50 based on the fact that the remote operation mode is the warning mode.
  • the forklift 20 is operated at the timing t28, which is the timing before the grace period T3 elapses after the remote operation mode shifts to the warning mode.
  • the prohibited range A2 to the permitted range A1.
  • the received radio wave intensity RS becomes equal to or higher than the threshold intensity RSth.
  • the industrial vehicle remote control system 10 includes a forklift 20 having a vehicle communication unit 30 and a remote control device 50 having a remote communication unit 53 and used to remotely control the forklift 20.
  • the vehicle wireless CPU 36 of the industrial vehicle remote control system 10 grasps the received radio wave intensity RS of the remote control signal SGb in which wireless communication is performed between the communication units 30 and 53, and determines whether or not it is possible based on the result.
  • the reception radio wave intensity RS is equal to or greater than the threshold intensity RSth
  • the permitted range A1 is a range in which remote operation related to traveling by the remote control device 50 is permitted
  • the prohibited range A2 is a remote control device 50 even under a situation where wireless communication between both communication units 30 and 53 is performed. This is a range where remote control related to traveling by is prohibited.
  • the prohibited range A2 is a range that is further away from the permitted range A1.
  • the prohibition range A2 is a range in which remote control related to traveling by the remote control device 50 is prohibited even when wireless communication between the communication units 30 and 53 is performed.
  • the communication range A0 is wider than an appropriate range (for example, a range where the operator can perform a remote operation related to travel while fully viewing the forklift 20)
  • the remote control device 50 is related to travel.
  • the range in which remote control can be performed can be limited to an appropriate range. Therefore, safety is improved.
  • the determination as to whether or not the reception radio wave intensity RS is greater than or equal to the threshold intensity RSth continues for the first determination period T1, and the state where the reception radio wave intensity RS is less than the threshold intensity RSth is the second determination period T2. For a long time. Thus, even if an erroneous determination occurs in the comparison between the received radio wave intensity RS and the threshold intensity RSth due to an error in the received radio wave intensity RS, the availability determination result is unlikely to be an erroneous result. Therefore, even if there is an error in the received radio wave intensity RS, the accuracy of the determination result is improved.
  • the prohibited range may be a range where remote operation related to traveling is prohibited immediately when an industrial vehicle is placed within the prohibited range, or a range where remote control related to traveling is prohibited after a predetermined grace period.
  • the first determination period and the second determination period may be the same or different.
  • the received radio wave intensity RS is adopted as a parameter for grasping the distance between the remote control device 50 and the forklift 20.
  • the received radio wave intensity RS is attenuated not only in the distance between the communication units 30 and 53 but also when there is an obstacle. Then, even when there is an obstacle between the operator and the forklift 20, it is determined that the forklift 20 is disposed within the prohibited range A ⁇ b> 2, and remote operation related to traveling of the forklift 20 can be prohibited. Thereby, for example, when the forklift 20 enters the blind spot of the operator due to an obstacle or the like, remote operation related to traveling can be prohibited. Thereby, the misoperation of the remote operation regarding driving
  • the permitted range A1 is a strong radio wave range in which the received radio wave intensity RS is greater than or equal to the threshold intensity RSth
  • the prohibited range A2 is a weak radio wave in which the received radio wave intensity RS is smaller than the threshold intensity RSth. It can also be said to be a range.
  • the permitted range A1 is set to be narrower than the communication range A0 in which both communication units 30 and 53 can perform wireless communication. According to this configuration, it is possible to limit the remote operation related to traveling within the permitted range A1 regardless of the size of the communication range A0.
  • the entire communication range A0 may be the permitted range A1
  • the outside of the communication range A0 may be the prohibited range A2.
  • the permission range A1 is set narrower than the communication range A0, the stability of the communication state during remote operation is improved. Thereby, the remote operation regarding the driving
  • the wireless communication system of both the communication units 30 and 53 is a wireless LAN system (in other words, Wi-Fi system) that satisfies the IEEE 802.11 standard
  • the remote control device 50 is a mobile phone, a smartphone, a tablet terminal, It is a virtual reality terminal. According to this configuration, it is possible to realize a remote operation related to traveling of the forklift 20 using a general wireless communication method and an existing general-purpose product.
  • the communication range A0 may be set to an appropriate range.
  • the general wireless communication method and the general-purpose product as described above are used, the communication range A0 tends to be wider than an appropriate range.
  • the vehicle radio CPU 36 of the vehicle communication unit 30 periodically grasps the received radio wave intensity RS with a specific period Ta, and every time the received radio wave intensity RS is grasped, the grasped received radio wave intensity RS and threshold intensity RSth. And compare. Both determination periods T1 and T2 are set to be twice or more the specific period Ta. According to this configuration, when the comparison result between the received radio wave intensity RS and the threshold intensity RSth is the same for a plurality of times, the determination result is obtained. Thereby, the accuracy of the determination result is improved.
  • “compare the received radio wave strength with the first threshold strength and the second threshold strength” is the same threshold value as the received radio wave strength. It means comparing with strength.
  • the remote communication unit 53 of the remote operation device 50 transmits the remote operation signal SGb at a specific cycle Ta.
  • the vehicle radio CPU 36 provided in the forklift 20 grasps the received radio wave intensity RS of the received remote operation signal SGb every time the vehicle communication unit 30 receives the remote operation signal SGb. According to this configuration, it is possible to determine whether or not it is possible based on the received radio wave intensity RS without transmitting and receiving a dedicated signal. Thereby, complication of signal transmission / reception between the communication units 30 and 53 due to transmission / reception of a dedicated signal can be suppressed.
  • the remote communication unit 53 transmits the remote operation signal SGb to the vehicle communication unit 30 at a specific cycle Ta even after the availability determination result corresponding to the prohibited range A2 is obtained.
  • the remote communication unit 53 stops the transmission of the remote operation signal SGb when the determination result is within the prohibited range A2. As a result, it becomes impossible to determine whether or not it is possible based on the received radio wave intensity RS, and even if the operator moves and the forklift 20 is disposed within the permitted range A1, the determination as to whether or not the forklift 20 is placed is not performed and remote control cannot be performed. .
  • the remote operation signal SGb is continuously transmitted even after the availability determination result is within the prohibited range A2, so that the remote operation by the remote operation device 50 is prohibited. Whether or not it is possible can be determined. Thereby, the position of the forklift 20 can be confirmed.
  • the vehicle communication unit 30 includes a first antenna 31 and a second antenna 32.
  • the vehicle radio CPU 36 selects either one of the antennas 31 and 32, and transmits and receives signals (remote operation signal SGb and reply signal SGc) using the selected antenna (selected antenna).
  • the vehicle radio CPU 36 grasps the received radio wave intensity RS of the remote operation signal SGb received by the selected antenna.
  • the vehicle radio CPU 36 switches the selected antenna when the received radio wave intensity RS becomes less than the threshold intensity RSth during the determination of availability. For example, the vehicle radio CPU 36 switches the selected antenna from the first antenna 31 to the second antenna 32 when the received radio wave intensity RS becomes less than the threshold intensity RSth under the condition where the first antenna 31 is selected.
  • the subsequent remote control signal SGb is received using the second antenna 32. According to this configuration, even if either one of the antennas 31 and 32 is arranged at a null point where the received radio wave intensity RS is locally reduced, the availability determination is performed by using the other antenna. It can be performed with high accuracy.
  • the vehicle radio CPU 36 determines whether the selected antenna is Prohibit switching. According to this configuration, it is possible to suppress an increase in the period required for availability determination due to switching of the selected antenna.
  • both determination periods T1 and T2 are set as conditions for determining availability in order to improve the accuracy of the determination result. For this reason, the period required for the availability determination tends to be long. In this configuration, if the selected antenna is switched excessively, the period required for the availability determination is likely to be further increased, and the inconvenience determination result may not be able to follow the movement of the forklift 20. On the other hand, according to the first embodiment, it is possible to avoid switching the selected antennas excessively, and thus it is possible to suppress the above-described inconvenience caused by setting both determination periods T1 and T2 as conditions for determining availability. .
  • the forklift 20 has a driver's seat 21 and a roof 22b that covers the driver's seat 21 from above, and the first antenna 31 and the second antenna 32 are arranged apart from the roof 22b. .
  • the distance between the two antennas 31 and 32 can be secured, and through this, both the antennas 31 and 32 can be simultaneously disposed at the null point, or the two antennas 31 and 32 can interfere with each other. Can be suppressed.
  • both antennas 31 and 32 are provided on the roof 22b at a relatively high position in the forklift 20, it is easy to receive radio waves. Thereby, wireless communication with the remote control device 50 can be suitably performed.
  • the industrial vehicle remote control system 10 (in other words, the remote control device 50 or the forklift 20) has a plurality of remote control modes using the remote control device 50.
  • a plurality of remote operation modes using the remote operation device 50 include a permission mode and a warning mode (in other words, a grace mode) in which remote operation related to traveling is permitted, and wireless communication between both communication units 30 and 53 is performed. Even in this case, a prohibition mode in which remote control related to traveling is prohibited is included.
  • the vehicle radio CPU 36 shifts the remote operation mode from the permission mode to the warning mode based on the result of the availability determination being within the prohibited range A2 under the situation where the remote operation mode is the permission mode. Then, the vehicle radio CPU 36 shifts the remote operation mode from the warning mode to the prohibited mode based on the fact that the predetermined prohibition mode transition condition is established during the warning mode, while being predetermined during the warning mode. Based on the establishment of the permission mode transition condition, the remote operation mode is shifted from the warning mode to the permission mode. According to this configuration, when the forklift 20 moves from the permitted range A1 to the prohibited range A2, it immediately shifts to the warning mode without shifting to the prohibited mode in which remote operation related to traveling is prohibited.
  • the vehicle wireless CPU 36 executes the determination of availability at least once during the warning mode.
  • the permission mode transition condition is that the determination result in the warning mode is within the permission range A1.
  • the availability determination is performed again during the warning mode, and if the result of the availability determination is within the permission range A1, the remote operation mode shifts from the warning mode to the permission mode.
  • the remote operation mode shifts from the warning mode to the permission mode. Therefore, it is possible to suppress the warning mode from being continued even though the forklift 20 has moved within the permitted range A1.
  • the prohibition mode transition condition is that the grace period T3 elapses without the permission mode transition condition being satisfied after the remote operation mode transitions from the permission mode to the warning mode.
  • the grace period T3 is set longer than both determination periods T1 and T2. According to this configuration, the time for moving the forklift 20 from the prohibited range A2 to the permitted range A1 can be stably given to the operator. This further improves convenience.
  • a prohibition mode transition condition for example, a case where the received radio wave intensity RS is lower than a second threshold intensity smaller than the threshold intensity RSth is also conceivable.
  • the warning mode period varies depending on the moving speed of the forklift 20 and the error of the received radio wave intensity RS. Then, the warning mode period may be excessively shortened.
  • the inconvenience can be suppressed by adopting the grace period T3 as the prohibition mode transition condition.
  • the grace period T3 is set longer than both determination periods T1 and T2, it is assumed that the availability determination is performed at least once during the grace period T3. Thereby, it is possible to suppress the remote operation mode from shifting from the warning mode to the prohibition mode without obtaining the availability determination result even once during the grace period T3.
  • the remote operation device 50 includes a touch panel 54 that notifies the current remote operation mode. According to this configuration, the operator can check the current remote operation mode. Thereby, for example, when the remote operation mode shifts from the permission mode to the warning mode, it is assumed that an operation of bringing the forklift 20 closer or an operator approaching the forklift 20 is assumed. Therefore, it is possible to suppress the remote operation related to traveling from being prohibited, and convenience is improved.
  • the received radio wave intensity RS decreases as the distance between the communication units 30 and 53 increases.
  • the forbidden range A2 includes at least a range away from the remote control device 50 by the second distance L2 or more.
  • the threshold strength RSth is set to be higher than the received radio wave strength RS corresponding to the second distance L2, and the grace period T3 indicates the difference between the distance corresponding to the threshold strength RSth and the second distance L2. It is set shorter than the value divided by the maximum speed of the forklift 20 during remote operation.
  • the forklift 20 is prevented from moving to a position away from the remote control device 50 by the second distance L2 or more before the grace period T3 elapses after the remote control mode shifts to the warning mode. it can.
  • the remote operation mode shifts to the warning mode when the forklift 20 is separated by a distance corresponding to the threshold strength RSth.
  • the grace period T3 elapses before the forklift 20 moves away from the second distance L2 or more.
  • the operation mode tends to become the prohibit mode. Accordingly, it is possible to suppress the inconvenience that the forklift 20 is moved to a position where it is more difficult to visually recognize due to the movement during the grace period T3, and the remote operation related to traveling is performed at that position. Therefore, the above-described inconvenience that may be caused by permitting remote operation related to traveling during the warning mode can be suppressed.
  • the vehicle communication unit 30 includes a vehicle wireless memory 35 in which the remote operation program 40 is stored, and a vehicle wireless CPU 36.
  • the vehicle radio CPU 36 is configured to execute a signal conversion control process for permitting or prohibiting a remote operation related to traveling based on the remote operation mode, and a remote operation mode control process for determining availability and setting the remote operation mode.
  • the effects (1) and the like can be obtained by a relatively simple operation such as addition or change of a communication unit without performing special processing on the vehicle CPU 27 and the vehicle memory 28 of the forklift 20. it can.
  • the remote operation mode control process is performed by the remote operation device 50. This will be described below together with the detailed configuration of the remote communication unit.
  • the remote communication unit 100 of the remote operation device 50 includes a remote wireless CPU 101, a remote wireless memory 102 storing a remote operation program 110, a signal conversion unit 103, an interface 104, and an antenna 105. It has.
  • the signal converter 103 is electrically connected to the remote CPU 51 via the interface 104 and is connected to the antenna 105.
  • the signal conversion unit 103 converts a control signal related to remote operation input from the remote CPU 51 into a remote operation signal SGb corresponding to wireless communication.
  • Remote operation signal SGb is transmitted by antenna 105.
  • the reply signal SGc received by the antenna 105 is converted into a control signal by the signal conversion unit 103.
  • the remote wireless CPU 101 is configured to control the signal conversion unit 103 and to grasp the received radio wave intensity RS of the reply signal SGc received by the antenna 105.
  • the remote wireless CPU 101 is electrically connected to the remote CPU 51 and can exchange signals with the remote CPU 51.
  • the remote CPU 51 performs display control of the touch panel 54 so that the operation screen G0 is displayed on the touch panel 54 and that the initial mode is displayed on the operation screen G0 at the start of the remote operation. Further, the remote CPU 51 outputs a start signal indicating that the remote operation is started to the remote wireless CPU 101.
  • the remote wireless CPU 101 reads the remote operation start process execution program 111 stored in the remote operation program 110 based on the reception of the start signal, and executes the remote operation start process.
  • the remote wireless CPU 101 transmits a notification signal in which information corresponding to the initial mode is set to the vehicle communication unit 30.
  • the vehicle communication unit 30 updates the remote operation mode specifying information 120 provided in the vehicle wireless memory 35 so as to be information corresponding to the initial mode.
  • the remote CPU 51 transmits a signal related to the remote operation and corresponding to the input operation mode of the touch panel 54 to the remote communication unit 100 at a specific cycle Ta. For this reason, as in the first embodiment, the remote communication unit 100 periodically transmits the remote operation signal SGb at a specific period Ta.
  • the vehicle communication unit 30 executes the signal conversion control process based on the reception of the remote operation signal SGb from the remote communication unit 100. Thereby, when the remote operation mode is the permission mode or the warning mode, the forklift 20 performs an operation corresponding to the operation mode of the remote operation device 50. Further, a reply signal SGc is transmitted every time the signal conversion control process is executed. For this reason, the remote communication unit 100 receives the reply signal SGc with the specific period Ta.
  • the remote wireless CPU 101 every time the remote wireless CPU 101 receives the reply signal SGc, the remote wireless CPU 101 reads out the remote operation mode control processing execution program 112 stored in the remote operation program 110 and stores various information stored in the various information storage unit 113.
  • the remote operation mode control process is executed while being used. That is, here, the remote wireless CPU 101 of the remote communication unit 100 corresponds to a “grasping part”, “availability determination part”, “remote operation mode control part”, and the like. In other words, the remote control device 50 has a “grasping part”, a “probability determination part”, and the like.
  • the remote operation mode control process by the remote wireless CPU 101 is basically the same as in the first embodiment.
  • the remote wireless CPU 101 grasps the received radio wave intensity RS of the reply signal SGc received by the remote communication unit 100. That is, the remote wireless CPU 101 periodically grasps the received radio wave intensity RS of the reply signal SGc, and determines whether it is possible based on the result. In this case, the remote wireless CPU 101 may know the transmission intensity of the reply signal SGc in advance.
  • the remote wireless CPU 101 transmits an antenna switching request signal in the antenna switching process of step S312.
  • the vehicle radio CPU 36 switches the selected antenna based on the switching request signal received by the selected antenna.
  • the remote wireless CPU 101 executes a process of transmitting a notification signal in which information corresponding to the permission mode is set to the vehicle communication unit 30 instead of the process of step S308.
  • the vehicle radio CPU 36 updates the remote operation mode specifying information 120 so as to be information corresponding to the permission mode.
  • the remote wireless CPU 101 executes a process of issuing an instruction to the remote CPU 51 so that the permission mode is displayed on the operation screen G0 instead of the process of step S310.
  • the remote CPU 51 performs display control of the operation screen G0 based on the instruction.
  • step S318 and step S320 and the processing of step S325 and step S326 are also changed in the same manner as described above except that the target remote operation mode is different.
  • the remote control device 50 used to remotely control the forklift 20 having the vehicle communication unit 30 includes the remote communication unit 100 that performs wireless communication with the vehicle communication unit 30.
  • the remote wireless CPU 101 of the remote communication unit 100 grasps the received radio wave intensity RS of the reply signal SGc received by the remote communication unit 100, and executes a feasibility determination based on the result.
  • This configuration also has the effect (1).
  • the remote communication unit 100 transmits the remote operation signal SGb to the vehicle communication unit 30 at a specific cycle Ta.
  • the vehicle communication unit 30 transmits a reply signal SGc based on the reception of the remote operation signal SGb.
  • the remote wireless CPU 101 provided in the remote operation device 50 grasps the received radio wave intensity RS of the reply signal SGc, and determines whether it is possible based on the result. According to this configuration, it is possible to confirm that the remote operation signal SGb has been successfully transmitted by receiving the reply signal SGc. Further, by performing the availability determination using the reply signal SGc, the availability determination based on the received radio wave intensity RS can be performed without using a dedicated signal.
  • the threshold information D1 of the third embodiment is updated when a predetermined update condition is satisfied. That is, the industrial vehicle remote control system 10 of the third embodiment is configured to be able to update the threshold information D1 based on the establishment of the update condition. This point will be described in detail below.
  • the remote memory 52 stores an update instruction process execution program 200 for executing an update instruction process for instructing an update of the threshold strength RSth.
  • the remote CPU 51 reads the update instruction process execution program 200 based on the fact that the update condition is satisfied, and executes the update instruction process.
  • the update instruction process is a process for transmitting to the vehicle communication unit 30 an update instruction signal instructing to update the threshold information D1 using the remote communication unit 53.
  • the update instruction signal is a wireless communication format signal, similar to the remote operation signal SGb.
  • the update condition may be, for example, when the industrial vehicle remote control system 10 is introduced (at the initial startup) or when an update request operation is performed on the remote control device 50.
  • the update request operation is, for example, when a start operation for starting an update application is performed in the remote operation device 50, for example, when an update icon is touched in a configuration in which an update icon of the threshold information D1 is displayed on the operation screen G0. And so on.
  • the remote CPU 51 first displays an update screen G1 on the touch panel 54 in step S401.
  • the update screen G1 displays a threshold intensity RSth, a change icon Ic10 corresponding to the threshold intensity RSth, and an end icon Icx.
  • the operator can intuitively understand that the threshold intensity RSth can be changed by operating (touching) the change icon Ic10.
  • the remote CPU 51 determines whether or not there has been an operation on the change icon Ic10 in step S402, and if an operation on the change icon Ic10 is detected, the process proceeds to step S403, where the threshold strength Sets the amount of RSth change. Thereafter, in step S404, the remote CPU 51 generates an update instruction signal in which the change amount is set, and transmits the generated update instruction signal to the vehicle communication unit 30 using the remote communication unit 53. This update instruction process is terminated. Thereby, the vehicle communication unit 30 receives the update instruction signal. In this case, the vehicle communication unit 30 can also be said to be an input unit to which an update instruction signal is input.
  • the specific setting mode of the change amount of the threshold strength RSth when the change icon Ic10 is operated is arbitrary.
  • the amount of change may be set so as to increase or decrease by a predetermined amount based on the change icon Ic10 being touched once, or according to the period during which the change icon Ic10 is being touched.
  • the desired value may be directly input.
  • a plurality of prescribed values that are frequently used may be stored in the remote memory 52 in advance, and the remote CPU 51 may be able to select one of the plurality of prescribed values.
  • the change amount may be determined in advance regardless of the operation of the operator. In short, the operator's operation is not essential for setting the change amount.
  • step S405 determines whether or not there is an operation on the end icon Icx.
  • the remote CPU 51 ends the update instruction process without transmitting an update instruction signal.
  • the remote CPU 51 returns to step S402. That is, the remote CPU 51 waits until either the change icon Ic10 or the end icon Icx is operated.
  • the vehicle radio CPU 36 is configured to execute a threshold information update process for updating the threshold information D1 based on reception of an update instruction signal by the vehicle communication unit 30 (specifically, both antennas 31 and 32). .
  • the threshold information storage unit 44a stores threshold information D1 in a rewritable state.
  • the remote operation program 40 includes a threshold information update processing execution program 201 for updating the threshold information D1.
  • the vehicle radio CPU 36 Based on the reception of the update instruction signal by the vehicle communication unit 30, the vehicle radio CPU 36 reads the threshold information update process execution program 201 and executes the threshold information update process.
  • the vehicle radio CPU 36 first grasps the amount of change set in the update instruction signal that triggered the execution of the current threshold information update process. Specifically, the vehicle radio CPU 36 uses the signal conversion unit 33 to convert the received update instruction signal into a signal that can be recognized by the vehicle radio CPU 36, and grasps the amount of change from the converted signal. Then, the vehicle radio CPU 36 updates the threshold information D1 stored in the threshold information storage unit 44a so that the threshold strength RSth is changed by the change amount.
  • the remote CPU 51 that executes the update instruction process corresponds to an “update instruction process execution unit”, and the vehicle radio CPU 36 that executes the threshold information update process corresponds to a “threshold information update process execution unit”.
  • FIGS. 21 (a) and 21 (b) are updated in response to changes in the received radio wave intensity RS with respect to the distance between the communication units 30 and 53 when the forklift 20 is arranged in different environments. It is a graph which shows the threshold intensity
  • the attenuation curve of the received radio wave intensity RS with respect to the distance between the communication units 30 and 53 may shift up and down as a whole depending on the installation environment of the forklift 20.
  • the installation environment of the forklift 20 includes factors that affect the propagation or reflection of radio waves exchanged between the communication units 30 and 53. For example, the size of the site where the forklift 20 is installed or the site where the forklift 20 is installed. The height or type of luggage can be considered.
  • the attenuation curve can be shifted up and down, if the threshold intensity RSth is fixed uniformly, the upper limit value of the distance determined to be within the allowable range A1 varies, and the accuracy of the determination result. Can be reduced.
  • the operator can adjust the threshold strength RSth in correspondence with the received radio wave strength RS.
  • the operator can connect the communication units 30 and 53 so that the predetermined specified distance becomes the upper limit value of the permitted range A1 when the industrial vehicle remote control system 10 is introduced or at regular maintenance.
  • the threshold information D1 is updated while confirming the actual distance.
  • the threshold value is set accordingly.
  • the intensity RSth is set larger by the shift amount ⁇ than the value set in the environment of FIG.
  • the permitted range A1 can be set to an appropriate range by setting the threshold strength RSth while the operator confirms the distance between the communication units 30 and 53.
  • the vehicle wireless memory 35 of the forklift 20 has a threshold information storage unit 44a in which threshold information D1 is stored, and the vehicle wireless CPU 36 stores the threshold information D1 stored in the threshold information storage unit 44a. Readability is determined based on the threshold strength RSth set in the threshold information D1. The threshold information D1 is updated when a predetermined update condition is satisfied.
  • the threshold information D1 is updated, so that it is possible to cope with fluctuations in the received radio wave intensity RS due to the installation environment of the forklift 20.
  • the threshold information D1 is updated to correspond to the shift.
  • the threshold intensity RSth can be adjusted. Thereby, it can respond to the fluctuation
  • the remote CPU 51 uses the remote communication unit 53 to send an update instruction signal for instructing the update of the threshold information D1 based on a predetermined update request operation performed on the remote operation device 50.
  • the update instruction process to be transmitted is executed.
  • the vehicle radio CPU 36 executes threshold information update processing for updating the threshold information D1 stored in the threshold information storage unit 44a.
  • the threshold information D1 can be updated by an update request operation on the remote operation device 50.
  • the threshold strength RSth can be changed to a desired value using the remote control device 50, so that it is not necessary to prepare a dedicated device or the like for changing the threshold strength RSth separately from the remote control device 50. Convenience related to the change of RSth is improved.
  • the fourth embodiment is different from the third embodiment in that the structure of the threshold information D2 and the threshold strength RSth used in the availability determination are changed according to the remote operation mode. The different points will be described in detail below.
  • the threshold value information D2 is set with a plurality of mode threshold values RStha to RSthd corresponding to a plurality of remote operation modes.
  • the threshold information D2 includes an initial mode threshold value RStha set corresponding to the initial mode, an allowed mode threshold value RSthb set corresponding to the allowed mode, and a warning mode set corresponding to the warning mode. It includes a threshold value RSthc and a prohibited mode threshold value RSthd set corresponding to the prohibited mode.
  • the vehicle radio CPU 36 performs the current remote operation based on the remote operation mode specifying information in step S501 after executing the process of step S304. Know the mode.
  • the vehicle radio CPU 36 sets the threshold strength RSth to a value corresponding to the current remote operation mode. Specifically, the vehicle wireless CPU 36 refers to the threshold information D2, reads out the mode threshold corresponding to the remote operation mode grasped in step S501, and sets the read mode threshold as the threshold strength RSth.
  • step S503 the vehicle radio CPU 36 compares the received radio wave intensity RS obtained in step S304 with the threshold intensity RSth set in step S502.
  • the threshold strength RSth used for the determination of availability is changed according to the current remote operation mode.
  • the vehicle radio CPU 36 that executes the processes of steps S501 and S502 corresponds to a “change unit”. Since the process after the process of step S503 is the same as that of 1st Embodiment, detailed description is abbreviate
  • the remote CPU 51 first displays an update screen G2 in step S601.
  • the update screen G2 of the fourth embodiment displays the mode threshold values RStha to RSthd and four change icons Ica to Icd corresponding to the four mode threshold values RStha to RSthd. At the same time, an end icon Icx is displayed.
  • the remote CPU 51 waits until any of the four change icons Ica to Icd or the end icon Icx is operated in steps S602 and S605.
  • the remote CPU 51 makes a positive determination in step S602, proceeds to step S603, and sets the mode threshold corresponding to the operated change icon as an update target. And the change amount is set.
  • the remote CPU 51 generates an update instruction signal in which the mode threshold value to be updated and the change amount are set, and sends the update instruction signal to the vehicle communication unit 30 using the remote communication unit 53. Then, the update instruction process is terminated.
  • the remote CPU 51 sends an update instruction signal with the permission mode threshold value RSthb as an update target and a predetermined change amount to the vehicle wireless CPU 36. To send.
  • the specific setting mode of the change amount of the mode threshold values RStha to RSthd when the change icons Ica to Icd are operated is arbitrary.
  • the change amount may be set to increase or decrease by a predetermined amount based on the touch of the change icons Ica to Icd once, or the change icons Ica to Icd are touched. It may be changed according to the period of time, or a desired value may be directly input.
  • a plurality of combinations of mode threshold values RStha to RSthd that are frequently used are stored in advance in the remote memory 52, and the remote CPU 51 may be configured to be able to select any one of the plurality of combinations.
  • the remote CPU 51 makes an affirmative determination in step S605 and ends the update instruction process without transmitting an update instruction signal.
  • the vehicle wireless CPU 36 first grasps the update target and the change amount based on the update instruction signal that triggered the execution of the current threshold information update process. Specifically, the vehicle radio CPU 36 converts the update instruction signal into a signal that can be recognized by the vehicle radio CPU 36 using the signal conversion unit 33, and grasps the update target and the change amount based on the converted signal. Thereafter, the vehicle radio CPU 36 performs an update to change the mode threshold value to be updated in the threshold value information D2 by the change amount.
  • the vehicle radio CPU 36 when receiving an update instruction signal whose update target is set to the permission mode threshold value RSthb, the vehicle radio CPU 36 changes the permission mode threshold value RSthb of the threshold information D2 by the change amount set in the update instruction signal. Update. That is, based on receiving the update instruction signal, the vehicle radio CPU 36 updates the threshold information D2 in correspondence with the content set in the update instruction signal.
  • FIGS. 26A to 26C are graphs for explaining changes in the threshold intensity RSth for each remote operation mode.
  • the curves of the received radio wave intensity RS in FIGS. 26 (a) to 26 (c) are the same.
  • FIGS. 26A to 26C schematically show the influence of the hot spot Ay and the dead spot Ax.
  • the dead spot Ax is a range where the received radio wave intensity RS is locally lower than a normally assumed value (ideal value), and the hot spot Ay is usually This is a range in which the received radio wave intensity RS is locally higher than an assumed value.
  • the dead spot Ax is a circle whose center is the position that should be determined to be within the permitted range A1, for example, the remote control device 50 (specifically, the remote communication unit 53) and whose radius is the first distance L1. It exists in the range of. Further, it is assumed that the hot spot Ay exists outside the range of a circle that is originally determined to be within the prohibited range A2, for example, the center of the remote control device 50 and the radius of the second distance L2. It is assumed that at least the maximum value of the received radio wave intensity RS of the hot spot Ay is higher than the minimum value of the received radio wave intensity RS of the dead spot Ax. In the following description and FIG. 26, for the sake of explanation, the error of the received radio wave intensity RS and the error corresponding range A3 resulting therefrom are omitted.
  • the initial mode threshold value RStha set when the remote operation mode is the initial mode is set higher than the permission mode threshold value RSthb and the prohibition mode threshold value RSthd. For this reason, the allowable range A1 in the initial mode is narrower than in other remote operation modes.
  • the permission mode threshold value RSthb set when the remote operation mode is the permission mode is set lower than the initial mode threshold value RStha. For this reason, the permission range A1 in the permission mode is wider than that in the initial mode.
  • the operator sets the permission mode threshold value RSthb to be low in correspondence with the reception radio wave intensity RS of the dead spot Ax being locally low.
  • the operator may execute an update instruction process for lowering the permission mode threshold value RSthb below the received radio wave intensity RS of the dead spot Ax at the time of introduction of the industrial vehicle remote control system 10 or periodic maintenance. is assumed.
  • the threshold value update process is executed by the vehicle wireless CPU 36 and the forklift 20 is disposed at the dead spot Ax, it is possible to suppress the possibility determination result from being within the prohibited range A2.
  • the prohibit mode threshold RSthd set when the remote operation mode is the prohibit mode is set lower than the initial mode threshold RStha. For this reason, the allowable range A1 in the prohibit mode is wider than that in the initial mode.
  • the operator sets the prohibition mode threshold value RSthd to be high in correspondence with the reception radio wave intensity RS of the hot spot Ay being locally high.
  • the operator may execute an update instruction process for setting the prohibit mode threshold value RSthd to be higher than the received radio wave intensity RS of the hot spot Ay when the industrial vehicle remote control system 10 is introduced or during periodic maintenance. is assumed.
  • the threshold value update process is executed by the vehicle wireless CPU 36 and the forklift 20 is disposed at the hot spot Ay, it is possible to suppress the availability determination result from being within the permitted range A1.
  • the prohibition mode threshold RSthd is set higher than the permission mode threshold RSthb. For this reason, the permission range A1 in the prohibit mode is narrower than the permission range A1 in the permission mode. Therefore, the operator who has the remote control device 50 needs to be closer to the forklift 20 when attempting to shift the remote control mode from the prohibit mode to the permission mode.
  • the vehicle radio CPU 36 determines whether or not the remote operation mode is any of the permission mode, the warning mode, and the prohibition mode. Then, the vehicle radio CPU 36 executes a process (step S501 and step S502) for changing the threshold strength RSth used for the availability determination according to the remote operation mode. According to this configuration, it is possible to make the permission mode threshold RSthb used for the permission determination in the permission mode different from the prohibition mode threshold RSthd used for the permission determination in the prohibit mode. Accordingly, the permitted range A1 and the prohibited range A2 can be changed according to the remote operation mode.
  • the threshold strength RSth it is possible to suppress erroneous transition of the remote operation mode due to local changes (both spots Ax and Ay) of the received radio wave strength RS.
  • the dead spot Ax is generated at a position relatively close to the remote operation device 50, or at a position relatively far from the remote operation device 50.
  • a hot spot Ay may occur.
  • the determination result is within the prohibited range A2 even though the determination result is to be determined within the permitted range A1.
  • the possibility determination result should be determined to be within the prohibition range A2, although it is determined to be within the prohibition range A2. It may be determined that the remote operation mode may shift from the prohibit mode to the permit mode. Such erroneous transition to the remote operation mode can adversely affect operability and safety.
  • the permission mode threshold value RSthb is set corresponding to the received radio wave intensity RS of the dead spot Ax so as not to cause an erroneous determination due to the dead spot Ax, and is caused by the hot spot Ay.
  • the prohibition mode threshold value RSthd can be set in correspondence with the hot spot Ay so that erroneous determination does not occur. Thereby, it can suppress that remote control mode transfers accidentally due to both spots Ax and Ay.
  • the vehicle radio CPU 36 determines that the forklift 20 is disposed within the permitted range A1 by determining whether or not the remote operation mode is the prohibited mode. To allow mode. In this case, the vehicle radio CPU 36 sets the prohibition mode threshold RSthd higher than the permission mode threshold RSthb. According to this configuration, when the hot spot Ay is generated within the range that should be determined to be within the prohibited range A2, errors in the determination result due to the hot spot Ay can be suppressed.
  • the permission range A1 in the prohibit mode is likely to be narrower than the permission range A1 in the permission mode.
  • the remote operation mode shifts to the prohibit mode, in order to shift the remote operation mode from the prohibit mode to the permission mode again, it is necessary to bring the remote operation device 50 and the forklift 20 closer than in the permission mode. . Accordingly, when the remote operation is performed again, the operator is assumed to move the forklift 20 to a position where it can be more easily seen, so that the safety during the remote operation is improved.
  • the warning mode threshold value RSthc used for the determination of availability in the warning mode is set to be the same as the permission mode threshold value RSthb. That is, the vehicle radio CPU 36 maintains the warning mode threshold value RSthc, which is the threshold strength RSth used for determination of availability in the warning mode, as the permission mode threshold value RSthb used for determination of availability in the permission mode. If the warning mode threshold value RSthc is set equal to the prohibition mode threshold value RSthd in the configuration in which the prohibition mode threshold value RSthd is set higher than the permission mode threshold value RSthb, the remote operation mode shifts from the permission mode to the warning mode. As a result, the permitted range A1 becomes narrower.
  • the determination result is likely to be within the prohibited range A2, and as a result, the remote operation mode is prohibited from the warning mode. It becomes easy to shift to the mode, and the inconvenience that convenience decreases is likely to occur.
  • the warning mode threshold value RSthc is set to be the same as the permission mode threshold value RSthb, even if the remote operation mode shifts from the permission mode to the warning mode, the permission range A1 hardly changes. .
  • the determination result is likely to be within the permission range A1. Therefore, the inconvenience can be suppressed.
  • the threshold strength RSth is set to the initial mode threshold RStha.
  • the initial mode threshold value RStha is set higher than the permission mode threshold value RSthb and the prohibition mode threshold value RSthd. According to this configuration, the safety of remote operation at the start of remote operation is improved.
  • remote operation from a position where the operator can sufficiently confirm safety when starting remote operation.
  • the position of the forklift 20 with respect to the remote control device 50 at the start of remote control is indefinite, high safety is required.
  • the initial mode threshold value RStha is set high, it is difficult for the remote operation mode to shift from the initial mode to the permission mode unless the operator sufficiently approaches the position where the safety can be confirmed. For this reason, the operator can be guided to the vicinity of the forklift 20 at the start of remote operation, and safety is improved.
  • each of the above embodiments may be modified as follows.
  • the remote operation mode when the remote operation mode is the initial mode or the prohibit mode, all remote operations including traveling are prohibited, but not limited to this, predetermined remote operations other than traveling are permitted. Also good.
  • the remote operation mode when the remote operation mode is the initial mode or the prohibition mode, at least the remote operation related to traveling should be prohibited.
  • the availability determination is performed using the remote operation signal SGb or the reply signal SGc, but the availability determination may be performed using a dedicated signal.
  • the first threshold strength used for determining whether or not within the permitted range A1 and the second threshold strength used for determining whether or not within the prohibited range A2 are the same, and the common threshold strength RSth. was used, but may be different. For example, if the received radio wave intensity RS is less than the first threshold intensity, the vehicle radio CPU 36 or the remote radio CPU 101 determines whether the received radio wave intensity RS is less than the second threshold intensity that is smaller than the first threshold intensity. If the received radio wave strength RS is less than the second threshold strength, the processing after step S311 may be executed.
  • the second threshold intensity may be set to be equal to or lower than the first threshold intensity.
  • a third comparison result in which the received radio wave strength RS is less than the first threshold strength and greater than or equal to the second threshold strength can occur.
  • the vehicle wireless CPU 36 or the remote wireless CPU 101 may continue the determination of availability while maintaining the current remote operation mode, for example. Specifically, when the vehicle wireless CPU 36 or the remote wireless CPU 101 obtains the third comparison result, the counters C1 and C2 are reset and the remote operation mode control process is terminated without changing the remote operation mode. May be.
  • the third comparison result is continued for a predetermined period, the vehicle wireless CPU 36 or the remote wireless CPU 101 notifies that the vehicle wireless CPU 36 or the remote wireless CPU 101 is arranged in an intermediate range between the permitted range A1 and the prohibited range A2. May be executed.
  • the first threshold strength and the second threshold strength may be fixed values or variable values that are appropriately changed according to the situation.
  • the first determination period T1 and the second determination period T2 may be fixed values or variable values.
  • the first threshold intensity when the first threshold intensity and the second threshold intensity are different, the first threshold intensity may be different depending on the remote operation mode and the second threshold intensity may be different depending on the remote operation mode.
  • the first threshold strength in the prohibit mode may be higher than the first threshold strength in the permit mode
  • the second threshold strength in the prohibit mode may be higher than the second threshold strength in the permit mode.
  • at least one of the threshold information may be different depending on the remote operation mode.
  • the vehicle radio CPU 36 may perform a smoothing process and an offset correction process on the received radio wave intensity RS before the process of step S304. In this case, since the vehicle radio CPU 36 can grasp the received radio wave intensity RS with a smaller error, the accuracy of the availability determination is improved. The same applies to the second embodiment.
  • the remote communication unit 53 may be configured not to periodically transmit the remote operation signal SGb during the prohibit mode. In this case, for example, the remote communication unit 53 transmits a restart activation signal when resuming the remote operation. Then, the vehicle radio CPU 36 may execute the availability determination and the remote operation mode control based on the received radio wave intensity RS of the restart activation signal. The same applies to the second embodiment.
  • Both the vehicle communication unit 30 and the remote communication units 53 and 100 may have both antennas 31 and 32. Either one of the antennas 31 and 32 may be omitted. In this case, switching of the selected antenna can be omitted.
  • the specified number of times the selected antenna is switched is not limited to “one time”, and may be a plurality of times, or the selected antenna may be switched without limitation. However, if attention is focused on shortening the period required for the determination of availability, it is preferable that the prescribed number is small, for example, one.
  • the grace period T3 is not limited to the period set in each embodiment, and is arbitrary as long as it is longer than both determination periods T1 and T2.
  • the prohibit mode transition condition is arbitrary.
  • the prohibition mode transition condition may be that the state in which the received radio wave intensity RS is less than the threshold value smaller than the threshold intensity RSth is continued for a predetermined period, and whether the determination is made or not is performed a predetermined number of times.
  • the determination result may be determined to be within the prohibited range A2.
  • the notification mode in the remote operation mode is arbitrary.
  • the remote CPU 51 may change the background color of the operation screen G0 according to the remote operation mode.
  • the touch panel 54 was used as an alerting
  • the notification unit may be a speaker or a light emitting unit. Further, the notification unit may be provided in the forklift 20 instead of (or in addition to) the remote control device 50.
  • the communication format between the vehicle communication unit 30 and the remote communication units 53 and 100 is not limited to Wi-Fi, and may be any, for example, Bluetooth (registered trademark) and Zigbee (registered trademark).
  • the error corresponding range A3 is not essential.
  • the threshold strength RSth may be set to the received radio wave strength RS corresponding to the second distance L2.
  • Specific control for prohibiting remote operation is not limited to each embodiment and is arbitrary.
  • signal conversion may be performed in the vehicle communication unit 30 regardless of the remote operation mode. In this case, the vehicle CPU 27 may determine whether to perform control based on the input control signal SGa according to the remote operation mode.
  • Warning mode may be omitted.
  • the vehicle radio CPU 36 may immediately prohibit the remote operation related to traveling based on the result of the availability determination being within the prohibited range A2 under the situation where the remote operation related to traveling is permitted.
  • the prohibited range A2 may be a range in which remote operation related to traveling is prohibited immediately when the forklift 20 is disposed within the prohibited range A2, or remote control related to traveling after a predetermined grace period T3 is given. It may be a range where the operation is prohibited.
  • the industrial vehicle is not limited to the forklift 20 and is arbitrary. Further, the industrial vehicle may have an automatic driving function of traveling in a predetermined traveling pattern.
  • the touch panel 54 functions as an input unit operated by an operator.
  • the configuration is not limited to this, and the specific configuration of the input unit is arbitrary.
  • the remote control device 50 may be provided with a remote control lever or the like.
  • the remote operation device 50 may include an operation controller that is electrically connected by wire or wirelessly. In this case, the operation controller corresponds to the input unit.
  • the vehicle CPU 27 may execute a remote operation mode control process or the like.
  • the remote CPU 51 may execute a remote operation mode control process or the like.
  • the threshold intensity RSth may be set in consideration of at least one of the dead spot Ax and the hot spot Ay.
  • the threshold strength RSth is set to include at least one of a decrease in the received radio wave strength RS caused by the dead spot Ax and an increase in the received radio wave strength RS caused by the hot spot Ay as an error of the received radio wave strength RS. Also good.
  • the update condition is that an update request operation has been performed on the remote operation device 50, but is not limited thereto.
  • the update condition is that an update instruction signal is input to the input unit 210. But you can.
  • the input unit 210 is connected to the threshold information storage unit 44 a, and the threshold information storage unit 44 a can be directly accessed from the outside via the input unit 210.
  • the threshold information D1 stored in the threshold information storage unit 44a is updated using the external control device 220 that can be connected to the input unit 210.
  • the external control device 220 includes a threshold information update process execution program 221 that is a program for executing the threshold information update process.
  • the external control device 220 can access the threshold information storage unit 44 a by being connected to the input unit 210.
  • the external control device 220 reads the threshold information update process execution program 221 while being connected to the input unit 210, and updates the threshold information D1 by executing the threshold information update process.
  • the forklift 20 having the threshold information storage unit 44a only needs to be in a state where the threshold information D1 can be updated, and it is essential to have a program for executing a process for updating the threshold information D1. is not.
  • the specific configuration of the input unit 210 is arbitrary, but may be, for example, a connector or an interface.
  • the input unit 210 may be a device that can be connected to a server or the like on the Internet. That is, the threshold information D1 may be updated based on an update instruction signal transmitted from a server or the like.
  • the permission mode threshold value RSthb may be set higher than the prohibition mode threshold value RSthd.
  • the initial mode threshold value RStha may be the same as the permitted mode threshold value RSthb or the prohibited mode threshold value RSthd, or may be smaller than the permitted mode threshold value RSthb or the prohibited mode threshold value RSthd.
  • the warning mode threshold value RSthc may be the same as the prohibition mode threshold value RSthd, or may be a value between the permission mode threshold value RSthb and the prohibition mode threshold value RSthd.
  • the control subject that executes the update instruction process is not limited to the remote CPU 51, and may be arbitrary, and a dedicated control circuit may be separately provided in the remote operation device 50.
  • the control entity that executes the threshold information update process is not limited to the vehicle wireless CPU 36, but may be the vehicle CPU 27, or a dedicated circuit may be provided separately.
  • threshold information in which both the mode thresholds RStha to RSthd and the shift amount are set may be stored in the threshold information storage unit 44a.
  • the vehicle radio CPU 36 may set a value obtained by adding the shift amount to the mode threshold value corresponding to the remote operation mode as the threshold strength RSth, and determine whether the threshold strength RSth is used.
  • the vehicle wireless CPU 36 reads the permission mode threshold value RSthb and the shift amount with reference to the threshold information, and sets a value obtained by adding the shift amount to the permission mode threshold value RSthb.
  • the threshold intensity RSth may be set.
  • the shift amount includes a negative value.
  • the industrial vehicle remote control system 10 may be configured to be able to update the mode threshold values RStha to RSthd and the shift amount.
  • the remote CPU 51 may display the shift amount and the change icon corresponding to the shift amount on the update screen G2, and when the change icon is operated, the remote CPU 51 may transmit an update instruction signal in which the shift amount is set as an update target. .
  • the vehicle radio CPU 36 may update the shift amount stored in the threshold information based on the reception of the update instruction signal.
  • the industrial vehicle remote control system 10 (in other words, the remote control device 50 or the forklift 20) is configured so that the forklift 20 is within the permitted range A1 based on the result of one comparison between the received radio wave intensity RS and the threshold intensity RSth. It may be determined in which of the prohibited areas A2 is disposed.
  • the industrial vehicle remote control system 10 may determine whether or not it is possible based on the detection result of a distance sensor that detects the distance between the remote control device 50 and the forklift 20 instead of the received radio wave intensity RS.
  • industrial vehicle remote control system may be applied to “industrial vehicle”, “remote control device”, “industrial vehicle remote control program” and “industrial vehicle remote control method”.

Abstract

This remote control system for industrial vehicles comprises a forklift having a vehicle communication unit, and a remote control device having a remote communication unit, and is used to remotely control the forklift. A vehicle wireless CPU of the remote control system for industrial vehicles ascertains the reception strength of a remote control signal by which the two communication units wirelessly communicate, and, on the basis of the results thereof, determines whether the forklift is positioned in a permitted range or in a prohibited range.

Description

産業車両用遠隔操作システム、産業車両、遠隔操作装置、産業車両用遠隔操作プログラム及び産業車両用遠隔操作方法Industrial vehicle remote control system, industrial vehicle, remote control device, industrial vehicle remote control program, and industrial vehicle remote control method
　本発明は、産業車両用遠隔操作システム、産業車両、遠隔操作装置、産業車両用遠隔操作プログラム及び産業車両用遠隔操作方法に関する。 The present invention relates to an industrial vehicle remote control system, an industrial vehicle, a remote control device, an industrial vehicle remote control program, and an industrial vehicle remote control method.
　特許文献１は、フォークリフトを遠隔操作する遠隔操作装置としての遠隔制御装置を開示している。この文献には、フォークリフトに対して離れた位置からフォークリフトの荷役作業を遠隔操作することが記載されている。 Patent Document 1 discloses a remote control device as a remote operation device for remotely operating a forklift. This document describes remotely operating a forklift handling work from a position away from the forklift.
　ここで、産業車両と遠隔操作装置とは、互いに無線通信を行うことが考えられる。この場合、両者の無線通信の範囲によっては、操作者が十分に視認可能な適切な範囲に対して過度に離れた位置から、走行に関する遠隔操作が可能となる場合がある。この場合、産業車両の走行に関する遠隔操作に誤操作等が生じ得る。 Here, it is conceivable that the industrial vehicle and the remote control device perform wireless communication with each other. In this case, depending on the range of wireless communication between the two, remote operation related to traveling may be possible from a position that is excessively distant from an appropriate range that is fully visible to the operator. In this case, an erroneous operation or the like may occur in the remote operation related to traveling of the industrial vehicle.
特開２００２－１０４８００号公報JP 2002-104800 A
　本発明の目的は、操作者が遠隔操作装置を用いて過度に離れた位置から産業車両の走行に関する遠隔操作を行うことを抑制できる産業車両用遠隔操作システム、産業車両、遠隔操作装置、産業車両用遠隔操作プログラム及び産業車両用遠隔操作方法を提供することである。 An object of the present invention is to provide an industrial vehicle remote control system, an industrial vehicle, a remote control device, and an industrial vehicle that can prevent an operator from performing remote control related to traveling of the industrial vehicle from a position that is excessively separated by using the remote control device. A remote control program for industrial use and a remote control method for industrial vehicles are provided.
　上記課題を解決するため、本発明の第一の態様によれば、車両通信部を有する産業車両と、車両通信部と無線通信を行う操作装置通信部を有し、産業車両を遠隔操作するのに用いられる遠隔操作装置とを備えた産業車両用遠隔操作システムが提供される。産業車両用遠隔操作システムは、車両通信部と操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握部と、把握部によって把握された受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、遠隔操作装置による産業車両の走行に関する遠隔操作が許可される許可範囲内に産業車両が配置されていると判定する一方、把握部によって把握された受信電波強度が第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、許可範囲よりも遠隔操作装置から離れた禁止範囲内に産業車両が配置されていると判定する可否判定を実行する可否判定部とを備える。禁止範囲は、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止される範囲である。 In order to solve the above-described problem, according to a first aspect of the present invention, an industrial vehicle having a vehicle communication unit, an operating device communication unit that performs wireless communication with the vehicle communication unit, and remotely controlling the industrial vehicle are provided. The remote control system for industrial vehicles provided with the remote control apparatus used for is provided. The industrial vehicle remote control system includes a grasping unit that grasps a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller communication unit, and a received radio wave intensity grasped by the grasping unit is determined in advance. When the state that is equal to or higher than the first threshold intensity is continued for a predetermined first determination period, the industrial vehicle is disposed within a permission range in which remote operation relating to traveling of the industrial vehicle by the remote operation device is permitted. On the other hand, a state in which the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or lower than the first threshold intensity is continued for a predetermined second determination period. A determination unit for determining whether or not the industrial vehicle is disposed within the prohibited range farther from the remote control device than the permitted range. The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
　上記課題を解決するため、本発明の第二の態様によれば、操作装置通信部を有する遠隔操作装置によって遠隔操作される産業車両が提供される。産業車両は、操作装置通信部と無線通信を行う車両通信部と、車両通信部にて受信される信号の受信電波強度を把握する把握部と、把握部によって把握された受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、遠隔操作装置による産業車両の走行に関する遠隔操作が許可される許可範囲内に産業車両が配置されていると判定する一方、把握部によって把握された受信電波強度が第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、許可範囲よりも遠隔操作装置から離れた禁止範囲内に産業車両が配置されていると判定する可否判定を実行する可否判定部とを備える。禁止範囲は、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止される範囲である。 In order to solve the above problems, according to a second aspect of the present invention, there is provided an industrial vehicle that is remotely operated by a remote operation device having an operation device communication section. The industrial vehicle has a vehicle communication unit that performs wireless communication with the controller communication unit, a grasping unit that grasps a received radio wave intensity of a signal received by the vehicle communication unit, and a received radio wave intensity that is grasped by the grasping unit. The industrial vehicle falls within a permitted range in which remote operation related to the travel of the industrial vehicle by the remote operation device is permitted when the state equal to or higher than the first threshold intensity is continued for a predetermined first determination period. Is in a state where the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity over a predetermined second determination period. A determination unit that determines whether or not the industrial vehicle is located within a prohibited range that is farther from the remote control device than the permitted range when it is continued. The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
　上記課題を解決するため、本発明の第三の態様によれば、車両通信部を有する産業車両を遠隔操作するのに用いられる遠隔操作装置が提供される。遠隔操作装置は、車両通信部と無線通信を行う操作装置通信部と、操作装置通信部にて受信される信号の受信電波強度を把握する把握部と、把握部によって把握された受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、遠隔操作装置による産業車両の走行に関する遠隔操作が許可される許可範囲内に産業車両が配置されていると判定する一方、把握部によって把握された受信電波強度が第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、許可範囲よりも遠隔操作装置から離れた禁止範囲内に産業車両が配置されていると判定する可否判定を実行する可否判定部とを備える。禁止範囲は、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止される範囲である。 In order to solve the above problems, according to a third aspect of the present invention, there is provided a remote control device used for remotely controlling an industrial vehicle having a vehicle communication unit. The remote operation device includes an operation device communication unit that performs wireless communication with the vehicle communication unit, a grasping unit that grasps a received radio wave intensity of a signal received by the operation device communication unit, and a received radio wave intensity grasped by the grasping unit. When the state that is equal to or higher than the predetermined first threshold intensity is continued for a predetermined first determination period, the remote control related to the traveling of the industrial vehicle by the remote control device is permitted. While it is determined that the industrial vehicle is disposed, a state in which the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or lower than the first threshold intensity is a predetermined second determination period. And a determination unit for determining whether or not the industrial vehicle is disposed within a prohibited range that is further away from the remote control device than the permitted range. The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
　上記課題を解決するため、本発明の第四の態様によれば、車両通信部を備えた産業車両を、車両通信部と無線通信を行う操作装置通信部を備えた遠隔操作装置を用いて遠隔操作するための産業車両用遠隔操作プログラムが提供される。産業車両用遠隔操作プログラムは、産業車両又は遠隔操作装置を、車両通信部と操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握部と、把握部によって把握された受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、遠隔操作装置による産業車両の走行に関する遠隔操作が許可される許可範囲内に産業車両が配置されていると判定する一方、把握部によって把握された受信電波強度が第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、許可範囲よりも遠隔操作装置から離れた禁止範囲内に産業車両が配置されていると判定する可否判定を実行する可否判定部として機能させる。禁止範囲は、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止される範囲である。 In order to solve the above-described problem, according to a fourth aspect of the present invention, an industrial vehicle including a vehicle communication unit is remotely controlled using a remote operation device including an operation device communication unit that performs wireless communication with the vehicle communication unit. An industrial vehicle remote control program for operation is provided. The industrial vehicle remote control program is grasped by the grasping unit and the grasping unit for grasping the received radio wave intensity of the signal wirelessly communicated between the vehicle communication unit and the operation device communicating unit for the industrial vehicle or the remote operation device. When the state in which the received radio wave intensity is equal to or higher than a predetermined first threshold intensity is continued for a predetermined first determination period, remote operation related to traveling of the industrial vehicle by the remote control device is permitted. While it is determined that the industrial vehicle is disposed within the permitted range, a state in which the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity is determined in advance. 2 When it is continued over a determination period, it functions as a determination unit for determining whether or not an industrial vehicle is disposed within a prohibited range that is farther from the remote control device than the permitted range.The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
　上記課題を解決するため、本発明の第五の態様によれば、車両通信部を備えた産業車両を、車両通信部と無線通信を行う操作装置通信部を備えた遠隔操作装置を用いて遠隔操作する産業車両用遠隔操作方法が提供される。産業車両用遠隔操作方法は、車両通信部と操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握ステップと、把握ステップによって把握された受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、遠隔操作装置による産業車両の走行に関する遠隔操作が許可される許可範囲内に産業車両が配置されていると判定する一方、把握ステップによって把握された受信電波強度が第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、許可範囲よりも遠隔操作装置から離れた禁止範囲内に産業車両が配置されていると判定する可否判定を実行する可否判定ステップとを備える。禁止範囲は、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止される範囲である。 In order to solve the above-described problem, according to a fifth aspect of the present invention, an industrial vehicle including a vehicle communication unit is remotely controlled using a remote operation device including an operation device communication unit that performs wireless communication with the vehicle communication unit. A remote control method for an industrial vehicle to operate is provided. The industrial vehicle remote control method includes a grasping step for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller communication unit, and a received radio wave intensity grasped by the grasping step is determined in advance. When the state that is equal to or higher than the first threshold intensity is continued for a predetermined first determination period, the industrial vehicle is disposed within a permission range in which remote operation relating to traveling of the industrial vehicle by the remote operation device is permitted. On the other hand, the state in which the received radio wave intensity grasped by the grasping step is less than the second threshold intensity set to be equal to or lower than the first threshold intensity is continued for a predetermined second determination period. A determination step for determining whether or not the industrial vehicle is disposed within the prohibited range farther from the remote control device than the permitted range. The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication between the vehicle communication unit and the control device communication unit is performed.
　上記課題を解決するため、本発明の第六の態様によれば、車両通信部を有する産業車両と、車両通信部と無線通信を行う操作装置通信部を有し、産業車両を遠隔操作するのに用いられる遠隔操作装置とを備えた産業車両用遠隔操作システムが提供される。産業車両用遠隔操作システムでは、遠隔操作装置による産業車両の走行に関する遠隔操作モードには、遠隔操作装置による産業車両の走行に関する遠隔操作が許可されている許可モード及び猶予モードと、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止されている禁止モードとが含まれている。産業車両用遠隔操作システムは、車両通信部と操作装置通信部との距離に関する物理量を把握する把握部と、把握部によって把握された物理量に基づいて、産業車両が第１範囲内又は第１範囲よりも遠隔操作装置から離れた第２範囲内のいずれに配置されているのかを判定する可否判定を実行する可否判定部と、遠隔操作モードが許可モードである状況下での可否判定によって産業車両が第２範囲内に配置されていると判定されたことに基づいて、遠隔操作モードを、許可モードから猶予モードに移行させる遠隔操作モード制御部と、遠隔操作モードを報知する報知部とを備える。遠隔操作モード制御部は、遠隔操作モードが猶予モードである状況下で予め定められた許可モード移行条件が成立したことに基づいて、遠隔操作モードを、猶予モードから許可モードに移行させる一方、遠隔操作モードが許可モードから猶予モードに移行してから、許可モード移行条件が成立することなく、予め定められた猶予期間が経過したことに基づいて、遠隔操作モードを、猶予モードから禁止モードに移行させる。 In order to solve the above-described problem, according to a sixth aspect of the present invention, an industrial vehicle having a vehicle communication unit and an operation device communication unit for performing wireless communication with the vehicle communication unit are provided to remotely operate the industrial vehicle. The remote control system for industrial vehicles provided with the remote control apparatus used for is provided. In the industrial vehicle remote control system, the remote control mode related to the travel of the industrial vehicle by the remote control device includes a permission mode and a grace mode in which the remote control related to the travel of the industrial vehicle by the remote control device is permitted, a vehicle communication unit, This includes a prohibit mode in which remote control related to traveling of an industrial vehicle by a remote control device is prohibited even under a situation where wireless communication with the control device communication unit is performed. The industrial vehicle remote control system includes a grasping unit that grasps a physical quantity related to a distance between the vehicle communication unit and the controller communication unit, and an industrial vehicle within the first range or the first range based on the physical quantity grasped by the grasping unit. The availability determination unit for determining whether it is arranged in the second range farther away from the remote control device than the above, and the industrial vehicle by the availability determination under the situation where the remote operation mode is the permission mode Is provided with a remote operation mode control unit that shifts the remote operation mode from the permission mode to the grace mode, and a notification unit that notifies the remote operation mode. . The remote operation mode control unit shifts the remote operation mode from the grace mode to the permission mode based on the fact that a predetermined permission mode transition condition is satisfied under the situation where the remote operation mode is the grace mode. After the operation mode shifts from the permission mode to the grace mode, the remote operation mode shifts from the grace mode to the prohibit mode based on the elapse of a predetermined grace period without the permission mode transition condition being satisfied. Let
　上記課題を解決するため、本発明の第七の態様によれば、車両通信部を有する産業車両と、車両通信部と無線通信を行う操作装置通信部を有し、産業車両を遠隔操作するのに用いられる遠隔操作装置とを備えた産業車両用遠隔操作システムが提供される。産業車両用遠隔操作システムは、車両通信部と操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握部と、受信電波強度の閾値である閾値強度に関する閾値情報が記憶された記憶部と、把握部によって把握された受信電波強度と、閾値情報に設定されている閾値強度との比較に基づいて、遠隔操作装置による産業車両の走行に関する遠隔操作が許可される許可範囲内又は許可範囲よりも遠隔操作装置から離れた禁止範囲内のいずれに産業車両が配置されているのかを判定する可否判定を実行する可否判定部とを備える。禁止範囲は、車両通信部と操作装置通信部との無線通信が行われる状況下であっても遠隔操作装置による産業車両の走行に関する遠隔操作が禁止される範囲であり、閾値情報は、予め定められた更新条件が成立した場合には更新される。 In order to solve the above-described problem, according to a seventh aspect of the present invention, an industrial vehicle having a vehicle communication unit, an operating device communication unit that performs wireless communication with the vehicle communication unit, and remotely controlling the industrial vehicle are provided. The remote control system for industrial vehicles provided with the remote control apparatus used for is provided. The industrial vehicle remote control system stores a grasping unit for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller communication unit, and threshold information regarding a threshold intensity that is a threshold value of the received radio wave intensity. Permission range for remote control of industrial vehicle travel by remote control device based on comparison between stored storage unit, received radio wave intensity grasped by grasping part and threshold intensity set in threshold information A determination unit for determining whether or not the industrial vehicle is located in a prohibited range farther away from the remote control device than the permitted range. The prohibited range is a range in which remote operation related to the traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed, and threshold information is determined in advance. It is updated when the updated condition is satisfied.
産業車両用遠隔操作システムの概要図。The schematic diagram of the remote control system for industrial vehicles. 各範囲を模式的に示す上面図。The top view which shows each range typically. 第１実施形態における産業車両用遠隔操作システムの電気的構成を示すブロック図。The block diagram which shows the electric constitution of the remote control system for industrial vehicles in 1st Embodiment. 受信電波強度と距離との関係を示すグラフ。The graph which shows the relationship between received electric wave intensity and distance. 遠隔操作モードを説明するための説明図。Explanatory drawing for demonstrating remote control mode. 遠隔操作開始処理を示すフローチャート。The flowchart which shows a remote operation start process. 信号変換制御処理を示すフローチャート。The flowchart which shows a signal conversion control process. 遠隔操作モード制御処理の一部を示すフローチャート。The flowchart which shows a part of remote control mode control process. 遠隔操作モード制御処理の主要な部分を示すフローチャート。The flowchart which shows the main parts of a remote operation mode control process. 遠隔操作モードの相関関係を説明するための説明図。Explanatory drawing for demonstrating the correlation of remote operation mode. フォークリフトが許可範囲内に配置されている場合の遠隔操作装置とフォークリフトとを模式的に示す概要図。The schematic diagram which shows typically a remote control device and a forklift when a forklift is arrange | positioned in the permission range. 許可モード中の操作画面が表示された遠隔操作装置の正面図。The front view of the remote control device with which the operation screen in permission mode was displayed. フォークリフトが禁止範囲内に配置されている場合の遠隔操作装置とフォークリフトとを模式的に示す概要図。The schematic diagram which shows typically a remote control device and a forklift when a forklift is arrange | positioned in the prohibition range. 禁止モード中の操作画面が表示された遠隔操作装置の正面図。The front view of the remote control device with which the operation screen in prohibit mode was displayed. （ａ）フォークリフトの位置を示すタイムチャート、（ｂ）受信電波強度を示すタイムチャート、（ｃ）可否判定結果を示すタイムチャート、（ｄ）遠隔操作モードを示すタイムチャート、（ｅ）遠隔操作の許可／禁止を示すタイムチャート。(A) Time chart showing position of forklift, (b) Time chart showing received radio wave intensity, (c) Time chart showing availability determination result, (d) Time chart showing remote operation mode, (e) Remote operation Time chart showing permission / prohibition. （ａ）フォークリフトの位置を示すタイムチャート、（ｂ）受信電波強度を示すタイムチャート、（ｃ）可否判定結果を示すタイムチャート、（ｄ）遠隔操作モードを示すタイムチャート、（ｅ）遠隔操作の許可／禁止を示すタイムチャート。(A) Time chart showing position of forklift, (b) Time chart showing received radio wave intensity, (c) Time chart showing availability determination result, (d) Time chart showing remote operation mode, (e) Remote operation Time chart showing permission / prohibition. 第２実施形態における産業車両用遠隔操作システムの電気的構成を示すブロック図。The block diagram which shows the electric constitution of the remote control system for industrial vehicles in 2nd Embodiment. 第３実施形態における産業車両用遠隔操作システムの電気的構成を示すブロック図。The block diagram which shows the electric constitution of the remote control system for industrial vehicles in 3rd Embodiment. 更新指示処理を示すフローチャート。The flowchart which shows an update instruction process. 更新用画面が表示された遠隔操作装置の正面図。The front view of the remote control device with the update screen displayed. （ａ），（ｂ）異なる環境下にフォークリフトが設置された場合の受信電波強度と距離との関係を示すグラフ。(A), (b) The graph which shows the relationship between the received radio wave intensity | strength and distance when a forklift is installed in different environments. 第４実施形態の閾値情報を説明するための模式図。The schematic diagram for demonstrating the threshold value information of 4th Embodiment. 第４実施形態の遠隔操作モード制御処理の一部を示すフローチャート。The flowchart which shows a part of remote operation mode control process of 4th Embodiment. 第４実施形態の更新指示処理を示すフローチャート。The flowchart which shows the update instruction | indication process of 4th Embodiment. 第４実施形態の更新用画面が表示された遠隔操作装置の正面図。The front view of the remote control device with which the update screen of 4th Embodiment was displayed. （ａ）デッドスポット及びホットスポットが発生している場合における受信電波強度の変化と初期モード閾値との関係を示すグラフ、（ｂ）デッドスポット及びホットスポットが発生している場合における受信電波強度の変化と許可モード閾値との関係を示すグラフ、（ｃ）デッドスポット及びホットスポットが発生している場合における受信電波強度の変化と禁止モード閾値との関係を示すグラフ。(A) A graph showing a relationship between a change in received radio wave intensity when a dead spot and a hot spot are generated and an initial mode threshold, and (b) a received radio wave intensity when a dead spot and a hot spot are generated. The graph which shows the relationship between a change and a permission mode threshold value, (c) The graph which shows the relationship between the change of the received radio wave intensity in the case where the dead spot and the hot spot have generate | occur | produced, and a prohibition mode threshold value. 別例の産業車両用遠隔操作システムの電気的構成を示すブロック図。The block diagram which shows the electric constitution of the remote control system for industrial vehicles of another example.
　（第１実施形態）
　以下、産業車両用遠隔操作システムの第１実施形態を説明する。図示の都合上、図２等においては、各範囲Ａ０～Ａ３を、実際の範囲とは異ならせて示す。 (First embodiment)
Hereinafter, a first embodiment of an industrial vehicle remote control system will be described. For the convenience of illustration, in FIG. 2 and the like, the ranges A0 to A3 are shown different from the actual ranges.
　図１及び図２に示すように、産業車両用遠隔操作システム１０は、産業車両としてのフォークリフト２０と、フォークリフト２０を遠隔操作するのに用いられる遠隔操作装置５０とを備えている。 As shown in FIGS. 1 and 2, the industrial vehicle remote control system 10 includes a forklift 20 as an industrial vehicle and a remote control device 50 used to remotely control the forklift 20.
　図１及び図２に示すように、フォークリフト２０は、運転席２１が形成されたボディ２２と、車輪２３と、荷物の積み上げ又は積み降ろしを行う荷役装置として上下方向に移動可能なフォーク２４とを備えている。 As shown in FIGS. 1 and 2, the forklift 20 includes a body 22 in which a driver's seat 21 is formed, wheels 23, and a fork 24 that can move in the vertical direction as a cargo handling device that loads or unloads luggage. I have.
　ボディ２２は、運転席２１を囲むように立設されたフレーム２２ａと、運転席２１を上方から覆う屋根２２ｂとを有している。フォークリフト２０は、運転者が運転席２１に着座して操作することが可能に構成されている。 The body 22 has a frame 22a erected so as to surround the driver's seat 21, and a roof 22b that covers the driver's seat 21 from above. The forklift 20 is configured such that a driver can sit on the driver's seat 21 and operate it.
　フォークリフト２０は、例えばエンジンが搭載されたエンジンタイプであってもよいし、蓄電装置及び電動モータが搭載されたＥＶタイプであってもよいし、燃料電池及び電動モータが搭載されたＦＣＶタイプであってもよい。また、フォークリフト２０は、例えばエンジンと蓄電装置と電動モータとを有するＨＶタイプでもよい。 Forklift 20 may be, for example, an engine type on which an engine is mounted, an EV type on which a power storage device and an electric motor are mounted, or an FCV type on which a fuel cell and an electric motor are mounted. May be. The forklift 20 may be an HV type having an engine, a power storage device, and an electric motor, for example.
　図１及び図３に示すように、フォークリフト２０は、走行アクチュエータ２５と、荷役アクチュエータ２６と、走行アクチュエータ２５及び荷役アクチュエータ２６を制御する車両ＣＰＵ２７と、車両メモリ２８と、車両通信部としての車両通信ユニット３０とを備えている。 As shown in FIGS. 1 and 3, the forklift 20 includes a traveling actuator 25, a cargo handling actuator 26, a vehicle CPU 27 that controls the traveling actuator 25 and the cargo handling actuator 26, a vehicle memory 28, and a vehicle communication as a vehicle communication unit. Unit 30.
　走行アクチュエータ２５は、フォークリフト２０を走行させる。走行アクチュエータ２５は、車輪２３を回転駆動させるとともに、フォークリフト２０の進行方向を変更する。例えばフォークリフト２０がエンジンタイプであれば、走行アクチュエータ２５はエンジン及びステアリング装置等であり、例えばフォークリフト２０がＥＶタイプであれば、走行アクチュエータ２５は車輪２３を回転駆動させる電動モータ及びステアリング装置等である。 The traveling actuator 25 causes the forklift 20 to travel. The travel actuator 25 rotates the wheel 23 and changes the traveling direction of the forklift 20. For example, if the forklift 20 is an engine type, the travel actuator 25 is an engine, a steering device, or the like. For example, if the forklift 20 is an EV type, the travel actuator 25 is an electric motor, a steering device, or the like that drives the wheels 23 to rotate. .
　荷役アクチュエータ２６は、フォーク２４を駆動させる。例えば、荷役アクチュエータ２６は、荷役用モータと、荷役用モータの駆動力を用いてフォーク２４を上下方向に移動させる機構とを含む。 The cargo handling actuator 26 drives the fork 24. For example, the cargo handling actuator 26 includes a cargo handling motor and a mechanism for moving the fork 24 in the vertical direction using the driving force of the cargo handling motor.
　車両ＣＰＵ２７は、制御信号ＳＧａが入力されるように構成されており、制御信号ＳＧａが入力された場合には、車両メモリ２８に記憶されている制御プログラムを読み出し且つ制御プログラムを実行することにより、走行アクチュエータ２５及び荷役アクチュエータ２６を制御する。車両ＣＰＵ２７は、車両ＥＣＵとも車両ＭＰＵとも言える。 The vehicle CPU 27 is configured to receive a control signal SGa. When the control signal SGa is input, the vehicle CPU 27 reads the control program stored in the vehicle memory 28 and executes the control program. The traveling actuator 25 and the cargo handling actuator 26 are controlled. The vehicle CPU 27 can be said to be a vehicle ECU or a vehicle MPU.
　制御信号ＳＧａは、フォークリフト２０内のネットワークで用いられる信号であり、例えばＣＡＮ通信形式の信号である。但し、制御信号ＳＧａの信号形式は、これに限られず、任意である。 The control signal SGa is a signal used in the network within the forklift 20 and is, for example, a CAN communication format signal. However, the signal format of the control signal SGa is not limited to this and is arbitrary.
　車両通信ユニット３０は、無線通信機能を有する遠隔操作装置５０と無線通信を行う。車両通信ユニット３０は、遠隔操作装置５０から送信される遠隔操作信号ＳＧｂを受信したり、遠隔操作装置５０に向けて車両情報に関する信号である送信用検知信号を送信したりする。 The vehicle communication unit 30 performs wireless communication with a remote control device 50 having a wireless communication function. The vehicle communication unit 30 receives a remote operation signal SGb transmitted from the remote operation device 50 or transmits a transmission detection signal that is a signal related to vehicle information to the remote operation device 50.
　図２及び図３に示すように、車両通信ユニット３０は、遠隔操作装置５０から送信された遠隔操作信号ＳＧｂを受信するための第１アンテナ３１及び第２アンテナ３２と、遠隔操作信号ＳＧｂを制御信号ＳＧａに変換可能に構成された信号変換部３３と、信号変換部３３にて変換された制御信号ＳＧａを出力するインターフェース３４とを備えている。 As shown in FIGS. 2 and 3, the vehicle communication unit 30 controls the first and second antennas 31 and 32 for receiving the remote operation signal SGb transmitted from the remote operation device 50 and the remote operation signal SGb. A signal conversion unit 33 configured to be convertible to the signal SGa and an interface 34 that outputs the control signal SGa converted by the signal conversion unit 33 are provided.
　図２に示すように、第１アンテナ３１及び第２アンテナ３２は、互いに離間して配置されている。両アンテナ３１，３２は、屋根２２ｂの上面に取り付けられており、フォークリフト２０の左右方向に離間して配置されている。 As shown in FIG. 2, the first antenna 31 and the second antenna 32 are spaced apart from each other. Both antennas 31 and 32 are attached to the upper surface of the roof 22 b and are spaced apart in the left-right direction of the forklift 20.
　両アンテナ３１，３２の設置位置は、上記に限られず、任意である。例えば、第１アンテナ３１が、屋根２２ｂのうちフォークリフト２０の前方部分に配置され、第２アンテナ３２が屋根２２ｂのうちフォークリフト２０の後方部分に配置されてもよい。また、両アンテナ３１，３２は、左右方向及び前後方向の双方にずれて配置されてもよい。 The installation positions of both antennas 31 and 32 are not limited to the above, but are arbitrary. For example, the first antenna 31 may be disposed in the front portion of the forklift 20 in the roof 22b, and the second antenna 32 may be disposed in the rear portion of the forklift 20 in the roof 22b. Moreover, both the antennas 31 and 32 may be shifted and arrange | positioned in both the left-right direction and the front-back direction.
　また、両アンテナ３１，３２の少なくとも一方がフレーム２２ａに設置されてもよい。両アンテナ３１，３２の離間距離は、両アンテナ３１，３２が同時にヌル点に配置されないように十分に離間していればよい。 Further, at least one of the antennas 31 and 32 may be installed on the frame 22a. The separation distance between the two antennas 31 and 32 may be sufficiently separated so that the two antennas 31 and 32 are not arranged at the null point at the same time.
　車両通信ユニット３０は、両アンテナ３１，３２のうちいずれか一方を選択し、選択されたアンテナを用いて、遠隔操作装置５０に設けられたリモート通信ユニット５３と信号を送受信する。詳細には、車両通信ユニット３０は、リモート通信ユニット５３から、遠隔操作に関する遠隔操作データが含まれた遠隔操作信号ＳＧｂを受信する。また、車両通信ユニット３０は、受信された遠隔操作信号ＳＧｂが信号変換部３３に入力されるように構成されている。 The vehicle communication unit 30 selects either one of the antennas 31 and 32, and transmits / receives a signal to / from the remote communication unit 53 provided in the remote operation device 50 using the selected antenna. Specifically, the vehicle communication unit 30 receives from the remote communication unit 53 a remote operation signal SGb including remote operation data related to remote operation. The vehicle communication unit 30 is configured such that the received remote operation signal SGb is input to the signal conversion unit 33.
　ここで、遠隔操作信号ＳＧｂの信号形式は、無線通信に対応した形式であり、制御信号ＳＧａの信号形式とは異なっている。信号変換部３３は、信号形式（換言すれば信号形態）が異なる遠隔操作信号ＳＧｂと制御信号ＳＧａとの信号変換を行う。遠隔操作信号ＳＧｂは無線通信形式の信号とも言える。 Here, the signal format of the remote operation signal SGb is a format corresponding to wireless communication, and is different from the signal format of the control signal SGa. The signal conversion unit 33 performs signal conversion between the remote operation signal SGb and the control signal SGa having different signal formats (in other words, signal forms). It can be said that the remote operation signal SGb is a signal in a wireless communication format.
　遠隔操作信号ＳＧｂと制御信号ＳＧａとは、信号形式は異なる一方、信号に含まれているデータ内容、詳細には、フォークリフト２０の具体的な動作態様を決定付ける遠隔操作データは同一である。すなわち、信号変換部３３は、両通信ユニット３０，５３間でやり取りされる通信形式の信号であって遠隔操作に関する情報（遠隔操作データ）が設定された遠隔操作信号ＳＧｂを、車両ＣＰＵ２７が認識可能な通信形式の信号であって遠隔操作信号ＳＧｂに設定されていた遠隔操作に関する情報を有する制御信号ＳＧａに変換する。 The remote operation signal SGb and the control signal SGa have different signal formats, but the content of the data included in the signal, specifically, the remote operation data that determines the specific operation mode of the forklift 20 is the same. That is, the signal conversion unit 33 can recognize the remote operation signal SGb, which is a communication format signal exchanged between the communication units 30 and 53 and is set with information related to remote operation (remote operation data), by the vehicle CPU 27. It is converted into a control signal SGa having a communication format signal and information relating to the remote operation set in the remote operation signal SGb.
　信号変換部３３によって変換された制御信号ＳＧａは、インターフェース３４から車両ＣＰＵ２７に向けて出力される。これにより、車両ＣＰＵ２７には、遠隔操作信号ＳＧｂに対応する制御信号ＳＧａが入力される。そして、車両ＣＰＵ２７が制御信号ＳＧａに基づいて走行アクチュエータ２５を駆動することにより、フォークリフト２０は遠隔操作信号ＳＧｂに対応した走行を行う。 The control signal SGa converted by the signal converter 33 is output from the interface 34 to the vehicle CPU 27. Thereby, the control signal SGa corresponding to the remote operation signal SGb is input to the vehicle CPU 27. Then, when the vehicle CPU 27 drives the travel actuator 25 based on the control signal SGa, the forklift 20 travels corresponding to the remote operation signal SGb.
　フォークリフト２０は、遠隔操作が行われる場合には、走行速度が制限されるように構成されている。詳細には、フォークリフト２０は、遠隔操作時の最大速度が、運転席２１から直接操作される場合の最大速度と比較して低くなるように構成されている。 The forklift 20 is configured such that the traveling speed is limited when remote control is performed. Specifically, the forklift 20 is configured such that the maximum speed during remote operation is lower than the maximum speed when operated directly from the driver's seat 21.
　図３に示すように、車両通信ユニット３０は、車両無線メモリ３５と、車両無線ＣＰＵ３６とを備えている。
　車両無線メモリ３５には、遠隔操作プログラム４０が記憶されている。遠隔操作プログラム４０には、各種処理を実行するための実行プログラム４１～４３と、各種情報記憶部４４とが含まれている。ここでは、遠隔操作プログラム４０が「産業車両用遠隔操作プログラム」に対応する。また、車両無線メモリ３５は、産業車両用遠隔操作プログラムを格納する「コンピュータ読取可能記録媒体」である。コンピュータ読取可能記録媒体は、電子的、磁気的、光学的、電磁気的など任意の態様で各種コンピュータプログラムを格納する任意の媒体であってもよい。コンピュータ読取可能記録媒体は、非一時的コンピュータ読取可能記録媒体を含む。 As shown in FIG. 3, the vehicle communication unit 30 includes a vehicle wireless memory 35 and a vehicle wireless CPU 36.
The vehicle radio memory 35 stores a remote operation program 40. The remote operation program 40 includes execution programs 41 to 43 for executing various processes and various information storage units 44. Here, the remote operation program 40 corresponds to the “industrial vehicle remote operation program”. The vehicle wireless memory 35 is a “computer-readable recording medium” that stores an industrial vehicle remote control program. The computer-readable recording medium may be any medium that stores various computer programs in any manner such as electronic, magnetic, optical, and electromagnetic. The computer readable recording medium includes a non-transitory computer readable recording medium.
　車両無線ＣＰＵ３６は、車両無線メモリ３５に記憶されている実行プログラム４１～４３を読み出して各種処理を実行することにより、信号変換部３３を制御する。この場合、車両無線ＣＰＵ３６は、遠隔操作モードに応じて、信号変換部３３による信号変換を許可したり禁止したりする。車両無線ＣＰＵ３６の処理内容等については後述する。 The vehicle wireless CPU 36 controls the signal conversion unit 33 by reading out the execution programs 41 to 43 stored in the vehicle wireless memory 35 and executing various processes. In this case, the vehicle wireless CPU 36 permits or prohibits signal conversion by the signal conversion unit 33 according to the remote operation mode. The processing contents of the vehicle wireless CPU 36 will be described later.
　遠隔操作装置５０は、無線通信機能を有する操作端末である。遠隔操作装置５０は、例えば携帯電話、スマートフォン、タブレット端末、又はヴァーチャルリアリティ端末等といった汎用品である。但し、遠隔操作装置５０は、これに限られず、遠隔操作のための専用品であってもよい。 The remote operation device 50 is an operation terminal having a wireless communication function. The remote control device 50 is a general-purpose product such as a mobile phone, a smartphone, a tablet terminal, or a virtual reality terminal. However, the remote control device 50 is not limited to this, and may be a dedicated product for remote control.
　遠隔操作装置５０は、リモートＣＰＵ５１と、リモートメモリ５２と、操作装置通信部としてのリモート通信ユニット５３と、タッチパネル５４とを備えている。
　リモートＣＰＵ５１は、リモートメモリ５２に記憶されている各種プログラムを用いて各種処理を実行する。リモートＣＰＵ５１は、リモート通信ユニット５３及びタッチパネル５４と電気的に接続されており、リモート通信ユニット５３やタッチパネル５４との間で信号のやり取りが可能である。 The remote operation device 50 includes a remote CPU 51, a remote memory 52, a remote communication unit 53 as an operation device communication unit, and a touch panel 54.
The remote CPU 51 executes various processes using various programs stored in the remote memory 52. The remote CPU 51 is electrically connected to the remote communication unit 53 and the touch panel 54 and can exchange signals with the remote communication unit 53 and the touch panel 54.
　リモート通信ユニット５３は、車両通信ユニット３０と無線通信が可能に構成されている。これにより、遠隔操作装置５０とフォークリフト２０との間で信号の送受信が可能となる。 The remote communication unit 53 is configured to be capable of wireless communication with the vehicle communication unit 30. As a result, signals can be transmitted and received between the remote control device 50 and the forklift 20.
　ここでは、車両通信ユニット３０及びリモート通信ユニット５３間の通信形式は、Ｗｉ－Ｆｉ（換言すればＩＥＥＥ８０２．１１規格の無線ＬＡＮ）である。両通信ユニット３０，５３は、パケット通信によって信号を送受信する。すなわち、リモート通信ユニット５３は、パケット通信によって、車両通信ユニット３０に対して、Ｗｉ－Ｆｉに対応した信号形式の信号である遠隔操作信号ＳＧｂを送信する。 Here, the communication format between the vehicle communication unit 30 and the remote communication unit 53 is Wi-Fi (in other words, IEEE802.11 standard wireless LAN). Both communication units 30 and 53 transmit and receive signals by packet communication. That is, the remote communication unit 53 transmits a remote operation signal SGb, which is a signal format signal corresponding to Wi-Fi, to the vehicle communication unit 30 by packet communication.
　Ｗｉ－Ｆｉには、ＩＥＥＥ８０２．１１ａやＩＥＥＥ８０２．１１ａｃ等といった複数の規格が存在するが、車両通信ユニット３０及びリモート通信ユニット５３間の通信形式は、複数の規格のうちいずれでもよい。また、両通信ユニット３０，５３の信号の送受信は、パケット通信に限られず任意である。 Wi-Fi has a plurality of standards such as IEEE802.11a and IEEE802.11ac, but the communication format between the vehicle communication unit 30 and the remote communication unit 53 may be any of a plurality of standards. Moreover, transmission / reception of the signals of both the communication units 30 and 53 is not limited to packet communication and is arbitrary.
　図１に示すように、タッチパネル５４は、遠隔操作装置５０の一面に形成されている。タッチパネル５４は、タッチセンサを有する表示画面で構成されている。タッチパネル５４は、タッチパネル５４に対する入力操作（タッチ）に関する信号をリモートＣＰＵ５１に出力する。これにより、リモートＣＰＵ５１は、タッチパネル５４に対する各種入力操作、例えばタッチパネル５４にアイコンが表示されている場合にはアイコンがタッチされたか否か等を把握できる。すなわち、タッチパネル５４は、操作者によって操作される入力部とも言えるし、入力操作を受け付ける受付部とも言える。 As shown in FIG. 1, the touch panel 54 is formed on one surface of the remote control device 50. The touch panel 54 is configured by a display screen having a touch sensor. The touch panel 54 outputs a signal related to an input operation (touch) on the touch panel 54 to the remote CPU 51. Thereby, the remote CPU 51 can grasp various input operations on the touch panel 54, for example, if the icon is displayed on the touch panel 54, or not. That is, the touch panel 54 can be said to be an input unit operated by an operator or a reception unit that receives an input operation.
　リモートＣＰＵ５１は、タッチパネル５４の表示制御を行う。例えば、リモートＣＰＵ５１は、フォークリフト２０の遠隔操作を行う場合には、遠隔操作を行うための操作画面Ｇ０を表示する。これにより、操作者が遠隔操作に関する各種入力操作を行うことが可能となる。 The remote CPU 51 performs display control of the touch panel 54. For example, when performing remote operation of the forklift 20, the remote CPU 51 displays an operation screen G0 for performing remote operation. As a result, the operator can perform various input operations related to the remote operation.
　図１に示すように、操作画面Ｇ０には、例えば、フォークリフト２０を前進させる前進アイコンＩｃ１と、フォークリフト２０を後退させる後退アイコンＩｃ２と、フォークリフト２０を左に曲げる左アイコンＩｃ３と、フォークリフト２０を右に曲げる右アイコンＩｃ４とが表示される。 As shown in FIG. 1, the operation screen G0 includes, for example, a forward icon Ic1 for advancing the forklift 20, a reverse icon Ic2 for reversing the forklift 20, a left icon Ic3 for bending the forklift 20 to the left, and a forklift 20 on the right A right icon Ic4 to be bent is displayed.
　また、操作画面Ｇ０には、現在の遠隔操作モードが表示される。遠隔操作モードについては後述する。タッチパネル５４が「報知部」に対応する。但し、操作画面Ｇ０の表示内容は、これに限られず、任意であり、例えばハンドル形状のアイコンが表示されてもよい。 Also, the current remote operation mode is displayed on the operation screen G0. The remote operation mode will be described later. The touch panel 54 corresponds to the “notification unit”. However, the display content of the operation screen G0 is not limited to this, and is arbitrary. For example, a handle-shaped icon may be displayed.
　リモートメモリ５２には、フォークリフト２０を遠隔操作するための各種プログラムが記憶されている。例えば、リモートメモリ５２には、遠隔操作信号ＳＧｂを生成し遠隔操作信号ＳＧｂを送信する遠隔操作信号送信処理を実行するための実行プログラムが記憶されている。 The remote memory 52 stores various programs for remotely operating the forklift 20. For example, the remote memory 52 stores an execution program for executing a remote operation signal transmission process for generating the remote operation signal SGb and transmitting the remote operation signal SGb.
　リモートＣＰＵ５１は、タッチパネル５４に操作画面Ｇ０が表示されている状況下で、リモートメモリ５２に記憶されている実行プログラムを読み出し、遠隔操作信号送信処理を実行する。遠隔操作信号送信処理は、予め定められた特定周期Ｔａで定期的に実行される。すなわち、遠隔操作装置５０は、遠隔操作信号ＳＧｂを特定周期Ｔａで定期的に送信している。 The remote CPU 51 reads the execution program stored in the remote memory 52 and executes the remote operation signal transmission process under the situation where the operation screen G0 is displayed on the touch panel 54. The remote operation signal transmission process is periodically executed at a predetermined specific period Ta. That is, the remote operation device 50 periodically transmits the remote operation signal SGb with a specific period Ta.
　次に、遠隔操作信号送信処理を説明する。
　まず、リモートＣＰＵ５１は、タッチパネル５４への入力操作態様を把握する。例えば、操作画面Ｇ０に各アイコンＩｃ１～Ｉｃ４が表示されている場合には、リモートＣＰＵ５１は、各アイコンＩｃ１～Ｉｃ４のいずれに対して入力操作（タッチ）が行われたのかを把握する。そして、リモートＣＰＵ５１は、タッチパネル５４の各アイコンＩｃ１～Ｉｃ４への入力操作態様に応じた遠隔操作信号ＳＧｂを生成する。 Next, remote control signal transmission processing will be described.
First, the remote CPU 51 grasps an input operation mode on the touch panel 54. For example, when the icons Ic1 to Ic4 are displayed on the operation screen G0, the remote CPU 51 grasps which of the icons Ic1 to Ic4 has been input (touched). Then, the remote CPU 51 generates a remote operation signal SGb corresponding to the input operation mode to each icon Ic1 to Ic4 of the touch panel 54.
　遠隔操作信号ＳＧｂは、操作画面Ｇ０への入力操作態様に対応した内容の操作データを含む。例えば、リモートＣＰＵ５１は、前進アイコンＩｃ１が操作（タッチ）されたと把握した場合には、フォークリフト２０の前進に対応した操作データが設定された遠隔操作信号ＳＧｂを生成する処理を実行する。一方、リモートＣＰＵ５１は、右アイコンＩｃ４が操作（タッチ）されたと把握した場合には、フォークリフト２０の右折に対応した操作データが設定された遠隔操作信号ＳＧｂを生成する処理を実行する。その後、リモートＣＰＵ５１は、リモート通信ユニット５３を用いて遠隔操作信号ＳＧｂを送信する。 The remote operation signal SGb includes operation data having contents corresponding to the input operation mode on the operation screen G0. For example, when the remote CPU 51 determines that the forward icon Ic1 has been operated (touched), the remote CPU 51 executes a process of generating a remote operation signal SGb in which operation data corresponding to the forward movement of the forklift 20 is set. On the other hand, when the remote CPU 51 determines that the right icon Ic4 has been operated (touched), the remote CPU 51 executes a process of generating a remote operation signal SGb in which operation data corresponding to the right turn of the forklift 20 is set. Thereafter, the remote CPU 51 transmits a remote operation signal SGb using the remote communication unit 53.
　ここで、リモートＣＰＵ５１は、操作画面Ｇ０に対する入力操作がない場合、すなわち操作者が操作をしていない場合には、入力操作がないことを示す操作データ（例えばｎｕｌｌデータ）が設定された遠隔操作信号ＳＧｂを生成し、遠隔操作信号ＳＧｂを送信する。すなわち、遠隔操作装置５０は、操作画面Ｇ０に対する入力操作の有無に関わらず、特定周期Ｔａで遠隔操作信号ＳＧｂを送信するように構成されている。これにより、フォークリフト２０（詳細には車両通信ユニット３０）は、遠隔操作信号ＳＧｂを特定周期Ｔａで定期的に受信する。 Here, when there is no input operation on the operation screen G0, that is, when the operator is not performing an operation, the remote CPU 51 performs a remote operation in which operation data (for example, null data) indicating that there is no input operation is set. A signal SGb is generated and a remote operation signal SGb is transmitted. That is, the remote operation device 50 is configured to transmit the remote operation signal SGb at a specific period Ta regardless of whether or not there is an input operation on the operation screen G0. As a result, the forklift 20 (specifically, the vehicle communication unit 30) periodically receives the remote operation signal SGb at the specific period Ta.
　リモート通信ユニット５３は、遠隔操作信号ＳＧｂを一定の電波強度で送信する。このため、遠隔操作信号ＳＧｂの送信電波強度は、変動しない。
　遠隔操作装置５０から送信される遠隔操作信号ＳＧｂを用いてフォークリフト２０の遠隔操作を行う構成においては、図２に示すように、遠隔操作信号ＳＧｂの送受信範囲である両通信ユニット３０，５３の通信範囲Ａ０内にフォークリフト２０が配置されていれば、遠隔操作装置５０を用いた遠隔操作が可能となる。換言すれば、通信範囲Ａ０は、遠隔操作装置５０の遠隔操作可能範囲と言える。この場合、通信範囲Ａ０によっては、遠隔操作装置５０を操作する操作者が視認しにくい位置にフォークリフト２０が配置されている場合であっても、フォークリフト２０の遠隔操作が可能となるため、フォークリフト２０の誤操作等が懸念される。 The remote communication unit 53 transmits the remote operation signal SGb with a constant radio wave intensity. For this reason, the transmission radio wave intensity of the remote operation signal SGb does not vary.
In the configuration in which the remote operation of the forklift 20 is performed using the remote operation signal SGb transmitted from the remote operation device 50, as shown in FIG. 2, communication between both communication units 30 and 53, which is a transmission / reception range of the remote operation signal SGb, is performed. If the forklift 20 is disposed within the range A0, remote operation using the remote operation device 50 is possible. In other words, the communication range A0 can be said to be a remotely operable range of the remote operation device 50. In this case, depending on the communication range A0, the forklift 20 can be remotely operated even when the forklift 20 is disposed at a position where it is difficult for an operator operating the remote operation device 50 to visually recognize the forklift 20. There are concerns about misoperation.
　特に、両通信ユニット３０，５３の通信形式としてＷｉ－Ｆｉが採用されている。一般的に、Ｗｉ－Ｆｉの通信範囲Ａ０は、数十ｍ～百数十ｍの範囲となる場合がある。このため、操作者が視認しにくい過度に離れた位置でもフォークリフト２０の遠隔操作を行うことが可能となる。 In particular, Wi-Fi is adopted as a communication format for both communication units 30 and 53. In general, the Wi-Fi communication range A0 may be in the range of several tens of meters to several hundreds of meters. For this reason, it becomes possible to perform the remote operation of the forklift 20 even at an excessively remote position that is difficult for the operator to visually recognize.
　これに対して、産業車両用遠隔操作システム１０は、上記のような過度に離れた位置にフォークリフト２０が配置されている場合には、遠隔操作装置５０による遠隔操作が禁止されるように構成されている。詳細には、産業車両用遠隔操作システム１０は、遠隔操作信号ＳＧｂの受信電波強度ＲＳに基づいてフォークリフト２０の位置を把握し、フォークリフト２０の位置に基づいて、遠隔操作装置５０による走行に関する遠隔操作を許可するか禁止するかを判定するように構成されている。 In contrast, the industrial vehicle remote control system 10 is configured such that remote control by the remote control device 50 is prohibited when the forklift 20 is disposed at an excessively separated position as described above. ing. Specifically, the industrial vehicle remote control system 10 grasps the position of the forklift 20 based on the received radio wave intensity RS of the remote control signal SGb, and based on the position of the forklift 20, remote control related to traveling by the remote control device 50. It is configured to determine whether to permit or prohibit.
　図４を用いて、受信電波強度ＲＳを説明する。図４は、受信電波強度ＲＳと両通信ユニット３０，５３間の距離との関係を示すグラフであり、実線は理想曲線（又は複数のデータから導出される近似曲線）を示し、破線及び一点鎖線は、同一条件下で測定した実際の受信電波強度ＲＳのグラフである。 The received radio wave intensity RS will be described with reference to FIG. FIG. 4 is a graph showing the relationship between the received radio wave intensity RS and the distance between the communication units 30 and 53. The solid line shows an ideal curve (or an approximate curve derived from a plurality of data), and is a broken line and a one-dot chain line. These are graphs of the actual received radio wave intensity RS measured under the same conditions.
　受信電波強度ＲＳとは、リモート通信ユニット５３から送信された遠隔操作信号ＳＧｂの強度と、車両通信ユニット３０（詳細には両アンテナ３１，３２のいずれか一方）によって受信された遠隔操作信号ＳＧｂの強度との比率に基づいて算出されるパラメータである。 The received radio wave intensity RS is the intensity of the remote operation signal SGb transmitted from the remote communication unit 53 and the remote operation signal SGb received by the vehicle communication unit 30 (specifically, one of the antennas 31 and 32). It is a parameter calculated based on the ratio with the intensity.
　図４に示すように、受信電波強度ＲＳは、両通信ユニット３０，５３間の距離が大きくなるほど小さくなる。このため、車両通信ユニット３０にて受信される遠隔操作信号ＳＧｂの受信電波強度ＲＳに基づいて、両通信ユニット３０，５３間の距離を推定できる。 As shown in FIG. 4, the received radio wave intensity RS decreases as the distance between the communication units 30 and 53 increases. For this reason, the distance between the communication units 30 and 53 can be estimated based on the received radio wave intensity RS of the remote operation signal SGb received by the vehicle communication unit 30.
　この構成において、産業車両用遠隔操作システム１０は、受信電波強度ＲＳに基づいてフォークリフト２０が許可範囲Ａ１内に配置されているか、許可範囲Ａ１よりも遠隔操作装置５０から離れた禁止範囲Ａ２内に配置されているかを判定する。そして、産業車両用遠隔操作システム１０は、フォークリフト２０が許可範囲Ａ１内に配置されている場合には遠隔操作装置５０による走行に関する遠隔操作を許可する一方、フォークリフト２０が禁止範囲Ａ２内に配置されている場合には遠隔操作装置５０による走行に関する遠隔操作を禁止するように構成されている。フォークリフト２０は、走行中に遠隔操作が禁止された場合には、その場で停止する。 In this configuration, the industrial vehicle remote control system 10 has the forklift 20 disposed within the permitted range A1 based on the received radio wave intensity RS, or within the prohibited range A2 that is further away from the remote control device 50 than the permitted range A1. It is determined whether it is arranged. The industrial vehicle remote control system 10 permits the remote operation related to traveling by the remote control device 50 when the forklift 20 is disposed within the permitted range A1, while the forklift 20 is disposed within the prohibited range A2. The remote control device 50 is configured to prohibit remote control related to traveling. The forklift 20 stops on the spot when remote operation is prohibited during traveling.
　図２に示すように、遠隔操作装置５０による走行に関する遠隔操作が許可される許可範囲Ａ１は、遠隔操作装置５０（リモート通信ユニット５３）を中心とする範囲である。許可範囲Ａ１は、禁止範囲Ａ２と比較して、遠隔操作装置５０に近い範囲であり、操作者がフォークリフト２０を視認し易い適切な範囲であると想定される。許可範囲Ａ１は、障害物等がない状況下で、遠隔操作装置５０（リモート通信ユニット５３）を中心とし第１距離Ｌ１を半径とする円の範囲を少なくとも含む。 As shown in FIG. 2, the permitted range A <b> 1 in which the remote operation related to traveling by the remote operation device 50 is permitted is a range centering on the remote operation device 50 (remote communication unit 53). The permitted range A1 is a range closer to the remote operation device 50 than the prohibited range A2, and is assumed to be an appropriate range in which the operator can easily see the forklift 20. The permitted range A1 includes at least a circular range centered on the remote control device 50 (remote communication unit 53) and having a radius of the first distance L1 in a situation where there are no obstacles.
　一方、遠隔操作装置５０による走行に関する遠隔操作が禁止される禁止範囲Ａ２は、許可範囲Ａ１よりも外側に配置された範囲である。このため、禁止範囲Ａ２は、許可範囲Ａ１と比較して、操作者がフォークリフト２０を視認しにくい範囲であると想定される。ここでは、禁止範囲Ａ２は、遠隔操作装置５０（リモート通信ユニット５３）に対して少なくとも第２距離Ｌ２以上離れた範囲を含む。第２距離Ｌ２は、第１距離Ｌ１よりも長く設定されている。第１距離Ｌ１及び第２距離Ｌ２の具体的な数値は、操作者の視認し易さを考慮して適宜設定されていればよい。例えば第１距離Ｌ１は５ｍ以上且つ１０ｍ未満であってもよいし、第２距離Ｌ２は１０ｍ以上であってもよい。 On the other hand, the prohibited range A2 where the remote operation related to traveling by the remote control device 50 is prohibited is a range arranged outside the permitted range A1. For this reason, the prohibited range A2 is assumed to be a range in which it is difficult for the operator to visually recognize the forklift 20 as compared to the permitted range A1. Here, the prohibited range A2 includes a range that is at least a second distance L2 away from the remote control device 50 (remote communication unit 53). The second distance L2 is set longer than the first distance L1. Specific numerical values of the first distance L1 and the second distance L2 may be set as appropriate in consideration of ease of visual recognition by the operator. For example, the first distance L1 may be 5 m or more and less than 10 m, and the second distance L2 may be 10 m or more.
　許可範囲Ａ１及び禁止範囲Ａ２は、通信範囲Ａ０内に設定されている。詳細には、第１距離Ｌ１及び第２距離Ｌ２は、両通信ユニット３０，５３の通信可能距離よりも短く設定されている。 The permitted range A1 and the prohibited range A2 are set within the communication range A0. Specifically, the first distance L1 and the second distance L2 are set to be shorter than the communicable distance between the communication units 30 and 53.
　また、第２距離Ｌ２は第１距離Ｌ１よりも長く設定されている関係上、許可範囲Ａ１と禁止範囲Ａ２との間には誤差対応範囲Ａ３が設定されている。誤差対応範囲Ａ３とは、受信電波強度ＲＳの誤差を考慮して設定されている範囲である。フォークリフト２０が誤差対応範囲Ａ３内に配置されている場合には、遠隔操作装置５０による走行に関する遠隔操作が許可される場合もあるし、禁止される場合もある。 Further, since the second distance L2 is set longer than the first distance L1, an error corresponding range A3 is set between the allowable range A1 and the prohibited range A2. The error corresponding range A3 is a range set in consideration of the error of the received radio wave intensity RS. When the forklift 20 is disposed within the error handling range A3, remote operation related to traveling by the remote operation device 50 may be permitted or prohibited.
　受信電波強度ＲＳと各範囲Ａ１～Ａ３との関係を説明する。
　産業車両用遠隔操作システム１０は、受信電波強度ＲＳが予め定められた閾値強度ＲＳｔｈ以上である状態が第１判定期間Ｔ１に亘って継続された場合に、フォークリフト２０が許可範囲Ａ１内に配置されていると判定するように構成されている。一方、産業車両用遠隔操作システム１０は、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満である状態が第２判定期間Ｔ２に亘って継続された場合に、フォークリフト２０が禁止範囲Ａ２内に配置されていると判定するように構成されている。上記のような受信電波強度ＲＳと両判定期間Ｔ１，Ｔ２とに基づいて、フォークリフト２０が許可範囲Ａ１内に配置されているか禁止範囲Ａ２内に配置されているかを判定することを可否判定という。 The relationship between the received radio wave intensity RS and each of the ranges A1 to A3 will be described.
In the industrial vehicle remote control system 10, the forklift 20 is disposed within the permitted range A <b> 1 when the received radio wave intensity RS is equal to or higher than a predetermined threshold intensity RSth for the first determination period T <b> 1. It is comprised so that it may determine with. On the other hand, in the industrial vehicle remote control system 10, the forklift 20 is disposed within the prohibited range A2 when the state in which the received radio wave intensity RS is less than the threshold intensity RSth continues for the second determination period T2. It is comprised so that it may determine. Determining whether the forklift 20 is disposed within the permitted range A1 or the prohibited range A2 based on the received radio wave intensity RS and both determination periods T1 and T2 is referred to as “allowability determination”.
　ここで、図４の破線や一点鎖線に示すように、受信電波強度ＲＳには、誤差が大きいという特性がある。このため、実際に把握（検出）される受信電波強度ＲＳは、理想曲線からずれる場合がある。 Here, as shown by the broken line and the alternate long and short dash line in FIG. 4, the received radio wave intensity RS has a characteristic that the error is large. For this reason, the received radio wave intensity RS actually grasped (detected) may deviate from the ideal curve.
　閾値強度ＲＳｔｈとは、例えば、受信電波強度ＲＳの誤差に関わらず、第２距離Ｌ２に対応した受信電波強度ＲＳよりも高くなるように設定されている。詳細には、閾値強度ＲＳｔｈは、理想曲線において第２距離Ｌ２に対応する受信電波強度ＲＳに対して、想定される最大誤差又は標準偏差を加算した値よりも高く設定されている。これにより、受信電波強度ＲＳに誤差が発生している条件下であっても、両通信ユニット３０，５３が第２距離Ｌ２よりも離れた場合には、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となる状態が第２判定期間Ｔ２以上に亘って継続され易いため、フォークリフト２０が禁止範囲Ａ２内に配置されていると判定され易い。 The threshold strength RSth is set to be higher than the received radio wave intensity RS corresponding to the second distance L2, for example, regardless of the error of the received radio wave intensity RS. Specifically, the threshold strength RSth is set to be higher than a value obtained by adding the assumed maximum error or standard deviation to the received radio wave strength RS corresponding to the second distance L2 in the ideal curve. As a result, even if the received radio wave intensity RS has an error, if both communication units 30 and 53 are separated from the second distance L2, the received radio wave intensity RS is less than the threshold intensity RSth. This state is likely to be continued for the second determination period T2 or more, so that it is easy to determine that the forklift 20 is disposed within the prohibited range A2.
　また、閾値強度ＲＳｔｈは、例えば理想曲線において第１距離Ｌ１に対応する受信電波強度ＲＳに対して、想定される最大誤差又は標準偏差を減算した値よりも低く設定されている。これにより、受信電波強度ＲＳに誤差が発生している条件下であっても、両通信ユニット３０，５３の距離が第１距離Ｌ１よりも短い場合には、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上となる状態が第１判定期間Ｔ１以上に亘って継続され易いため、フォークリフト２０が許可範囲Ａ１内に配置されていると判定され易い。上記関係性に着目すれば、第１距離Ｌ１は、理想曲線において、閾値強度ＲＳｔｈに対して最大誤差又は標準偏差を加算した受信電波強度ＲＳに対応する距離であるとも言える。 Further, the threshold strength RSth is set lower than a value obtained by subtracting the assumed maximum error or standard deviation from the received radio wave strength RS corresponding to the first distance L1 in the ideal curve, for example. As a result, even if the received radio wave intensity RS has an error, if the distance between the communication units 30 and 53 is shorter than the first distance L1, the received radio wave intensity RS is equal to or greater than the threshold intensity RSth. Is likely to be continued over the first determination period T1 or more, so it is easy to determine that the forklift 20 is disposed within the permitted range A1. Focusing on the above relationship, it can be said that the first distance L1 is a distance corresponding to the received radio wave intensity RS obtained by adding the maximum error or the standard deviation to the threshold intensity RSth in the ideal curve.
　受信電波強度ＲＳの誤差とは、測定誤差や高周波成分の誤差等を想定しており、フォークリフト２０の設置環境の要因によって生じる受信電波強度ＲＳの変動は含まれない。フォークリフト２０の設置環境の要因によって生じる受信電波強度ＲＳの変動とは、例えば受信電波強度ＲＳが全体的に上下にシフトすることや、通信範囲Ａ０内における特定の範囲（デッドスポットＡｘ及びホットスポットＡｙ）において局所的な変化が生じることである。フォークリフト２０の設置環境に起因する受信電波強度ＲＳの変動は、第３及び第４実施形態にて説明する。 The error of the received radio wave intensity RS is assumed to be a measurement error, an error of a high frequency component, etc., and does not include the fluctuation of the received radio wave intensity RS caused by the factors of the installation environment of the forklift 20. The fluctuations in the received radio wave intensity RS caused by the factors of the installation environment of the forklift 20 include, for example, the fact that the received radio wave intensity RS is shifted up and down as a whole or a specific range (dead spot Ax and hot spot Ay within the communication range A0). ) Is a local change. Variations in the received radio wave intensity RS caused by the installation environment of the forklift 20 will be described in the third and fourth embodiments.
　許可範囲Ａ１と禁止範囲Ａ２との間に設けられている誤差対応範囲Ａ３は、受信電波強度ＲＳの誤差に対応する範囲であり、誤差対応範囲Ａ３内にフォークリフト２０が配置されている場合、受信電波強度ＲＳの誤差に応じて、受信電波強度ＲＳと閾値強度ＲＳｔｈとの比較結果が変わり得る。このため、フォークリフト２０が誤差対応範囲Ａ３内に配置されている場合には、フォークリフト２０が許可範囲Ａ１内に配置されていると判定される場合もあるし、禁止範囲Ａ２内に配置されていると判定される場合もある。 The error corresponding range A3 provided between the permitted range A1 and the prohibited range A2 is a range corresponding to the error of the received radio wave intensity RS. When the forklift 20 is arranged in the error corresponding range A3, the reception is possible. The comparison result between the received radio wave intensity RS and the threshold intensity RSth can be changed according to the error of the radio wave intensity RS. For this reason, when the forklift 20 is disposed within the error handling range A3, it may be determined that the forklift 20 is disposed within the permitted range A1, or is disposed within the prohibited range A2. May be determined.
　次に、図５を用いて、遠隔操作装置５０を用いたフォークリフト２０の遠隔操作モードを説明する。フォークリフト２０が通信範囲Ａ０内に存在しない場合、すなわち両通信ユニット３０，５３が無線通信を行うことができない場合には、そもそも遠隔操作装置５０による遠隔操作ができない。このため、以降の説明においては、フォークリフト２０は、通信範囲Ａ０内に存在しているものとする。 Next, the remote operation mode of the forklift 20 using the remote operation device 50 will be described with reference to FIG. When the forklift 20 does not exist within the communication range A0, that is, when both the communication units 30 and 53 cannot perform wireless communication, remote control by the remote control device 50 is not possible. For this reason, in the following description, it is assumed that the forklift 20 exists in the communication range A0.
　産業車両用遠隔操作システム１０は、遠隔操作装置５０によるフォークリフト２０の走行に関する遠隔操作モードを複数備えている。複数の遠隔操作モードには、初期モード、許可モード、警告モード及び禁止モードが含まれている。 The industrial vehicle remote control system 10 includes a plurality of remote control modes related to the running of the forklift 20 by the remote control device 50. The plurality of remote operation modes include an initial mode, a permission mode, a warning mode, and a prohibition mode.
　初期モードとは、遠隔操作の開始時に設定される遠隔操作モードである。遠隔操作の開始時とは、例えば遠隔操作装置５０の電源ＯＮ時（起動時）や、遠隔操作に関するアプリケーションの起動時や、遠隔操作装置５０とフォークリフト２０との通信開始時や、遠隔操作装置５０とフォークリフト２０とのペアリング完了時等が考えられる。初期モードが上記のような状況下で設定される遠隔操作モードである関係上、初期モードでは、フォークリフト２０の位置、すなわち、フォークリフト２０が許可範囲Ａ１内又は禁止範囲Ａ２内のいずれに配置されているのかは不定である。そして、初期モードでは、遠隔操作装置５０による走行に関する遠隔操作が禁止されている。 The initial mode is a remote operation mode set at the start of remote operation. The start of remote operation is, for example, when the remote control device 50 is turned on (started), when an application related to remote control is started, when communication between the remote control device 50 and the forklift 20 is started, or when the remote control device 50 is started. It can be considered that the pairing between the forklift 20 and the forklift 20 is completed. Since the initial mode is a remote operation mode set under the above situation, in the initial mode, the position of the forklift 20, that is, the forklift 20 is arranged in either the permitted range A1 or the prohibited range A2. It is indeterminate. In the initial mode, remote operation related to traveling by the remote operation device 50 is prohibited.
　許可モードは、フォークリフト２０が許可範囲Ａ１内に配置されていることを想定している遠隔操作モードである。許可モードは、走行に関する遠隔操作が許可されている遠隔操作モードである。 The permission mode is a remote operation mode that assumes that the forklift 20 is disposed within the permission range A1. The permission mode is a remote operation mode in which a remote operation related to traveling is permitted.
　警告モードは、フォークリフト２０が許可範囲Ａ１内から禁止範囲Ａ２内に移動したことを想定している遠隔操作モードである。警告モードは、走行に関する遠隔操作が許可されている遠隔操作モードである。警告モードが「猶予モード」に対応する。 The warning mode is a remote operation mode that assumes that the forklift 20 has moved from the permitted range A1 to the prohibited range A2. The warning mode is a remote operation mode in which remote operation related to traveling is permitted. The warning mode corresponds to “grace mode”.
　禁止モードは、フォークリフト２０が禁止範囲Ａ２内に配置されていることを想定している遠隔操作モードである。
　ここで、既に説明した通り、禁止範囲Ａ２は通信範囲Ａ０に含まれているため、フォークリフト２０が禁止範囲Ａ２内に配置されている場合であっても、両通信ユニット３０，５３の無線通信は可能である。この点、禁止モードは、両通信ユニット３０，５３の無線通信が行われる状況下であっても走行に関する遠隔操作が禁止されている遠隔操作モードである。すなわち、禁止モードとは、両通信ユニット３０，５３の無線通信を行うことができないことに起因して遠隔操作が行われない状態ではなく、両通信ユニット３０，５３の無線通信が行われる状況下で積極的に遠隔操作装置５０による遠隔操作が禁止している遠隔操作モードであると言える。同様に、禁止範囲Ａ２とは、両通信ユニット３０，５３の無線通信が行われる状況下であっても走行に関する遠隔操作が禁止される範囲である。両通信ユニット３０，５３の無線通信が行われる状況下とは、遠隔操作信号ＳＧｂ等の信号が正常に送受信できる状況であり、データ通信が可能な状況である。 The prohibit mode is a remote operation mode that assumes that the forklift 20 is disposed within the prohibit range A2.
Here, as already described, since the prohibited range A2 is included in the communication range A0, even when the forklift 20 is disposed within the prohibited range A2, the wireless communication between the communication units 30 and 53 is performed. Is possible. In this respect, the prohibit mode is a remote operation mode in which remote control relating to traveling is prohibited even under a situation where wireless communication between both communication units 30 and 53 is performed. That is, the prohibit mode is not a state in which the remote operation is not performed due to the inability to perform wireless communication between the two communication units 30 and 53, but under the situation where the wireless communication between both the communication units 30 and 53 is performed. Therefore, it can be said that this is a remote operation mode in which remote operation by the remote operation device 50 is actively prohibited. Similarly, the prohibited range A2 is a range in which remote operation related to traveling is prohibited even under a situation where wireless communication between both communication units 30 and 53 is performed. The situation where wireless communication between both communication units 30 and 53 is performed is a situation where signals such as the remote operation signal SGb can be normally transmitted and received, and a situation where data communication is possible.
　ここでは、車両無線ＣＰＵ３６が、遠隔操作モードの初期設定に係る遠隔操作開始処理と、遠隔操作モードに応じて信号変換部３３による信号変換を許可又は禁止する信号変換制御処理と、可否判定及びその結果（可否判定結果）に基づいて遠隔操作モードを制御する遠隔操作モード制御処理と、を実行するように構成されている。 Here, the vehicle radio CPU 36 performs a remote operation start process related to the initial setting of the remote operation mode, a signal conversion control process that permits or prohibits signal conversion by the signal conversion unit 33 according to the remote operation mode, determination of availability, and And a remote operation mode control process for controlling the remote operation mode based on the result (availability determination result).
　以下、各処理の具体的な内容を説明する。
　車両無線ＣＰＵ３６は、遠隔操作装置５０による遠隔操作の開始時に、遠隔操作プログラム４０に記憶されている遠隔操作開始処理実行プログラム４１を読み出し、遠隔操作開始処理を実行する。 Hereinafter, specific contents of each process will be described.
The vehicle radio CPU 36 reads out the remote operation start process execution program 41 stored in the remote operation program 40 when the remote operation device 50 starts the remote operation, and executes the remote operation start process.
　図６を用いて、遠隔操作開始処理を説明する。
　まず、車両無線ＣＰＵ３６は、ステップＳ１０１にて、遠隔操作モードを初期モードに設定する。詳細には、遠隔操作プログラム４０の各種情報記憶部４４には、現在の遠隔操作モードを特定するための遠隔操作モード特定情報が含まれている。車両無線ＣＰＵ３６は、遠隔操作モード特定情報を、初期モードに対応した情報に更新する。 The remote operation start process will be described with reference to FIG.
First, the vehicle radio CPU 36 sets the remote operation mode to the initial mode in step S101. Specifically, the various information storage unit 44 of the remote operation program 40 includes remote operation mode specifying information for specifying the current remote operation mode. The vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the initial mode.
　その後、ステップＳ１０２にて、車両無線ＣＰＵ３６は、使用するアンテナとして第１アンテナ３１を選択する。この場合、第１アンテナ３１が選択アンテナとなり、車両無線ＣＰＵ３６は、選択アンテナの切り替えが行われるまで、第１アンテナ３１を用いて信号を送受信する。 Thereafter, in step S102, the vehicle radio CPU 36 selects the first antenna 31 as the antenna to be used. In this case, the first antenna 31 becomes the selection antenna, and the vehicle radio CPU 36 transmits and receives signals using the first antenna 31 until the selection antenna is switched.
　続くステップＳ１０３では、車両無線ＣＰＵ３６は、遠隔操作モードが初期モードであることを通知するための初期モード通知処理を実行する。詳細には、車両無線ＣＰＵ３６は、第１アンテナ３１を用いて初期モードに対応する情報が設定された通知信号をリモート通信ユニット５３に送信する。そして、車両無線ＣＰＵ３６は、遠隔操作開始処理を終了する。 In the subsequent step S103, the vehicle radio CPU 36 executes an initial mode notification process for notifying that the remote operation mode is the initial mode. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the initial mode is set using the first antenna 31 to the remote communication unit 53. Then, the vehicle radio CPU 36 ends the remote operation start process.
　リモートＣＰＵ５１は、リモート通信ユニット５３にて通知信号が受信された場合には、タッチパネル５４を用いて初期モードであることを報知する。例えば、リモートＣＰＵ５１は、操作画面Ｇ０に初期モードである旨を表示させる。 When the remote communication unit 53 receives a notification signal, the remote CPU 51 notifies the initial mode using the touch panel 54. For example, the remote CPU 51 displays on the operation screen G0 that the initial mode is set.
　車両無線ＣＰＵ３６は、遠隔操作開始処理の実行後、遠隔操作信号ＳＧｂを受信する度に遠隔操作プログラム４０の信号変換制御処理実行プログラム４２を読み出し、信号変換部３３を制御する信号変換制御処理を実行する。 After executing the remote operation start process, the vehicle radio CPU 36 reads the signal conversion control process execution program 42 of the remote operation program 40 every time the remote operation signal SGb is received, and executes the signal conversion control process for controlling the signal converter 33. To do.
　図７を用いて、信号変換制御処理を説明する。
　図７に示すように、車両無線ＣＰＵ３６は、まずステップＳ２０１にて、遠隔操作モード特定情報を参照することにより、現在の遠隔操作モードを把握する。 The signal conversion control process will be described with reference to FIG.
As shown in FIG. 7, the vehicle wireless CPU 36 first grasps the current remote operation mode by referring to the remote operation mode specifying information in step S201.
　続くステップＳ２０２では、車両無線ＣＰＵ３６は、第１アンテナ３１又は第２アンテナ３２（換言すれば選択アンテナ）を用いて、今回の信号変換制御処理の実行契機となった遠隔操作信号ＳＧｂが受信できたことを示す返信信号ＳＧｃをリモート通信ユニット５３に送信する。 In the subsequent step S202, the vehicle radio CPU 36 can receive the remote operation signal SGb that triggered the execution of the current signal conversion control process using the first antenna 31 or the second antenna 32 (in other words, the selected antenna). A reply signal SGc indicating that is transmitted to the remote communication unit 53.
　リモートＣＰＵ５１は、リモート通信ユニット５３にて返信信号ＳＧｃが受信されたことに基づいて、遠隔操作信号ＳＧｂの送信が正常に完了したことを確認する。すなわち、遠隔操作の実行中、両通信ユニット３０，５３間では、遠隔操作信号ＳＧｂと返信信号ＳＧｃとの送受信が定期的に行われている。 The remote CPU 51 confirms that the transmission of the remote operation signal SGb is normally completed based on the reception of the reply signal SGc by the remote communication unit 53. That is, during the execution of the remote operation, transmission / reception of the remote operation signal SGb and the reply signal SGc is periodically performed between the communication units 30 and 53.
　ステップＳ２０３では、車両無線ＣＰＵ３６は、ステップＳ２０１にて把握された現在の遠隔操作モードが許可モード又は警告モードであるか否かを判定する。
　車両無線ＣＰＵ３６は、現在の遠隔操作モードが許可モード又は警告モードである場合には、ステップＳ２０４に進み、遠隔操作信号ＳＧｂを制御信号ＳＧａに変換するように信号変換部３３を制御して、本信号変換制御処理を終了する。これにより、インターフェース３４を介して、制御信号ＳＧａが車両ＣＰＵ２７に出力される。 In step S203, the vehicle radio CPU 36 determines whether or not the current remote operation mode grasped in step S201 is a permission mode or a warning mode.
If the current remote operation mode is the permission mode or the warning mode, the vehicle radio CPU 36 proceeds to step S204 and controls the signal conversion unit 33 to convert the remote operation signal SGb into the control signal SGa. The signal conversion control process ends. As a result, the control signal SGa is output to the vehicle CPU 27 via the interface 34.
　一方、車両無線ＣＰＵ３６は、現在の遠隔操作モードが初期モード又は禁止モードである場合には、ステップＳ２０３を否定判定し、ステップＳ２０５に進む。そして、車両無線ＣＰＵ３６は、ステップＳ２０５にて、信号変換部３３による信号変換を禁止する信号変換禁止処理を実行して、本信号変換制御処理を終了する。信号変換制御処理では、車両ＣＰＵ２７に向けて制御信号ＳＧａが出力されない。 On the other hand, if the current remote control mode is the initial mode or the prohibit mode, the vehicle radio CPU 36 makes a negative determination in step S203 and proceeds to step S205. In step S205, the vehicle radio CPU 36 executes a signal conversion prohibition process that prohibits signal conversion by the signal converter 33, and ends the signal conversion control process. In the signal conversion control process, the control signal SGa is not output toward the vehicle CPU 27.
　この構成によれば、遠隔操作モードが許可モード又は警告モードである場合には、遠隔操作信号ＳＧｂに対応した制御信号ＳＧａが車両ＣＰＵ２７に出力され、車両ＣＰＵ２７によって制御信号ＳＧａに対応した各アクチュエータ２５，２６の制御が行われる。これにより、遠隔操作装置５０によるフォークリフト２０の遠隔操作が行われる。 According to this configuration, when the remote operation mode is the permission mode or the warning mode, the control signal SGa corresponding to the remote operation signal SGb is output to the vehicle CPU 27, and each actuator 25 corresponding to the control signal SGa is output by the vehicle CPU 27. , 26 are controlled. Thereby, the remote operation of the forklift 20 by the remote operation device 50 is performed.
　一方、遠隔操作モードが初期モード又は禁止モードである場合には、遠隔操作信号ＳＧｂに対応した制御信号ＳＧａが車両ＣＰＵ２７に出力されない。このため、遠隔操作装置５０によるフォークリフト２０の遠隔操作が行われない。 On the other hand, when the remote operation mode is the initial mode or the prohibit mode, the control signal SGa corresponding to the remote operation signal SGb is not output to the vehicle CPU 27. For this reason, the remote operation of the forklift 20 by the remote operation device 50 is not performed.
　遠隔操作モードが初期モード又は禁止モードである場合には、遠隔操作信号ＳＧｂから制御信号ＳＧａへの変換が行われないため、走行を含む全ての動作の遠隔操作が禁止されている。このため、遠隔操作モードが初期モード又は禁止モードである場合には、フォーク２４の遠隔操作なども禁止されている。 When the remote operation mode is the initial mode or the prohibit mode, since the conversion from the remote operation signal SGb to the control signal SGa is not performed, remote operation of all operations including traveling is prohibited. For this reason, when the remote operation mode is the initial mode or the prohibit mode, the remote operation of the fork 24 is also prohibited.
　また、車両無線ＣＰＵ３６は、遠隔操作信号ＳＧｂを受信する度に、遠隔操作プログラム４０の遠隔操作モード制御処理実行プログラム４３を読み出し、遠隔操作モード制御処理を実行する。遠隔操作信号ＳＧｂが特定周期Ｔａで定期的に送信されることに対応させて、遠隔操作モード制御処理は、特定周期Ｔａで定期的に実行される。すなわち、車両無線ＣＰＵ３６は、遠隔操作信号ＳＧｂを受信することに基づいて、信号変換制御処理と遠隔操作モード制御処理との双方を実行する。 Further, every time the vehicle radio CPU 36 receives the remote operation signal SGb, the vehicle radio CPU 36 reads out the remote operation mode control process execution program 43 of the remote operation program 40 and executes the remote operation mode control process. Corresponding to the remote operation signal SGb being periodically transmitted at the specific cycle Ta, the remote operation mode control process is periodically executed at the specific cycle Ta. That is, the vehicle radio CPU 36 executes both the signal conversion control process and the remote operation mode control process based on receiving the remote operation signal SGb.
　図８及び図９を用いて、遠隔操作モード制御処理を説明する。
　図８に示すように、車両無線ＣＰＵ３６は、まずステップＳ３０１にて、現在、可否判定中であるか否かを判定する。詳細には、各種情報記憶部４４には、可否判定中であるか否かを特定するための判定中フラグが記憶される判定中フラグ記憶領域が設けられている。車両無線ＣＰＵ３６は、判定中フラグ記憶領域に判定中フラグが記憶されている場合には、可否判定中であると判定する一方、判定中フラグが記憶されていない場合には、可否判定中でないと判定する。判定中フラグは、初期状態においてＯＦＦである。 The remote operation mode control process will be described with reference to FIGS.
As shown in FIG. 8, the vehicle radio CPU 36 first determines in step S301 whether or not it is currently being determined. Specifically, the various information storage unit 44 is provided with a determination-in-progress flag storage area for storing a determination-in-progress flag for specifying whether or not determination is possible. The vehicle radio CPU 36 determines that the determination is being made when the determination flag is stored in the determination flag storage area, while the determination is not being made if the determination flag is not stored. judge. The in-determination flag is OFF in the initial state.
　車両無線ＣＰＵ３６は、可否判定中である場合には、ステップＳ３０４に進む一方、可否判定中でない場合には、ステップＳ３０２及びステップＳ３０３にて、可否判定を開始するための初期設定を実行し、ステップＳ３０４に進む。 The vehicle radio CPU 36 proceeds to step S304 if it is being determined whether or not it is possible, whereas if it is not being determined to be possible or not, it executes initial setting for starting the availability determination in steps S302 and S303. The process proceeds to S304.
　詳細には、車両無線ＣＰＵ３６は、ステップＳ３０２にて、判定中フラグをＯＮに設定し、各種情報記憶部４４に設けられているアンテナ切替フラグ記憶領域におけるアンテナ切替フラグをＯＦＦに設定する。アンテナ切替フラグは、可否判定中に選択アンテナの切り替えが行われたか否かを判定するためのフラグである。 Specifically, in step S302, the vehicle radio CPU 36 sets the in-determination flag to ON, and sets the antenna switching flag in the antenna switching flag storage area provided in the various information storage units 44 to OFF. The antenna switching flag is a flag for determining whether or not the selected antenna is switched during the availability determination.
　続くステップＳ３０３では、車両無線ＣＰＵ３６は、各種情報記憶部４４に設けられている第１カウンタＣ１及び第２カウンタＣ２を「０」に設定する。第１カウンタＣ１は、第１判定期間Ｔ１をカウントするのに用いられるカウンタであり、第２カウンタＣ２は、第２判定期間Ｔ２をカウントするのに用いられるカウンタである。 In subsequent step S303, the vehicle radio CPU 36 sets the first counter C1 and the second counter C2 provided in the various information storage unit 44 to “0”. The first counter C1 is a counter used for counting the first determination period T1, and the second counter C2 is a counter used for counting the second determination period T2.
　図９に示すように、車両無線ＣＰＵ３６は、ステップＳ３０４では、今回の遠隔操作モード制御処理の実行契機となった遠隔操作信号ＳＧｂの受信電波強度ＲＳを把握する。詳細には、車両無線ＣＰＵ３６は、選択アンテナにて受信された遠隔操作信号ＳＧｂの強度（換言すれば受信電力）を検出する。また、各種情報記憶部４４には、遠隔操作信号ＳＧｂの送信強度（換言すれば送信電力）に関する情報が記憶されている。車両無線ＣＰＵ３６は、これらの値から受信電波強度ＲＳを算出する。ステップＳ３０４の処理が「把握ステップ」に対応し、ステップＳ３０４の処理を実行する車両無線ＣＰＵ３６が「把握部」に対応する。 As shown in FIG. 9, in step S304, the vehicle radio CPU 36 grasps the received radio wave intensity RS of the remote operation signal SGb that has triggered the current remote operation mode control process. Specifically, the vehicle radio CPU 36 detects the strength (in other words, received power) of the remote operation signal SGb received by the selected antenna. The various information storage unit 44 stores information related to the transmission strength (in other words, transmission power) of the remote operation signal SGb. The vehicle radio CPU 36 calculates the received radio wave intensity RS from these values. The process of step S304 corresponds to the “grasping step”, and the vehicle radio CPU 36 that executes the process of step S304 corresponds to the “grasping part”.
　車両通信ユニット３０は、車両無線ＣＰＵ３６とは別に、受信電波強度ＲＳを算出する専用のハード回路を有してもよい。この場合、車両無線ＣＰＵ３６は、ハード回路からの信号に基づいて受信電波強度ＲＳを把握する。 The vehicle communication unit 30 may have a dedicated hardware circuit that calculates the received radio wave intensity RS, separately from the vehicle wireless CPU 36. In this case, the vehicle radio CPU 36 grasps the received radio wave intensity RS based on the signal from the hardware circuit.
　その後、ステップＳ３０５では、車両無線ＣＰＵ３６は、ステップＳ３０４にて把握された受信電波強度ＲＳが閾値強度ＲＳｔｈ以上であるか否かを判定する。
　詳細には、図３に示すように、各種情報記憶部４４には、閾値強度ＲＳｔｈに関する情報である閾値情報Ｄ１が記憶された記憶部としての閾値情報記憶部４４ａが設けられている。ステップＳ３０５では、車両無線ＣＰＵ３６は、閾値情報記憶部４４ａに記憶されている閾値情報Ｄ１を読み出し、閾値情報Ｄ１に設定されている閾値強度ＲＳｔｈを用いて可否判定を行う。詳細には、車両無線ＣＰＵ３６は、ステップＳ３０４にて把握された受信電波強度ＲＳが閾値情報Ｄ１に設定されている閾値強度ＲＳｔｈ以上であるか否かを判定する。閾値強度ＲＳｔｈは、上述したとおりである。 Thereafter, in step S305, the vehicle radio CPU 36 determines whether or not the received radio wave intensity RS obtained in step S304 is equal to or greater than the threshold intensity RSth.
Specifically, as shown in FIG. 3, the various information storage unit 44 is provided with a threshold information storage unit 44a as a storage unit in which threshold information D1 that is information related to the threshold strength RSth is stored. In step S305, the vehicle radio CPU 36 reads the threshold information D1 stored in the threshold information storage unit 44a, and determines whether the threshold information RSth is set in the threshold information D1. Specifically, the vehicle radio CPU 36 determines whether or not the received radio wave intensity RS grasped in step S304 is greater than or equal to the threshold intensity RSth set in the threshold information D1. The threshold strength RSth is as described above.
　閾値情報Ｄ１は、閾値強度ＲＳｔｈの数値データそのものである。但し、これに限られず、閾値情報Ｄ１は、閾値強度ＲＳｔｈを一義的に導出することができる情報であれば任意であり、所定の関数データなどでもよい。 Threshold information D1 is numerical data itself of the threshold intensity RSth. However, the present invention is not limited to this, and the threshold information D1 is arbitrary as long as the threshold strength RSth can be uniquely derived, and may be predetermined function data.
　また、閾値情報記憶部４４ａに記憶されている閾値情報Ｄ１は、更新可能なデータであってもよいし、更新不能なデータであってもよい。すなわち、閾値強度ＲＳｔｈは、可変値でもよいし、固定値でもよい
　車両無線ＣＰＵ３６は、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である場合には、ステップＳ３０６に進む。 The threshold information D1 stored in the threshold information storage unit 44a may be updateable data or non-updatable data. That is, the threshold strength RSth may be a variable value or a fixed value. When the received radio wave strength RS is equal to or greater than the threshold strength RSth, the vehicle radio CPU 36 proceeds to step S306.
　ステップＳ３０６では、車両無線ＣＰＵ３６は、第１カウンタＣ１をカウントアップ（インクリメント）する。詳細には、車両無線ＣＰＵ３６は、第１カウンタＣ１を「１」加算する。そして、車両無線ＣＰＵ３６は、第２カウンタＣ２を「０」に設定する。 In step S306, the vehicle radio CPU 36 counts up (increments) the first counter C1. Specifically, the vehicle radio CPU 36 adds “1” to the first counter C1. Then, the vehicle radio CPU 36 sets the second counter C2 to “0”.
　続くステップＳ３０７では、車両無線ＣＰＵ３６は、第１カウンタＣ１が予め定められた第１規定値Ｃｔｈ１以上であるか否かを判定する。第１規定値Ｃｔｈ１は、第１判定期間Ｔ１に対応させて設定されており、詳細には第１判定期間Ｔ１を特定周期Ｔａで除算した値である。第１規定値Ｃｔｈ１は、「２」以上の数値である。このため、第１判定期間Ｔ１は、特定周期Ｔａの２倍以上である。 In subsequent step S307, the vehicle radio CPU 36 determines whether or not the first counter C1 is equal to or greater than a predetermined first specified value Cth1. The first specified value Cth1 is set in correspondence with the first determination period T1, and specifically is a value obtained by dividing the first determination period T1 by the specific period Ta. The first specified value Cth1 is a numerical value equal to or greater than “2”. For this reason, the first determination period T1 is twice or more the specific period Ta.
　ここで、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である場合には、１回の遠隔操作モード制御処理にて第１カウンタＣ１がインクリメントされることを鑑みれば、ステップＳ３０７の処理は、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である状態が第１判定期間Ｔ１以上継続しているか否かを判定する処理とも言える。 Here, when the received radio wave intensity RS is equal to or greater than the threshold intensity RSth, the processing of step S307 is performed in view of the fact that the first counter C1 is incremented by one remote operation mode control process. It can be said that it is the process which determines whether the state where RS is more than threshold strength RSth continues more than 1st determination period T1.
　車両無線ＣＰＵ３６は、第１カウンタＣ１が第１規定値Ｃｔｈ１未満である場合には、ステップＳ３２２に進む。一方、第１カウンタＣ１が第１規定値Ｃｔｈ１以上である場合には、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である状態が第１判定期間Ｔ１に亘って継続されたことを意味する。この場合、車両無線ＣＰＵ３６は、フォークリフト２０が許可範囲Ａ１内に配置されている、すなわち今回の可否判定結果は許可範囲Ａ１内であると判定し、ステップＳ３０８～ステップＳ３１０にて、許可モードに対応する処理を実行する。 When the first counter C1 is less than the first specified value Cth1, the vehicle radio CPU 36 proceeds to step S322. On the other hand, when the first counter C1 is equal to or greater than the first specified value Cth1, it means that the state where the received radio wave intensity RS is equal to or greater than the threshold intensity RSth is continued for the first determination period T1. In this case, the vehicle radio CPU 36 determines that the forklift 20 is disposed within the permitted range A1, that is, the current availability determination result is within the permitted range A1, and corresponds to the permitted mode in steps S308 to S310. Execute the process.
　詳細には、ステップＳ３０８では、車両無線ＣＰＵ３６は、遠隔操作モードを許可モードに設定する処理を実行する。例えば、現在の遠隔操作モードが初期モード、警告モード又は禁止モードである場合には、車両無線ＣＰＵ３６は、遠隔操作モードを、これらのモードから許可モードに移行させる。詳細には、車両無線ＣＰＵ３６は、遠隔操作モード特定情報を、許可モードに対応した情報に更新する。車両無線ＣＰＵ３６は、遠隔操作モードが許可モードである場合、ステップＳ３０８にて許可モードを維持する処理を実行する。 Specifically, in step S308, the vehicle radio CPU 36 executes a process of setting the remote operation mode to the permission mode. For example, when the current remote operation mode is the initial mode, the warning mode, or the prohibit mode, the vehicle wireless CPU 36 shifts the remote operation mode from these modes to the permission mode. Specifically, the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the permission mode. When the remote operation mode is the permission mode, the vehicle radio CPU 36 executes a process for maintaining the permission mode in step S308.
　続くステップＳ３０９では、車両無線ＣＰＵ３６は、今回の可否判定が終了したことを示すために、判定中フラグをＯＦＦに設定する。そして、車両無線ＣＰＵ３６は、ステップＳ３１０にて、遠隔操作モードが許可モードであることを通知するための許可モード通知処理を実行して、本遠隔操作モード制御処理を終了する。詳細には、車両無線ＣＰＵ３６は、選択アンテナを用いて、許可モードに対応する情報が設定された通知信号をリモート通信ユニット５３に送信する。 In subsequent step S309, the vehicle radio CPU 36 sets the in-determination flag to OFF in order to indicate that the current availability determination has been completed. In step S310, the vehicle radio CPU 36 executes a permission mode notification process for notifying that the remote operation mode is the permission mode, and ends the remote operation mode control process. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the permission mode is set to the remote communication unit 53 using the selected antenna.
　リモートＣＰＵ５１は、リモート通信ユニット５３にて通知信号が受信された場合には、タッチパネル５４を用いて許可モードであることを報知する。例えば、リモートＣＰＵ５１は、操作画面Ｇ０に許可モードである旨を表示させる。 When the remote communication unit 53 receives a notification signal, the remote CPU 51 notifies the permission mode using the touch panel 54. For example, the remote CPU 51 displays a permission mode on the operation screen G0.
　図９に示すように、車両無線ＣＰＵ３６は、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上ではない場合、すなわち受信電波強度ＲＳが閾値強度ＲＳｔｈ未満である場合には、ステップＳ３０５を否定判定し、ステップＳ３１１に進む。 As shown in FIG. 9, when the received radio wave intensity RS is not equal to or greater than the threshold intensity RSth, that is, when the received radio wave intensity RS is less than the threshold intensity RSth, the vehicle radio CPU 36 makes a negative determination in step S305 and performs step S311. Proceed to
　ステップＳ３１１では、車両無線ＣＰＵ３６は、選択アンテナが切り替え済みであるか否かを判定する。詳細には、車両無線ＣＰＵ３６は、アンテナ切替フラグがＯＮ（セット）されているか否かを判定する。 In step S311, the vehicle radio CPU 36 determines whether or not the selected antenna has been switched. Specifically, the vehicle radio CPU 36 determines whether or not the antenna switching flag is ON (set).
　アンテナ切替フラグがＯＦＦである場合、今回の可否判定において選択アンテナの切り替えは未だ行われていないことを意味する。この場合、車両無線ＣＰＵ３６は、ステップＳ３１２にて、選択アンテナを切り替えるアンテナ切替処理を実行する。詳細には、車両無線ＣＰＵ３６は、現在選択アンテナとして第１アンテナ３１が選択されている場合には、選択アンテナを、第１アンテナ３１から第２アンテナ３２に切り替える。一方、車両無線ＣＰＵ３６は、現在選択アンテナとして第２アンテナ３２が選択されている場合には、選択アンテナを、第２アンテナ３２から第１アンテナ３１に切り替える。これにより、今回の遠隔操作モード制御処理の実行契機となった遠隔操作信号ＳＧｂに対して次以降の遠隔操作信号ＳＧｂは、切替先の選択アンテナを用いて受信されることとなる。 When the antenna switching flag is OFF, it means that the selected antenna has not been switched yet in the current availability determination. In this case, the vehicle radio CPU 36 executes an antenna switching process for switching the selected antenna in step S312. Specifically, the vehicle radio CPU 36 switches the selected antenna from the first antenna 31 to the second antenna 32 when the first antenna 31 is currently selected as the selected antenna. On the other hand, when the second antenna 32 is currently selected as the selected antenna, the vehicle radio CPU 36 switches the selected antenna from the second antenna 32 to the first antenna 31. As a result, the remote operation signal SGb subsequent to the remote operation signal SGb that is the trigger for execution of the current remote operation mode control process is received using the selection antenna of the switching destination.
　その後、ステップＳ３１３では、車両無線ＣＰＵ３６は、アンテナ切替フラグをＯＮに設定して、ステップＳ３２２に進む。これにより、今回の可否判定において、選択アンテナの切り替えが行われたことが特定できる。すなわち、ここでは、１回の可否判定において、選択アンテナの切り替えが行われる規定回数は「１回」である。 Thereafter, in step S313, the vehicle radio CPU 36 sets the antenna switching flag to ON, and proceeds to step S322. Thereby, it can be specified that the selected antenna has been switched in the current determination of availability. That is, in this case, the specified number of times that the selected antenna is switched in the one-time determination is “1”.
　一方、アンテナ切替フラグがＯＮである場合には、今回の可否判定において既に選択アンテナの切り替えが行われたことを意味する。すなわち、切り替え済みの選択アンテナで受信した遠隔操作信号ＳＧｂの受信電波強度ＲＳが閾値強度ＲＳｔｈ未満であることを意味する。この場合、車両無線ＣＰＵ３６は、ステップＳ３１１を肯定判定し、ステップＳ３１４に進む。 On the other hand, if the antenna switching flag is ON, it means that the selected antenna has already been switched in the current availability determination. That is, it means that the received radio wave intensity RS of the remote operation signal SGb received by the switched selected antenna is less than the threshold intensity RSth. In this case, the vehicle radio CPU 36 makes a positive determination in step S311 and proceeds to step S314.
　ステップＳ３１４では、車両無線ＣＰＵ３６は、第２カウンタＣ２をカウントアップ（インクリメント）する。詳細には、車両無線ＣＰＵ３６は、第２カウンタＣ２を「１」加算する。 In step S314, the vehicle radio CPU 36 counts up (increments) the second counter C2. Specifically, the vehicle radio CPU 36 adds “1” to the second counter C2.
　また、ステップＳ３１４では、車両無線ＣＰＵ３６は、第１カウンタＣ１を「０」に設定する。すなわち、車両無線ＣＰＵ３６は、第１カウンタＣ１が第１規定値Ｃｔｈ１に到達する前に、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となった場合には、第１カウンタＣ１を「０」にリセットする。これにより、第１カウンタＣ１が断続的にカウントアップされて第１規定値Ｃｔｈ１に到達することが回避されている。第２カウンタＣ２についても同様である。 In step S314, the vehicle radio CPU 36 sets the first counter C1 to “0”. That is, the vehicle radio CPU 36 resets the first counter C1 to “0” when the received radio wave intensity RS becomes less than the threshold intensity RSth before the first counter C1 reaches the first specified value Cth1. . This prevents the first counter C1 from being intermittently counted up and reaching the first specified value Cth1. The same applies to the second counter C2.
　続くステップＳ３１５では、車両無線ＣＰＵ３６は、第２カウンタＣ２が予め定められた第２規定値Ｃｔｈ２以上であるか否かを判定する。第２規定値Ｃｔｈ２は、第２判定期間Ｔ２に対応させて設定されており、詳細には第２判定期間Ｔ２を特定周期Ｔａで除算した値である。第２規定値Ｃｔｈ２は、「２」以上の数値である。このため、第２判定期間Ｔ２は、特定周期Ｔａの２倍以上である。 In subsequent step S315, the vehicle radio CPU 36 determines whether or not the second counter C2 is equal to or larger than a predetermined second specified value Cth2. The second specified value Cth2 is set in correspondence with the second determination period T2, and is specifically a value obtained by dividing the second determination period T2 by the specific period Ta. The second specified value Cth2 is a numerical value equal to or greater than “2”. For this reason, the second determination period T2 is twice or more the specific period Ta.
　第１規定値Ｃｔｈ１と第２規定値Ｃｔｈ２とは同一である。但し、これに限られず、両者は異なる値であってもよい。すなわち、第１判定期間Ｔ１と第２判定期間Ｔ２とは、同一であってもよいし異なっていてもよい。 The first specified value Cth1 and the second specified value Cth2 are the same. However, it is not restricted to this, Both may be different values. That is, the first determination period T1 and the second determination period T2 may be the same or different.
　車両無線ＣＰＵ３６は、第２カウンタＣ２が第２規定値Ｃｔｈ２未満である場合には、ステップＳ３２２に進む。一方、第２カウンタＣ２が第２規定値Ｃｔｈ２以上である場合には、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満である状態が第２判定期間Ｔ２に亘って継続されたことを意味する。この場合、車両無線ＣＰＵ３６は、フォークリフト２０が禁止範囲Ａ２内に配置されている、すなわち今回の可否判定結果は禁止範囲Ａ２内であると判定し、ステップＳ３１６以降の処理を実行する。 The vehicle radio CPU 36 proceeds to step S322 when the second counter C2 is less than the second specified value Cth2. On the other hand, when the second counter C2 is equal to or greater than the second specified value Cth2, it means that the state where the received radio wave intensity RS is less than the threshold intensity RSth is continued for the second determination period T2. In this case, the vehicle radio CPU 36 determines that the forklift 20 is disposed within the prohibited range A2, that is, the current availability determination result is within the prohibited range A2, and executes the processes after step S316.
　ステップＳ３１６では、車両無線ＣＰＵ３６は、今回の可否判定が終了したことを示すために、判定中フラグをＯＦＦに設定する。その後、車両無線ＣＰＵ３６は、ステップＳ３１７にて、遠隔操作モード特定情報を参照することにより、現在の遠隔操作モードが許可モードであるか否か（すなわち許可モード中であるか否か）を判定する。 In step S316, the vehicle radio CPU 36 sets the in-determination flag to OFF to indicate that the current availability determination has been completed. Thereafter, in step S317, the vehicle radio CPU 36 refers to the remote operation mode specifying information to determine whether or not the current remote operation mode is the permission mode (that is, whether or not it is in the permission mode). .
　車両無線ＣＰＵ３６は、現在の遠隔操作モードが許可モードである場合には、ステップＳ３１８～ステップＳ３２０にて、遠隔操作モードを、許可モードから警告モードに移行させるための処理を実行する。 If the current remote operation mode is the permission mode, the vehicle radio CPU 36 executes a process for shifting the remote operation mode from the permission mode to the warning mode in steps S318 to S320.
　詳細には、車両無線ＣＰＵ３６は、ステップＳ３１８にて、遠隔操作モードを警告モードに設定する処理を実行する。詳細には、車両無線ＣＰＵ３６は、遠隔操作モード特定情報を、警告モードに対応した情報に更新する。続くステップＳ３１９では、車両無線ＣＰＵ３６は、猶予期間Ｔ３をカウントするための第３カウンタＣ３を「０」にセットし、猶予期間Ｔ３のカウントをスタートさせる。そして、車両無線ＣＰＵ３６は、ステップＳ３２０にて、遠隔操作モードが警告モードであることを通知するための警告モード通知処理を実行して、本遠隔操作モード制御処理を終了する。詳細には、車両無線ＣＰＵ３６は、選択アンテナを用いて、警告モードに対応する情報が設定された通知信号をリモート通信ユニット５３に送信する。 Specifically, the vehicle radio CPU 36 executes a process of setting the remote operation mode to the warning mode in step S318. Specifically, the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the warning mode. In subsequent step S319, the vehicle radio CPU 36 sets a third counter C3 for counting the grace period T3 to “0”, and starts counting the grace period T3. In step S320, the vehicle radio CPU 36 executes a warning mode notification process for notifying that the remote operation mode is the warning mode, and ends the remote operation mode control process. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the warning mode is set to the remote communication unit 53 using the selected antenna.
　リモートＣＰＵ５１は、リモート通信ユニット５３にて通知信号が受信された場合には、タッチパネル５４を用いて警告モードであることを報知する。例えば、リモートＣＰＵ５１は、操作画面Ｇ０に警告モードである旨を表示させる。 When the remote communication unit 53 receives a notification signal, the remote CPU 51 uses the touch panel 54 to notify that it is in the warning mode. For example, the remote CPU 51 displays a warning mode on the operation screen G0.
　図９に示すように、車両無線ＣＰＵ３６は、現在の遠隔操作モードが許可モードではない場合には、ステップＳ３１７を否定判定し、ステップＳ３２１にて、遠隔操作モード特定情報を参照することにより、現在の遠隔操作モードが初期モードであるか否か（すなわち初期モード中であるか否か）を判定する。 As shown in FIG. 9, if the current remote operation mode is not the permission mode, the vehicle radio CPU 36 makes a negative determination in step S317 and refers to the remote operation mode specifying information in step S321 to It is determined whether or not the remote operation mode is the initial mode (that is, whether or not it is in the initial mode).
　車両無線ＣＰＵ３６は、現在の遠隔操作モードが初期モードである場合には、ステップＳ３２５に進む一方、現在の遠隔操作モードが初期モードでない場合、すなわち現在の遠隔操作モードが警告モード又は禁止モードである場合には、ステップＳ３２２に進む。 When the current remote operation mode is the initial mode, the vehicle radio CPU 36 proceeds to step S325, whereas when the current remote operation mode is not the initial mode, that is, the current remote operation mode is the warning mode or the prohibit mode. In the case, the process proceeds to step S322.
　ステップＳ３２２では、車両無線ＣＰＵ３６は、遠隔操作モード特定情報を参照することにより、現在の遠隔操作モードが警告モードであるか否か（すなわち警告モード中であるか否か）を判定する。 In step S322, the vehicle radio CPU 36 refers to the remote operation mode specifying information to determine whether or not the current remote operation mode is the warning mode (that is, whether or not it is in the warning mode).
　車両無線ＣＰＵ３６は、現在の遠隔操作モードが警告モードでない場合には、そのまま本遠隔操作モード制御処理を終了する一方、現在の遠隔操作モードが警告モードである場合には、ステップＳ３２３に進み、第３カウンタＣ３をカウントアップ（インクリメント）する。 If the current remote operation mode is not the warning mode, the vehicle radio CPU 36 ends the remote operation mode control process as it is. If the current remote operation mode is the warning mode, the vehicle wireless CPU 36 proceeds to step S323, 3 The counter C3 is counted up (incremented).
　その後、車両無線ＣＰＵ３６は、ステップＳ３２４にて、第３カウンタＣ３が猶予規定値Ｃｔｈ３以上であるか否かを判定する。猶予規定値Ｃｔｈ３は、予め定められた猶予期間Ｔ３を特定周期Ｔａで除算した値である。猶予期間Ｔ３は、警告モードの実行期間である。 Thereafter, in step S324, the vehicle radio CPU 36 determines whether or not the third counter C3 is greater than or equal to the grace prescribed value Cth3. The grace prescribed value Cth3 is a value obtained by dividing a predetermined grace period T3 by a specific period Ta. The grace period T3 is a warning mode execution period.
　猶予期間Ｔ３は、例えば第１判定期間Ｔ１及び第２判定期間Ｔ２よりも長く設定されている。詳細には、猶予期間Ｔ３は、第１判定期間Ｔ１及び第２判定期間Ｔ２に対して複数倍以上に設定されている。このため、警告モード中に可変判定が複数回実行され得る。 The grace period T3 is set longer than, for example, the first determination period T1 and the second determination period T2. Specifically, the grace period T3 is set to a multiple of the first determination period T1 and the second determination period T2. For this reason, the variable determination can be executed a plurality of times during the warning mode.
　例えば、猶予期間Ｔ３は、閾値強度ＲＳｔｈに対応する距離Ｌｘと第２距離Ｌ２との差を、遠隔操作時のフォークリフト２０の最大速度で除算した値よりも短く設定されてもよい。 For example, the grace period T3 may be set shorter than a value obtained by dividing the difference between the distance Lx corresponding to the threshold strength RSth and the second distance L2 by the maximum speed of the forklift 20 during remote operation.
　車両無線ＣＰＵ３６は、第３カウンタＣ３が猶予規定値Ｃｔｈ３未満である場合には、そのまま本遠隔操作モード制御処理を終了して、警告モードを継続する。一方、車両無線ＣＰＵ３６は、第３カウンタＣ３が猶予規定値Ｃｔｈ３以上である場合には、ステップＳ３２５及びステップＳ３２６にて、遠隔操作モードを、警告モードから禁止モードに移行させるための処理を実行する。 When the third counter C3 is less than the grace prescribed value Cth3, the vehicle radio CPU 36 ends the remote operation mode control process as it is and continues the warning mode. On the other hand, when the third counter C3 is greater than or equal to the stipulated regulation value Cth3, the vehicle radio CPU 36 executes a process for shifting the remote operation mode from the warning mode to the prohibit mode in Step S325 and Step S326. .
　詳細には、車両無線ＣＰＵ３６は、ステップＳ３２５にて、遠隔操作モードを禁止モードに設定する処理を実行する。詳細には、車両無線ＣＰＵ３６は、遠隔操作モード特定情報を、禁止モードに対応した情報に更新する。 Specifically, the vehicle radio CPU 36 executes processing for setting the remote operation mode to the prohibit mode in step S325. Specifically, the vehicle radio CPU 36 updates the remote operation mode specifying information to information corresponding to the prohibit mode.
　ステップＳ３２５では、車両無線ＣＰＵ３６は、停止に対応した制御信号ＳＧａがインターフェース３４を介して車両ＣＰＵ２７に送信されるように信号変換部３３を制御する。車両ＣＰＵ２７は、停止に対応した制御信号ＳＧａが入力されることに基づいて、停止するように走行アクチュエータ２５を制御する。これにより、フォークリフト２０は、移動中に遠隔操作モードが警告モードから禁止モードに移行した場合には、走行に関する遠隔操作が禁止された状態でその場で停止する。 In step S325, the vehicle radio CPU 36 controls the signal converter 33 so that the control signal SGa corresponding to the stop is transmitted to the vehicle CPU 27 via the interface 34. The vehicle CPU 27 controls the travel actuator 25 to stop based on the input of the control signal SGa corresponding to the stop. As a result, when the remote operation mode shifts from the warning mode to the prohibit mode during movement, the forklift 20 stops on the spot in a state where the remote operation related to traveling is prohibited.
　そして、車両無線ＣＰＵ３６は、ステップＳ３２６にて、遠隔操作モードが禁止モードであることを通知するための禁止モード通知処理を実行して、本遠隔操作モード制御処理を終了する。詳細には、車両無線ＣＰＵ３６は、選択アンテナを用いて、禁止モードに対応する情報が設定された通知信号をリモート通信ユニット５３に送信する。 In step S326, the vehicle radio CPU 36 executes a prohibit mode notification process for notifying that the remote control mode is the prohibit mode, and ends the remote control mode control process. Specifically, the vehicle radio CPU 36 transmits a notification signal in which information corresponding to the prohibit mode is set to the remote communication unit 53 using the selected antenna.
　リモートＣＰＵ５１は、リモート通信ユニット５３にて通知信号が受信された場合には、タッチパネル５４を用いて禁止モードであることを報知する。例えば、リモートＣＰＵ５１は、操作画面Ｇ０に禁止モードである旨を表示させる。 When the remote communication unit 53 receives a notification signal, the remote CPU 51 notifies the prohibit mode using the touch panel 54. For example, the remote CPU 51 displays on the operation screen G0 that the prohibit mode is set.
　既に説明した通り、遠隔操作モード制御処理は、特定周期Ｔａで定期的に実行されるため、車両無線ＣＰＵ３６は、特定周期Ｔａで定期的に受信電波強度ＲＳを把握し、受信電波強度ＲＳが把握される度に、把握された受信電波強度ＲＳと閾値強度ＲＳｔｈとを比較している。そして、両判定期間Ｔ１，Ｔ２は、特定周期Ｔａの２倍以上に設定されているため、１回の可否判定結果が得られるまでに、受信電波強度ＲＳの把握と、受信電波強度ＲＳ及び閾値強度ＲＳｔｈの比較とが複数回に亘って行われる。 As described above, since the remote operation mode control process is periodically executed at a specific period Ta, the vehicle radio CPU 36 periodically grasps the received radio wave intensity RS and grasps the received radio wave intensity RS at the specific period Ta. Each time the received radio wave strength RS is grasped, the threshold strength RSth is compared. Since both the determination periods T1 and T2 are set to be twice or more the specific period Ta, the reception radio wave intensity RS, the reception radio wave intensity RS, and the threshold value are obtained before one determination result is obtained. The comparison of the intensity RSth is performed a plurality of times.
　ここでは、ステップＳ３０５、ステップＳ３０７及びステップＳ３１５の処理が「可否判定」又は「可否判定ステップ」に対応し、ステップＳ３０５、ステップＳ３０７及びステップＳ３１５の処理を実行する車両無線ＣＰＵ３６が「可否判定部」に対応する。ステップＳ３０５の処理を実行する車両無線ＣＰＵ３６が「比較部」に対応する。そして、ステップＳ１０１、ステップＳ３０８、ステップＳ３１８及びステップＳ３２５の処理を実行する車両無線ＣＰＵ３６が「遠隔操作モード制御部」に対応する。ステップＳ１０２及びステップＳ３１２の処理を実行する車両無線ＣＰＵ３６が「アンテナ選択部」に対応し、ステップＳ３１１及びステップＳ３１３の処理を実行する車両無線ＣＰＵ３６が「切替禁止部」に対応する。すなわち、フォークリフト２０が、「把握部」及び「可否判定部」等を備えている。 Here, the processing of step S305, step S307, and step S315 corresponds to “determinability determination” or “determinability determination step”, and the vehicle wireless CPU 36 that executes the processing of step S305, step S307, and step S315 is “determinability determination unit”. Corresponding to The vehicle radio CPU 36 that executes the process of step S305 corresponds to a “comparator”. And the vehicle radio | wireless CPU36 which performs the process of step S101, step S308, step S318, and step S325 respond | corresponds to a "remote operation mode control part." The vehicle radio CPU 36 that executes the processes of steps S102 and S312 corresponds to the “antenna selection unit”, and the vehicle radio CPU 36 that executes the processes of steps S311 and S313 corresponds to the “switching prohibition unit”. That is, the forklift 20 includes a “grasping part” and a “probability determination part”.
　また、ここでは、閾値強度ＲＳｔｈが「第１閾値強度」及び「第２閾値強度」に対応する。換言すれば、「第１閾値強度」と「第２閾値強度」とは同一である。
　遠隔操作装置５０（詳細にはリモート通信ユニット５３）は、遠隔操作の実行中、遠隔操作モードに関わらず、特定周期Ｔａで遠隔操作信号ＳＧｂを送信し続ける。例えば、リモート通信ユニット５３は、遠隔操作モードが禁止モードである場合であっても遠隔操作信号ＳＧｂの送信を定期的に実行する。このため、遠隔操作モードが禁止モードである状況下でも、遠隔操作装置５０とフォークリフト２０との間では信号の送受信が行われる。 Here, the threshold intensity RSth corresponds to “first threshold intensity” and “second threshold intensity”. In other words, the “first threshold strength” and the “second threshold strength” are the same.
The remote operation device 50 (specifically, the remote communication unit 53) continues to transmit the remote operation signal SGb at the specific period Ta regardless of the remote operation mode during execution of the remote operation. For example, the remote communication unit 53 periodically transmits the remote operation signal SGb even when the remote operation mode is the prohibit mode. For this reason, transmission / reception of signals is performed between the remote operation device 50 and the forklift 20 even in a situation where the remote operation mode is the prohibit mode.
　そして、車両無線ＣＰＵ３６は、遠隔操作信号ＳＧｂを受信する度に遠隔操作モード制御処理を実行するため、遠隔操作モードが禁止モードである場合であっても、遠隔操作モード制御処理が実行される。 Since the vehicle radio CPU 36 executes the remote operation mode control process every time it receives the remote operation signal SGb, the remote operation mode control process is executed even when the remote operation mode is the prohibit mode.
　現在の遠隔操作モードが禁止モードである場合には、車両無線ＣＰＵ３６は、遠隔操作モード制御処理にて定期的に可否判定を行う。すなわち、車両無線ＣＰＵ３６は、遠隔操作モードに関わらず定期的に可否判定を行う。 When the current remote operation mode is the prohibit mode, the vehicle radio CPU 36 periodically determines whether or not the remote operation mode control process is possible. That is, the vehicle radio CPU 36 periodically determines whether or not it is possible regardless of the remote operation mode.
　そして、車両無線ＣＰＵ３６は、可否判定結果が禁止範囲Ａ２内である場合には、そのまま禁止モードを維持する一方、可否判定結果が許可範囲Ａ１内である場合には、遠隔操作モードを、禁止モードから許可モードに移行させる。すなわち、禁止モードから許可モードへの移行条件は、遠隔操作モードが禁止モードである状況下で可否判定結果が許可範囲Ａ１内となることである。但し、これに限られず、禁止モードから許可モードへの移行条件は任意である。 The vehicle radio CPU 36 maintains the prohibit mode as it is when the determination result is within the prohibition range A2, while the remote operation mode is set to the prohibit mode when the determination result is within the permission range A1. To allow mode. In other words, the transition condition from the prohibit mode to the permit mode is that the determination result is within the permit range A1 under the situation where the remote operation mode is the prohibit mode. However, the present invention is not limited to this, and the transition condition from the prohibit mode to the permit mode is arbitrary.
　また、可否判定が終了することによって可否判定フラグがＯＦＦとなった場合、可否判定フラグがＯＦＦとなった遠隔操作モード制御処理に対して次の遠隔操作モード制御処理から、再度可否判定が行われる。可否判定は、遠隔操作モードに関わらず繰り返し実行される。すなわち、産業車両用遠隔操作システム１０は、遠隔操作モードがいずれであっても、可否判定が繰り返し実行されるように構成されている。 In addition, when the availability determination flag is turned OFF by the completion of the availability determination, the availability determination is performed again from the next remote operation mode control processing for the remote operation mode control processing for which the availability determination flag is turned OFF. . The determination of availability is repeatedly performed regardless of the remote operation mode. That is, the industrial vehicle remote control system 10 is configured to repeatedly execute the feasibility determination regardless of the remote control mode.
　図１０を用いて、遠隔操作モード制御処理から導出される各遠隔操作モードの相関関係を説明する。
　図１０に示すように、許可モード中である状況下で、可否判定結果が禁止範囲Ａ２内となったことに基づいて、遠隔操作モードが許可モードから警告モードに移行する。 The correlation of each remote operation mode derived from the remote operation mode control process will be described with reference to FIG.
As shown in FIG. 10, the remote operation mode shifts from the permission mode to the warning mode based on the determination result of the permission / prohibition being within the prohibited range A2 under the condition of the permission mode.
　警告モード中である状況下で可否判定結果が許可範囲Ａ１内となることに基づいて、遠隔操作モードが警告モードから許可モードに移行する。すなわち、遠隔操作モードが警告モードから許可モードに移行するための許可モード移行条件は、警告モード中に可否判定結果が許可範囲Ａ１内になることである。 The remote operation mode shifts from the warning mode to the permission mode based on whether the determination result is within the permission range A1 under the condition of the warning mode. That is, the permission mode transition condition for the remote operation mode to transition from the warning mode to the permission mode is that the determination result is within the permission range A1 during the warning mode.
　また、警告モード中である状況下で、可否判定結果が許可範囲Ａ１内になることなく猶予期間Ｔ３が経過した場合には、遠隔操作モードが警告モードに禁止モードに移行する。すなわち、警告モードから禁止モードへの移行する条件である禁止モード移行条件は、（Ａ）許可モードから警告モードに移行してから猶予期間Ｔ３が経過すること、及び、（Ｂ）猶予期間Ｔ３が経過するまでに可否判定結果が許可範囲Ａ１内にならなかったことである。（Ｂ）の条件は、猶予期間Ｔ３中に行われた可否判定の結果が全て禁止範囲Ａ２内であったこととも言える。 Also, when the grace period T3 elapses without the result of the availability determination being within the permitted range A1 under the situation in the warning mode, the remote operation mode shifts to the warning mode and the prohibit mode. That is, the prohibition mode transition condition, which is a condition for shifting from the warning mode to the prohibition mode, is that (A) the grace period T3 elapses after the transition from the permission mode to the warning mode, and (B) the grace period T3 is This is because the determination result is not within the permission range A1 until the time has elapsed. It can be said that the condition (B) is that all the results of the feasibility determination made during the grace period T3 were within the prohibited range A2.
　既に説明した通り、可否判定は禁止モード中にも実行され、禁止モード中に可否判定結果が許可範囲Ａ１内となった場合には、遠隔操作モードが禁止モードから許可モードに移行する。 As already described, the availability determination is executed even during the prohibit mode, and the remote operation mode shifts from the prohibit mode to the permit mode when the enable / disable determination result is within the allow range A1 during the prohibit mode.
　遠隔操作モードが初期モードである状況下では、最初の可否判定結果によって遠隔操作モードの移行先が異なる。詳細には、可否判定結果が許可範囲Ａ１内である場合には、遠隔操作モードが初期モードから許可モードに移行する一方、可否判定結果が禁止範囲Ａ２内である場合には、遠隔操作モードが初期モードから禁止モードに移行する。産業車両用遠隔操作システム１０は、許可モード、警告モード又は禁止モードから、初期モードへの移行は発生しないように構成されている。 In the situation where the remote operation mode is the initial mode, the transfer destination of the remote operation mode varies depending on the first determination result. Specifically, when the determination result is within the permission range A1, the remote operation mode shifts from the initial mode to the permission mode, while when the determination result is within the prohibition range A2, the remote operation mode is Transition from the initial mode to the prohibit mode. The industrial vehicle remote control system 10 is configured so that the transition from the permission mode, the warning mode, or the prohibition mode to the initial mode does not occur.
　次に、第１実施形態の作用を説明する。
　まず、遠隔操作モードが許可モードである状況と、遠隔操作モードが禁止モードである状況とを説明する。 Next, the operation of the first embodiment will be described.
First, a situation where the remote operation mode is the permission mode and a situation where the remote operation mode is the prohibit mode will be described.
　図１１に示すように、フォークリフト２０が遠隔操作装置５０に対して比較的近くに配置されている場合、詳細にはフォークリフト２０が許可範囲Ａ１内に配置されている場合、遠隔操作モードが許可モードに設定される。この場合、遠隔操作装置５０によるフォークリフト２０の遠隔操作が可能である。また、図１２に示すように、遠隔操作モードが許可モードである場合には、操作画面Ｇ０には、許可モードである旨の表示が存在している。これにより、操作者は、許可モード中であり、本遠隔操作装置５０を用いた遠隔操作が許可されていることを認識できる。 As shown in FIG. 11, when the forklift 20 is disposed relatively close to the remote control device 50, specifically, when the forklift 20 is disposed within the permission range A1, the remote operation mode is the permission mode. Set to In this case, the remote operation of the forklift 20 by the remote operation device 50 is possible. As shown in FIG. 12, when the remote operation mode is the permission mode, the operation screen G0 includes a display indicating that the permission mode is set. Thereby, the operator can recognize that the remote operation using the remote operation device 50 is permitted in the permission mode.
　一方、図１３に示すように、フォークリフト２０が遠隔操作装置５０に対して比較的遠くに配置されている場合、詳細にはフォークリフト２０が禁止範囲Ａ２内に配置されている場合、遠隔操作モードは、警告モードを介して、許可モードから禁止モードに移行する。この場合、遠隔操作装置５０によるフォークリフト２０の遠隔操作が禁止される。また、図１４に示すように、遠隔操作モードが禁止モードである場合には、操作画面Ｇ０には、禁止モードである旨の表示が存在している。これにより、操作者は、禁止モード中であり、本遠隔操作装置５０を用いた遠隔操作が禁止されていることを認識できる。 On the other hand, as shown in FIG. 13, when the forklift 20 is disposed relatively far from the remote control device 50, specifically, when the forklift 20 is disposed within the prohibited range A <b> 2, the remote operation mode is The mode is shifted from the permission mode to the prohibition mode through the warning mode. In this case, remote operation of the forklift 20 by the remote operation device 50 is prohibited. As shown in FIG. 14, when the remote operation mode is the prohibit mode, the operation screen G0 includes a display indicating that the prohibit mode is in effect. Accordingly, the operator can recognize that the prohibit mode is in effect and the remote operation using the remote operation device 50 is prohibited.
　以上のことから、遠隔操作装置５０を用いたフォークリフト２０の遠隔操作は、操作者が視認し易い比較的近い範囲（許可範囲Ａ１又は誤差対応範囲Ａ３）内に限られ、上記範囲から離れた位置（禁止範囲Ａ２内）から行うことができないように制限されている。すなわち、産業車両用遠隔操作システム１０は、遠隔操作装置５０によるフォークリフト２０の遠隔操作を、両通信ユニット３０，５３の通信範囲Ａ０よりも狭い範囲に制限しているとも言える。 From the above, the remote operation of the forklift 20 using the remote control device 50 is limited to a relatively close range (permitted range A1 or error handling range A3) that is easy for the operator to visually recognize, and is located away from the above range. It is restricted so that it cannot be performed from (in the prohibited range A2). That is, it can be said that the industrial vehicle remote control system 10 restricts the remote operation of the forklift 20 by the remote control device 50 to a range narrower than the communication range A0 of both the communication units 30 and 53.
　次に、図１５及び図１６を用いて、遠隔操作モードの移行態様を説明する。図１５及び図１６は、フォークリフト２０の位置変動に伴う各要素の変化態様を示すタイムチャートである。図１５及び図１６において、（ａ）はフォークリフト２０の位置を示し、（ｂ）は受信電波強度ＲＳと閾値強度ＲＳｔｈとの比較結果を示し、（ｃ）は可否判定結果を示し、（ｄ）遠隔操作モードを示し、（ｅ）は遠隔操作の可否（許可／禁止）を示す。図示の都合上、各期間Ｔ１～Ｔ３及び特定周期Ｔａは、実際の比率と異ならせて示す。 Next, the transition mode of the remote operation mode will be described with reference to FIGS. 15 and 16. FIG. 15 and FIG. 16 are time charts showing how each element changes as the position of the forklift 20 changes. 15 and 16, (a) shows the position of the forklift 20, (b) shows the comparison result between the received radio wave intensity RS and the threshold intensity RSth, (c) shows the determination result, and (d) The remote operation mode is shown, and (e) shows whether or not the remote operation is possible (permitted / prohibited). For convenience of illustration, the periods T1 to T3 and the specific period Ta are shown different from the actual ratio.
　まず、図１５を用いて、第１のパターンを説明する。第１のパターンは、図１５（ａ）に示すように、フォークリフト２０が許可範囲Ａ１内から禁止範囲Ａ２内に移動し、そのまま禁止範囲Ａ２内に配置されているパターンである。 First, the first pattern will be described with reference to FIG. As shown in FIG. 15A, the first pattern is a pattern in which the forklift 20 moves from the permitted range A1 to the prohibited range A2 and is arranged in the prohibited range A2 as it is.
　まず、図１５（ａ）に示すように、ｔ１のタイミングでは、フォークリフト２０は許可範囲Ａ１内に配置されている。この場合、図１５（ｂ）及び図１５（ｃ）に示すように、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上であり、可否判定結果が許可範囲Ａ１内となったとする。すると、図１５（ｄ）に示すように、遠隔操作モードは許可モードに維持される。このため、図１５（ｅ）に示すように、遠隔操作が許可されている。 First, as shown in FIG. 15A, at the timing t1, the forklift 20 is disposed within the permitted range A1. In this case, as shown in FIGS. 15B and 15C, it is assumed that the received radio wave intensity RS is equal to or greater than the threshold intensity RSth and the determination result is within the permitted range A1. Then, as shown in FIG. 15 (d), the remote operation mode is maintained in the permission mode. For this reason, remote operation is permitted as shown in FIG.
　その後、図１５（ａ）及び図１５（ｂ）に示すように、受信電波強度ＲＳの誤差によって、ｔ２のタイミングにて、フォークリフト２０が許可範囲Ａ１内に配置されているにも関わらず、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となったとする。これにより、第１カウンタＣ１がリセットされ、第２カウンタＣ２のカウントがスタートする。 Thereafter, as shown in FIGS. 15 (a) and 15 (b), due to the error of the received radio wave intensity RS, reception is performed even though the forklift 20 is disposed within the permitted range A1 at the timing t2. It is assumed that the radio wave intensity RS is less than the threshold intensity RSth. As a result, the first counter C1 is reset and the second counter C2 starts counting.
　ここで、可否判定には、継続期間（第１判定期間Ｔ１及び第２判定期間Ｔ２）が判定条件に含まれているため、図１５（ｃ）に示すように、直ちに可否判定結果が禁止範囲Ａ２内になることはない。このため、図１５（ｄ）及び図１５（ｅ）に示すように、遠隔操作モードは許可モードに維持されるとともに、遠隔操作装置５０を用いた遠隔操作も許可された状態を維持する。 Here, since the continuation period (the first determination period T1 and the second determination period T2) is included in the determination condition in the determination of availability, the availability determination result is immediately within the prohibited range as shown in FIG. It will never be in A2. Therefore, as shown in FIGS. 15D and 15E, the remote operation mode is maintained in the permission mode, and the remote operation using the remote operation device 50 is also permitted.
　その後、ｔ２のタイミングに対して特定周期Ｔａが経過した後であるｔ３のタイミングにて、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上となったとする。すなわち、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満という判定結果が得られた遠隔操作モード制御処理に対して次の遠隔操作モード制御処理では、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上という判定結果が得られたとする。この場合、ｔ３のタイミングから、再度第１カウンタＣ１のカウントがスタートする。そして、ｔ３のタイミングから第１判定期間Ｔ１が経過したｔ４のタイミングにて、許可範囲Ａ１内である可否判定結果が得られる。 Then, it is assumed that the received radio wave intensity RS becomes equal to or greater than the threshold intensity RSth at the timing t3 after the specific period Ta has elapsed with respect to the timing t2. That is, in the next remote operation mode control process in which the determination result that the received radio wave intensity RS is less than the threshold intensity RSth is obtained, the determination result that the received radio wave intensity RS is equal to or greater than the threshold intensity RSth is obtained. Suppose. In this case, the count of the first counter C1 starts again from the timing of t3. Then, at the timing of t4 when the first determination period T1 has elapsed from the timing of t3, the availability determination result within the permission range A1 is obtained.
　その後、図１５（ａ）に示すように、ｔ５のタイミングにて、フォークリフト２０が許可範囲Ａ１内から禁止範囲Ａ２内に移動したとする。この場合、図１５（ｂ）に示すように、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となる。これにより、第２判定期間Ｔ２のカウントがスタートする。 Then, as shown in FIG. 15A, it is assumed that the forklift 20 moves from the permitted range A1 to the prohibited range A2 at the timing t5. In this case, as shown in FIG. 15B, the received radio wave intensity RS is less than the threshold intensity RSth. Thereby, the count of the second determination period T2 starts.
　そして、図１５（ｃ）に示すように、ｔ５のタイミングから第２判定期間Ｔ２が経過したｔ６のタイミングにて、禁止範囲Ａ２内という可否判定結果が得られる。これにより、図１５（ｄ）に示すように、遠隔操作モードが許可モードから警告モードに移行する。この場合、図１５（ｅ）に示すように、遠隔操作は許可された状態を維持する。 And as shown in FIG.15 (c), the possibility determination result within the prohibition range A2 is obtained in the timing of t6 when the 2nd determination period T2 passed from the timing of t5. Thereby, as shown in FIG.15 (d), remote control mode transfers from permission mode to warning mode. In this case, as shown in FIG. 15E, the remote operation is maintained in a permitted state.
　その後、図１５（ｃ）に示すように、ｔ７のタイミングにて、警告モード中において１回目の可否判定結果が得られる。可否判定結果は、禁止範囲Ａ２内である。このため、遠隔操作モードは、許可モードに移行することなく、警告モードを維持する。 Thereafter, as shown in FIG. 15C, at the timing of t7, the first determination result is obtained in the warning mode. The determination result is within the prohibited range A2. For this reason, the remote operation mode maintains the warning mode without shifting to the permission mode.
　図１５（ｂ）に示すように、ｔ８のタイミングにて、受信電波強度ＲＳの誤差に起因して受信電波強度ＲＳが一旦閾値強度ＲＳｔｈ以上となり、ｔ８タイミングから特定周期Ｔａが経過したｔ９のタイミングにて、再度受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となったとする。この場合、ｔ８のタイミングにて、第２カウンタＣ２のカウントがリセットされ、第１カウンタＣ１のカウントがスタートする。その後、ｔ９のタイミングにて、第１カウンタＣ１のカウントがリセットされ、第２カウンタＣ２のカウントがスタートする。 As shown in FIG. 15 (b), at the timing of t8, the received radio wave intensity RS once exceeds the threshold intensity RSth due to the error of the received radio wave intensity RS, and the timing at t9 when the specific period Ta has elapsed from the t8 timing. Then, it is assumed that the received radio wave intensity RS again becomes less than the threshold intensity RSth. In this case, at the timing t8, the count of the second counter C2 is reset, and the count of the first counter C1 starts. Thereafter, at the timing t9, the count of the first counter C1 is reset, and the count of the second counter C2 starts.
　ここで、可否判定には、継続期間（第１判定期間Ｔ１及び第２判定期間Ｔ２）が判定条件に含まれているため、図１５（ｃ）に示すように、ｔ８のタイミングにて、直ちに可否判定結果が許可範囲Ａ１内になることはない。このため、図１５（ｄ）に示すように、遠隔操作モードは警告モードに維持される。 Here, since the continuation period (the first determination period T1 and the second determination period T2) is included in the determination condition in the determination of availability, immediately as shown in FIG. 15C, at the timing of t8. The availability determination result does not fall within the permitted range A1. For this reason, as shown in FIG. 15D, the remote operation mode is maintained in the warning mode.
　そして、ｔ９のタイミングから第２判定期間Ｔ２が経過したｔ１０のタイミングにて、禁止範囲Ａ２内に対応した可否判定結果が得られる。この場合、遠隔操作モードは、許可モードに移行することなく、警告モードを維持する。 Then, at the timing of t10 when the second determination period T2 has elapsed from the timing of t9, the availability determination result corresponding to the prohibited range A2 is obtained. In this case, the remote operation mode maintains the warning mode without shifting to the permission mode.
　その後、図１５（ｄ）に示すように、遠隔操作モードが警告モードに移行してから、猶予期間Ｔ３が経過したｔ１１のタイミングにて、遠隔操作モードが警告モードから禁止モードに移行する。これにより、図１５（ｅ）に示すように、遠隔操作が禁止される。 After that, as shown in FIG. 15D, the remote operation mode shifts from the warning mode to the prohibit mode at the timing t11 when the grace period T3 has elapsed since the remote operation mode shifted to the warning mode. Thereby, as shown in FIG.15 (e), remote operation is prohibited.
　すなわち、ここでは、フォークリフト２０が許可範囲Ａ１内から禁止範囲Ａ２内に移動した場合、所定の猶予期間Ｔ３が付与された後に、遠隔操作が禁止される。換言すれば、禁止範囲Ａ２とは、禁止範囲Ａ２内にフォークリフト２０が配置されていることによって直ちに遠隔操作が禁止される範囲ではなく、所定の猶予期間Ｔ３が付与された後に遠隔操作が禁止される範囲と言える。 That is, here, when the forklift 20 moves from the permitted range A1 to the prohibited range A2, the remote operation is prohibited after the predetermined grace period T3 is given. In other words, the prohibited range A2 is not a range in which remote operation is immediately prohibited because the forklift 20 is arranged in the prohibited range A2, but remote operation is prohibited after a predetermined grace period T3 is granted. It can be said that it is a range.
　次に、図１６を用いて、第２のパターンを説明する。第２のパターンは、図１６（ａ）に示すように、フォークリフト２０が許可範囲Ａ１内から禁止範囲Ａ２内に移動し、その後猶予期間Ｔ３中に禁止範囲Ａ２内から許可範囲Ａ１内に移動したパターンである。 Next, the second pattern will be described with reference to FIG. In the second pattern, as shown in FIG. 16A, the forklift 20 moves from the permitted range A1 to the prohibited range A2, and then moves from the prohibited range A2 to the permitted range A1 during the grace period T3. It is a pattern.
　図１６（ａ）～図１６（ｅ）に示すように、ｔ２１のタイミング～ｔ２７のタイミングまでの動作は、ｔ１のタイミング～ｔ７のタイミングまでの動作と同様である。
　第２のパターンでは、遠隔操作モードが警告モードとなったことに基づいて、操作者がフォークリフト２０を遠隔操作装置５０に近づけるように操作したとする。この場合、図１６（ａ）及び図１６（ｄ）に示すように、遠隔操作モードが警告モードに移行してから猶予期間Ｔ３が経過する前のタイミングであるｔ２８のタイミングにて、フォークリフト２０が禁止範囲Ａ２内から許可範囲Ａ１内に移動する。これに伴い、図１６（ｂ）に示すように、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上となる。 As shown in FIGS. 16A to 16E, the operation from the timing t21 to the timing t27 is the same as the operation from the timing t1 to the timing t7.
In the second pattern, it is assumed that the operator operates the forklift 20 closer to the remote operation device 50 based on the fact that the remote operation mode is the warning mode. In this case, as shown in FIGS. 16A and 16D, the forklift 20 is operated at the timing t28, which is the timing before the grace period T3 elapses after the remote operation mode shifts to the warning mode. Move from the prohibited range A2 to the permitted range A1. Accordingly, as shown in FIG. 16B, the received radio wave intensity RS becomes equal to or higher than the threshold intensity RSth.
　そして、ｔ２８のタイミングから第１判定期間Ｔ１が経過したｔ２９のタイミングにて、可否判定結果が許可範囲Ａ１内となる。これにより、図１６（ｄ）に示すように、遠隔操作モードが警告モードから許可モードに移行する。このため、遠隔操作が禁止されることが回避される。 And at the timing of t29 when the first determination period T1 has elapsed from the timing of t28, the availability determination result is within the permitted range A1. Thereby, as shown in FIG.16 (d), remote control mode transfers from warning mode to permission mode. For this reason, prohibiting remote operation is avoided.
　第１実施形態によれば、以下の効果を奏する。
　（１）産業車両用遠隔操作システム１０は、車両通信ユニット３０を有するフォークリフト２０と、リモート通信ユニット５３を有し、フォークリフト２０を遠隔操作するのに用いられる遠隔操作装置５０とを備えている。産業車両用遠隔操作システム１０の車両無線ＣＰＵ３６は、両通信ユニット３０，５３間で無線通信が行われる遠隔操作信号ＳＧｂの受信電波強度ＲＳを把握し、その結果に基づいて可否判定を行う。可否判定は、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である状態が第１判定期間Ｔ１に亘って継続した場合に許可範囲Ａ１内にフォークリフト２０が存在すると判定する一方、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満である状態が第２判定期間Ｔ２に亘って継続した場合に禁止範囲Ａ２内にフォークリフト２０が存在すると判定する処理である。許可範囲Ａ１は、遠隔操作装置５０による走行に関する遠隔操作が許可されている範囲であり、禁止範囲Ａ２は、両通信ユニット３０，５３の無線通信が行われる状況下であっても遠隔操作装置５０による走行に関する遠隔操作が禁止される範囲である。 According to 1st Embodiment, there exist the following effects.
(1) The industrial vehicle remote control system 10 includes a forklift 20 having a vehicle communication unit 30 and a remote control device 50 having a remote communication unit 53 and used to remotely control the forklift 20. The vehicle wireless CPU 36 of the industrial vehicle remote control system 10 grasps the received radio wave intensity RS of the remote control signal SGb in which wireless communication is performed between the communication units 30 and 53, and determines whether or not it is possible based on the result. In the determination as to whether or not the reception radio wave intensity RS is equal to or greater than the threshold intensity RSth, it is determined that the forklift 20 is present in the permitted range A1 when the state continues for the first determination period T1, while the reception radio wave intensity RS is equal to the threshold intensity. This is a process for determining that the forklift 20 is present in the prohibited range A2 when the state of less than RSth continues for the second determination period T2. The permitted range A1 is a range in which remote operation related to traveling by the remote control device 50 is permitted, and the prohibited range A2 is a remote control device 50 even under a situation where wireless communication between both communication units 30 and 53 is performed. This is a range where remote control related to traveling by is prohibited.
　この構成によれば、受信電波強度ＲＳに基づいて、フォークリフト２０が許可範囲Ａ１内又は禁止範囲Ａ２内のいずれに配置されているかが判定される。禁止範囲Ａ２は、許可範囲Ａ１よりも離れた範囲である。これにより、遠隔操作装置５０を操作する操作者がフォークリフト２０を視認しにくい過度に離れた位置からフォークリフト２０の走行に関する遠隔操作を行うことを抑制できる。したがって、フォークリフト２０の走行に関する誤操作を抑制でき、安全性が向上する。 According to this configuration, it is determined whether the forklift 20 is arranged in the permitted range A1 or the prohibited range A2 based on the received radio wave intensity RS. The prohibited range A2 is a range that is further away from the permitted range A1. Thereby, it can suppress that the operator who operates the remote control apparatus 50 performs the remote control regarding the driving | running | working of the forklift 20 from the position which left too much that the forklift 20 is hard to visually recognize. Therefore, it is possible to suppress an erroneous operation related to traveling of the forklift 20 and to improve safety.
　特に、禁止範囲Ａ２は、両通信ユニット３０，５３の無線通信が行われる状況下であっても遠隔操作装置５０による走行に関する遠隔操作が禁止される範囲である。これにより、通信範囲Ａ０が適切な範囲（例えば操作者がフォークリフト２０を十分に視認しながら走行に関する遠隔操作を行うことができる範囲）よりも広い場合であっても、遠隔操作装置５０による走行に関する遠隔操作ができる範囲を適切な範囲に制限できる。よって、安全性が向上する。 In particular, the prohibition range A2 is a range in which remote control related to traveling by the remote control device 50 is prohibited even when wireless communication between the communication units 30 and 53 is performed. As a result, even when the communication range A0 is wider than an appropriate range (for example, a range where the operator can perform a remote operation related to travel while fully viewing the forklift 20), the remote control device 50 is related to travel. The range in which remote control can be performed can be limited to an appropriate range. Therefore, safety is improved.
　また、可否判定は、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である状態が第１判定期間Ｔ１に亘って継続することと、受信電波強度ＲＳが閾値強度ＲＳｔｈ未満である状態が第２判定期間Ｔ２に亘って継続することとを採用している。これにより、受信電波強度ＲＳの誤差に起因して受信電波強度ＲＳと閾値強度ＲＳｔｈとの比較において誤判定が生じた場合であっても、可否判定結果が誤った結果になりにくい。したがって、受信電波強度ＲＳの誤差がある条件下であっても、可否判定結果の精度が向上する。よって、受信電波強度ＲＳの誤差に起因する可否判定結果の誤り、すなわちフォークリフト２０が許可範囲Ａ１内に配置されているにも関わらず可否判定結果が禁止範囲Ａ２内となったり、フォークリフト２０が禁止範囲Ａ２内に配置されているにも関わらず可否判定結果が許可範囲Ａ１内となったりすることを抑制できる。 In addition, the determination as to whether or not the reception radio wave intensity RS is greater than or equal to the threshold intensity RSth continues for the first determination period T1, and the state where the reception radio wave intensity RS is less than the threshold intensity RSth is the second determination period T2. For a long time. Thus, even if an erroneous determination occurs in the comparison between the received radio wave intensity RS and the threshold intensity RSth due to an error in the received radio wave intensity RS, the availability determination result is unlikely to be an erroneous result. Therefore, even if there is an error in the received radio wave intensity RS, the accuracy of the determination result is improved. Therefore, an error in the determination result due to the error of the received radio wave intensity RS, that is, the determination result is within the prohibited range A2 even though the forklift 20 is disposed within the permitted range A1, or the forklift 20 is prohibited. It is possible to prevent the possibility determination result from being within the permitted range A1 despite being arranged within the range A2.
　禁止範囲とは、禁止範囲内に産業車両が配置された場合に、直ちに走行に関する遠隔操作が禁止される範囲でもよいし、所定の猶予期間の経過後に走行に関する遠隔操作が禁止される範囲でもよい。また、第１判定期間と第２判定期間とは同一でもよいし、異なっていてもよい。 The prohibited range may be a range where remote operation related to traveling is prohibited immediately when an industrial vehicle is placed within the prohibited range, or a range where remote control related to traveling is prohibited after a predetermined grace period. . Further, the first determination period and the second determination period may be the same or different.
　（２）また、遠隔操作装置５０とフォークリフト２０との距離を把握するパラメータとして受信電波強度ＲＳが採用されている。受信電波強度ＲＳは、両通信ユニット３０，５３間の距離だけでなく、障害物がある場合にも減衰する。となると、操作者とフォークリフト２０との間に障害物が存在する場合にも、フォークリフト２０が禁止範囲Ａ２内に配置されていると判定され、フォークリフト２０の走行に関する遠隔操作が禁止され得る。これにより、例えば、障害物等によってフォークリフト２０が操作者の死角に入った場合、走行に関する遠隔操作を禁止できる。これにより、走行に関する遠隔操作の誤操作を抑制できる。 (2) Also, the received radio wave intensity RS is adopted as a parameter for grasping the distance between the remote control device 50 and the forklift 20. The received radio wave intensity RS is attenuated not only in the distance between the communication units 30 and 53 but also when there is an obstacle. Then, even when there is an obstacle between the operator and the forklift 20, it is determined that the forklift 20 is disposed within the prohibited range A <b> 2, and remote operation related to traveling of the forklift 20 can be prohibited. Thereby, for example, when the forklift 20 enters the blind spot of the operator due to an obstacle or the like, remote operation related to traveling can be prohibited. Thereby, the misoperation of the remote operation regarding driving | running | working can be suppressed.
　上記の観点に着目すれば、許可範囲Ａ１とは、受信電波強度ＲＳが閾値強度ＲＳｔｈ以上である強電波範囲であり、禁止範囲Ａ２とは、受信電波強度ＲＳが閾値強度ＲＳｔｈよりも小さい弱電波範囲とも言える。 Focusing on the above viewpoint, the permitted range A1 is a strong radio wave range in which the received radio wave intensity RS is greater than or equal to the threshold intensity RSth, and the prohibited range A2 is a weak radio wave in which the received radio wave intensity RS is smaller than the threshold intensity RSth. It can also be said to be a range.
　（３）許可範囲Ａ１は、両通信ユニット３０，５３の無線通信が可能な通信範囲Ａ０よりも狭く設定されている。この構成によれば、通信範囲Ａ０の広さに関わらず、走行に関する遠隔操作を許可範囲Ａ１内に制限できる。 (3) The permitted range A1 is set to be narrower than the communication range A0 in which both communication units 30 and 53 can perform wireless communication. According to this configuration, it is possible to limit the remote operation related to traveling within the permitted range A1 regardless of the size of the communication range A0.
　また、無線通信を用いて、走行に関する遠隔操作を、安定して実行することができ、それを通じて安全性が向上する。詳述すると、例えば通信範囲Ａ０の全体を許可範囲Ａ１とし、通信範囲Ａ０外を禁止範囲Ａ２とすることも考えられる。この場合、通信範囲Ａ０の外縁部分においては通信状態が不安定になり易いため、フォークリフト２０が外縁部分に配置されている状況下では、フォークリフト２０の応答性の低下等が懸念される。これに対して、第１実施形態では、許可範囲Ａ１が通信範囲Ａ０よりも狭く設定されているため、遠隔操作時における通信状態の安定性が向上する。これにより、フォークリフト２０の走行に関する遠隔操作を好適に実行できる。 In addition, remote operation related to traveling can be stably executed using wireless communication, and safety is improved through this. More specifically, for example, the entire communication range A0 may be the permitted range A1, and the outside of the communication range A0 may be the prohibited range A2. In this case, since the communication state tends to become unstable at the outer edge portion of the communication range A0, there is a concern that the responsiveness of the forklift 20 may be lowered under the situation where the forklift 20 is disposed at the outer edge portion. On the other hand, in the first embodiment, since the permission range A1 is set narrower than the communication range A0, the stability of the communication state during remote operation is improved. Thereby, the remote operation regarding the driving | running | working of the forklift 20 can be performed suitably.
　（４）両通信ユニット３０，５３の無線通信方式はＩＥＥＥ８０２．１１規格を満たす無線ＬＡＮ方式（換言すればＷｉ－Ｆｉ方式）であり、遠隔操作装置５０は、携帯電話、スマートフォン、タブレット端末、又はヴァーチャルリアリティ端末である。この構成によれば、一般的な無線通信方式と既存の汎用品とを用いてフォークリフト２０の走行に関する遠隔操作を実現できる。 (4) The wireless communication system of both the communication units 30 and 53 is a wireless LAN system (in other words, Wi-Fi system) that satisfies the IEEE 802.11 standard, and the remote control device 50 is a mobile phone, a smartphone, a tablet terminal, It is a virtual reality terminal. According to this configuration, it is possible to realize a remote operation related to traveling of the forklift 20 using a general wireless communication method and an existing general-purpose product.
　ここで、例えば遠隔操作を行う範囲を適切な範囲にすることに着目すれば、通信範囲Ａ０を適切な範囲に設定することも考えられる。しかしながら、上記のような一般的な無線通信方式と汎用品とを用いる場合には、通信範囲Ａ０が適切な範囲よりも広くなり易い。しかしながら、通信範囲Ａ０が適切な範囲となるように設計された専用品を遠隔操作に用いることは、コスト等の観点から好ましくない。この点、第１実施形態によれば、一般的な無線通信方式と汎用品とを用いつつ、走行に関する遠隔操作が可能な範囲を、適切に設定できる。 Here, for example, if attention is focused on setting the range for remote operation to an appropriate range, it may be possible to set the communication range A0 to an appropriate range. However, when the general wireless communication method and the general-purpose product as described above are used, the communication range A0 tends to be wider than an appropriate range. However, it is not preferable from the viewpoint of cost or the like to use a dedicated product designed so that the communication range A0 is an appropriate range for remote operation. In this regard, according to the first embodiment, it is possible to appropriately set a range in which a remote operation related to traveling can be performed while using a general wireless communication method and a general-purpose product.
　（５）車両通信ユニット３０の車両無線ＣＰＵ３６は、受信電波強度ＲＳを特定周期Ｔａで定期的に把握し、受信電波強度ＲＳが把握される度に、把握された受信電波強度ＲＳと閾値強度ＲＳｔｈとを比較する。両判定期間Ｔ１，Ｔ２は、特定周期Ｔａの２倍以上に設定されている。この構成によれば、受信電波強度ＲＳと閾値強度ＲＳｔｈとの比較結果が、複数回に亘って同一結果である場合に、可否判定結果が得られる。これにより、可否判定結果の精度が向上する。 (5) The vehicle radio CPU 36 of the vehicle communication unit 30 periodically grasps the received radio wave intensity RS with a specific period Ta, and every time the received radio wave intensity RS is grasped, the grasped received radio wave intensity RS and threshold intensity RSth. And compare. Both determination periods T1 and T2 are set to be twice or more the specific period Ta. According to this configuration, when the comparison result between the received radio wave intensity RS and the threshold intensity RSth is the same for a plurality of times, the determination result is obtained. Thereby, the accuracy of the determination result is improved.
　第１閾値強度と第２閾値強度とが同一である場合には、「受信電波強度と、第１閾値強度及び第２閾値強度とを比較する」とは、受信電波強度と、同一値の閾値強度とを比較することを意味する。 When the first threshold strength and the second threshold strength are the same, “compare the received radio wave strength with the first threshold strength and the second threshold strength” is the same threshold value as the received radio wave strength. It means comparing with strength.
　（６）遠隔操作装置５０のリモート通信ユニット５３は、遠隔操作信号ＳＧｂを特定周期Ｔａで送信する。フォークリフト２０に設けられている車両無線ＣＰＵ３６は、車両通信ユニット３０にて遠隔操作信号ＳＧｂが受信される度に、受信された遠隔操作信号ＳＧｂの受信電波強度ＲＳを把握する。この構成によれば、専用の信号を送受信することなく、受信電波強度ＲＳに基づく可否判定を行うことができる。これにより、専用の信号を送受信することに起因して両通信ユニット３０，５３間の信号の送受信の複雑化を抑制できる。 (6) The remote communication unit 53 of the remote operation device 50 transmits the remote operation signal SGb at a specific cycle Ta. The vehicle radio CPU 36 provided in the forklift 20 grasps the received radio wave intensity RS of the received remote operation signal SGb every time the vehicle communication unit 30 receives the remote operation signal SGb. According to this configuration, it is possible to determine whether or not it is possible based on the received radio wave intensity RS without transmitting and receiving a dedicated signal. Thereby, complication of signal transmission / reception between the communication units 30 and 53 due to transmission / reception of a dedicated signal can be suppressed.
　（７）リモート通信ユニット５３は、禁止範囲Ａ２内に対応した可否判定結果が得られた後であっても、遠隔操作信号ＳＧｂを、車両通信ユニット３０に向けて特定周期Ｔａで送信する。 (7) The remote communication unit 53 transmits the remote operation signal SGb to the vehicle communication unit 30 at a specific cycle Ta even after the availability determination result corresponding to the prohibited range A2 is obtained.
　既に説明したとおり、可否判定結果が禁止範囲Ａ２内である場合には遠隔操作装置５０による遠隔操作が禁止されるため、遠隔操作信号ＳＧｂを送信することが無意味となり易い。このため、通常であれば、リモート通信ユニット５３は、可否判定結果が禁止範囲Ａ２内となった場合に、遠隔操作信号ＳＧｂの送信を停止する。すると、受信電波強度ＲＳに基づく可否判定を行うことができなくなり、操作者が移動してフォークリフト２０が許可範囲Ａ１内に配置されたとしても、可否判定が行われず遠隔操作ができないという不都合が生じる。 As already described, since the remote operation by the remote operation device 50 is prohibited when the determination result is within the prohibited range A2, it is easy to make sense to transmit the remote operation signal SGb. For this reason, normally, the remote communication unit 53 stops the transmission of the remote operation signal SGb when the determination result is within the prohibited range A2. As a result, it becomes impossible to determine whether or not it is possible based on the received radio wave intensity RS, and even if the operator moves and the forklift 20 is disposed within the permitted range A1, the determination as to whether or not the forklift 20 is placed is not performed and remote control cannot be performed. .
　これに対して、第１実施形態によれば、可否判定結果が禁止範囲Ａ２内であった後も、遠隔操作信号ＳＧｂの送信が継続されるため、遠隔操作装置５０による遠隔操作が禁止された後であっても可否判定を行うことができる。これにより、フォークリフト２０の位置を確認できる。 On the other hand, according to the first embodiment, the remote operation signal SGb is continuously transmitted even after the availability determination result is within the prohibited range A2, so that the remote operation by the remote operation device 50 is prohibited. Whether or not it is possible can be determined. Thereby, the position of the forklift 20 can be confirmed.
　（８）車両通信ユニット３０は、第１アンテナ３１及び第２アンテナ３２を備えている。車両無線ＣＰＵ３６は、両アンテナ３１，３２のいずれかを選択し、選択されたアンテナ（選択アンテナ）を用いて、信号（遠隔操作信号ＳＧｂ及び返信信号ＳＧｃ）を送受信する。車両無線ＣＰＵ３６は、選択アンテナで受信された遠隔操作信号ＳＧｂの受信電波強度ＲＳを把握する。 (8) The vehicle communication unit 30 includes a first antenna 31 and a second antenna 32. The vehicle radio CPU 36 selects either one of the antennas 31 and 32, and transmits and receives signals (remote operation signal SGb and reply signal SGc) using the selected antenna (selected antenna). The vehicle radio CPU 36 grasps the received radio wave intensity RS of the remote operation signal SGb received by the selected antenna.
　この構成において、車両無線ＣＰＵ３６は、可否判定中に受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となった場合には、選択アンテナを切り替える。例えば、車両無線ＣＰＵ３６は、第１アンテナ３１が選択されている条件下において受信電波強度ＲＳが閾値強度ＲＳｔｈ未満となった場合には、選択アンテナを第１アンテナ３１から第２アンテナ３２に切り替え、第２アンテナ３２を用いて以降の遠隔操作信号ＳＧｂを受信する。この構成によれば、両アンテナ３１，３２のうちいずれか一方が、受信電波強度ＲＳが局所的に小さくなるヌル点に配置された場合であっても、他方のアンテナを用いることによって可否判定を精度よく行うことができる。 In this configuration, the vehicle radio CPU 36 switches the selected antenna when the received radio wave intensity RS becomes less than the threshold intensity RSth during the determination of availability. For example, the vehicle radio CPU 36 switches the selected antenna from the first antenna 31 to the second antenna 32 when the received radio wave intensity RS becomes less than the threshold intensity RSth under the condition where the first antenna 31 is selected. The subsequent remote control signal SGb is received using the second antenna 32. According to this configuration, even if either one of the antennas 31 and 32 is arranged at a null point where the received radio wave intensity RS is locally reduced, the availability determination is performed by using the other antenna. It can be performed with high accuracy.
　（９）車両無線ＣＰＵ３６は、可否判定中に選択アンテナの切り替えが予め定められた規定回数（ここでは「１回」）だけ行われた場合には、可否判定が終了するまでは、選択アンテナの切り替えを禁止する。この構成によれば、選択アンテナの切り替えに起因して可否判定に要する期間が長くなることを抑制できる。 (9) When the selection of the selected antenna is performed a predetermined number of times (here, “one time”) during the determination of availability, the vehicle radio CPU 36 determines whether the selected antenna is Prohibit switching. According to this configuration, it is possible to suppress an increase in the period required for availability determination due to switching of the selected antenna.
　特に、第１実施形態では、可否判定結果の精度向上のため、可否判定の条件として両判定期間Ｔ１，Ｔ２が設定されている。このため、可否判定に要する期間が長くなり易い。この構成において、選択アンテナの切り替えが過度に行われると、可否判定に要する期間が更に長くなり易く、可否判定結果がフォークリフト２０の移動に追従できなくなるといった不都合が生じ得る。これに対して、第１実施形態によれば、選択アンテナの切り替えが過度に行われることを回避できるため、可否判定の条件として両判定期間Ｔ１，Ｔ２を設定したことによって生じる上記不都合を抑制できる。 In particular, in the first embodiment, both determination periods T1 and T2 are set as conditions for determining availability in order to improve the accuracy of the determination result. For this reason, the period required for the availability determination tends to be long. In this configuration, if the selected antenna is switched excessively, the period required for the availability determination is likely to be further increased, and the inconvenience determination result may not be able to follow the movement of the forklift 20. On the other hand, according to the first embodiment, it is possible to avoid switching the selected antennas excessively, and thus it is possible to suppress the above-described inconvenience caused by setting both determination periods T1 and T2 as conditions for determining availability. .
　（１０）フォークリフト２０は、運転席２１と、運転席２１を上方から覆う屋根２２ｂとを有しており、第１アンテナ３１と第２アンテナ３２とは、屋根２２ｂに離間させて配置されている。かかる構成によれば、両アンテナ３１，３２間の距離を確保することができ、これを通じて両アンテナ３１，３２が同時にヌル点に配置されたり、両アンテナ３１，３２同士で干渉したりすることを抑制できる。また、両アンテナ３１，３２がフォークリフト２０において比較的高い位置にある屋根２２ｂに設けられているため、電波を受信しやすい。これにより、遠隔操作装置５０との無線通信を好適に行うことができる。 (10) The forklift 20 has a driver's seat 21 and a roof 22b that covers the driver's seat 21 from above, and the first antenna 31 and the second antenna 32 are arranged apart from the roof 22b. . According to such a configuration, the distance between the two antennas 31 and 32 can be secured, and through this, both the antennas 31 and 32 can be simultaneously disposed at the null point, or the two antennas 31 and 32 can interfere with each other. Can be suppressed. Further, since both antennas 31 and 32 are provided on the roof 22b at a relatively high position in the forklift 20, it is easy to receive radio waves. Thereby, wireless communication with the remote control device 50 can be suitably performed.
　（１１）産業車両用遠隔操作システム１０（換言すれば遠隔操作装置５０又はフォークリフト２０）は、遠隔操作装置５０を用いた遠隔操作モードを複数有している。遠隔操作装置５０を用いた複数の遠隔操作モードは、走行に関する遠隔操作が許可された許可モード及び警告モード（換言すれば猶予モード）と、両通信ユニット３０，５３の無線通信が行われる状況下であっても走行に関する遠隔操作が禁止されている禁止モードと、を含む。 (11) The industrial vehicle remote control system 10 (in other words, the remote control device 50 or the forklift 20) has a plurality of remote control modes using the remote control device 50. A plurality of remote operation modes using the remote operation device 50 include a permission mode and a warning mode (in other words, a grace mode) in which remote operation related to traveling is permitted, and wireless communication between both communication units 30 and 53 is performed. Even in this case, a prohibition mode in which remote control related to traveling is prohibited is included.
　この構成において、車両無線ＣＰＵ３６は、遠隔操作モードが許可モードである状況下で可否判定結果が禁止範囲Ａ２内となったことに基づいて、遠隔操作モードを、許可モードから警告モードに移行させる。そして、車両無線ＣＰＵ３６は、警告モード中に予め定められた禁止モード移行条件が成立したことに基づいて、遠隔操作モードを、警告モードから禁止モードに移行させる一方、警告モード中に予め定められた許可モード移行条件が成立したことに基づいて、遠隔操作モードを、警告モードから許可モードに移行させる。この構成によれば、フォークリフト２０が許可範囲Ａ１内から禁止範囲Ａ２内に移動した場合には、直ちに走行に関する遠隔操作が禁止される禁止モードに移行せず、一旦警告モードに移行する。これにより、操作者としては、警告モード中にフォークリフト２０を許可範囲Ａ１内に移動させることにより、走行に関する遠隔操作が禁止されることを回避できる。したがって、過度に離れた位置からの走行に関する遠隔操作を抑制しつつ、直ちに走行に関する遠隔操作が禁止されることに起因する利便性の低下を抑制できる。 In this configuration, the vehicle radio CPU 36 shifts the remote operation mode from the permission mode to the warning mode based on the result of the availability determination being within the prohibited range A2 under the situation where the remote operation mode is the permission mode. Then, the vehicle radio CPU 36 shifts the remote operation mode from the warning mode to the prohibited mode based on the fact that the predetermined prohibition mode transition condition is established during the warning mode, while being predetermined during the warning mode. Based on the establishment of the permission mode transition condition, the remote operation mode is shifted from the warning mode to the permission mode. According to this configuration, when the forklift 20 moves from the permitted range A1 to the prohibited range A2, it immediately shifts to the warning mode without shifting to the prohibited mode in which remote operation related to traveling is prohibited. Thereby, as an operator, it can avoid prohibiting the remote operation regarding driving | running | working by moving the forklift 20 in permission range A1 during warning mode. Accordingly, it is possible to suppress a decrease in convenience due to the immediate prohibition of the remote operation related to traveling while suppressing the remote operation related to traveling from an excessively distant position.
　（１２）車両無線ＣＰＵ３６は、警告モード中に可否判定を少なくとも１回は実行する。許可モード移行条件は、警告モード中の可否判定結果が許可範囲Ａ１内となることである。この構成によれば、警告モード中に再度可否判定が行われ、可否判定の結果が許可範囲Ａ１内であれば、遠隔操作モードが警告モードから許可モードに移行する。これにより、遠隔操作モードが警告モードに移行した後にフォークリフト２０が許可範囲Ａ１内に移動した場合には、遠隔操作モードが警告モードから許可モードに移行する。したがって、フォークリフト２０が許可範囲Ａ１内に移動したにも関わらず、警告モードが継続されることを抑制できる。 (12) The vehicle wireless CPU 36 executes the determination of availability at least once during the warning mode. The permission mode transition condition is that the determination result in the warning mode is within the permission range A1. According to this configuration, the availability determination is performed again during the warning mode, and if the result of the availability determination is within the permission range A1, the remote operation mode shifts from the warning mode to the permission mode. Thereby, when the forklift 20 moves into the permission range A1 after the remote operation mode shifts to the warning mode, the remote operation mode shifts from the warning mode to the permission mode. Therefore, it is possible to suppress the warning mode from being continued even though the forklift 20 has moved within the permitted range A1.
　（１３）禁止モード移行条件は、遠隔操作モードが許可モードから警告モードに移行してから、許可モード移行条件が成立することなく、猶予期間Ｔ３が経過することである。猶予期間Ｔ３は、両判定期間Ｔ１，Ｔ２よりも長く設定されている。この構成によれば、フォークリフト２０を禁止範囲Ａ２内から許可範囲Ａ１内に移動させるための時間を操作者に対して安定して付与することができる。これにより、利便性が更に向上する。 (13) The prohibition mode transition condition is that the grace period T3 elapses without the permission mode transition condition being satisfied after the remote operation mode transitions from the permission mode to the warning mode. The grace period T3 is set longer than both determination periods T1 and T2. According to this configuration, the time for moving the forklift 20 from the prohibited range A2 to the permitted range A1 can be stably given to the operator. This further improves convenience.
　詳述すると、例えば禁止モード移行条件として、例えば、受信電波強度ＲＳが閾値強度ＲＳｔｈよりも小さい第２の閾値強度よりも低くなった場合も考えられる。しかしながら、この場合、フォークリフト２０の移動速度や受信電波強度ＲＳの誤差等によって、警告モードの期間が変動する。すると、警告モードの期間が過度に短くなる場合が生じる。この場合、操作者としては、フォークリフト２０を許可範囲Ａ１内に移動させようとしている途中で走行に関する遠隔操作が禁止される不都合が生じ得る。この点、第１実施形態によれば、禁止モード移行条件として猶予期間Ｔ３を採用することにより、上記不都合を抑制できる。 More specifically, for example, as a prohibition mode transition condition, for example, a case where the received radio wave intensity RS is lower than a second threshold intensity smaller than the threshold intensity RSth is also conceivable. However, in this case, the warning mode period varies depending on the moving speed of the forklift 20 and the error of the received radio wave intensity RS. Then, the warning mode period may be excessively shortened. In this case, as an operator, there may be a problem that remote operation related to traveling is prohibited while the forklift 20 is being moved within the permitted range A1. In this regard, according to the first embodiment, the inconvenience can be suppressed by adopting the grace period T3 as the prohibition mode transition condition.
　また、猶予期間Ｔ３は、両判定期間Ｔ１，Ｔ２よりも長く設定されているため、猶予期間Ｔ３中に少なくとも１回は可否判定が行われることが想定される。これにより、猶予期間Ｔ３中に可否判定結果が１回も得られることなく、遠隔操作モードが警告モードから禁止モードに移行することを抑制できる。 In addition, since the grace period T3 is set longer than both determination periods T1 and T2, it is assumed that the availability determination is performed at least once during the grace period T3. Thereby, it is possible to suppress the remote operation mode from shifting from the warning mode to the prohibition mode without obtaining the availability determination result even once during the grace period T3.
　（１４）遠隔操作装置５０は、現在の遠隔操作モードを報知するタッチパネル５４を備えている。この構成によれば、操作者が現在の遠隔操作モードを確認できる。これにより、例えば遠隔操作モードが許可モードから警告モードに移行した場合には、フォークリフト２０を近づける操作を行ったり、操作者がフォークリフト２０に近づいたりすることが想定される。よって、走行に関する遠隔操作が禁止されることを抑制でき、利便性が向上する。 (14) The remote operation device 50 includes a touch panel 54 that notifies the current remote operation mode. According to this configuration, the operator can check the current remote operation mode. Thereby, for example, when the remote operation mode shifts from the permission mode to the warning mode, it is assumed that an operation of bringing the forklift 20 closer or an operator approaching the forklift 20 is assumed. Therefore, it is possible to suppress the remote operation related to traveling from being prohibited, and convenience is improved.
　（１５）受信電波強度ＲＳは、両通信ユニット３０，５３間の距離が大きくなるほど小さくなる。禁止範囲Ａ２は、遠隔操作装置５０に対して、第２距離Ｌ２以上離れた範囲を少なくとも含む。この構成において、閾値強度ＲＳｔｈは、第２距離Ｌ２に対応する受信電波強度ＲＳよりも高く設定されており、猶予期間Ｔ３は、閾値強度ＲＳｔｈに対応する距離と第２距離Ｌ２との差を、遠隔操作時のフォークリフト２０の最大速度で除算した値よりも短く設定されている。 (15) The received radio wave intensity RS decreases as the distance between the communication units 30 and 53 increases. The forbidden range A2 includes at least a range away from the remote control device 50 by the second distance L2 or more. In this configuration, the threshold strength RSth is set to be higher than the received radio wave strength RS corresponding to the second distance L2, and the grace period T3 indicates the difference between the distance corresponding to the threshold strength RSth and the second distance L2. It is set shorter than the value divided by the maximum speed of the forklift 20 during remote operation.
　この構成によれば、遠隔操作モードが警告モードに移行してから猶予期間Ｔ３が経過する前に、フォークリフト２０が遠隔操作装置５０に対して第２距離Ｌ２以上離れた位置に移動することを抑制できる。 According to this configuration, the forklift 20 is prevented from moving to a position away from the remote control device 50 by the second distance L2 or more before the grace period T3 elapses after the remote control mode shifts to the warning mode. it can.
　詳述すると、仮にフォークリフト２０が閾値強度ＲＳｔｈに対応する距離だけ離れた場合に遠隔操作モードが警告モードに移行したとする。この場合、フォークリフト２０が、遠隔操作時において許容される最大速度で、遠隔操作装置５０から離れるように走行したとしても、フォークリフト２０が第２距離Ｌ２以上離れる前に猶予期間Ｔ３が経過し、遠隔操作モードが禁止モードとなり易い。これにより、猶予期間Ｔ３中の移動によって、より視認しにくい位置までフォークリフト２０が移動し、且つ、その位置にて走行に関する遠隔操作が行われるという不都合を抑制できる。よって、警告モード中に走行に関する遠隔操作を許可することによって生じ得る上記不都合を抑制できる。 More specifically, it is assumed that the remote operation mode shifts to the warning mode when the forklift 20 is separated by a distance corresponding to the threshold strength RSth. In this case, even if the forklift 20 travels away from the remote control device 50 at the maximum speed allowed at the time of remote operation, the grace period T3 elapses before the forklift 20 moves away from the second distance L2 or more. The operation mode tends to become the prohibit mode. Accordingly, it is possible to suppress the inconvenience that the forklift 20 is moved to a position where it is more difficult to visually recognize due to the movement during the grace period T3, and the remote operation related to traveling is performed at that position. Therefore, the above-described inconvenience that may be caused by permitting remote operation related to traveling during the warning mode can be suppressed.
　（１６）車両通信ユニット３０は、遠隔操作プログラム４０が記憶されている車両無線メモリ３５と、車両無線ＣＰＵ３６とを有している。車両無線ＣＰＵ３６は、遠隔操作モードに基づいて走行に関する遠隔操作を許可又は禁止する信号変換制御処理と、可否判定及び遠隔操作モードの設定を行う遠隔操作モード制御処理とを実行するように構成されている。この構成によれば、フォークリフト２０の車両ＣＰＵ２７や車両メモリ２８に対して特別な処理を施すことなく、通信ユニットの追加又は変更といった比較的簡単な作業によって、（１）等の効果を得ることができる。 (16) The vehicle communication unit 30 includes a vehicle wireless memory 35 in which the remote operation program 40 is stored, and a vehicle wireless CPU 36. The vehicle radio CPU 36 is configured to execute a signal conversion control process for permitting or prohibiting a remote operation related to traveling based on the remote operation mode, and a remote operation mode control process for determining availability and setting the remote operation mode. Yes. According to this configuration, the effects (1) and the like can be obtained by a relatively simple operation such as addition or change of a communication unit without performing special processing on the vehicle CPU 27 and the vehicle memory 28 of the forklift 20. it can.
　（第２実施形態）
　第２実施形態では、遠隔操作モード制御処理の実行主体が、遠隔操作装置５０である。この点について、リモート通信ユニットの詳細な構成とともに以下に説明する。 (Second Embodiment)
In the second embodiment, the remote operation mode control process is performed by the remote operation device 50. This will be described below together with the detailed configuration of the remote communication unit.
　図１７に示すように、遠隔操作装置５０のリモート通信ユニット１００は、リモート無線ＣＰＵ１０１と、遠隔操作プログラム１１０が記憶されたリモート無線メモリ１０２と、信号変換部１０３と、インターフェース１０４と、アンテナ１０５とを備えている。 As shown in FIG. 17, the remote communication unit 100 of the remote operation device 50 includes a remote wireless CPU 101, a remote wireless memory 102 storing a remote operation program 110, a signal conversion unit 103, an interface 104, and an antenna 105. It has.
　信号変換部１０３は、インターフェース１０４を介してリモートＣＰＵ５１と電気的に接続されているとともにアンテナ１０５に接続されている。信号変換部１０３は、リモートＣＰＵ５１から入力される遠隔操作に関する制御信号を、無線通信に対応した遠隔操作信号ＳＧｂに変換する。遠隔操作信号ＳＧｂは、アンテナ１０５によって送信される。また、アンテナ１０５にて受信された返信信号ＳＧｃは、信号変換部１０３によって制御信号に変換される。 The signal converter 103 is electrically connected to the remote CPU 51 via the interface 104 and is connected to the antenna 105. The signal conversion unit 103 converts a control signal related to remote operation input from the remote CPU 51 into a remote operation signal SGb corresponding to wireless communication. Remote operation signal SGb is transmitted by antenna 105. The reply signal SGc received by the antenna 105 is converted into a control signal by the signal conversion unit 103.
　リモート無線ＣＰＵ１０１は、信号変換部１０３を制御し、かつアンテナ１０５にて受信された返信信号ＳＧｃの受信電波強度ＲＳを把握可能に構成されている。また、リモート無線ＣＰＵ１０１は、リモートＣＰＵ５１と電気的に接続されており、リモートＣＰＵ５１との間で信号のやり取りが可能である。 The remote wireless CPU 101 is configured to control the signal conversion unit 103 and to grasp the received radio wave intensity RS of the reply signal SGc received by the antenna 105. The remote wireless CPU 101 is electrically connected to the remote CPU 51 and can exchange signals with the remote CPU 51.
　リモートＣＰＵ５１は、遠隔操作の開始時に、タッチパネル５４に操作画面Ｇ０が表示され且つ操作画面Ｇ０に初期モードである旨が表示されるようにタッチパネル５４の表示制御を行う。また、リモートＣＰＵ５１は、遠隔操作を開始することを示す開始信号をリモート無線ＣＰＵ１０１に出力する。 The remote CPU 51 performs display control of the touch panel 54 so that the operation screen G0 is displayed on the touch panel 54 and that the initial mode is displayed on the operation screen G0 at the start of the remote operation. Further, the remote CPU 51 outputs a start signal indicating that the remote operation is started to the remote wireless CPU 101.
　リモート無線ＣＰＵ１０１は、開始信号を受信したことに基づいて、遠隔操作プログラム１１０に記憶されている遠隔操作開始処理実行プログラム１１１を読み出して、遠隔操作開始処理を実行する。遠隔操作開始処理では、リモート無線ＣＰＵ１０１は、初期モードに対応した情報が設定された通知信号を車両通信ユニット３０に向けて送信する。車両通信ユニット３０は、通知信号を受信したことに基づいて、車両無線メモリ３５に設けられている遠隔操作モード特定情報１２０を、初期モードに対応した情報となるように更新する。 The remote wireless CPU 101 reads the remote operation start process execution program 111 stored in the remote operation program 110 based on the reception of the start signal, and executes the remote operation start process. In the remote operation start process, the remote wireless CPU 101 transmits a notification signal in which information corresponding to the initial mode is set to the vehicle communication unit 30. Based on the reception of the notification signal, the vehicle communication unit 30 updates the remote operation mode specifying information 120 provided in the vehicle wireless memory 35 so as to be information corresponding to the initial mode.
　リモートＣＰＵ５１は、遠隔操作が開始されると、遠隔操作に関する信号であってタッチパネル５４の入力操作態様に対応した制御信号を、リモート通信ユニット１００に向けて特定周期Ｔａで送信する。このため、リモート通信ユニット１００は、第１実施形態と同様に、特定周期Ｔａで定期的に遠隔操作信号ＳＧｂを送信する。 When the remote operation is started, the remote CPU 51 transmits a signal related to the remote operation and corresponding to the input operation mode of the touch panel 54 to the remote communication unit 100 at a specific cycle Ta. For this reason, as in the first embodiment, the remote communication unit 100 periodically transmits the remote operation signal SGb at a specific period Ta.
　車両通信ユニット３０は、リモート通信ユニット１００から遠隔操作信号ＳＧｂを受信したことに基づいて信号変換制御処理を実行する。これにより、遠隔操作モードが許可モード又は警告モードである場合には、フォークリフト２０は、遠隔操作装置５０の操作態様に対応した動作を行う。また、信号変換制御処理が実行される度に返信信号ＳＧｃが送信される。このため、リモート通信ユニット１００は、特定周期Ｔａで返信信号ＳＧｃを受信する。 The vehicle communication unit 30 executes the signal conversion control process based on the reception of the remote operation signal SGb from the remote communication unit 100. Thereby, when the remote operation mode is the permission mode or the warning mode, the forklift 20 performs an operation corresponding to the operation mode of the remote operation device 50. Further, a reply signal SGc is transmitted every time the signal conversion control process is executed. For this reason, the remote communication unit 100 receives the reply signal SGc with the specific period Ta.
　ここで、リモート無線ＣＰＵ１０１は、返信信号ＳＧｃを受信する度に、遠隔操作プログラム１１０に記憶されている遠隔操作モード制御処理実行プログラム１１２を読み出し、各種情報記憶部１１３に記憶されている各種情報を用いながら遠隔操作モード制御処理を実行する。すなわち、ここでは、リモート通信ユニット１００のリモート無線ＣＰＵ１０１が「把握部」、「可否判定部」及び「遠隔操作モード制御部」等に対応する。換言すれば、遠隔操作装置５０が「把握部」及び「可否判定部」等を有している。 Here, every time the remote wireless CPU 101 receives the reply signal SGc, the remote wireless CPU 101 reads out the remote operation mode control processing execution program 112 stored in the remote operation program 110 and stores various information stored in the various information storage unit 113. The remote operation mode control process is executed while being used. That is, here, the remote wireless CPU 101 of the remote communication unit 100 corresponds to a “grasping part”, “availability determination part”, “remote operation mode control part”, and the like. In other words, the remote control device 50 has a “grasping part”, a “probability determination part”, and the like.
　リモート無線ＣＰＵ１０１による遠隔操作モード制御処理は、基本的には、第１実施形態と同様である。
　ステップＳ３０４の処理では、リモート無線ＣＰＵ１０１は、リモート通信ユニット１００にて受信された返信信号ＳＧｃの受信電波強度ＲＳを把握する。つまり、リモート無線ＣＰＵ１０１は、返信信号ＳＧｃの受信電波強度ＲＳを定期的に把握し、その結果に基づいて可否判定を行う。この場合、リモート無線ＣＰＵ１０１は、返信信号ＳＧｃの送信強度を予め把握しておくとよい。 The remote operation mode control process by the remote wireless CPU 101 is basically the same as in the first embodiment.
In the process of step S304, the remote wireless CPU 101 grasps the received radio wave intensity RS of the reply signal SGc received by the remote communication unit 100. That is, the remote wireless CPU 101 periodically grasps the received radio wave intensity RS of the reply signal SGc, and determines whether it is possible based on the result. In this case, the remote wireless CPU 101 may know the transmission intensity of the reply signal SGc in advance.
　リモート無線ＣＰＵ１０１は、ステップＳ３１２のアンテナ切替処理では、アンテナの切替要求信号を送信する。車両無線ＣＰＵ３６は、選択アンテナによって切替要求信号が受信されたことに基づいて、選択アンテナを切り替える。 The remote wireless CPU 101 transmits an antenna switching request signal in the antenna switching process of step S312. The vehicle radio CPU 36 switches the selected antenna based on the switching request signal received by the selected antenna.
　また、リモート無線ＣＰＵ１０１は、ステップＳ３０８の処理に代えて、許可モードに対応する情報が設定された通知信号を車両通信ユニット３０に送信する処理を実行する。車両無線ＣＰＵ３６は、リモート通信ユニット１００にて通知信号が受信された場合には、遠隔操作モード特定情報１２０を、許可モードに対応した情報となるように更新する。 Also, the remote wireless CPU 101 executes a process of transmitting a notification signal in which information corresponding to the permission mode is set to the vehicle communication unit 30 instead of the process of step S308. When the notification signal is received by the remote communication unit 100, the vehicle radio CPU 36 updates the remote operation mode specifying information 120 so as to be information corresponding to the permission mode.
　リモート無線ＣＰＵ１０１は、ステップＳ３１０の処理に代えて、操作画面Ｇ０に許可モードである旨が表示されるようにリモートＣＰＵ５１に対して指示を出す処理を実行する。リモートＣＰＵ５１は、上記指示に基づいて、操作画面Ｇ０の表示制御を行う。 The remote wireless CPU 101 executes a process of issuing an instruction to the remote CPU 51 so that the permission mode is displayed on the operation screen G0 instead of the process of step S310. The remote CPU 51 performs display control of the operation screen G0 based on the instruction.
　ステップＳ３１８及びステップＳ３２０の処理と、ステップＳ３２５及びステップＳ３２６の処理とについても、対象となる遠隔操作モードが異なる点を除き、上記と同様に変更する。 The processing of step S318 and step S320 and the processing of step S325 and step S326 are also changed in the same manner as described above except that the target remote operation mode is different.
　第２実施形態によれば、以下の作用効果を奏する。
　（１７）車両通信ユニット３０を有するフォークリフト２０を遠隔操作するのに用いられる遠隔操作装置５０は、車両通信ユニット３０と無線通信を行うリモート通信ユニット１００を備えている。リモート通信ユニット１００のリモート無線ＣＰＵ１０１は、リモート通信ユニット１００にて受信された返信信号ＳＧｃの受信電波強度ＲＳを把握し、その結果に基づいて可否判定を実行する。この構成においても、（１）等の効果を奏する。 According to 2nd Embodiment, there exist the following effects.
(17) The remote control device 50 used to remotely control the forklift 20 having the vehicle communication unit 30 includes the remote communication unit 100 that performs wireless communication with the vehicle communication unit 30. The remote wireless CPU 101 of the remote communication unit 100 grasps the received radio wave intensity RS of the reply signal SGc received by the remote communication unit 100, and executes a feasibility determination based on the result. This configuration also has the effect (1).
　（１８）リモート通信ユニット１００は、遠隔操作信号ＳＧｂを、車両通信ユニット３０に向けて特定周期Ｔａで送信する。車両通信ユニット３０は、遠隔操作信号ＳＧｂを受信したことに基づいて、返信信号ＳＧｃを送信する。遠隔操作装置５０に設けられているリモート無線ＣＰＵ１０１は、返信信号ＳＧｃの受信電波強度ＲＳを把握し、その結果に基づいて可否判定を行う。この構成によれば、返信信号ＳＧｃを受信することによって、遠隔操作信号ＳＧｂが正常に送信できたことを確認できる。また、返信信号ＳＧｃを用いて可否判定を行うことにより、専用の信号を用いることなく受信電波強度ＲＳに基づく可否判定を行うことができる。 (18) The remote communication unit 100 transmits the remote operation signal SGb to the vehicle communication unit 30 at a specific cycle Ta. The vehicle communication unit 30 transmits a reply signal SGc based on the reception of the remote operation signal SGb. The remote wireless CPU 101 provided in the remote operation device 50 grasps the received radio wave intensity RS of the reply signal SGc, and determines whether it is possible based on the result. According to this configuration, it is possible to confirm that the remote operation signal SGb has been successfully transmitted by receiving the reply signal SGc. Further, by performing the availability determination using the reply signal SGc, the availability determination based on the received radio wave intensity RS can be performed without using a dedicated signal.
　（第３実施形態）
　第３実施形態の閾値情報Ｄ１は、予め定められた更新条件が成立した場合には更新される。すなわち、第３実施形態の産業車両用遠隔操作システム１０は、更新条件の成立に基づいて、閾値情報Ｄ１を更新可能に構成されている。この点について以下に詳細に説明する。 (Third embodiment)
The threshold information D1 of the third embodiment is updated when a predetermined update condition is satisfied. That is, the industrial vehicle remote control system 10 of the third embodiment is configured to be able to update the threshold information D1 based on the establishment of the update condition. This point will be described in detail below.
　図１８に示すように、リモートメモリ５２には、閾値強度ＲＳｔｈの更新を指示する更新指示処理を実行するための更新指示処理実行プログラム２００が記憶されている。リモートＣＰＵ５１は、更新条件が成立したことに基づいて、更新指示処理実行プログラム２００を読み出し、更新指示処理を実行する。更新指示処理は、リモート通信ユニット５３を用いて、閾値情報Ｄ１の更新を指示する更新指示信号を、車両通信ユニット３０に向けて送信するための処理である。更新指示信号は、遠隔操作信号ＳＧｂと同様に、無線通信形式の信号である。 As shown in FIG. 18, the remote memory 52 stores an update instruction process execution program 200 for executing an update instruction process for instructing an update of the threshold strength RSth. The remote CPU 51 reads the update instruction process execution program 200 based on the fact that the update condition is satisfied, and executes the update instruction process. The update instruction process is a process for transmitting to the vehicle communication unit 30 an update instruction signal instructing to update the threshold information D1 using the remote communication unit 53. The update instruction signal is a wireless communication format signal, similar to the remote operation signal SGb.
　更新条件とは、例えば産業車両用遠隔操作システム１０の導入時（初期起動時）や遠隔操作装置５０に対して更新要求操作が行われた場合等が考えられる。更新要求操作とは、例えば遠隔操作装置５０において更新用アプリケーションを起動させる起動操作が行われた場合、例えば操作画面Ｇ０に閾値情報Ｄ１の更新アイコンが表示される構成において更新アイコンがタッチされる場合などが考えられる。 The update condition may be, for example, when the industrial vehicle remote control system 10 is introduced (at the initial startup) or when an update request operation is performed on the remote control device 50. The update request operation is, for example, when a start operation for starting an update application is performed in the remote operation device 50, for example, when an update icon is touched in a configuration in which an update icon of the threshold information D1 is displayed on the operation screen G0. And so on.
　図１９及び図２０を用いて、更新指示処理を説明する。
　図１９に示すように、リモートＣＰＵ５１は、まずステップＳ４０１にて、タッチパネル５４に更新用画面Ｇ１を表示させる。 The update instruction process will be described with reference to FIGS.
As shown in FIG. 19, the remote CPU 51 first displays an update screen G1 on the touch panel 54 in step S401.
　図２０に示すように、更新用画面Ｇ１には、閾値強度ＲＳｔｈと、閾値強度ＲＳｔｈに対応する変更アイコンＩｃ１０と、終了アイコンＩｃｘとが表示される。これにより、操作者は、変更アイコンＩｃ１０を操作（タッチ）することにより閾値強度ＲＳｔｈを変更できることが直感的に理解できる。 As shown in FIG. 20, the update screen G1 displays a threshold intensity RSth, a change icon Ic10 corresponding to the threshold intensity RSth, and an end icon Icx. Thereby, the operator can intuitively understand that the threshold intensity RSth can be changed by operating (touching) the change icon Ic10.
　図１９に示すように、リモートＣＰＵ５１は、ステップＳ４０２にて、変更アイコンＩｃ１０への操作があったか否かを判定し、変更アイコンＩｃ１０への操作を検知した場合には、ステップＳ４０３に進み、閾値強度ＲＳｔｈの変更量を設定する。その後、ステップＳ４０４にて、リモートＣＰＵ５１は、変更量が設定された更新指示信号を生成し、生成された更新指示信号を、リモート通信ユニット５３を用いて車両通信ユニット３０に向けて送信して、本更新指示処理を終了する。これにより、車両通信ユニット３０が更新指示信号を受信する。この場合、車両通信ユニット３０は、更新指示信号が入力される入力部とも言える。 As shown in FIG. 19, the remote CPU 51 determines whether or not there has been an operation on the change icon Ic10 in step S402, and if an operation on the change icon Ic10 is detected, the process proceeds to step S403, where the threshold strength Sets the amount of RSth change. Thereafter, in step S404, the remote CPU 51 generates an update instruction signal in which the change amount is set, and transmits the generated update instruction signal to the vehicle communication unit 30 using the remote communication unit 53. This update instruction process is terminated. Thereby, the vehicle communication unit 30 receives the update instruction signal. In this case, the vehicle communication unit 30 can also be said to be an input unit to which an update instruction signal is input.
　変更アイコンＩｃ１０が操作された場合における閾値強度ＲＳｔｈの変更量の具体的な設定態様は任意である。例えば、変更量は、変更アイコンＩｃ１０が１度タッチされることに基づいて予め定められた規定量だけ増加又は減少するように設定されてもよいし、変更アイコンＩｃ１０がタッチされている期間に応じて変化してもよいし、所望の値を直接入力できるようにしてもよい。また、リモートメモリ５２に、使用頻度が高い規定値が予め複数記憶されており、リモートＣＰＵ５１は、複数の規定値のうちいずれかを選択できるようにしてもよい。また、変更量は、操作者の操作に関わらず、予め定められてもよい。要は、変更量の設定について、操作者の操作は必須ではない。 The specific setting mode of the change amount of the threshold strength RSth when the change icon Ic10 is operated is arbitrary. For example, the amount of change may be set so as to increase or decrease by a predetermined amount based on the change icon Ic10 being touched once, or according to the period during which the change icon Ic10 is being touched. The desired value may be directly input. Further, a plurality of prescribed values that are frequently used may be stored in the remote memory 52 in advance, and the remote CPU 51 may be able to select one of the plurality of prescribed values. The change amount may be determined in advance regardless of the operation of the operator. In short, the operator's operation is not essential for setting the change amount.
　一方、リモートＣＰＵ５１は、変更アイコンＩｃ１０への操作が検知されない場合には、ステップＳ４０５に進み、終了アイコンＩｃｘへの操作があったか否かを判定する。リモートＣＰＵ５１は、終了アイコンＩｃｘへの操作を検知した場合には、更新指示信号を送信することなく、本更新指示処理を終了する。一方、リモートＣＰＵ５１は、終了アイコンＩｃｘへの操作が行われていない場合には、ステップＳ４０２に戻る。すなわち、リモートＣＰＵ５１は、変更アイコンＩｃ１０又は終了アイコンＩｃｘのいずれかが操作されるまで待機する。 On the other hand, if the operation on the change icon Ic10 is not detected, the remote CPU 51 proceeds to step S405 and determines whether or not there is an operation on the end icon Icx. When the remote CPU 51 detects an operation on the end icon Icx, the remote CPU 51 ends the update instruction process without transmitting an update instruction signal. On the other hand, if the operation to the end icon Icx is not performed, the remote CPU 51 returns to step S402. That is, the remote CPU 51 waits until either the change icon Ic10 or the end icon Icx is operated.
　車両無線ＣＰＵ３６は、車両通信ユニット３０（詳細には両アンテナ３１，３２）によって更新指示信号が受信されたことに基づいて閾値情報Ｄ１を更新する閾値情報更新処理を実行するように構成されている。閾値情報記憶部４４ａは、書き換え可能な状態で閾値情報Ｄ１を記憶している。 The vehicle radio CPU 36 is configured to execute a threshold information update process for updating the threshold information D1 based on reception of an update instruction signal by the vehicle communication unit 30 (specifically, both antennas 31 and 32). . The threshold information storage unit 44a stores threshold information D1 in a rewritable state.
　図１８に示すように、遠隔操作プログラム４０は、閾値情報Ｄ１を更新するための閾値情報更新処理実行プログラム２０１を含む。車両無線ＣＰＵ３６は、車両通信ユニット３０によって更新指示信号が受信されたことに基づいて、閾値情報更新処理実行プログラム２０１を読み出し、閾値情報更新処理を実行する。 As shown in FIG. 18, the remote operation program 40 includes a threshold information update processing execution program 201 for updating the threshold information D1. Based on the reception of the update instruction signal by the vehicle communication unit 30, the vehicle radio CPU 36 reads the threshold information update process execution program 201 and executes the threshold information update process.
　閾値情報更新処理では、まず車両無線ＣＰＵ３６は、今回の閾値情報更新処理の実行契機となった更新指示信号に設定されている変更量を把握する。具体的には、車両無線ＣＰＵ３６は、信号変換部３３を用いて、受信された更新指示信号を車両無線ＣＰＵ３６が認識可能な信号に変換し、変換された信号から変更量を把握する。そして、車両無線ＣＰＵ３６は、閾値強度ＲＳｔｈが変更量の分だけ変更するように閾値情報記憶部４４ａに記憶されている閾値情報Ｄ１を更新する。更新指示処理を実行するリモートＣＰＵ５１が「更新指示処理実行部」に相当し、閾値情報更新処理を実行する車両無線ＣＰＵ３６が「閾値情報更新処理実行部」に相当する。 In the threshold information update process, the vehicle radio CPU 36 first grasps the amount of change set in the update instruction signal that triggered the execution of the current threshold information update process. Specifically, the vehicle radio CPU 36 uses the signal conversion unit 33 to convert the received update instruction signal into a signal that can be recognized by the vehicle radio CPU 36, and grasps the amount of change from the converted signal. Then, the vehicle radio CPU 36 updates the threshold information D1 stored in the threshold information storage unit 44a so that the threshold strength RSth is changed by the change amount. The remote CPU 51 that executes the update instruction process corresponds to an “update instruction process execution unit”, and the vehicle radio CPU 36 that executes the threshold information update process corresponds to a “threshold information update process execution unit”.
　次に、図２１を用いて、第３実施形態の作用を説明する。図２１（ａ），（ｂ）は、異なる環境下にフォークリフト２０が配置されている場合における両通信ユニット３０，５３間の距離に対する受信電波強度ＲＳの変化と、それに対応させて更新されることが想定される閾値強度ＲＳｔｈとを示すグラフである。以降の説明及び図２１では、説明の都合上、受信電波強度ＲＳの誤差及びそれに起因する誤差対応範囲Ａ３は省略する。 Next, the operation of the third embodiment will be described with reference to FIG. FIGS. 21 (a) and 21 (b) are updated in response to changes in the received radio wave intensity RS with respect to the distance between the communication units 30 and 53 when the forklift 20 is arranged in different environments. It is a graph which shows the threshold intensity | strength RSth assumed. In the following description and FIG. 21, for the convenience of explanation, the error of the received radio wave intensity RS and the error corresponding range A3 resulting therefrom are omitted.
　図２１に示すように、両通信ユニット３０，５３間の距離に対する受信電波強度ＲＳの減衰曲線は、フォークリフト２０の設置環境によって全体的に上下にシフトする場合がある。フォークリフト２０の設置環境とは、両通信ユニット３０，５３間でやり取りされる電波の伝搬又は反射に影響を与える要因を含み、例えばフォークリフト２０が設置される敷地の広さや、敷地に積載されている荷物の高さ又は種類等が考えられる。 As shown in FIG. 21, the attenuation curve of the received radio wave intensity RS with respect to the distance between the communication units 30 and 53 may shift up and down as a whole depending on the installation environment of the forklift 20. The installation environment of the forklift 20 includes factors that affect the propagation or reflection of radio waves exchanged between the communication units 30 and 53. For example, the size of the site where the forklift 20 is installed or the site where the forklift 20 is installed. The height or type of luggage can be considered.
　このように減衰曲線が上下にシフトし得る場合、閾値強度ＲＳｔｈが一律に固定されていると、許可範囲Ａ１内であると判定される距離の上限値が変動してしまい、可否判定結果の精度が低下し得る。 In this way, when the attenuation curve can be shifted up and down, if the threshold intensity RSth is fixed uniformly, the upper limit value of the distance determined to be within the allowable range A1 varies, and the accuracy of the determination result. Can be reduced.
　この点、第３実施形態では、操作者は、受信電波強度ＲＳに対応させて、閾値強度ＲＳｔｈを調整することができる。例えば、操作者は、本産業車両用遠隔操作システム１０の導入時又は定期的なメンテナンス時において、予め定められた規定距離が許可範囲Ａ１の上限値となるように、両通信ユニット３０，５３間の実際の距離を確認しながら閾値情報Ｄ１を更新する。仮に、図２１（ｂ）の環境下では、図２１（ａ）の環境下と比較して、受信電波強度ＲＳが全体的にシフト量αだけ上昇しているとすると、それに対応させて、閾値強度ＲＳｔｈは、図２１（ａ）の環境下で設定される値よりもシフト量αだけ大きく設定される。これにより、フォークリフト２０の設置環境の違いに関わらず、許可範囲Ａ１の上限値を一定にすることができる。 In this regard, in the third embodiment, the operator can adjust the threshold strength RSth in correspondence with the received radio wave strength RS. For example, the operator can connect the communication units 30 and 53 so that the predetermined specified distance becomes the upper limit value of the permitted range A1 when the industrial vehicle remote control system 10 is introduced or at regular maintenance. The threshold information D1 is updated while confirming the actual distance. In the environment of FIG. 21B, if the received radio wave intensity RS is generally increased by the shift amount α as compared to the environment of FIG. 21A, the threshold value is set accordingly. The intensity RSth is set larger by the shift amount α than the value set in the environment of FIG. Thereby, irrespective of the difference in the installation environment of the forklift 20, the upper limit value of the permission range A1 can be made constant.
　上記作用の説明では、受信電波強度ＲＳの減衰曲線が全体的にシフトする場合を示したが、設置環境によっては、受信電波強度ＲＳの減衰率が変動する場合もあり得る。この場合であっても、操作者が両通信ユニット３０，５３間の距離を確認しながら、閾値強度ＲＳｔｈを設定することにより、許可範囲Ａ１を適切な範囲に設定できる。 In the description of the above operation, the case where the attenuation curve of the received radio wave intensity RS shifts as a whole is shown, but the attenuation rate of the received radio wave intensity RS may vary depending on the installation environment. Even in this case, the permitted range A1 can be set to an appropriate range by setting the threshold strength RSth while the operator confirms the distance between the communication units 30 and 53.
　第３実施形態によれば、第１実施形態の効果に加えて、以下の効果を奏する。
　（１９）フォークリフト２０の車両無線メモリ３５は、閾値情報Ｄ１が記憶されている閾値情報記憶部４４ａを有しており、車両無線ＣＰＵ３６は、閾値情報記憶部４４ａに記憶されている閾値情報Ｄ１を読み出し、閾値情報Ｄ１に設定されている閾値強度ＲＳｔｈに基づいて可否判定を行う。閾値情報Ｄ１は、予め定められた更新条件が成立した場合に更新される。 According to 3rd Embodiment, in addition to the effect of 1st Embodiment, there exist the following effects.
(19) The vehicle wireless memory 35 of the forklift 20 has a threshold information storage unit 44a in which threshold information D1 is stored, and the vehicle wireless CPU 36 stores the threshold information D1 stored in the threshold information storage unit 44a. Readability is determined based on the threshold strength RSth set in the threshold information D1. The threshold information D1 is updated when a predetermined update condition is satisfied.
　この構成によれば、閾値情報Ｄ１が更新されることにより、フォークリフト２０の設置環境に起因した受信電波強度ＲＳの変動に対応できる。例えば、フォークリフト２０の設置環境に応じて、両通信ユニット３０，５３間の距離に対する受信電波強度ＲＳの減衰曲線は上下にシフトする場合には、閾値情報Ｄ１を更新することによって、シフトに対応させて閾値強度ＲＳｔｈを調整できる。これにより、フォークリフト２０の設置環境等に起因する受信電波強度ＲＳの減衰曲線の変動に対応でき、可否判定結果の誤りを抑制できる。 According to this configuration, the threshold information D1 is updated, so that it is possible to cope with fluctuations in the received radio wave intensity RS due to the installation environment of the forklift 20. For example, when the attenuation curve of the received radio wave intensity RS with respect to the distance between the communication units 30 and 53 is shifted up and down depending on the installation environment of the forklift 20, the threshold information D1 is updated to correspond to the shift. The threshold intensity RSth can be adjusted. Thereby, it can respond to the fluctuation | variation of the attenuation curve of the received radio wave intensity | strength RS resulting from the installation environment of the forklift 20, etc., and can suppress the error of a determination result.
　（２０）リモートＣＰＵ５１は、遠隔操作装置５０に対して予め定められた更新要求操作が行われたことに基づいて、リモート通信ユニット５３を用いて、閾値情報Ｄ１の更新を指示する更新指示信号を送信する更新指示処理を実行する。車両無線ＣＰＵ３６は、車両通信ユニット３０によって更新指示信号が受信されたことに基づいて、閾値情報記憶部４４ａに記憶されている閾値情報Ｄ１を更新する閾値情報更新処理を実行する。この構成によれば、遠隔操作装置５０に対する更新要求操作によって、閾値情報Ｄ１を更新することができる。これにより、遠隔操作装置５０を用いて閾値強度ＲＳｔｈを所望の値に変更できるため、遠隔操作装置５０とは別に閾値強度ＲＳｔｈを変更するための専用の装置等を用意する必要がなく、閾値強度ＲＳｔｈの変更に係る利便性が向上する。 (20) The remote CPU 51 uses the remote communication unit 53 to send an update instruction signal for instructing the update of the threshold information D1 based on a predetermined update request operation performed on the remote operation device 50. The update instruction process to be transmitted is executed. Based on the reception of the update instruction signal by the vehicle communication unit 30, the vehicle radio CPU 36 executes threshold information update processing for updating the threshold information D1 stored in the threshold information storage unit 44a. According to this configuration, the threshold information D1 can be updated by an update request operation on the remote operation device 50. As a result, the threshold strength RSth can be changed to a desired value using the remote control device 50, so that it is not necessary to prepare a dedicated device or the like for changing the threshold strength RSth separately from the remote control device 50. Convenience related to the change of RSth is improved.
　（第４実施形態）
　第４実施形態では、閾値情報Ｄ２の構造、及び、可否判定で用いられる閾値強度ＲＳｔｈが遠隔操作モードに応じて変更される点等が第３実施形態と異なっている。その異なる点を、以下に詳細に説明する。 (Fourth embodiment)
The fourth embodiment is different from the third embodiment in that the structure of the threshold information D2 and the threshold strength RSth used in the availability determination are changed according to the remote operation mode. The different points will be described in detail below.
　図２２に示すように、閾値情報Ｄ２には、複数の遠隔操作モードに対応させて複数のモード閾値ＲＳｔｈａ～ＲＳｔｈｄが設定されている。詳細には、閾値情報Ｄ２は、初期モードに対応させて設定された初期モード閾値ＲＳｔｈａと、許可モードに対応させて設定された許可モード閾値ＲＳｔｈｂと、警告モードに対応させて設定された警告モード閾値ＲＳｔｈｃと、禁止モードに対応させて設定された禁止モード閾値ＲＳｔｈｄとを含む。 As shown in FIG. 22, the threshold value information D2 is set with a plurality of mode threshold values RStha to RSthd corresponding to a plurality of remote operation modes. Specifically, the threshold information D2 includes an initial mode threshold value RStha set corresponding to the initial mode, an allowed mode threshold value RSthb set corresponding to the allowed mode, and a warning mode set corresponding to the warning mode. It includes a threshold value RSthc and a prohibited mode threshold value RSthd set corresponding to the prohibited mode.
　第４実施形態では、初期モード閾値ＲＳｔｈａ、許可モード閾値ＲＳｔｈｂ及び禁止モード閾値ＲＳｔｈｄはそれぞれ異なっている。詳細には、初期モード閾値ＲＳｔｈａは、許可モード閾値ＲＳｔｈｂ及び禁止モード閾値ＲＳｔｈｄよりも高く設定されている。禁止モード閾値ＲＳｔｈｄは、許可モード閾値ＲＳｔｈｂよりも高く設定されている。警告モード閾値ＲＳｔｈｃは、許可モード閾値ＲＳｔｈｂと同一に設定されている。つまり、第４実施形態では、ＲＳｔｈａ＞ＲＳｔｈｄ＞ＲＳｔｈｂ＝ＲＳｔｈｃである。 In the fourth embodiment, the initial mode threshold value RStha, the permission mode threshold value RSthb, and the prohibition mode threshold value RSthd are different from each other. Specifically, the initial mode threshold value RStha is set higher than the permitted mode threshold value RSthb and the prohibited mode threshold value RSthd. The prohibit mode threshold value RSthd is set higher than the permit mode threshold value RSthb. The warning mode threshold value RSthc is set to be the same as the permission mode threshold value RSthb. That is, in the fourth embodiment, RStha> RSthd> RSthb = RSthc.
　次に、図２３を用いて、第４実施形態の遠隔操作モード制御処理を説明する。
　図２３に示すように、第４実施形態の遠隔操作モード制御処理では、車両無線ＣＰＵ３６は、ステップＳ３０４の処理の実行後、ステップＳ５０１にて、遠隔操作モード特定情報に基づいて、現在の遠隔操作モードを把握する。 Next, the remote operation mode control process of the fourth embodiment will be described with reference to FIG.
As shown in FIG. 23, in the remote operation mode control process of the fourth embodiment, the vehicle radio CPU 36 performs the current remote operation based on the remote operation mode specifying information in step S501 after executing the process of step S304. Know the mode.
　続くステップＳ５０２では、車両無線ＣＰＵ３６は、閾値強度ＲＳｔｈを、現在の遠隔操作モードに対応した値に設定する。詳細には、車両無線ＣＰＵ３６は、閾値情報Ｄ２を参照して、ステップＳ５０１にて把握された遠隔操作モードに対応したモード閾値を読み出し、読み出されたモード閾値を閾値強度ＲＳｔｈとして設定する。 In subsequent step S502, the vehicle radio CPU 36 sets the threshold strength RSth to a value corresponding to the current remote operation mode. Specifically, the vehicle wireless CPU 36 refers to the threshold information D2, reads out the mode threshold corresponding to the remote operation mode grasped in step S501, and sets the read mode threshold as the threshold strength RSth.
　その後ステップＳ５０３では、車両無線ＣＰＵ３６は、ステップＳ３０４にて把握された受信電波強度ＲＳと、ステップＳ５０２にて設定された閾値強度ＲＳｔｈとを比較する。 Thereafter, in step S503, the vehicle radio CPU 36 compares the received radio wave intensity RS obtained in step S304 with the threshold intensity RSth set in step S502.
　この構成によれば、可否判定に用いられる閾値強度ＲＳｔｈは、現在の遠隔操作モードに応じて変更されている。ここでは、ステップＳ５０１及びステップＳ５０２の処理を実行する車両無線ＣＰＵ３６が「変更部」に相当する。ステップＳ５０３の処理よりも後の処理は、第１実施形態と同様であるため、詳細な説明を省略する。 According to this configuration, the threshold strength RSth used for the determination of availability is changed according to the current remote operation mode. Here, the vehicle radio CPU 36 that executes the processes of steps S501 and S502 corresponds to a “change unit”. Since the process after the process of step S503 is the same as that of 1st Embodiment, detailed description is abbreviate | omitted.
　次に、図２４及び図２５を用いて、第４実施形態の更新指示処理を説明する。
　図２４に示すように、リモートＣＰＵ５１は、まずステップＳ６０１にて更新用画面Ｇ２を表示させる。 Next, update instruction processing according to the fourth embodiment will be described with reference to FIGS. 24 and 25.
As shown in FIG. 24, the remote CPU 51 first displays an update screen G2 in step S601.
　図２５に示すように、第４実施形態の更新用画面Ｇ２には、各モード閾値ＲＳｔｈａ～ＲＳｔｈｄと、４つのモード閾値ＲＳｔｈａ～ＲＳｔｈｄに対応させて４つの変更アイコンＩｃａ～Ｉｃｄとが表示されるとともに、終了アイコンＩｃｘが表示される。 As shown in FIG. 25, the update screen G2 of the fourth embodiment displays the mode threshold values RStha to RSthd and four change icons Ica to Icd corresponding to the four mode threshold values RStha to RSthd. At the same time, an end icon Icx is displayed.
　図２４に示すように、リモートＣＰＵ５１は、ステップＳ６０２及びステップＳ６０５にて、４つの変更アイコンＩｃａ～Ｉｃｄ又は終了アイコンＩｃｘのうちいずれかが操作されるまで待機する。 As shown in FIG. 24, the remote CPU 51 waits until any of the four change icons Ica to Icd or the end icon Icx is operated in steps S602 and S605.
　リモートＣＰＵ５１は、４つの変更アイコンＩｃａ～Ｉｃｄのいずれかが操作された場合には、ステップＳ６０２を肯定判定し、ステップＳ６０３に進み、操作された変更アイコンに対応するモード閾値を更新対象として設定し、且つ、変更量を設定する。そして、リモートＣＰＵ５１は、ステップＳ６０４にて、更新対象のモード閾値と変更量とが設定された更新指示信号を生成し、更新指示信号を、リモート通信ユニット５３を用いて車両通信ユニット３０に向けて送信して、本更新指示処理を終了する。 When any of the four change icons Ica to Icd is operated, the remote CPU 51 makes a positive determination in step S602, proceeds to step S603, and sets the mode threshold corresponding to the operated change icon as an update target. And the change amount is set. In step S604, the remote CPU 51 generates an update instruction signal in which the mode threshold value to be updated and the change amount are set, and sends the update instruction signal to the vehicle communication unit 30 using the remote communication unit 53. Then, the update instruction process is terminated.
　例えば、許可モード閾値ＲＳｔｈｂに対応する変更アイコンＩｃｂが操作された場合には、リモートＣＰＵ５１は、許可モード閾値ＲＳｔｈｂを更新対象とし且つ所定の変更量が設定された更新指示信号を車両無線ＣＰＵ３６に向けて送信する。 For example, when the change icon Icb corresponding to the permission mode threshold value RSthb is operated, the remote CPU 51 sends an update instruction signal with the permission mode threshold value RSthb as an update target and a predetermined change amount to the vehicle wireless CPU 36. To send.
　変更アイコンＩｃａ～Ｉｃｄが操作された場合におけるモード閾値ＲＳｔｈａ～ＲＳｔｈｄの変更量の具体的な設定態様は任意である。例えば、変更量は、変更アイコンＩｃａ～Ｉｃｄが１度タッチされることに基づいて予め定められた規定量だけ増加又は減少するように設定されてもよいし、変更アイコンＩｃａ～Ｉｃｄがタッチされている期間に応じて変化してもよいし、所望の値を直接入力できるようにしてもよい。また、リモートメモリ５２に、使用頻度が高い各モード閾値ＲＳｔｈａ～ＲＳｔｈｄの組み合わせが予め複数記憶されており、リモートＣＰＵ５１は、上記複数の組み合わせのうちいずれかを選択できるように構成されてもよい。 The specific setting mode of the change amount of the mode threshold values RStha to RSthd when the change icons Ica to Icd are operated is arbitrary. For example, the change amount may be set to increase or decrease by a predetermined amount based on the touch of the change icons Ica to Icd once, or the change icons Ica to Icd are touched. It may be changed according to the period of time, or a desired value may be directly input. Further, a plurality of combinations of mode threshold values RStha to RSthd that are frequently used are stored in advance in the remote memory 52, and the remote CPU 51 may be configured to be able to select any one of the plurality of combinations.
　一方、リモートＣＰＵ５１は、終了アイコンＩｃｘが操作された場合には、ステップＳ６０５を肯定判定し、更新指示信号を送信することなく、本更新指示処理を終了する。
　第４実施形態の閾値情報更新処理では、まず車両無線ＣＰＵ３６は、今回の閾値情報更新処理の実行契機となった更新指示信号に基づいて、更新対象及び変更量を把握する。詳細には、車両無線ＣＰＵ３６は、信号変換部３３を用いて更新指示信号を車両無線ＣＰＵ３６が認識可能な信号に変換し、変換された信号に基づいて更新対象及び変更量を把握する。その後、車両無線ＣＰＵ３６は、閾値情報Ｄ２における更新対象のモード閾値を変更量の分だけ変更する更新を行う。 On the other hand, when the end icon Icx is operated, the remote CPU 51 makes an affirmative determination in step S605 and ends the update instruction process without transmitting an update instruction signal.
In the threshold information update process of the fourth embodiment, the vehicle wireless CPU 36 first grasps the update target and the change amount based on the update instruction signal that triggered the execution of the current threshold information update process. Specifically, the vehicle radio CPU 36 converts the update instruction signal into a signal that can be recognized by the vehicle radio CPU 36 using the signal conversion unit 33, and grasps the update target and the change amount based on the converted signal. Thereafter, the vehicle radio CPU 36 performs an update to change the mode threshold value to be updated in the threshold value information D2 by the change amount.
　例えば、車両無線ＣＰＵ３６は、更新対象が許可モード閾値ＲＳｔｈｂに設定された更新指示信号を受信した場合には、閾値情報Ｄ２の許可モード閾値ＲＳｔｈｂを、更新指示信号に設定されている変更量だけ変更する更新を行う。すなわち、車両無線ＣＰＵ３６は、更新指示信号を受信することに基づいて、更新指示信号に設定された内容に対応させて閾値情報Ｄ２を更新する。 For example, when receiving an update instruction signal whose update target is set to the permission mode threshold value RSthb, the vehicle radio CPU 36 changes the permission mode threshold value RSthb of the threshold information D2 by the change amount set in the update instruction signal. Update. That is, based on receiving the update instruction signal, the vehicle radio CPU 36 updates the threshold information D2 in correspondence with the content set in the update instruction signal.
　次に、図２６を用いて、第４実施形態の作用を説明する。図２６（ａ）～（ｃ）は、遠隔操作モードごとの閾値強度ＲＳｔｈの変化を説明するためのグラフである。図２６（ａ）～（ｃ）における受信電波強度ＲＳの曲線は同一である。 Next, the operation of the fourth embodiment will be described with reference to FIG. FIGS. 26A to 26C are graphs for explaining changes in the threshold intensity RSth for each remote operation mode. The curves of the received radio wave intensity RS in FIGS. 26 (a) to 26 (c) are the same.
　ここで、遠隔操作対象のフォークリフト２０が設置されている環境によっては、電波の反射などの影響に起因して、両通信ユニット３０，５３間の距離に対する受信電波強度ＲＳの減衰曲線に特異点が生じ得る。すなわち、通信範囲Ａ０内に、受信電波強度ＲＳが理想曲線から大きく外れるホットスポットＡｙ及びデッドスポットＡｘが形成される場合がある。 Here, depending on the environment in which the forklift 20 to be remotely operated is installed, a singular point exists in the attenuation curve of the received radio wave intensity RS with respect to the distance between the communication units 30 and 53 due to the influence of radio wave reflection and the like. Can occur. That is, a hot spot Ay and a dead spot Ax in which the received radio wave intensity RS greatly deviates from the ideal curve may be formed in the communication range A0.
　この点を考慮して、図２６（ａ）～（ｃ）では、ホットスポットＡｙ及びデッドスポットＡｘの影響を模式的に示す。図２６（ａ）～（ｃ）に示すように、デッドスポットＡｘは、通常想定される値（理想値）よりも局所的に受信電波強度ＲＳが低くなる範囲であり、ホットスポットＡｙは、通常想定される値よりも局所的に受信電波強度ＲＳが高くなる範囲である。 In consideration of this point, FIGS. 26A to 26C schematically show the influence of the hot spot Ay and the dead spot Ax. As shown in FIGS. 26A to 26C, the dead spot Ax is a range where the received radio wave intensity RS is locally lower than a normally assumed value (ideal value), and the hot spot Ay is usually This is a range in which the received radio wave intensity RS is locally higher than an assumed value.
　説明の便宜上、ここでは、デッドスポットＡｘは、本来許可範囲Ａ１内と判定されるべき位置、例えば遠隔操作装置５０（詳細にはリモート通信ユニット５３）を中心とし第１距離Ｌ１を半径とする円の範囲内に存在しているとする。また、ホットスポットＡｙは、本来禁止範囲Ａ２内と判定されるべき位置、例えば遠隔操作装置５０を中心とし第２距離Ｌ２を半径とする円の範囲外に存在しているとする。そして、少なくともホットスポットＡｙの受信電波強度ＲＳの最大値は、デッドスポットＡｘの受信電波強度ＲＳの最小値よりも高くなっているとする。また、以降の説明及び図２６では、説明の都合上、受信電波強度ＲＳの誤差及びそれに起因する誤差対応範囲Ａ３については省略する。 For convenience of explanation, here, the dead spot Ax is a circle whose center is the position that should be determined to be within the permitted range A1, for example, the remote control device 50 (specifically, the remote communication unit 53) and whose radius is the first distance L1. It exists in the range of. Further, it is assumed that the hot spot Ay exists outside the range of a circle that is originally determined to be within the prohibited range A2, for example, the center of the remote control device 50 and the radius of the second distance L2. It is assumed that at least the maximum value of the received radio wave intensity RS of the hot spot Ay is higher than the minimum value of the received radio wave intensity RS of the dead spot Ax. In the following description and FIG. 26, for the sake of explanation, the error of the received radio wave intensity RS and the error corresponding range A3 resulting therefrom are omitted.
　図２６（ａ）～（ｃ）に示すように、遠隔操作モードが初期モードである場合に設定される初期モード閾値ＲＳｔｈａは、許可モード閾値ＲＳｔｈｂ及び禁止モード閾値ＲＳｔｈｄよりも高く設定されている。このため、初期モード時における許可範囲Ａ１は、他の遠隔操作モード時と比較して狭くなっている。 As shown in FIGS. 26A to 26C, the initial mode threshold value RStha set when the remote operation mode is the initial mode is set higher than the permission mode threshold value RSthb and the prohibition mode threshold value RSthd. For this reason, the allowable range A1 in the initial mode is narrower than in other remote operation modes.
　図２６（ａ），（ｂ）に示すように、遠隔操作モードが許可モードである場合に設定される許可モード閾値ＲＳｔｈｂは、初期モード閾値ＲＳｔｈａよりも低く設定されている。このため、許可モード時における許可範囲Ａ１は、初期モード時よりも広い。 As shown in FIGS. 26A and 26B, the permission mode threshold value RSthb set when the remote operation mode is the permission mode is set lower than the initial mode threshold value RStha. For this reason, the permission range A1 in the permission mode is wider than that in the initial mode.
　第４実施形態では、操作者は、デッドスポットＡｘの受信電波強度ＲＳが局所的に低くなっていることに対応させて、許可モード閾値ＲＳｔｈｂを低く設定することが想定される。例えば、操作者は、本産業車両用遠隔操作システム１０の導入時又は定期的なメンテナンス時において、許可モード閾値ＲＳｔｈｂをデッドスポットＡｘの受信電波強度ＲＳよりも低くする更新指示処理を実行させることが想定される。これにより、車両無線ＣＰＵ３６にて閾値更新処理が実行されて、フォークリフト２０がデッドスポットＡｘに配置されている場合に可否判定結果が禁止範囲Ａ２内となることを抑制できる。 In the fourth embodiment, it is assumed that the operator sets the permission mode threshold value RSthb to be low in correspondence with the reception radio wave intensity RS of the dead spot Ax being locally low. For example, the operator may execute an update instruction process for lowering the permission mode threshold value RSthb below the received radio wave intensity RS of the dead spot Ax at the time of introduction of the industrial vehicle remote control system 10 or periodic maintenance. is assumed. Thereby, when the threshold value update process is executed by the vehicle wireless CPU 36 and the forklift 20 is disposed at the dead spot Ax, it is possible to suppress the possibility determination result from being within the prohibited range A2.
　また、図２６（ａ），（ｃ）に示すように、遠隔操作モードが禁止モードである場合に設定される禁止モード閾値ＲＳｔｈｄは、初期モード閾値ＲＳｔｈａよりも低く設定されている。このため、禁止モード時における許可範囲Ａ１は、初期モード時よりも広くなっている。 Also, as shown in FIGS. 26A and 26C, the prohibit mode threshold RSthd set when the remote operation mode is the prohibit mode is set lower than the initial mode threshold RStha. For this reason, the allowable range A1 in the prohibit mode is wider than that in the initial mode.
　第４実施形態では、操作者は、ホットスポットＡｙの受信電波強度ＲＳが局所的に高くなっていることに対応させて、禁止モード閾値ＲＳｔｈｄを高く設定することが想定される。例えば、操作者は、本産業車両用遠隔操作システム１０の導入時又は定期的なメンテナンス時において、禁止モード閾値ＲＳｔｈｄをホットスポットＡｙの受信電波強度ＲＳよりも高くする更新指示処理を実行させることが想定される。これにより、車両無線ＣＰＵ３６にて閾値更新処理が実行されて、フォークリフト２０がホットスポットＡｙに配置されている場合に可否判定結果が許可範囲Ａ１内となることを抑制できる。 In the fourth embodiment, it is assumed that the operator sets the prohibition mode threshold value RSthd to be high in correspondence with the reception radio wave intensity RS of the hot spot Ay being locally high. For example, the operator may execute an update instruction process for setting the prohibit mode threshold value RSthd to be higher than the received radio wave intensity RS of the hot spot Ay when the industrial vehicle remote control system 10 is introduced or during periodic maintenance. is assumed. Thereby, when the threshold value update process is executed by the vehicle wireless CPU 36 and the forklift 20 is disposed at the hot spot Ay, it is possible to suppress the availability determination result from being within the permitted range A1.
　特に、第４実施形態では、禁止モード閾値ＲＳｔｈｄは、許可モード閾値ＲＳｔｈｂよりも高く設定されている。このため、禁止モード時における許可範囲Ａ１は、許可モード時における許可範囲Ａ１よりも狭くなっている。したがって、遠隔操作装置５０を所持する操作者としては、遠隔操作モードを禁止モードから許可モードに移行させようとする場合には、フォークリフト２０に対してより近づく必要がある。 In particular, in the fourth embodiment, the prohibition mode threshold RSthd is set higher than the permission mode threshold RSthb. For this reason, the permission range A1 in the prohibit mode is narrower than the permission range A1 in the permission mode. Therefore, the operator who has the remote control device 50 needs to be closer to the forklift 20 when attempting to shift the remote control mode from the prohibit mode to the permission mode.
　第４実施形態によれば、以下の効果を奏する。
　（２１）車両無線ＣＰＵ３６は、遠隔操作モードが許可モード、警告モード及び禁止モードのいずれの場合であっても可否判定を実行する。そして、車両無線ＣＰＵ３６は、遠隔操作モードに応じて、可否判定に用いられる閾値強度ＲＳｔｈを変更する処理（ステップＳ５０１及びステップＳ５０２）を実行する。この構成によれば、許可モード時の可否判定に用いられる許可モード閾値ＲＳｔｈｂと、禁止モード時の可否判定に用いられる禁止モード閾値ＲＳｔｈｄとを異ならせることができる。これにより、遠隔操作モードに応じて、許可範囲Ａ１及び禁止範囲Ａ２を変更できる。 According to 4th Embodiment, there exist the following effects.
(21) The vehicle radio CPU 36 determines whether or not the remote operation mode is any of the permission mode, the warning mode, and the prohibition mode. Then, the vehicle radio CPU 36 executes a process (step S501 and step S502) for changing the threshold strength RSth used for the availability determination according to the remote operation mode. According to this configuration, it is possible to make the permission mode threshold RSthb used for the permission determination in the permission mode different from the prohibition mode threshold RSthd used for the permission determination in the prohibit mode. Accordingly, the permitted range A1 and the prohibited range A2 can be changed according to the remote operation mode.
　また、遠隔操作モードに応じて閾値強度ＲＳｔｈを変更することにより、受信電波強度ＲＳの局所的な変化（両スポットＡｘ，Ａｙ）に起因した遠隔操作モードの誤移行を抑制できる。 Further, by changing the threshold strength RSth according to the remote operation mode, it is possible to suppress erroneous transition of the remote operation mode due to local changes (both spots Ax and Ay) of the received radio wave strength RS.
　詳述すると、例えばフォークリフト２０の設置環境によっては、上述したように、遠隔操作装置５０に対して比較的近い位置にデッドスポットＡｘが発生したり、遠隔操作装置５０に対して比較的遠い位置にホットスポットＡｙが発生したりする場合があり得る。 More specifically, for example, depending on the installation environment of the forklift 20, as described above, the dead spot Ax is generated at a position relatively close to the remote operation device 50, or at a position relatively far from the remote operation device 50. A hot spot Ay may occur.
　かかる環境では、仮に遠隔操作モードが許可モードである場合にフォークリフト２０がデッドスポットＡｘに配置されていると、可否判定結果が許可範囲Ａ１内と判定されるべきにも関わらず禁止範囲Ａ２内と誤判定され、遠隔操作モードが許可モードから警告モードに移行する場合があり得る。同様に、仮に遠隔操作モードが禁止モードである場合にフォークリフト２０がホットスポットＡｙに配置されていると、可否判定結果が禁止範囲Ａ２内と判定されるべきにも関わらず許可範囲Ａ１内と誤判定され、遠隔操作モードが禁止モードから許可モードに移行する場合があり得る。このような遠隔操作モードの誤移行は、操作性や安全性に悪影響を与え得る。 In such an environment, if the forklift 20 is placed in the dead spot Ax when the remote operation mode is the permission mode, the determination result is within the prohibited range A2 even though the determination result is to be determined within the permitted range A1. There is a possibility that an erroneous determination is made and the remote operation mode shifts from the permission mode to the warning mode. Similarly, if the forklift 20 is placed in the hot spot Ay when the remote operation mode is the prohibit mode, the possibility determination result should be determined to be within the prohibition range A2, although it is determined to be within the prohibition range A2. It may be determined that the remote operation mode may shift from the prohibit mode to the permit mode. Such erroneous transition to the remote operation mode can adversely affect operability and safety.
　この点、第４実施形態によれば、デッドスポットＡｘに起因する誤判定が生じないようにデッドスポットＡｘの受信電波強度ＲＳに対応させて許可モード閾値ＲＳｔｈｂを設定し、ホットスポットＡｙに起因する誤判定が生じないようにホットスポットＡｙに対応させて禁止モード閾値ＲＳｔｈｄを設定できる。これにより、両スポットＡｘ，Ａｙに起因して遠隔操作モードが誤って移行することを抑制できる。 In this regard, according to the fourth embodiment, the permission mode threshold value RSthb is set corresponding to the received radio wave intensity RS of the dead spot Ax so as not to cause an erroneous determination due to the dead spot Ax, and is caused by the hot spot Ay. The prohibition mode threshold value RSthd can be set in correspondence with the hot spot Ay so that erroneous determination does not occur. Thereby, it can suppress that remote control mode transfers accidentally due to both spots Ax and Ay.
　（２２）車両無線ＣＰＵ３６は、遠隔操作モードが禁止モードである状況下での可否判定によってフォークリフト２０が許可範囲Ａ１内に配置されていると判定されたことに基づいて、遠隔操作モードを禁止モードから許可モードに移行させる。この場合、車両無線ＣＰＵ３６は、禁止モード閾値ＲＳｔｈｄを許可モード閾値ＲＳｔｈｂよりも高く設定する。この構成によれば、本来禁止範囲Ａ２内と判定されるべき範囲内にホットスポットＡｙが発生している場合に、ホットスポットＡｙに起因する可否判定結果の誤りを抑制できる。 (22) The vehicle radio CPU 36 determines that the forklift 20 is disposed within the permitted range A1 by determining whether or not the remote operation mode is the prohibited mode. To allow mode. In this case, the vehicle radio CPU 36 sets the prohibition mode threshold RSthd higher than the permission mode threshold RSthb. According to this configuration, when the hot spot Ay is generated within the range that should be determined to be within the prohibited range A2, errors in the determination result due to the hot spot Ay can be suppressed.
　また、禁止モード時における許可範囲Ａ１は、許可モード時における許可範囲Ａ１よりも狭くなり易い。これにより、遠隔操作モードが禁止モードに移行した後、再度遠隔操作モードを禁止モードから許可モードに移行させるためには、遠隔操作装置５０とフォークリフト２０とを、許可モード時よりも近づける必要がある。したがって、操作者としては、遠隔操作を再度行う際には、フォークリフト２０をより視認しやすい位置に移動することが想定されるため、再遠隔操作時の安全性が向上する。 In addition, the permission range A1 in the prohibit mode is likely to be narrower than the permission range A1 in the permission mode. Thus, after the remote operation mode shifts to the prohibit mode, in order to shift the remote operation mode from the prohibit mode to the permission mode again, it is necessary to bring the remote operation device 50 and the forklift 20 closer than in the permission mode. . Accordingly, when the remote operation is performed again, the operator is assumed to move the forklift 20 to a position where it can be more easily seen, so that the safety during the remote operation is improved.
　（２３）警告モード中の可否判定に用いられる警告モード閾値ＲＳｔｈｃは、許可モード閾値ＲＳｔｈｂと同一に設定されている。すなわち、車両無線ＣＰＵ３６は、警告モード中の可否判定に用いられる閾値強度ＲＳｔｈである警告モード閾値ＲＳｔｈｃを、許可モード中の可否判定に用いられる許可モード閾値ＲＳｔｈｂに維持する。仮に、禁止モード閾値ＲＳｔｈｄが許可モード閾値ＲＳｔｈｂよりも高く設定されている構成において警告モード閾値ＲＳｔｈｃが禁止モード閾値ＲＳｔｈｄと同一に設定されている場合、遠隔操作モードが許可モードから警告モードに移行することに伴って許可範囲Ａ１が狭くなる。すると、警告モード中に操作者が遠隔操作装置５０とフォークリフト２０とを互いに近づけようとしているにも関わらず、可否判定結果が禁止範囲Ａ２内となり易く、その結果、遠隔操作モードが警告モードから禁止モードに移行し易くなり、利便性が低下するという不都合が生じ易い。 (23) The warning mode threshold value RSthc used for the determination of availability in the warning mode is set to be the same as the permission mode threshold value RSthb. That is, the vehicle radio CPU 36 maintains the warning mode threshold value RSthc, which is the threshold strength RSth used for determination of availability in the warning mode, as the permission mode threshold value RSthb used for determination of availability in the permission mode. If the warning mode threshold value RSthc is set equal to the prohibition mode threshold value RSthd in the configuration in which the prohibition mode threshold value RSthd is set higher than the permission mode threshold value RSthb, the remote operation mode shifts from the permission mode to the warning mode. As a result, the permitted range A1 becomes narrower. Then, although the operator is trying to bring the remote control device 50 and the forklift 20 closer to each other during the warning mode, the determination result is likely to be within the prohibited range A2, and as a result, the remote operation mode is prohibited from the warning mode. It becomes easy to shift to the mode, and the inconvenience that convenience decreases is likely to occur.
　これに対して、第４実施形態では、警告モード閾値ＲＳｔｈｃが許可モード閾値ＲＳｔｈｂと同一に設定されているため、遠隔操作モードが許可モードから警告モードに移行しても許可範囲Ａ１は変動しにくい。これにより、警告モード中に操作者が遠隔操作装置５０とフォークリフト２０とを互いに近づけようとすることにより、可否判定結果が許可範囲Ａ１内となり易い。したがって、上記不都合を抑制できる。 On the other hand, in the fourth embodiment, since the warning mode threshold value RSthc is set to be the same as the permission mode threshold value RSthb, even if the remote operation mode shifts from the permission mode to the warning mode, the permission range A1 hardly changes. . As a result, when the operator tries to bring the remote control device 50 and the forklift 20 closer to each other during the warning mode, the determination result is likely to be within the permission range A1. Therefore, the inconvenience can be suppressed.
　（２４）遠隔操作開始時に設定される初期モードでは、閾値強度ＲＳｔｈは初期モード閾値ＲＳｔｈａに設定される。初期モード閾値ＲＳｔｈａは、許可モード閾値ＲＳｔｈｂ及び禁止モード閾値ＲＳｔｈｄよりも高く設定されている。この構成によれば、遠隔操作開始時における遠隔操作の安全性が向上する。 (24) In the initial mode set at the start of remote operation, the threshold strength RSth is set to the initial mode threshold RStha. The initial mode threshold value RStha is set higher than the permission mode threshold value RSthb and the prohibition mode threshold value RSthd. According to this configuration, the safety of remote operation at the start of remote operation is improved.
　詳述すると、遠隔操作開始時は、操作者が十分に安全確認を行える位置から遠隔操作を行うことが好ましい。特に、遠隔操作開始時における遠隔操作装置５０に対するフォークリフト２０の位置は不定であるため、高い安全性が求められる。 More specifically, it is preferable to perform remote operation from a position where the operator can sufficiently confirm safety when starting remote operation. In particular, since the position of the forklift 20 with respect to the remote control device 50 at the start of remote control is indefinite, high safety is required.
　この点、第４実施形態では、初期モード閾値ＲＳｔｈａが高く設定されているため、操作者が十分に安全確認を行える位置まで近づかない限り、遠隔操作モードが初期モードから許可モードに移行しにくい。このため、遠隔操作開始時において操作者をフォークリフト２０の近くまで誘導させることができ、安全性が向上する。 In this regard, in the fourth embodiment, since the initial mode threshold value RStha is set high, it is difficult for the remote operation mode to shift from the initial mode to the permission mode unless the operator sufficiently approaches the position where the safety can be confirmed. For this reason, the operator can be guided to the vicinity of the forklift 20 at the start of remote operation, and safety is improved.
　上記各実施形態は、以下のように変更してもよい。
　各実施形態では、遠隔操作モードが初期モード又は禁止モードである場合には、走行を含む全ての遠隔操作が禁止されていたが、これに限られず、走行以外の所定の遠隔操作は許可されてもよい。要は、遠隔操作モードが初期モード又は禁止モードである場合に、少なくとも走行に関する遠隔操作が禁止されていればよい。 Each of the above embodiments may be modified as follows.
In each embodiment, when the remote operation mode is the initial mode or the prohibit mode, all remote operations including traveling are prohibited, but not limited to this, predetermined remote operations other than traveling are permitted. Also good. In short, when the remote operation mode is the initial mode or the prohibition mode, at least the remote operation related to traveling should be prohibited.
　各実施形態では、遠隔操作信号ＳＧｂ又は返信信号ＳＧｃを用いて可否判定が行われていたが、専用の信号を用いて可否判定が行われてもよい。
　各実施形態では、許可範囲Ａ１内か否かの判定に用いられる第１閾値強度と、禁止範囲Ａ２内か否かの判定に用いられる第２閾値強度とが同一であり、共通の閾値強度ＲＳｔｈが用いられていたが、異なっていてもよい。例えば、車両無線ＣＰＵ３６又はリモート無線ＣＰＵ１０１は、受信電波強度ＲＳが第１閾値強度未満であった場合には、受信電波強度ＲＳが第１閾値強度よりも小さい第２閾値強度未満であるか否かを判定し、受信電波強度ＲＳが第２閾値強度未満である場合にステップＳ３１１以降の処理を実行してもよい。この場合、受信電波強度ＲＳが第２閾値強度未満である状態が第２判定期間Ｔ２に亘って継続した場合に禁止範囲Ａ２内にフォークリフト２０が存在すると判定される。つまり、第２閾値強度は、第１閾値強度以下に設定されていればよい。 In each embodiment, the availability determination is performed using the remote operation signal SGb or the reply signal SGc, but the availability determination may be performed using a dedicated signal.
In each embodiment, the first threshold strength used for determining whether or not within the permitted range A1 and the second threshold strength used for determining whether or not within the prohibited range A2 are the same, and the common threshold strength RSth. Was used, but may be different. For example, if the received radio wave intensity RS is less than the first threshold intensity, the vehicle radio CPU 36 or the remote radio CPU 101 determines whether the received radio wave intensity RS is less than the second threshold intensity that is smaller than the first threshold intensity. If the received radio wave strength RS is less than the second threshold strength, the processing after step S311 may be executed. In this case, it is determined that the forklift 20 exists within the prohibited range A2 when the state where the received radio wave intensity RS is less than the second threshold intensity continues for the second determination period T2. That is, the second threshold intensity may be set to be equal to or lower than the first threshold intensity.
　第２閾値強度が第１閾値強度よりも小さい場合、受信電波強度ＲＳが第１閾値強度未満であって第２閾値強度以上となる第３の比較結果が生じ得る。この場合、車両無線ＣＰＵ３６又はリモート無線ＣＰＵ１０１は、例えば現状の遠隔操作モードを維持しつつ、可否判定を継続してもよい。詳細には、車両無線ＣＰＵ３６又はリモート無線ＣＰＵ１０１は、第３の比較結果となった場合には、遠隔操作モードを変更することなく、両カウンタＣ１，Ｃ２をリセットして遠隔操作モード制御処理を終了してもよい。また、車両無線ＣＰＵ３６又はリモート無線ＣＰＵ１０１は、第３の比較結果が所定期間だけ継続された場合には、許可範囲Ａ１と禁止範囲Ａ２との間の中間範囲に配置されていることを報知する処理を実行してもよい。 When the second threshold strength is smaller than the first threshold strength, a third comparison result in which the received radio wave strength RS is less than the first threshold strength and greater than or equal to the second threshold strength can occur. In this case, the vehicle wireless CPU 36 or the remote wireless CPU 101 may continue the determination of availability while maintaining the current remote operation mode, for example. Specifically, when the vehicle wireless CPU 36 or the remote wireless CPU 101 obtains the third comparison result, the counters C1 and C2 are reset and the remote operation mode control process is terminated without changing the remote operation mode. May be. In addition, when the third comparison result is continued for a predetermined period, the vehicle wireless CPU 36 or the remote wireless CPU 101 notifies that the vehicle wireless CPU 36 or the remote wireless CPU 101 is arranged in an intermediate range between the permitted range A1 and the prohibited range A2. May be executed.
　第１閾値強度及び第２閾値強度は、固定値であってもよいし、状況に応じて適宜変更される可変値であってもよい。同様に、第１判定期間Ｔ１及び第２判定期間Ｔ２は、固定値であってもよいし可変値であってもよい。 The first threshold strength and the second threshold strength may be fixed values or variable values that are appropriately changed according to the situation. Similarly, the first determination period T1 and the second determination period T2 may be fixed values or variable values.
　第４実施形態において第１閾値強度及び第２閾値強度が異なる場合、遠隔操作モードに応じて第１閾値強度が異なっているとともに遠隔操作モードに応じて第２閾値強度が異なっていればよい。例えば、禁止モード時の第１閾値強度が許可モード時の第１閾値強度よりも高く、かつ、禁止モード時の第２閾値強度が許可モード時の第２閾値強度よりも高くてもよい。また、両閾値情報のうち少なくとも一方が遠隔操作モードに応じて異なっていてもよい。 In the fourth embodiment, when the first threshold intensity and the second threshold intensity are different, the first threshold intensity may be different depending on the remote operation mode and the second threshold intensity may be different depending on the remote operation mode. For example, the first threshold strength in the prohibit mode may be higher than the first threshold strength in the permit mode, and the second threshold strength in the prohibit mode may be higher than the second threshold strength in the permit mode. Further, at least one of the threshold information may be different depending on the remote operation mode.
　第１実施形態において、車両無線ＣＰＵ３６は、ステップＳ３０４の処理の前に、受信電波強度ＲＳの平滑化処理やオフセット補正処理を実行してもよい。この場合、車両無線ＣＰＵ３６は、より誤差が小さい受信電波強度ＲＳを把握できるため、可否判定の精度が向上する。第２実施形態についても同様である。 In the first embodiment, the vehicle radio CPU 36 may perform a smoothing process and an offset correction process on the received radio wave intensity RS before the process of step S304. In this case, since the vehicle radio CPU 36 can grasp the received radio wave intensity RS with a smaller error, the accuracy of the availability determination is improved. The same applies to the second embodiment.
　第１実施形態において、リモート通信ユニット５３は、禁止モード中は、遠隔操作信号ＳＧｂを定期的に送信しない構成であってもよい。この場合、例えば、リモート通信ユニット５３は、遠隔操作を再開する場合に再開起動信号を送信する。そして、車両無線ＣＰＵ３６は、再開起動信号の受信電波強度ＲＳに基づいて可否判定と遠隔操作モードの制御とを実行するとよい。第２実施形態についても同様である。 In the first embodiment, the remote communication unit 53 may be configured not to periodically transmit the remote operation signal SGb during the prohibit mode. In this case, for example, the remote communication unit 53 transmits a restart activation signal when resuming the remote operation. Then, the vehicle radio CPU 36 may execute the availability determination and the remote operation mode control based on the received radio wave intensity RS of the restart activation signal. The same applies to the second embodiment.
　車両通信ユニット３０とリモート通信ユニット５３，１００との双方が両アンテナ３１，３２を有してもよい。
　両アンテナ３１，３２のいずれか一方を省略してもよい。この場合、選択アンテナの切り替えを省略できる。 Both the vehicle communication unit 30 and the remote communication units 53 and 100 may have both antennas 31 and 32.
Either one of the antennas 31 and 32 may be omitted. In this case, switching of the selected antenna can be omitted.
　１回の可否判定において、選択アンテナの切り替えが行われる規定回数は「１回」に限られず、複数回であってもよいし、制限なく選択アンテナの切り替えが行われてもよい。但し、可否判定に要する期間の短縮化に着目すれば、規定回数は少ない方が好ましく、例えば１回であるとよい。 In the one-time feasibility determination, the specified number of times the selected antenna is switched is not limited to “one time”, and may be a plurality of times, or the selected antenna may be switched without limitation. However, if attention is focused on shortening the period required for the determination of availability, it is preferable that the prescribed number is small, for example, one.
　猶予期間Ｔ３は、各実施形態にて設定された期間に限られず、両判定期間Ｔ１，Ｔ２よりも長ければ任意である。
　禁止モード移行条件は任意である。例えば、禁止モード移行条件は、受信電波強度ＲＳが閾値強度ＲＳｔｈよりも小さい閾値未満である状態が、所定期間だけ継続したことでもよいし、可否判定が予め定められた特定回数行われ、そのいずれの可否判定結果が禁止範囲Ａ２内と判定された場合でもよい。 The grace period T3 is not limited to the period set in each embodiment, and is arbitrary as long as it is longer than both determination periods T1 and T2.
The prohibit mode transition condition is arbitrary. For example, the prohibition mode transition condition may be that the state in which the received radio wave intensity RS is less than the threshold value smaller than the threshold intensity RSth is continued for a predetermined period, and whether the determination is made or not is performed a predetermined number of times. The determination result may be determined to be within the prohibited range A2.
　遠隔操作モードの報知態様は任意である。例えば、リモートＣＰＵ５１は、操作画面Ｇ０の背景色を遠隔操作モードに応じて変更してもよい。
　各実施形態では、報知部としてタッチパネル５４が用いられていたが、これに限られず、報知部は任意である。例えば、報知部は、スピーカや発光部などでもよい。また、報知部は、遠隔操作装置５０に代えて（又は加えて）フォークリフト２０に設けられてもよい。 The notification mode in the remote operation mode is arbitrary. For example, the remote CPU 51 may change the background color of the operation screen G0 according to the remote operation mode.
In each embodiment, although the touch panel 54 was used as an alerting | reporting part, it is not restricted to this, An alerting | reporting part is arbitrary. For example, the notification unit may be a speaker or a light emitting unit. Further, the notification unit may be provided in the forklift 20 instead of (or in addition to) the remote control device 50.
　車両通信ユニット３０とリモート通信ユニット５３，１００との間の通信形式については、Ｗｉ－Ｆｉに限られず、任意であり、例えばＢｌｕｅｔｏｏｔｈ（登録商標）及びＺｉｇｂｅｅ（登録商標）等であってもよい。 The communication format between the vehicle communication unit 30 and the remote communication units 53 and 100 is not limited to Wi-Fi, and may be any, for example, Bluetooth (registered trademark) and Zigbee (registered trademark).
　誤差対応範囲Ａ３は必須ではない。例えば、閾値強度ＲＳｔｈは、第２距離Ｌ２に対応した受信電波強度ＲＳに設定されてもよい。
　遠隔操作を禁止する具体的な制御は、各実施形態に限られず任意である。例えば、遠隔操作モードに関わらず車両通信ユニット３０にて信号変換が行われてもよい。この場合、車両ＣＰＵ２７が、遠隔操作モードに応じて、入力される制御信号ＳＧａに基づく制御を行うか否かを判定すればよい。 The error corresponding range A3 is not essential. For example, the threshold strength RSth may be set to the received radio wave strength RS corresponding to the second distance L2.
Specific control for prohibiting remote operation is not limited to each embodiment and is arbitrary. For example, signal conversion may be performed in the vehicle communication unit 30 regardless of the remote operation mode. In this case, the vehicle CPU 27 may determine whether to perform control based on the input control signal SGa according to the remote operation mode.
　警告モードが省略されてもよい。すなわち、車両無線ＣＰＵ３６は、走行に関する遠隔操作が許可されている状況下で可否判定結果が禁止範囲Ａ２内となったことに基づいて、直ちに走行に関する遠隔操作を禁止してもよい。換言すれば、禁止範囲Ａ２は、禁止範囲Ａ２内にフォークリフト２０が配置された場合には直ちに走行に関する遠隔操作が禁止される範囲でもよいし、所定の猶予期間Ｔ３が付与された後に走行に関する遠隔操作が禁止される範囲でもよい。 * Warning mode may be omitted. In other words, the vehicle radio CPU 36 may immediately prohibit the remote operation related to traveling based on the result of the availability determination being within the prohibited range A2 under the situation where the remote operation related to traveling is permitted. In other words, the prohibited range A2 may be a range in which remote operation related to traveling is prohibited immediately when the forklift 20 is disposed within the prohibited range A2, or remote control related to traveling after a predetermined grace period T3 is given. It may be a range where the operation is prohibited.
　産業車両は、フォークリフト２０に限られず任意である。また、産業車両は、予め定められた走行パターンで走行する自動運転機能を有していてもよい。
　各実施形態では、タッチパネル５４が、操作者から操作される入力部として機能していたが、これに限られず、入力部の具体的な構成は任意である。例えば、遠隔操作装置５０に、遠隔操作用のレバー等が設けられてもよい。また、遠隔操作装置５０が、有線又は無線にて電気的に接続された操作コントローラを備えてもよい。この場合、操作コントローラが入力部に相当する。 The industrial vehicle is not limited to the forklift 20 and is arbitrary. Further, the industrial vehicle may have an automatic driving function of traveling in a predetermined traveling pattern.
In each embodiment, the touch panel 54 functions as an input unit operated by an operator. However, the configuration is not limited to this, and the specific configuration of the input unit is arbitrary. For example, the remote control device 50 may be provided with a remote control lever or the like. The remote operation device 50 may include an operation controller that is electrically connected by wire or wirelessly. In this case, the operation controller corresponds to the input unit.
　第１実施形態において、車両ＣＰＵ２７が、遠隔操作モード制御処理等を実行してもよい。同様に、第２実施形態において、リモートＣＰＵ５１が、遠隔操作モード制御処理等を実行してもよい。 In the first embodiment, the vehicle CPU 27 may execute a remote operation mode control process or the like. Similarly, in the second embodiment, the remote CPU 51 may execute a remote operation mode control process or the like.
　第１実施形態において、閾値強度ＲＳｔｈは、デッドスポットＡｘ及びホットスポットＡｙの少なくとも一方を考慮して設定されてもよい。例えば、閾値強度ＲＳｔｈは、デッドスポットＡｘに起因する受信電波強度ＲＳの低下、及び、ホットスポットＡｙに起因する受信電波強度ＲＳの上昇の少なくとも一方を受信電波強度ＲＳの誤差として含めて設定されてもよい。 In the first embodiment, the threshold intensity RSth may be set in consideration of at least one of the dead spot Ax and the hot spot Ay. For example, the threshold strength RSth is set to include at least one of a decrease in the received radio wave strength RS caused by the dead spot Ax and an increase in the received radio wave strength RS caused by the hot spot Ay as an error of the received radio wave strength RS. Also good.
　第３実施形態及び第４実施形態では、更新条件は、遠隔操作装置５０に対して更新要求操作が行われたことであったが、これに限られない。
　例えば、図２７に示すように、フォークリフト２０に、外部から信号が入力される入力部２１０が設けられている構成においては、更新条件は、入力部２１０に対して更新指示信号が入力されることでもよい。 In the third embodiment and the fourth embodiment, the update condition is that an update request operation has been performed on the remote operation device 50, but is not limited thereto.
For example, as shown in FIG. 27, in the configuration in which the forklift 20 is provided with an input unit 210 to which a signal is input from the outside, the update condition is that an update instruction signal is input to the input unit 210. But you can.
　詳細には、入力部２１０は閾値情報記憶部４４ａに接続されており、閾値情報記憶部４４ａは、入力部２１０を介して直接外部からアクセスできるようになっている。
　閾値情報記憶部４４ａに記憶されている閾値情報Ｄ１は、入力部２１０に接続可能な外部制御装置２２０を用いて更新される。詳細には、外部制御装置２２０は、閾値情報更新処理を実行するためのプログラムである閾値情報更新処理実行プログラム２２１を有している。外部制御装置２２０は、入力部２１０に接続されることにより、閾値情報記憶部４４ａにアクセス可能となる。外部制御装置２２０は、入力部２１０に接続された状態で、閾値情報更新処理実行プログラム２２１を読み出し、閾値情報更新処理を実行することにより、閾値情報Ｄ１を更新する。 Specifically, the input unit 210 is connected to the threshold information storage unit 44 a, and the threshold information storage unit 44 a can be directly accessed from the outside via the input unit 210.
The threshold information D1 stored in the threshold information storage unit 44a is updated using the external control device 220 that can be connected to the input unit 210. Specifically, the external control device 220 includes a threshold information update process execution program 221 that is a program for executing the threshold information update process. The external control device 220 can access the threshold information storage unit 44 a by being connected to the input unit 210. The external control device 220 reads the threshold information update process execution program 221 while being connected to the input unit 210, and updates the threshold information D1 by executing the threshold information update process.
　すなわち、閾値情報記憶部４４ａを有するフォークリフト２０としては、閾値情報Ｄ１が更新可能な状態となっていればよく、閾値情報Ｄ１を更新する処理を実行するためのプログラムを有していることは必須ではない。 That is, the forklift 20 having the threshold information storage unit 44a only needs to be in a state where the threshold information D1 can be updated, and it is essential to have a program for executing a process for updating the threshold information D1. is not.
　入力部２１０の具体的な構成は任意であるが、例えばコネクタやインターフェース等であってもよい。また、入力部２１０は、インターネット上にあるサーバ等と接続可能な機器等でもよい。つまり、閾値情報Ｄ１は、サーバ等から送信される更新指示信号に基づいて更新されてもよい。 The specific configuration of the input unit 210 is arbitrary, but may be, for example, a connector or an interface. The input unit 210 may be a device that can be connected to a server or the like on the Internet. That is, the threshold information D1 may be updated based on an update instruction signal transmitted from a server or the like.
　第４実施形態において、許可モード閾値ＲＳｔｈｂが禁止モード閾値ＲＳｔｈｄよりも高く設定されてもよい。
　第４実施形態において、初期モード閾値ＲＳｔｈａは、許可モード閾値ＲＳｔｈｂ又は禁止モード閾値ＲＳｔｈｄと同一でもよいし、許可モード閾値ＲＳｔｈｂ又は禁止モード閾値ＲＳｔｈｄよりも小さくてもよい。同様に、警告モード閾値ＲＳｔｈｃは、禁止モード閾値ＲＳｔｈｄと同一でもよいし、許可モード閾値ＲＳｔｈｂと禁止モード閾値ＲＳｔｈｄとの間の値であってもよい。 In the fourth embodiment, the permission mode threshold value RSthb may be set higher than the prohibition mode threshold value RSthd.
In the fourth embodiment, the initial mode threshold value RStha may be the same as the permitted mode threshold value RSthb or the prohibited mode threshold value RSthd, or may be smaller than the permitted mode threshold value RSthb or the prohibited mode threshold value RSthd. Similarly, the warning mode threshold value RSthc may be the same as the prohibition mode threshold value RSthd, or may be a value between the permission mode threshold value RSthb and the prohibition mode threshold value RSthd.
　更新指示処理を実行する制御主体は、リモートＣＰＵ５１に限られず任意であり、遠隔操作装置５０に専用の制御回路が別途設けられてもよい。同様に、閾値情報更新処理を実行する制御主体は、車両無線ＣＰＵ３６に限られず、車両ＣＰＵ２７でもよいし、専用の回路を別途設けてもよい。 The control subject that executes the update instruction process is not limited to the remote CPU 51, and may be arbitrary, and a dedicated control circuit may be separately provided in the remote operation device 50. Similarly, the control entity that executes the threshold information update process is not limited to the vehicle wireless CPU 36, but may be the vehicle CPU 27, or a dedicated circuit may be provided separately.
　上記各実施形態及び別例を適宜組み合わせてもよい。例えば、第３実施形態と第４実施形態とを組み合わせてもよい。詳細には、閾値情報記憶部４４ａには、各モード閾値ＲＳｔｈａ～ＲＳｔｈｄとシフト量との双方が設定された閾値情報が記憶されてもよい。この場合、車両無線ＣＰＵ３６は、遠隔操作モードに対応したモード閾値に対してシフト量を加算した値を閾値強度ＲＳｔｈに設定し、閾値強度ＲＳｔｈを用いて可否判定を行ってもよい。例えば、現在の遠隔操作モードが許可モードである場合には、車両無線ＣＰＵ３６は閾値情報を参照して許可モード閾値ＲＳｔｈｂ及びシフト量を読み出し、許可モード閾値ＲＳｔｈｂに対してシフト量を加算した値を閾値強度ＲＳｔｈとして設定してもよい。シフト量は負の値も含む。 The above embodiments and other examples may be combined as appropriate. For example, the third embodiment and the fourth embodiment may be combined. Specifically, threshold information in which both the mode thresholds RStha to RSthd and the shift amount are set may be stored in the threshold information storage unit 44a. In this case, the vehicle radio CPU 36 may set a value obtained by adding the shift amount to the mode threshold value corresponding to the remote operation mode as the threshold strength RSth, and determine whether the threshold strength RSth is used. For example, when the current remote operation mode is the permission mode, the vehicle wireless CPU 36 reads the permission mode threshold value RSthb and the shift amount with reference to the threshold information, and sets a value obtained by adding the shift amount to the permission mode threshold value RSthb. The threshold intensity RSth may be set. The shift amount includes a negative value.
　そして、産業車両用遠隔操作システム１０は、各モード閾値ＲＳｔｈａ～ＲＳｔｈｄとシフト量とを更新可能に構成されているとよい。例えば、リモートＣＰＵ５１は、更新用画面Ｇ２にシフト量及びシフト量に対応する変更アイコンを表示させ、変更アイコンが操作された場合には更新対象としてシフト量が設定された更新指示信号を送信するとよい。そして、車両無線ＣＰＵ３６は、更新指示信号を受信したことに基づいて、閾値情報に記憶されているシフト量を更新するとよい。これにより、各モード閾値ＲＳｔｈａ～ＲＳｔｈｄの相対的な関係は維持しつつ、フォークリフト２０の設置環境に起因する受信電波強度ＲＳの減衰曲線の上下のシフトに対応できる。 The industrial vehicle remote control system 10 may be configured to be able to update the mode threshold values RStha to RSthd and the shift amount. For example, the remote CPU 51 may display the shift amount and the change icon corresponding to the shift amount on the update screen G2, and when the change icon is operated, the remote CPU 51 may transmit an update instruction signal in which the shift amount is set as an update target. . Then, the vehicle radio CPU 36 may update the shift amount stored in the threshold information based on the reception of the update instruction signal. As a result, it is possible to cope with the vertical shift of the attenuation curve of the received radio wave intensity RS caused by the installation environment of the forklift 20 while maintaining the relative relationship between the mode threshold values RStha to RSthd.
　可否判定において両判定期間Ｔ１，Ｔ２を設定することは必須ではない。すなわち、産業車両用遠隔操作システム１０（換言すれば遠隔操作装置５０又はフォークリフト２０）は、受信電波強度ＲＳと閾値強度ＲＳｔｈとの１回の比較結果に基づいて、フォークリフト２０が許可範囲Ａ１内又は禁止範囲Ａ２内のいずれに配置されているかを判定してもよい。 It is not essential to set both determination periods T1 and T2 in the determination of availability. That is, the industrial vehicle remote control system 10 (in other words, the remote control device 50 or the forklift 20) is configured so that the forklift 20 is within the permitted range A1 based on the result of one comparison between the received radio wave intensity RS and the threshold intensity RSth. It may be determined in which of the prohibited areas A2 is disposed.
　また、産業車両用遠隔操作システム１０は、受信電波強度ＲＳに代えて、遠隔操作装置５０及びフォークリフト２０間の距離を検出する距離センサの検出結果等に基づいて、可否判定を行ってもよい。 Further, the industrial vehicle remote control system 10 may determine whether or not it is possible based on the detection result of a distance sensor that detects the distance between the remote control device 50 and the forklift 20 instead of the received radio wave intensity RS.
　「産業車両用遠隔操作システム」の技術的思想は、「産業車両」、「遠隔操作装置」、「産業車両用遠隔操作プログラム」及び「産業車両用遠隔操作方法」に適用してもよい。 The technical idea of “industrial vehicle remote control system” may be applied to “industrial vehicle”, “remote control device”, “industrial vehicle remote control program” and “industrial vehicle remote control method”.

Claims (27)

  1. 　車両通信部を有する産業車両と、
    　前記車両通信部と無線通信を行う操作装置通信部を有し、前記産業車両を遠隔操作するのに用いられる遠隔操作装置と
    　を備えた産業車両用遠隔操作システムであって、
    　前記車両通信部と前記操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握部と、
    　前記把握部によって把握された前記受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可される許可範囲内に前記産業車両が配置されていると判定する一方、
    　前記把握部によって把握された前記受信電波強度が前記第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、前記許可範囲よりも前記遠隔操作装置から離れた禁止範囲内に前記産業車両が配置されていると判定する可否判定を実行する可否判定部と
    　を備え、
    　前記禁止範囲は、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止される範囲である、産業車両用遠隔操作システム。     An industrial vehicle having a vehicle communication unit;
    An industrial vehicle remote control system comprising: an operating device communication unit that performs wireless communication with the vehicle communication unit; and a remote control device that is used to remotely control the industrial vehicle,
    A grasping unit for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the operating device communication unit;
    When the state in which the received radio wave intensity grasped by the grasping unit is equal to or higher than a predetermined first threshold intensity is continued for a predetermined first determination period, the industry by the remote operation device While determining that the industrial vehicle is disposed within a permitted range in which remote control related to vehicle travel is permitted,
    When the state where the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity is continued for a predetermined second determination period, A determination unit for determining whether or not the industrial vehicle is disposed within a prohibited range farther from the remote control device than a permitted range; and
    The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed. Remote control system for vehicles.
  2. 　前記把握部は、前記受信電波強度を予め定められた特定周期で定期的に把握し、
    　前記可否判定部は、前記把握部によって前記受信電波強度が把握される度に、前記把握部によって把握された前記受信電波強度と、前記第１閾値強度及び前記第２閾値強度とを比較する比較部を備え、
    　前記第１判定期間及び前記第２判定期間は、前記特定周期の２倍以上に設定されている、請求項１に記載の産業車両用遠隔操作システム。     The grasping unit periodically grasps the received radio wave intensity at a predetermined specific period,
    The availability determination unit compares the received radio wave strength grasped by the grasping unit with the first threshold strength and the second threshold strength every time the received radio wave strength is grasped by the grasping unit. Part
    The industrial vehicle remote control system according to claim 1, wherein the first determination period and the second determination period are set to be twice or more of the specific period.
  3. 　前記操作装置通信部は、前記信号として遠隔操作に関する遠隔操作信号を、前記車両通信部に向けて前記特定周期で送信し、
    　前記把握部は、前記産業車両に設けられると共に、前記車両通信部にて受信された前記遠隔操作信号の受信電波強度を把握する、請求項２に記載の産業車両用遠隔操作システム。     The operation device communication unit transmits a remote operation signal related to a remote operation as the signal to the vehicle communication unit at the specific period,
    The industrial vehicle remote control system according to claim 2, wherein the grasping unit is provided in the industrial vehicle and grasps a received radio wave intensity of the remote operation signal received by the vehicle communication unit.
  4. 　前記操作装置通信部は、前記信号として遠隔操作に関する遠隔操作信号を、前記車両通信部に向けて前記特定周期で送信し、
    　前記車両通信部は、前記遠隔操作信号を受信したことに基づいて、返信信号を前記操作装置通信部に向けて送信し、
    　前記把握部は、前記遠隔操作装置に設けられると共に、前記操作装置通信部にて受信された前記返信信号の受信電波強度を把握する、請求項２に記載の産業車両用遠隔操作システム。     The operation device communication unit transmits a remote operation signal related to a remote operation as the signal to the vehicle communication unit at the specific period,
    The vehicle communication unit transmits a reply signal to the operation device communication unit based on receiving the remote operation signal,
    The industrial vehicle remote control system according to claim 2, wherein the grasping unit is provided in the remote operation device and grasps the received radio wave intensity of the reply signal received by the operation device communication unit.
  5. 　前記操作装置通信部は、前記可否判定によって前記産業車両が前記禁止範囲内に配置されていると判定された後であっても、前記遠隔操作信号を、前記車両通信部に向けて定期的に送信する、請求項３又は４に記載の産業車両用遠隔操作システム。 The operation device communication unit periodically sends the remote operation signal to the vehicle communication unit even after the availability determination determines that the industrial vehicle is disposed within the prohibited range. The remote control system for industrial vehicles according to claim 3 or 4, wherein the transmission is performed.
  6. 　前記車両通信部は、第１アンテナ及び第２アンテナを有し、
    　前記産業車両は、前記第１アンテナ又は前記第２アンテナのいずれかを選択するアンテナ選択部を備え、
    　前記車両通信部は、前記アンテナ選択部によって選択された選択アンテナを用いて、前記信号の送受信を行い、
    　前記把握部は、前記選択アンテナで受信された前記信号の受信電波強度を把握し、
    　前記アンテナ選択部は、前記可否判定中に、前記把握部によって把握された前記受信電波強度が前記第２閾値強度未満となった場合には、前記選択アンテナを切り替える、請求項１～５のうちいずれか一項に記載の産業車両用遠隔操作システム。     The vehicle communication unit has a first antenna and a second antenna,
    The industrial vehicle includes an antenna selection unit that selects either the first antenna or the second antenna,
    The vehicle communication unit transmits and receives the signal using the selected antenna selected by the antenna selection unit,
    The grasping unit grasps the received radio field intensity of the signal received by the selected antenna;
    The antenna selection unit switches the selection antenna when the received radio wave strength grasped by the grasping unit becomes less than the second threshold strength during the determination of availability. The remote control system for industrial vehicles as described in any one of Claims.
  7. 　前記可否判定中に前記選択アンテナの切り替えが予め定められた規定回数だけ行われた場合には、前記可否判定が終了するまでは、前記選択アンテナの切り替えを禁止する切替禁止部を備えている、請求項６に記載の産業車両用遠隔操作システム。 When switching of the selected antenna is performed a predetermined number of times during the determination of availability, a switching prohibiting unit is provided to prohibit switching of the selected antenna until the determination of availability is completed. The remote control system for industrial vehicles according to claim 6.
  8. 　前記産業車両は、運転席と前記運転席を上方から覆う屋根とを有するフォークリフトであり、
    　前記第１アンテナ及び前記第２アンテナは、前記屋根に離間させて配置されている、請求項６又は７に記載の産業車両用遠隔操作システム。     The industrial vehicle is a forklift having a driver's seat and a roof that covers the driver's seat from above,
    The remote control system for an industrial vehicle according to claim 6 or 7, wherein the first antenna and the second antenna are disposed apart from the roof.
  9. 　前記遠隔操作装置による前記産業車両の走行に関する遠隔操作モードには、
    　前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可されている許可モード及び猶予モードと、
    　前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止されている禁止モードとが含まれ、
    　前記産業車両用遠隔操作システムは、
    　前記遠隔操作モードが前記許可モードである状況下で前記可否判定によって前記産業車両が前記禁止範囲内に配置されていると判定されたことに基づいて、前記遠隔操作モードを、前記許可モードから前記猶予モードに移行させる遠隔操作モード制御部を備え、
    　前記遠隔操作モード制御部は、
    　前記遠隔操作モードが前記猶予モードである状況下で予め定められた禁止モード移行条件が成立したことに基づいて、前記遠隔操作モードを、前記猶予モードから前記禁止モードに移行させる一方、前記遠隔操作モードが前記猶予モードである状況下で予め定められた許可モード移行条件が成立したことに基づいて、前記遠隔操作モードを、前記猶予モードから前記許可モードに移行させる、請求項１～８のうちいずれか一項に記載の産業車両用遠隔操作システム。     In the remote operation mode related to the traveling of the industrial vehicle by the remote operation device,
    A permission mode and a grace mode in which a remote operation related to traveling of the industrial vehicle by the remote control device is permitted;
    Including a prohibition mode in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed,
    The industrial vehicle remote control system comprises:
    The remote operation mode is changed from the permission mode based on the fact that the industrial vehicle is determined to be disposed within the prohibited range by the availability determination under the situation where the remote operation mode is the permission mode. A remote operation mode control unit for shifting to the grace mode is provided.
    The remote operation mode controller is
    The remote operation mode is shifted from the grace mode to the prohibit mode based on the fact that a predetermined prohibition mode transition condition is satisfied under the situation where the remote operation mode is the grace mode. The remote operation mode is shifted from the grace mode to the permission mode based on a predetermined permission mode transition condition established under a situation where the mode is the grace mode. The remote control system for industrial vehicles as described in any one of Claims.
  10. 　前記可否判定部は、前記遠隔操作モードが前記猶予モードである状況下で前記可否判定を少なくとも１回は実行し、
    　前記許可モード移行条件は、前記遠隔操作モードが前記猶予モードである状況下での前記可否判定によって前記産業車両が前記許可範囲内に配置されていると判定されることを含む、請求項９に記載の産業車両用遠隔操作システム。     The availability determination unit performs the availability determination at least once under a situation where the remote operation mode is the grace mode,
    The permission mode transition condition includes that the industrial vehicle is determined to be disposed within the permission range by the determination of whether or not the remote operation mode is the grace mode. The described remote control system for industrial vehicles.
  11. 　前記禁止モード移行条件は、前記遠隔操作モードが前記許可モードから前記猶予モードに移行してから、前記許可モード移行条件が成立することなく、前記第１判定期間及び前記第２判定期間よりも長い猶予期間が経過したことを含む、請求項１０に記載の産業車両用遠隔操作システム。 The prohibition mode transition condition is longer than the first determination period and the second determination period without the permission mode transition condition being satisfied after the remote operation mode transitions from the permission mode to the grace mode. The remote control system for an industrial vehicle according to claim 10, including that a grace period has elapsed.
  12. 　前記遠隔操作装置は、現在の前記遠隔操作モードを報知する報知部を備えている、請求項９～１１のうちいずれか一項に記載の産業車両用遠隔操作システム。 The industrial vehicle remote control system according to any one of claims 9 to 11, wherein the remote control device includes a notification unit that notifies the current remote control mode.
  13. 　前記可否判定部は、前記遠隔操作モードが前記許可モード、前記猶予モード及び前記禁止モードのいずれの場合にも前記可否判定を行い、
    　前記産業車両用遠隔操作システムは、前記遠隔操作モードに応じて、前記可否判定に用いられる前記第１閾値強度及び前記第２閾値強度を変更する変更部を備えている、請求項９～１２のうちいずれか一項に記載の産業車両用遠隔操作システム。     The availability determination unit performs the availability determination when the remote operation mode is any of the permission mode, the grace mode, and the prohibit mode.
    13. The industrial vehicle remote control system includes a changing unit that changes the first threshold strength and the second threshold strength used for the availability determination according to the remote control mode. The remote control system for industrial vehicles as described in any one of them.
  14. 　前記遠隔操作モード制御部は、前記遠隔操作モードが前記禁止モードである状況下での前記可否判定によって前記産業車両が前記許可範囲内に配置されていると判定されたことに基づいて、前記遠隔操作モードを前記禁止モードから前記許可モードに移行させ、
    　前記変更部は、前記禁止モード中の前記可否判定に用いられる前記第１閾値強度及び前記第２閾値強度を、前記許可モード中の前記可否判定に用いられる前記第１閾値強度及び前記第２閾値強度よりも高くする、請求項１３に記載の産業車両用遠隔操作システム。     The remote operation mode control unit is configured to determine that the industrial vehicle is located within the permitted range by determining whether the remote operation mode is the prohibit mode or not. The operation mode is shifted from the prohibit mode to the permit mode,
    The changing unit uses the first threshold strength and the second threshold strength used for the availability determination during the prohibit mode as the first threshold strength and the second threshold used for the availability determination during the permission mode. 14. The industrial vehicle remote control system according to claim 13, wherein the remote control system is higher than the strength.
  15. 　前記変更部は、前記猶予モード中の前記可否判定に用いられる前記第１閾値強度及び前記第２閾値強度を、前記許可モード中の前記可否判定に用いられる前記第１閾値強度及び前記第２閾値強度に維持する、請求項１３又は１４に記載の産業車両用遠隔操作システム。 The changing unit uses the first threshold strength and the second threshold strength used for the availability determination during the grace mode as the first threshold strength and the second threshold used for the availability determination during the permission mode. The remote control system for industrial vehicles according to claim 13 or 14, wherein the system is maintained at a high strength.
  16. 　前記第１閾値強度及び前記第２閾値強度に関する閾値情報が記憶された記憶部を備え、
    　前記可否判定部は、前記記憶部に記憶された前記閾値情報を読み出し、前記閾値情報に設定されている前記第１閾値強度及び前記第２閾値強度に基づいて前記可否判定を行い、
    　前記閾値情報は、予め定められた更新条件が成立した場合には更新される、請求項１～１５のうちいずれか一項に記載の産業車両用遠隔操作システム。     A storage unit storing threshold information related to the first threshold intensity and the second threshold intensity;
    The availability determination unit reads the threshold information stored in the storage unit, performs the availability determination based on the first threshold strength and the second threshold strength set in the threshold information,
    The industrial vehicle remote control system according to any one of claims 1 to 15, wherein the threshold information is updated when a predetermined update condition is satisfied.
  17. 　前記記憶部は、前記産業車両に設けられ、
    　前記更新条件は、前記遠隔操作装置に対して予め定められた更新要求操作が行われることであり、
    　前記遠隔操作装置は、前記更新要求操作が行われたことに基づいて、前記操作装置通信部を用いて、前記閾値情報の更新を指示する更新指示信号を前記車両通信部に向けて送信する更新指示処理を実行する更新指示処理実行部を備え、
    　前記産業車両は、前記車両通信部によって前記更新指示信号が受信されたことに基づいて、前記閾値情報を更新する閾値情報更新処理を実行する閾値情報更新処理実行部を備えている、請求項１６に記載の産業車両用遠隔操作システム。     The storage unit is provided in the industrial vehicle,
    The update condition is that a predetermined update request operation is performed on the remote control device,
    Based on the update request operation being performed, the remote operation device uses the operation device communication unit to transmit an update instruction signal instructing the threshold information to be updated to the vehicle communication unit. An update instruction processing execution unit for executing instruction processing is provided,
    The industrial vehicle includes a threshold information update process execution unit that executes a threshold information update process for updating the threshold information based on reception of the update instruction signal by the vehicle communication unit. The remote control system for industrial vehicles described in 1.
  18. 　前記許可範囲は、前記車両通信部と前記操作装置通信部との無線通信が可能な通信範囲よりも狭い範囲である、請求項１～１７のうちいずれか一項に記載の産業車両用遠隔操作システム。 The industrial vehicle remote control according to any one of claims 1 to 17, wherein the permission range is a range narrower than a communication range in which wireless communication between the vehicle communication unit and the controller device communication unit is possible. system.
  19. 　前記車両通信部と前記操作装置通信部との無線通信方式は、Ｗｉ－Ｆｉであり、
    　前記遠隔操作装置は、携帯電話、スマートフォン、タブレット端末、又はヴァーチャルリアリティ端末である、請求項１８に記載の産業車両用遠隔操作システム。     The wireless communication method between the vehicle communication unit and the operation device communication unit is Wi-Fi,
    The remote control system for industrial vehicles according to claim 18, wherein the remote control device is a mobile phone, a smartphone, a tablet terminal, or a virtual reality terminal.
  20. 　操作装置通信部を有する遠隔操作装置によって遠隔操作される産業車両であって、
    　前記操作装置通信部と無線通信を行う車両通信部と、
    　前記車両通信部にて受信される信号の受信電波強度を把握する把握部と、
    　前記把握部によって把握された前記受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可される許可範囲内に前記産業車両が配置されていると判定する一方、
    　前記把握部によって把握された前記受信電波強度が前記第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、前記許可範囲よりも前記遠隔操作装置から離れた禁止範囲内に前記産業車両が配置されていると判定する可否判定を実行する可否判定部と
    　を備え、
    　前記禁止範囲は、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止される範囲である、産業車両。     An industrial vehicle remotely operated by a remote operation device having an operation device communication unit,
    A vehicle communication unit that performs wireless communication with the controller device communication unit;
    A grasping unit for grasping a received radio wave intensity of a signal received by the vehicle communication unit;
    When the state in which the received radio wave intensity grasped by the grasping unit is equal to or higher than a predetermined first threshold intensity is continued for a predetermined first determination period, the industry by the remote operation device While determining that the industrial vehicle is disposed within a permitted range in which remote control related to vehicle travel is permitted,
    When the state where the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity is continued for a predetermined second determination period, A determination unit for determining whether or not the industrial vehicle is disposed within a prohibited range farther from the remote control device than a permitted range; and
    The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed. vehicle.
  21. 　車両通信部を有する産業車両を遠隔操作するのに用いられる遠隔操作装置であって、
    　前記車両通信部と無線通信を行う操作装置通信部と、
    　前記操作装置通信部にて受信される信号の受信電波強度を把握する把握部と、
    　前記把握部によって把握された前記受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可される許可範囲内に前記産業車両が配置されていると判定する一方、
    　前記把握部によって把握された前記受信電波強度が前記第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、前記許可範囲よりも前記遠隔操作装置から離れた禁止範囲内に前記産業車両が配置されていると判定する可否判定を実行する可否判定部と
    　を備え、
    　前記禁止範囲は、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止される範囲である、遠隔操作装置。     A remote control device used to remotely control an industrial vehicle having a vehicle communication unit,
    An operating device communication unit for performing wireless communication with the vehicle communication unit;
    A grasping unit for grasping a received radio wave intensity of a signal received by the operation device communication unit;
    When the state in which the received radio wave intensity grasped by the grasping unit is equal to or higher than a predetermined first threshold intensity is continued for a predetermined first determination period, the industry by the remote operation device While determining that the industrial vehicle is disposed within a permitted range in which remote control related to vehicle travel is permitted,
    When the state where the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity is continued for a predetermined second determination period, A determination unit for determining whether or not the industrial vehicle is disposed within a prohibited range farther from the remote control device than a permitted range; and
    The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed. Operating device.
  22. 　車両通信部を備えた産業車両を、前記車両通信部と無線通信を行う操作装置通信部を備えた遠隔操作装置を用いて遠隔操作するための産業車両用遠隔操作プログラムであって、
    　前記産業車両又は前記遠隔操作装置を、
    　前記車両通信部と前記操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握部と、
    　前記把握部によって把握された前記受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可される許可範囲内に前記産業車両が配置されていると判定する一方、
    　前記把握部によって把握された前記受信電波強度が前記第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、前記許可範囲よりも前記遠隔操作装置から離れた禁止範囲内に前記産業車両が配置されていると判定する可否判定を実行する可否判定部として機能させ、
    　前記禁止範囲は、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止される範囲である、産業車両用遠隔操作プログラム。     An industrial vehicle remote operation program for remotely operating an industrial vehicle including a vehicle communication unit using a remote operation device including an operation device communication unit that performs wireless communication with the vehicle communication unit,
    The industrial vehicle or the remote control device;
    A grasping unit for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the operating device communication unit;
    When the state in which the received radio wave intensity grasped by the grasping unit is equal to or higher than a predetermined first threshold intensity is continued for a predetermined first determination period, the industry by the remote operation device While determining that the industrial vehicle is disposed within a permitted range in which remote control related to vehicle travel is permitted,
    When the state where the received radio wave intensity grasped by the grasping unit is less than the second threshold intensity set to be equal to or less than the first threshold intensity is continued for a predetermined second determination period, Function as a determination unit for determining whether or not the industrial vehicle is disposed within a prohibited range farther away from the remote control device than a permitted range;
    The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed. Remote control program for vehicles.
  23. 　車両通信部を備えた産業車両を、前記車両通信部と無線通信を行う操作装置通信部を備えた遠隔操作装置を用いて遠隔操作する産業車両用遠隔操作方法であって、
    　前記車両通信部と前記操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握ステップと、
    　前記把握ステップによって把握された前記受信電波強度が予め定められた第１閾値強度以上である状態が、予め定められた第１判定期間に亘って継続された場合に、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可される許可範囲内に前記産業車両が配置されていると判定する一方、
    　前記把握ステップによって把握された前記受信電波強度が前記第１閾値強度以下に設定された第２閾値強度未満である状態が、予め定められた第２判定期間に亘って継続された場合に、前記許可範囲よりも前記遠隔操作装置から離れた禁止範囲内に前記産業車両が配置されていると判定する可否判定を実行する可否判定ステップと
    　を備え、
    　前記禁止範囲は、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止される範囲である、産業車両用遠隔操作方法。     An industrial vehicle remote operation method for remotely operating an industrial vehicle including a vehicle communication unit using a remote operation device including an operation device communication unit that performs wireless communication with the vehicle communication unit,
    A grasping step for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the controller device communication unit;
    When the state in which the received radio wave intensity grasped by the grasping step is equal to or higher than a predetermined first threshold intensity is continued for a predetermined first determination period, the industry by the remote control device While determining that the industrial vehicle is disposed within a permitted range in which remote control related to vehicle travel is permitted,
    When the state in which the received radio wave intensity grasped by the grasping step is less than the second threshold intensity set to be equal to or less than the first threshold intensity is continued for a predetermined second determination period, An availability determination step for determining whether or not the industrial vehicle is disposed within a prohibited range farther away from the remote control device than an allowed range; and
    The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed. Remote operation method for vehicles.
  24. 　車両通信部を有する産業車両と、
    　前記車両通信部と無線通信を行う操作装置通信部を有し、前記産業車両を遠隔操作するのに用いられる遠隔操作装置と
    　を備えた産業車両用遠隔操作システムであって、
    　前記遠隔操作装置による前記産業車両の走行に関する遠隔操作モードには、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可されている許可モード及び猶予モードと、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止されている禁止モードとが含まれ、
    　前記産業車両用遠隔操作システムは、
    　前記車両通信部と前記操作装置通信部との距離に関する物理量を把握する把握部と、
    　前記把握部によって把握された前記物理量に基づいて、前記産業車両が第１範囲内又は前記第１範囲よりも前記遠隔操作装置から離れた第２範囲内のいずれに配置されているのかを判定する可否判定を実行する可否判定部と、
    　前記遠隔操作モードが前記許可モードである状況下での前記可否判定によって前記産業車両が前記第２範囲内に配置されていると判定されたことに基づいて、前記遠隔操作モードを、前記許可モードから前記猶予モードに移行させる遠隔操作モード制御部と、
    　前記遠隔操作モードを報知する報知部と
    　を備え、
    　前記遠隔操作モード制御部は、前記遠隔操作モードが前記猶予モードである状況下で予め定められた許可モード移行条件が成立したことに基づいて、前記遠隔操作モードを、前記猶予モードから前記許可モードに移行させる一方、前記遠隔操作モードが前記許可モードから前記猶予モードに移行してから、前記許可モード移行条件が成立することなく、予め定められた猶予期間が経過したことに基づいて、前記遠隔操作モードを、前記猶予モードから前記禁止モードに移行させる、産業車両用遠隔操作システム。     An industrial vehicle having a vehicle communication unit;
    An industrial vehicle remote control system comprising: an operating device communication unit that performs wireless communication with the vehicle communication unit; and a remote control device that is used to remotely control the industrial vehicle,
    The remote operation mode relating to the traveling of the industrial vehicle by the remote operation device includes a permission mode and a grace mode in which a remote operation relating to the traveling of the industrial vehicle by the remote operation device is permitted, the vehicle communication unit, and the operation device. Including a prohibit mode in which remote operation related to traveling of the industrial vehicle by the remote control device is prohibited even under a situation where wireless communication with a communication unit is performed,
    The industrial vehicle remote control system comprises:
    A grasping unit for grasping a physical quantity related to a distance between the vehicle communication unit and the operation device communication unit;
    Based on the physical quantity grasped by the grasping unit, it is determined whether the industrial vehicle is arranged in the first range or in the second range farther from the remote control device than the first range. An availability determination unit for executing the availability determination;
    The remote operation mode is changed to the permission mode based on the fact that the industrial vehicle is determined to be disposed in the second range by the determination of availability in the situation where the remote operation mode is the permission mode. A remote operation mode control unit to shift to the grace mode from,
    An informing unit for informing the remote operation mode,
    The remote operation mode control unit changes the remote operation mode from the grace mode to the permission mode based on the fact that a predetermined permission mode transition condition is satisfied under the situation where the remote operation mode is the grace mode. On the other hand, based on the fact that the predetermined grace period has elapsed without the permission mode transition condition being satisfied after the remote operation mode has transitioned from the permission mode to the grace mode. An industrial vehicle remote control system for shifting an operation mode from the grace mode to the prohibit mode.
  25. 　前記可否判定部は、前記可否判定では、前記把握部によって把握された前記物理量と予め定められた閾値との比較に基づいて、前記産業車両が第１範囲内又は前記第２範囲内のいずれに配置されているのかを判定し、
    　前記産業車両用遠隔操作システムは、前記遠隔操作モードに応じて前記閾値を変更する変更部を備えている、請求項２４に記載の産業車両用遠隔操作システム。     In the availability determination unit, the availability determination unit determines whether the industrial vehicle is within the first range or the second range based on a comparison between the physical quantity grasped by the grasping unit and a predetermined threshold value. Determine if it is placed,
    25. The industrial vehicle remote control system according to claim 24, wherein the industrial vehicle remote control system includes a changing unit that changes the threshold value according to the remote control mode.
  26. 　車両通信部を有する産業車両と、
    　前記車両通信部と無線通信を行う操作装置通信部を有し、前記産業車両を遠隔操作するのに用いられる遠隔操作装置と
    　を備えた産業車両用遠隔操作システムであって、
    　前記車両通信部と前記操作装置通信部との間で無線通信される信号の受信電波強度を把握する把握部と、
    　前記受信電波強度の閾値である閾値強度に関する閾値情報が記憶された記憶部と、
    　前記把握部によって把握された前記受信電波強度と、前記閾値情報に設定されている前記閾値強度との比較に基づいて、前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が許可される許可範囲内又は前記許可範囲よりも前記遠隔操作装置から離れた禁止範囲内のいずれに前記産業車両が配置されているのかを判定する可否判定を実行する可否判定部と
    　を備え、
    　前記禁止範囲は、前記車両通信部と前記操作装置通信部との無線通信が行われる状況下であっても前記遠隔操作装置による前記産業車両の走行に関する遠隔操作が禁止される範囲であり、
    　前記閾値情報は、予め定められた更新条件が成立した場合には更新される、産業車両用遠隔操作システム。     An industrial vehicle having a vehicle communication unit;
    An industrial vehicle remote control system comprising: an operating device communication unit that performs wireless communication with the vehicle communication unit; and a remote control device that is used to remotely control the industrial vehicle,
    A grasping unit for grasping a received radio wave intensity of a signal wirelessly communicated between the vehicle communication unit and the operating device communication unit;
    A storage unit that stores threshold information on threshold intensity that is a threshold of the received radio wave intensity;
    Permitted range in which remote operation related to traveling of the industrial vehicle by the remote operation device is permitted based on a comparison between the received radio wave intensity grasped by the grasping unit and the threshold intensity set in the threshold information. A determination unit for determining whether to determine whether the industrial vehicle is located in a prohibited range farther away from the remote control device than in the permitted range, and
    The prohibited range is a range in which remote operation related to traveling of the industrial vehicle by the remote operation device is prohibited even under a situation where wireless communication between the vehicle communication unit and the operation device communication unit is performed,
    The threshold information is an industrial vehicle remote control system that is updated when a predetermined update condition is satisfied.
  27. 　外部から信号が入力される入力部を備え、
    　前記更新条件は、前記入力部から前記閾値情報の更新指示信号が入力された場合である、請求項２６に記載の産業車両用遠隔操作システム。     It has an input unit that inputs signals from outside,
    27. The remote operation system for an industrial vehicle according to claim 26, wherein the update condition is a case where an update instruction signal for the threshold information is input from the input unit.
PCT/JP2018/001843 2017-02-02 2018-01-23 Remote control system for industrial vehicles, industrial vehicle, remote control device, remote control program for industrial vehicles, and remote control method for industrial vehicles WO2018142992A1 (en)

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