WO2019082701A1 - Système de commande à distance de véhicule industriel, dispositif de commande à distance, programme de commande à distance de véhicule industriel, procédé de commande à distance de véhicule industriel, et véhicule industriel - Google Patents

Système de commande à distance de véhicule industriel, dispositif de commande à distance, programme de commande à distance de véhicule industriel, procédé de commande à distance de véhicule industriel, et véhicule industriel

Info

Publication number
WO2019082701A1
WO2019082701A1 PCT/JP2018/038173 JP2018038173W WO2019082701A1 WO 2019082701 A1 WO2019082701 A1 WO 2019082701A1 JP 2018038173 W JP2018038173 W JP 2018038173W WO 2019082701 A1 WO2019082701 A1 WO 2019082701A1
Authority
WO
WIPO (PCT)
Prior art keywords
remote control
remote
mode
industrial vehicle
continuous
Prior art date
Application number
PCT/JP2018/038173
Other languages
English (en)
Japanese (ja)
Inventor
小野琢磨
岡本浩伸
比嘉孝治
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.)
Filing date
Publication date
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
Publication of WO2019082701A1 publication Critical patent/WO2019082701A1/fr

Links

Images

Classifications

    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • 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

Definitions

  • the present invention relates to an industrial vehicle remote control system, a remote control device, an industrial vehicle remote control program, an industrial vehicle remote control method, and an industrial vehicle.
  • Patent Document 1 describes that a remote control device as a remote control device for remotely operating a forklift as an industrial vehicle remotely controls cargo handling work of the forklift from a position away from the forklift.
  • the operator does not have to be on the industrial vehicle, and therefore the degree of freedom of the operator's behavior is high. For this reason, there is an inappropriate situation in which, for example, the operator starts remote control while performing other work, or while the remote control is performed, the operator releases the hand from the remote control device to perform work other than remote control. It can occur. If remote control is performed under such an inappropriate situation, a malfunction of the industrial vehicle is likely to occur, and there is a concern that safety may be reduced.
  • the present invention has been made in view of the above-described circumstances, and an object thereof is a remote control system for industrial vehicles, a remote control apparatus, a remote control program for industrial vehicles, and a remote control for industrial vehicles, which can improve safety.
  • An operating method and an industrial vehicle are provided.
  • An industrial vehicle remote control system for achieving the above object includes an industrial vehicle having a vehicle communication unit, and a remote communication unit performing wireless communication with the vehicle communication unit, and the remote control used to remotely control the industrial vehicle And a remote control unit for controlling remote control of the industrial vehicle using the remote control device, wherein the remote control device includes a touch panel and a touch sensor for detecting an input operation on the touch panel.
  • An operation grasping unit wherein the operation grasping unit is an operation serving as a start condition of the remote operation, the start operation grasping unit grasping the presence or absence of the first start operation and the second start operation different from each other;
  • the first continuation operation continued from the first start operation when the remote operation is started and the second start when the remote operation is started
  • the remote operation control unit, the remote operation control unit determines whether the first start operation and the second start operation are both performed by the start operation recognition unit. Based on the fact that it is grasped that it is being performed, the remote control of the industrial vehicle using the remote control device is started, and both the first continuous operation and the second continuous operation are performed by the continuous operation grasping unit.
  • the remote control of the industrial vehicle using the remote control device is continued, and at least one of the first continuous operation and the second continuous operation is performed by the continuous operation grasping unit. And stopping the remote control of the industrial vehicle using the remote control device based on the fact that the first start operation is performed on the specific area of the touch panel.
  • An input operation to the inner, the first continuous operation is characterized by an input operation to the touch panel is continued from the input operation for the specific region at which the remote operation is started.
  • the input operation is performed to the specific area using, for example, a finger or the like.
  • a finger or the like there is a need to do. While the input operation to such a specific area is relatively easy because it is an operation of a finger, it requires appropriate attention. This makes it possible to start remote control with a simple operation while alerting the operator accordingly.
  • the remote control device includes a display control unit that causes the touch panel to display an operation image having a plurality of areas, the plurality of areas being a first area as the specific area And a second area provided at a position different from the first area, wherein the first start operation is an input operation to the inside of the first area, and the first continuous operation starts a remote operation. And the second start operation is an input operation to the second area, and the second continuation operation is a remote operation to the touch panel. It is preferable that the input operation to the touch panel continues from the input operation to the second area when the key is started.
  • the remote control control unit is configured to determine whether the first continuous operation and the second continuous operation are both performed by the continuous operation determining unit. It is preferable that the industrial vehicle be operated remotely based on the operation mode of the first continuous operation, not the operation mode of the second continuous operation.
  • the operation mode of the first continuous operation affects the remote control of the industrial vehicle, while the operation mode of the second continuous operation does not affect the remote control of the industrial vehicle.
  • the operator may concentrate on the operation mode of the first continuous operation, and the operation can be facilitated. Therefore, the erroneous operation of the industrial vehicle can be suppressed.
  • the remote control control unit is configured to perform remote control if it is determined that the first continuous operation and the second continuous operation are being performed by the continuous operation grasping unit.
  • the remote control mode of the industrial vehicle is controlled based on the relative position between the position at which the first start operation is performed and the position at which the first continuous operation is performed when the operation is started. It is good.
  • the industrial vehicle it is possible to cause the industrial vehicle to perform a desired operation by performing a slide operation on the touch panel using a finger or the like.
  • the operation mode of the first continuous operation a relative position between the position at which the first start operation is performed when remote operation is started and the position at which the first continuous operation is performed is adopted. While the remote control mode is controlled according to the above, the absolute value itself of both positions is unlikely to affect the remote control mode. Thereby, the degree of freedom of operation can be enhanced, and operability can be improved.
  • the first continuous operation is an input operation to the touch panel continued from the first start operation when remote operation is started regardless of inside or outside of the first area.
  • the second continuous operation may be an input operation to the second area continued from the second start operation when remote control is started.
  • the first continuous operation it is possible to slide the finger so as to protrude outside the first region, so that the degree of freedom of the first continuous operation can be increased.
  • the remote operation is continued even if the desired remote operation mode is intended. Thereby, the operability and the convenience can be improved.
  • the second continuation operation is an input operation to the second area
  • the remote operation is performed remotely. Operation stops. As a result, other operations during remote control can be suppressed, and safety can be improved.
  • the second continuation operation is an operation necessary to continue the remote control of the industrial vehicle, but does not contribute to the remote control mode. Therefore, an operation such as changing the position of the second continuation operation is not necessary. Therefore, even if the second continuation operation is limited to the input operation to the second area as described above, the inconvenience such as the decrease in operability hardly occurs.
  • the industrial vehicle includes a traveling drive unit used for traveling the industrial vehicle and an operation driving unit used for an operation different from traveling, and the remote control control unit
  • the operation mode for performing remote control of the industrial vehicle using the remote control device includes a travel mode for operating the traveling drive unit and an operation mode for operating the operation drive unit.
  • the remote operation control unit recognizes that both the first continuous operation and the second continuous operation are being performed by the continuous operation grasping unit in a situation where the operation mode is the travel mode
  • the traveling drive unit While controlling the traveling drive unit based on the operation mode of the first continuous operation and not the operation mode of the second continuous operation, the situation where the operation mode is the operation mode
  • the operation of the first continuation operation, not the operation mode of the second continuation operation The motion drive unit may be controlled based on an aspect.
  • the traveling mode and the operation mode are separately set as the operation mode, it is possible to suppress simultaneous execution of the remote control for traveling of the industrial vehicle and the remote control for operations different from traveling. It is possible to suppress an erroneous operation.
  • control of the travel drive unit and the operation drive unit is performed based on the operation mode of the first continuous operation.
  • the remote control control unit is configured to determine whether the first continuous operation and the second continuous operation are both performed by the continuous operation determining unit. It is preferable to remotely control the industrial vehicle based on both the operation mode of 1 continuous operation and the operation mode of 2nd continuous operation.
  • the remote control control unit is configured to, based on the detection result of the touch sensor, a position at which the first start operation is performed when the remote control is started and the first continuous operation.
  • the remote control mode of the industrial vehicle may be controlled.
  • the series of input operations continued from the first start operation when the remote control is started, and the series of input operations continued from the second start operation when the remote control is started Can remotely control industrial vehicles.
  • the absolute value itself of the position of each input operation is unlikely to affect the remote control mode.
  • the first continuous operation is an input operation to the touch panel continued from the first start operation when remote operation is started regardless of inside or outside of the first area.
  • the second continuous operation may be an input operation to the touch panel continued from the second start operation when remote control is started, regardless of whether inside or outside the second area.
  • the slide operation is possible such that the first continuous operation is extended out of the first region, so the degree of freedom of the first continuous operation can be increased.
  • the remote operation is continued even if the desired remote operation mode is intended. Thereby, the operability and the convenience can be improved.
  • the industrial vehicle includes: a traveling drive unit used for traveling the industrial vehicle; and an operation driving unit used to perform a first operation and a second operation different from traveling.
  • the remote operation control unit operates a traveling mode in which the traveling drive unit is operated, and the operation drive unit is operated as an operation mode for remotely operating the industrial vehicle using the remote control device.
  • the remote control unit is configured to perform both the first continuous operation and the second continuous operation by the continuous operation grasping unit in a situation where the operation mode is the travel mode.
  • the industrial vehicle is advanced or retracted based on the operation mode of the first continuous operation, and the industrial vehicle corresponding to the operation mode of the second continuous operation While controlling the traveling drive unit to be a steering angle, in the situation where the operation mode is the operation mode, both the first continuous operation and the second continuous operation are performed by the continuous operation grasping unit. And the first operation corresponding to the operation mode of the first continuous operation is performed, and the second operation corresponding to the operation mode of the second continuous operation is performed. It is good to control a drive part.
  • the operation mode when the operation mode is the travel mode, the industrial vehicle can be traveled in a desired direction by the both continuation operations.
  • the operation mode is the operation mode
  • the first operation is performed based on the operation mode of the first continuous operation
  • the second operation is performed based on the operation mode of the second continuous operation.
  • the industrial vehicle is a forklift having a fork
  • the first operation is any of a lift operation, a reach operation or a tilt operation of the fork
  • the second operation is Among the lift operation, the reach operation, and the tilt operation, an operation different from the first operation may be performed.
  • the remote control control unit includes an operation mode switching unit that switches the operation mode when the operation mode switching condition is satisfied, and the operation mode switching condition is the remote control It is preferable that the switching operation be performed on the controller device.
  • the switching of the operation mode is performed based on the satisfaction of the operation mode switching condition including the switching operation.
  • the operator can switch the operation mode by performing the switching operation as needed, and can perform desired remote control.
  • the operation mode switching condition may be that the switching operation is performed in a state where remote control of the industrial vehicle using the remote control device is stopped.
  • the plurality of areas include a traveling mode setting area for setting the traveling mode and an operation mode setting area for setting the operation mode, and the switching operation is performed
  • the input operation to the traveling mode setting area or the input operation to the operation mode setting area may be performed.
  • the first area and the second area are spaced apart, and at least a part of the travel mode setting area and the operation mode setting area is It may be disposed between the first area and the second area.
  • the input operation can be performed with either the right hand or the left hand. Thereby, the switching operation can be facilitated.
  • the display control unit displays an image related to travel in the first area, and the operation mode is the operation mode.
  • an image related to an operation by the operation drive unit may be displayed in the first area.
  • the operator can easily confirm the operation to be currently operated.
  • the remote operation mode of the industrial vehicle is controlled by the operation mode of the first continuous operation continued from the input operation into the first area when the remote operation is started
  • the first area of the touch panel is It can be said that the location is particularly easy for the operator to pay attention to. Since an image suggesting the operation mode is displayed at a location where such an operator can easily pay attention to, it is possible to suppress the operator's oversight.
  • the touch panel may have a shape having a longitudinal direction and a lateral direction, and the first area and the second area may be disposed to face each other in the longitudinal direction of the touch panel.
  • both areas are arranged to face each other in the longitudinal direction of the touch panel, it is possible to complicate performing the input operation on both areas with one hand, and it is possible to urge the remote control device to be held by both hands. . Moreover, even if a plurality of fingers of one hand accidentally touch the touch panel, it is unlikely that an input operation is performed on both of the two areas. Thereby, the safety can be improved.
  • the remote control device may be a smartphone or a tablet terminal. According to this configuration, remote control of the industrial vehicle can be realized using the existing general-purpose products.
  • a remote control device for achieving the above object is used to remotely control an industrial vehicle having a vehicle communication unit, and comprises a remote communication unit that performs wireless communication with the vehicle communication unit, a touch panel, and the touch panel.
  • the system comprises: an operation grasping unit including a touch sensor for detecting an input operation; and a remote control unit controlling a remote operation of the industrial vehicle based on a grasping result of the operation grasping unit, the operation grasping unit
  • a start operation grasping unit which grasps the presence or absence of the first start operation and the second start operation which are different from each other as the operation start condition, and the operation which is the continuation condition of the remote operation, the remote operation is started Operation for grasping the presence or absence of the second continuation operation continued from the second start operation when the first continuation operation continued from the first start operation at the time of starting and the remote operation is started
  • a grasping unit, and the remote control control unit is configured to recognize the remote control based on the fact that the start operation grasping unit recognizes that both the first start operation and the second start operation are
  • the remote control device When the remote control of the industrial vehicle using the device is started, and it is determined that the first continuous operation and the second continuous operation are both performed by the continuous operation grasping unit, the remote control device While continuing the remote control of the industrial vehicle using the above-mentioned, based on the fact that at least one of the first continuation operation and the second continuation operation is not performed by the continuation operation grasping unit, The remote control of the industrial vehicle using a remote control device is stopped, the first start operation is an input operation to a specific area of the touch panel, and the first continuous operation is remote control. Wherein the work is an input operation to the touch panel is continued from the input operation for the specific region when it is started.
  • An industrial vehicle remote control program for achieving the above object comprises a remote communication unit for performing wireless communication with a vehicle communication unit provided on an industrial vehicle, a touch panel, and a touch sensor for detecting an input operation on the touch panel.
  • a remote control device is used to remotely control the industrial vehicle, and the remote control device is an operation serving as a start condition of the remote control, the first start operation and the second start operation different from each other.
  • Remote control of the industrial vehicle using the remote control device is started based on the understanding that both of the operations are being performed, and the first continuous operation and the second continuous operation are performed by the continuous operation grasping unit. If it is determined that both of the operations are being performed, the remote control of the industrial vehicle using the remote control device is continued, while the first and second continuation operations are performed by the continuation operation grasping unit.
  • the first start The operation is an input operation to the specific area of the touch panel, and the first continuous operation is continued from the input operation to the specific area when the remote control is started. Characterized in that an input operation to the touch panel.
  • An industrial vehicle remote control method for achieving the above object comprises a remote communication unit for performing wireless communication with a vehicle communication unit provided in an industrial vehicle, a touch panel, and a touch sensor for detecting an input operation on the touch panel.
  • a remote control device is used to remotely control the industrial vehicle, and the remote control device is an operation serving as a start condition of the remote control, and the presence or absence of the first start operation and the second start operation different from each other
  • Control step the first start operation is an input operation to a specific area of the touch panel, and the first continuous operation is when remote control is started. Characterized in that the input operation to serial specific area is an input operation to the touch panel is continued.
  • the input operation is performed to the specific area using, for example, a finger or the like.
  • a finger or the like there is a need to do. While the input operation to such a specific area is relatively easy because it is an operation of a finger, it requires appropriate attention. This makes it possible to start remote control with a simple operation while alerting the operator accordingly.
  • An industrial vehicle that achieves the above object includes a vehicle communication unit that performs wireless communication with a remote communication unit provided in a remote control device, which is remotely controlled by the remote control device and transmitted from the remote communication unit And a remote movable mode control unit that controls the industrial vehicle in response to the remote control signal based on the received remote control signal being received by the vehicle communication unit, and control by the remote movable mode control unit is performed.
  • a forcible stop control unit performing forcible stop control for forcibly stopping the industrial vehicle based on the fact that the forcible stop signal transmitted from the remote communication unit is received by the vehicle communication unit under the condition described above;
  • the remote control device is configured not to perform remote control during the forced stop control.
  • the industrial vehicle is forcibly stopped when the forcible stop signal transmitted from the remote communication unit is received by the vehicle communication unit.
  • the safety can be improved.
  • the remote control of the industrial vehicle is not performed during the forced stop control, the inconvenience caused by the remote control being performed again during the forced stop control, for example, the forced stop is stopped halfway and the behavior of the industrial vehicle is not good. It can suppress becoming stable.
  • the safety can be improved.
  • FIG. 3 is a conceptual diagram for explaining various modes set in the industrial vehicle remote control system of the first embodiment.
  • 5 is a flowchart showing a remote control process of the first embodiment.
  • 5 is a flowchart showing operation mode processing of the first embodiment.
  • movement of the remote control system for industrial vehicles typically.
  • movement of the remote control system for industrial vehicles typically.
  • movement of the remote control system for industrial vehicles typically.
  • the front view of the remote control in which the driving mode image of 2nd Embodiment was displayed.
  • the front view of the remote control in which the cargo handling mode image was displayed.
  • the industrial vehicle remote control system 10 includes a forklift 20 as an industrial vehicle, and a remote control device 30 used to remotely control the forklift 20.
  • the forklift 20 includes wheels 21 and a fork 22 as a cargo handling device that stacks or unloads luggage.
  • the forklift 20 of the present embodiment is configured to allow a driver to sit and maneuver.
  • the fork 22 is configured to be capable of a lift operation, a reach operation, and a tilt operation.
  • the forklift 20 may be, for example, an engine type equipped with an engine, an EV type equipped with a power storage device and an electric motor, or an FCV type equipped with a fuel cell and an electric motor. It may be The forklift 20 may be, for example, an HV type having an engine, a storage device, and an electric motor.
  • the forklift 20 includes a traveling actuator 23, a cargo handling actuator 24, a vehicle CPU 25 that controls the traveling actuator 23 and the cargo handling actuator 24, a vehicle memory 26, and a vehicle state detection unit 27. ing.
  • the travel actuator 23 is used to travel the forklift 20. Specifically, the travel actuator 23 rotates the wheels 21 and changes the steering angle (traveling direction). For example, if the forklift 20 is an engine type, the traveling actuator 23 is an engine and a steering device etc. For example, if the forklift 20 is an EV type, the traveling actuator 23 is an electric motor and a steering device etc. It is.
  • the cargo handling actuator 24 is used for an operation different from that for traveling, and in particular, drives the fork 22.
  • the cargo handling actuator 24 performs lift operation to lift the fork 22 vertically, reach drive 24b to move the fork 22 longitudinally, and tilt operation to tilt the fork 22.
  • a tilt drive unit 24c is used for an operation different from that for traveling, and in particular, drives the fork 22.
  • the fork 22 is an operation target performing an operation different from traveling
  • the operation of the fork 22 corresponds to “an operation different from traveling”
  • the cargo handling actuator 24 is used for an operation different from traveling It corresponds to "operation driver”.
  • the travel actuator 23 corresponds to the "travel drive unit”.
  • the vehicle state detection unit 27 detects the state of the forklift 20.
  • the vehicle state detection unit 27 detects, for example, the current traveling mode of the forklift 20 and the operation mode of the fork 22, and detects the presence or absence of abnormality of the forklift 20, and the traveling information, operation information and abnormality information as the detection result
  • the set detection signal is output to the vehicle CPU 25.
  • the travel information includes, for example, information on the travel speed, acceleration, and steering angle of the forklift 20.
  • the vehicle state detection unit 27 detects at least the traveling speed, acceleration, and steering angle of the forklift 20 as the traveling mode of the forklift 20.
  • the movement information includes the position of the fork 22 in the vertical direction (lift position) and information on the movement speed in the case of the lift operation, and the position (reach position) of the fork 22 in the front and rear direction and the reach operation.
  • the information includes information on the operating speed, and the inclination angle of the fork 22 with respect to the vertical direction and, in the case of tilting, the operating speed.
  • the operation mode of the forklift 20 detected by the vehicle state detection unit 27 in the present embodiment includes a lift operation, a reach operation, and a tilt operation.
  • the abnormality of the forklift 20 includes, for example, an abnormality of the traveling actuator 23 or the cargo handling actuator 24, an abnormality of the wheel 21, and the like.
  • the abnormality of the forklift 20 is not limited to this, and is arbitrary.
  • the abnormality of the power storage device may be included.
  • the vehicle CPU 25 reads out and executes various programs stored in the vehicle memory 26 based on the operation of the steering device and various operation levers provided on the forklift 20, whereby the traveling actuator 23 and the cargo handling actuator 24 are operated. Control. That is, without using the remote control device 30, the forklift 20 of the present embodiment can also be driven by the steering device provided on the forklift 20 and various control levers. Further, the vehicle CPU 25 grasps the current state of the forklift 20 based on the detection signal input from the vehicle state detection unit 27.
  • the vehicle CPU 25 can also be referred to as a vehicle ECU or a vehicle MPU.
  • the remote control device 30 is an operation terminal having a communication function.
  • the remote control device 30 is a general-purpose product such as a smartphone or a tablet terminal.
  • the present invention is not limited to this, and the remote control device 30 may be a mobile phone, a virtual reality terminal, or the like, or may be a dedicated item for remote control.
  • the remote control device 30 has a rectangular plate shape in which one is a longitudinal direction and the other is a lateral direction.
  • the remote control device 30 performs remote control, one of the longitudinal ends of the remote control device 30 is gripped by the right hand, and the other end is gripped by the left hand. That is, it is assumed that the remote control device 30 is gripped with both hands sideways when performing remote control.
  • the remote control device 30 includes a touch panel 31, a touch sensor 32, a remote CPU 33, a remote memory 34, and a posture detection unit 35.
  • the touch panel 31 is formed on one plate surface of the remote control device 30.
  • the touch panel 31 has a rectangular shape having a longitudinal direction and a lateral direction, and the longitudinal direction of the touch panel 31 coincides with the longitudinal direction of the remote control device 30.
  • the touch panel 31 is configured to be able to display a desired image.
  • the touch panel 31 corresponds to the “operation unit”.
  • the short direction of the touch panel 31 is the vertical direction or the front-rear direction as viewed from the operator
  • the longitudinal direction of the touch panel 31 is the horizontal direction as viewed from the operator.
  • the remote control device 30 when the remote control device 30 is gripped sideways so that the touch panel 31 can be viewed, the upper end side of the touch panel 31 (upward in the plane of FIG. 5 to FIG. The lower end side (the lower side in the drawing of FIG. 5 to FIG. 8) of the operator is downward.
  • the touch sensor 32 detects an input operation (specifically, a touch operation or a slide operation) on the touch panel 31, which is a type of operation on the remote control device 30. Specifically, the touch sensor 32 detects whether or not the finger is in contact with the touch panel 31, and detects the position of the touch when the finger is detected. Then, the touch sensor 32 outputs the detection result to the remote CPU 33. Thus, the remote CPU 33 can grasp an input operation on the touch panel 31.
  • the specific configuration of the touch sensor 32 is arbitrary, for example, there are a capacitance type sensor, a pressure sensor, and the like which detect based on a change in capacitance.
  • the touch sensor 32 of the present embodiment individually detects each of the input operations. For example, when both the left hand finger and the right hand finger are in contact with the touch panel 31, both the contact position of the left hand finger and the contact position of the right hand finger are individually detected, and the detection results are Output to the remote CPU 33.
  • the posture detection unit 35 detects the posture of the remote control device 30.
  • the posture detection unit 35 includes, for example, a 3-axis acceleration sensor and a 3-axis gyro sensor, and detects the direction of the remote control device 30 and the change thereof based on the information obtained from these sensors.
  • the posture detection unit 35 passes through the center of the remote control device 30 and the remote control device 30.
  • a rotation operation (hereinafter, simply referred to as “first rotation operation”) is detected with the first center line M1 extending in the thickness direction of FIG.
  • the posture detection unit 35 performs a rotation operation (hereinafter, simply referred to as a “second rotation operation”) with the second center line M2 extending in the longitudinal direction of the remote control device 30 passing through the center of the remote control device 30 as a rotation axis. ) To detect.
  • the first rotation operation direction is the rotation direction of the remote control device 30 whose rotation axis is the thickness direction of the remote control device 30, and the second rotation operation direction is the remote direction whose rotation axis is the longitudinal direction of the remote control device 30. It is the rotation direction of the controller 30.
  • the posture detection unit 35 detects a change in the rotational position of the remote control device 30 in the first rotational operation direction and a change in the rotational position of the remote control device 30 in the second rotational operation direction.
  • the posture detection unit 35 detects whether or not at least one of the first rotation operation and the second rotation operation is being performed, and when at least one of both rotation operations is being performed, detects an aspect of the rotation operation. , And outputs the detection result to the remote CPU 33.
  • the remote CPU 33 can grasp the first rotation operation and the second rotation operation, which are one type of operation on the remote control device 30.
  • the aspect of rotation operation is the change condition of the angular velocity of rotation operation, for example.
  • the posture detection unit 35 detects angular acceleration as a mode of rotational operation.
  • the remote control device 30 (specifically, the remote CPU 33) can grasp angular acceleration in addition to the presence or absence of the rotation operation.
  • the remote CPU 33 executes various processes using various programs stored in the remote memory 34.
  • a program related to image control of the touch panel 31 is stored in the remote memory 34, and the remote CPU 33 performs display control of the touch panel 31 by reading and executing the program.
  • the remote CPU 33 also grasps various operations on the remote control device 30 based on the signals input from the touch sensor 32 and the posture detection unit 35.
  • the remote CPU 33 corresponds to the “display control unit”.
  • the forklift 20 and the remote control device 30 are configured to be communicable.
  • the forklift 20 has a vehicle communication unit 28, and the remote control device 30 has a remote communication unit 36 capable of communicating with the vehicle communication unit 28.
  • the vehicle communication unit 28 and the remote communication unit 36 are communication interfaces that perform wireless communication, for example.
  • the remote communication unit 36 establishes communication connection with the vehicle communication unit 28 of the forklift 20 when there is a forklift 20 that has been paired (registered) within the communication range. This enables the exchange of signals between the remote control device 30 and the forklift 20.
  • the communication format between the vehicle communication unit 28 and the remote communication unit 36 is Wi-Fi (in other words, a wireless LAN according to the IEEE 802.11 standard). Both communication units 28 and 36 transmit and receive signals by packet communication.
  • Wi-Fi includes a plurality of standards such as IEEE802.11a and IEEE802.11ac
  • the communication format between the vehicle communication unit 28 and the remote communication unit 36 may be any of the above-mentioned plurality of standards.
  • transmission and reception of the signals of both communication units 28 and 36 is not limited to packet communication, but is arbitrary.
  • the communication format between the vehicle communication unit 28 and the remote communication unit 36 is not limited to Wi-Fi, and is arbitrary, and may be, for example, Bluetooth (registered trademark), Zigbee (registered trademark), or the like.
  • the remote CPU 33 is electrically connected to the remote communication unit 36.
  • the remote CPU 33 uses the remote communication unit 36 to remotely control the forklift 20 by transmitting to the vehicle communication unit 28 the remote control signal SG1 in which various information related to remote control is set.
  • the remote control signal SG1 is a signal corresponding to the standard for wireless communication, and is a packet communication signal corresponding to the Wi-Fi standard in the present embodiment.
  • the forklift 20 includes a signal conversion unit 29 which converts the remote control signal SG1 into a control signal SGa corresponding to the in-vehicle communication standard.
  • the signal conversion unit 29 is electrically connected to the vehicle communication unit 28 and the vehicle CPU 25, converts the remote control signal SG1 received by the vehicle communication unit 28 into a control signal SGa that can be recognized by the vehicle CPU 25, and Control signal SGa is output to vehicle CPU 25.
  • a specific in-vehicle communication standard of the forklift 20 is the CAN standard. That is, in the present embodiment, the control signal SGa is a CAN signal.
  • the present invention is not limited to this, and a specific in-vehicle communication standard is optional.
  • the signal format (in other words, signal format) of the remote control signal SG1 and the control signal SGa is different because the standard of the remote control signal SG1 is different from the standard of the control signal SGa.
  • the information (in other words, the contents) set in the remote control signal SG1 and the control signal SGa is the same.
  • the signal conversion unit 29 converts the remote control signal SG1 of the wireless communication standard in which the information related to remote control is set into a control signal SGa that can be recognized by the vehicle CPU 25 while holding the information related to the remote control. It can be said that it is a thing.
  • the remote control signal SG1 and the control signal SGa include traveling operation information D1 related to traveling operation and cargo handling operation information D2 related to cargo handling operation as information related to remote operation.
  • the traveling operation information D1 includes, for example, traveling speed information Dv at which the traveling speed of the forklift 20 is set, acceleration information D ⁇ at which the acceleration of the forklift 20 is set, and steering angle information D ⁇ at which the steering angle of the forklift 20 is set. have.
  • the cargo handling operation information D2 includes, for example, lift information Dfa in which the stroke amount of the lift operation is set, reach information Dfb in which the stroke amount of the reach operation is set, and tilt information Dfc in which the tilt angle of the tilt operation is set. Have.
  • the vehicle CPU 25 When the control signal SGa is input from the signal conversion unit 29, the vehicle CPU 25 reads the remote control execution program stored in the vehicle memory 26 and executes the remote control execution program to obtain the control signal SGa.
  • the forklift 20 (specifically, both actuators 23 and 24) is driven in a mode corresponding to.
  • the control signal SGa in which each information Dv, D ⁇ , D ⁇ of the traveling operation information D 1 is a numerical value other than “0” and each information Dfa, Dfb, Dfc of the cargo handling operation information D 2 is “0” or “null” It is assumed that the vehicle CPU 25 has input. In this case, the vehicle CPU 25 controls the traveling actuator 23 to perform acceleration / deceleration with the acceleration set in the acceleration information D ⁇ so that the traveling speed set in the traveling speed information Dv can be obtained. The steering angle of the forklift 20 is changed so as to be the steering angle set to D ⁇ .
  • the vehicle CPU 25 calculates lift information Dfa.
  • the cargo handling actuator 24 is controlled so that the fork 22 moves up and down by the stroke amount of the numerical value set in.
  • the lift information Dfa is, for example, numerical information that can take positive (+) or negative (-) values.
  • the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the lift drive unit 24a) to move the fork 22 upward by the stroke amount of the value set in the lift information Dfa.
  • the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the lift drive unit 24a) to fork the stroke amount of the numerical value set in the lift information Dfa. Move down.
  • the reach information Dfb is numerical information that can take positive (+) or negative (-) values.
  • the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the reach drive unit 24b) to move the fork 22 forward by the stroke amount of the numerical value set in the reach information Dfb. Move it.
  • the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the reach drive unit 24b) to move the fork 22 by the stroke amount of the numerical value set in the reach information Dfb. Move backwards.
  • the tilt information Dfc is numerical information that can take positive (+) or negative (-) values.
  • the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the tilt drive unit 24c) to move the fork 22 forward by the inclination angle of the numerical value set in the tilt information Dfc. Tilt it.
  • the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the tilt drive unit 24c) to move the fork 22 by the inclination angle of the numerical value set in the tilt information Dfc. Tilt backwards.
  • the vehicle communication unit 28 when the vehicle communication unit 28 receives at least the remote control signal SG1 in which the traveling speed information Dv is set to a numerical value other than “0”, the vehicle CPU 25 controls the traveling actuator 23.
  • the vehicle communication unit 28 receives the remote control signal SG1 in which at least one of the cargo handling operation information D2 is set to a numerical value other than “0”, the vehicle CPU 25 controls the cargo handling actuator 24.
  • the remote control of the forklift 20 (industrial vehicle) is performed using the remote control device 30
  • convenience can be improved.
  • Safety is required.
  • the operator since the operator does not need to get on the forklift 20, the degree of freedom of the operator's action is high. Therefore, the operator may start remote control while performing other work, for example, or may release the hand from the remote control device 30 to perform work other than remote control while remote control. In this case, erroneous operation of the forklift 20 is likely to occur.
  • an operation system different from normal operation using a steering wheel or the like may occur, and thus an erroneous operation may occur.
  • the present industrial vehicle remote control system 10 is configured to enhance the safety in consideration of operability and the like. Below, based on this point, a configuration relating to remote control of the forklift 20 using the remote control device 30 will be described.
  • the remote memory 34 stores a remote control program 40 for executing various processing related to remote control of the forklift 20 including transmission processing of the remote control signal SG1.
  • the remote control program 40 is an application program for performing remote control of the forklift 20.
  • the remote control program 40 includes a remote control control process execution program 41 for executing a remote control process for controlling the remote control.
  • the remote control program 40 corresponds to the "remote control program for industrial vehicles".
  • the remote CPU 33 starts the remote control program 40 (remote control application) when the remote control start condition is satisfied.
  • the remote control start condition is that the start operation is performed on the remote control device 30.
  • the start-up operation is, for example, an input operation (touch operation) on the remote control icon in a configuration in which the remote control icon is displayed on the touch panel 31.
  • the remote control activation condition is not limited to this, but may be arbitrary.
  • communication connection between the remote communication unit 36 of the remote control device 30 and the vehicle communication unit 28 of the forklift 20 may be established.
  • 36 may be performed under the condition that the communication connection between them, 36 is established. That is, in the remote control activation condition, the operation of the operator is not essential.
  • the remote CPU 33 When the remote control program 40 is started, the remote CPU 33 first searches for a forklift 20 which can be communicatively connected within the range in which communication with the remote communication unit 36 is possible, and if the forklift 20 is present, the vehicle of the forklift 20 Establish a communication connection with the communication unit 28.
  • the remote CPU 33 causes the touch panel 31 to display the operation image G10.
  • the operation image G10 is stored in the remote control program 40.
  • the remote CPU 33 basically displays the operation image G10 constantly while the remote control program 40 is activated.
  • the remote CPU 33 reads out the remote control processing execution program 41 and executes the remote control control processing periodically while the remote control program 40 is activated, thereby responding to the operation of the operator on the remote control device 30. Transmission control of the remote control signal SG1 is performed. Thereby, remote control of the forklift 20 using the remote control device 30 is controlled.
  • a remote CPU 33 that executes remote operation control processing corresponds to the "remote operation control unit".
  • an operation mode, a forced stop mode, and a stop mode are set as control modes of the remote control. That is, the remote control device 30 (specifically, the remote CPU 33) has an operation mode, a forced stop mode, and a stop mode as a control mode of the remote control.
  • the operation mode is a control mode in which the forklift 20 is remotely operated in response to an operation on the remote control device 30.
  • control of the forklift 20 is performed such that an operation corresponding to the operation on the remote control device 30 is performed.
  • the operation mode has a plurality of modes, and more specifically, a traveling mode in which the traveling actuator 23 is an operation target (control target), a lift mode in which the cargo handling actuator 24 is an operation target (control target), a reach mode and a tilt And the mode.
  • the travel mode is an operation mode for performing remote control regarding travel of the forklift 20.
  • the lift mode is an operation mode for performing remote control regarding the lift operation of the fork 22.
  • the reach mode is an operation mode for performing remote control regarding the reach operation of the fork 22.
  • the tilt mode is an operation mode for performing remote control regarding the tilt operation of the fork 22. That is, in the present embodiment, the operation mode is set for each operation of different types.
  • the lift mode, the reach mode, and the tilt mode are collectively referred to as a cargo handling mode.
  • the cargo handling mode corresponds to the "operation mode".
  • the forced stop mode is a control mode for forcibly stopping the forklift 20. That is, the remote control device 30 of the present embodiment has a function of forcibly stopping the forklift 20. In the forced stop mode, the remote control by the remote control device 30 is stopped.
  • the forced stop mode is a control mode for forcibly stopping the operation when the forklift 20 performs various operations.
  • the various operations are optional, for example, at least one of the traveling and the operation of the fork 22.
  • the in-stop mode is, for example, a control mode that is set between the forcible stop of the forklift 20 and the remote control being performed again.
  • the stop mode the remote control by the remote control device 30 is stopped.
  • the state in which the remote control by the remote control device 30 is stopped means that the forklift 20 does not perform an operation corresponding to the various operations even if the various operations are performed on the remote control device 30.
  • the forced stop mode and the in-stop mode can also be referred to as a control mode in which the remote control of the forklift 20 is limited so that the operation corresponding to the operation on the remote control device 30 is not performed.
  • the remote CPU 33 performs an operation mode, a forced stop mode, and the like based on the presence or absence of various operations on the remote control device 30 in the remote operation control processing, and in detail on the presence or absence of input operations on the touch panel 31 on which the operation image G10 is displayed Transition to one of the stop modes. Thereby, remote control of the forklift 20 using the remote control device 30 is performed, or the remote control is stopped.
  • the operation mode is a control mode in which the remote control is permitted (permitted), while the forced stop mode and the in-stop mode can be said to be a control mode in which the remote control is prohibited.
  • the control mode includes a mode in which the remote control is stopped.
  • the control mode i.e., the initial control mode
  • the control mode set at the start of the remote control program 40 is the stop mode. Therefore, the remote control of the forklift 20 using the remote control device 30 is not started immediately when the remote control program 40 is started.
  • the activation / termination of the remote control program 40 and the actual start / stop of the remote control of the forklift 20 are not completely synchronized, and during the activation of the remote control program 40, according to the operation of the operator Thus, remote control start / stop can be repeated.
  • a dedicated mode is set for each operation type, and in the operation mode, the remote CPU 33 is selected in advance from the traveling mode, the lift mode, the reach mode, and the tilt mode. In this mode, the forklift 20 is operated remotely. This avoids performing two or more operations simultaneously.
  • FIG. 5 to 8 the operation image G10 displayed on the touch panel 31 with the activation of the remote control program 40 will be described using FIGS. 5 to 8.
  • FIG. 5 to 8 the operation image G10 is displayed on the entire surface of the touch panel 31.
  • the operation image G10 has a shape having a longitudinal direction and a lateral direction (specifically, a rectangular shape). .
  • the operation image G10 has a plurality of divided areas A1 to A4. Specifically, the operation image G10 includes a first area A1 as a specific area, a second area A2 provided at a position different from the first area A1, a travel mode setting area (travel mode icon) A3, and an operation A loading mode setting area (loading mode icon) A4 is provided as a mode setting area. Each of these areas A1 to A4 is disposed apart from one another. Each of the areas A1 to A4 assumes that the input operation is performed by the operator. If this point is considered, each area A1 to A4 can be said to be an operation icon.
  • the first area A1 is disposed on the first end side of both ends in the longitudinal direction of the operation image G10.
  • the first area A1 is provided at a position where the finger of the left hand (for example, the thumb) is naturally disposed when the remote control device 30 is gripped with both hands.
  • an image related to the operation of the forklift 20 is displayed, and a center line L is displayed.
  • the second area A2 is disposed at the second end of the both ends in the longitudinal direction of the operation image G10, which is opposite to the first end.
  • the first area A ⁇ b> 1 and the second area A ⁇ b> 2 are spaced apart and opposed in the longitudinal direction of the touch panel 31 (in other words, the operation image G ⁇ b> 10).
  • the second area A2 is provided at a position where the finger of the right hand (for example, the thumb) is naturally disposed when the remote control device 30 is gripped with both hands. In the second area A2, an image prompting the user to touch the finger is displayed.
  • the remote control device 30 when the remote control device 30 is gripped with both hands, it is assumed that the thumb of the left hand is naturally disposed in the first area A1 and the thumb of the right hand is disposed in the second area A2. Thereby, the operator can simultaneously and easily perform the input operation in the first area A1 and the input operation in the second area A2.
  • the travel mode setting area A3 is provided at a position away from the first area A1 in the lateral direction of the remote control device 30 in the operation image G10. That is, traveling mode setting area A3 and first area A1 are arranged in the lateral direction.
  • traveling mode setting area A3 an image indicating that the traveling mode is in progress, and in the present embodiment, characters "traveling" are displayed.
  • the loading mode setting area A4 is disposed between the first area A1 and the second area A2.
  • the cargo handling mode setting area A4 is a lift mode setting area A4a used to set the lift mode, a reach mode setting area A4b used to set the reach mode, and a tilt mode used to set the tilt mode. And a setting area A4c.
  • the lift mode setting area A4a, the reach mode setting area A4b, and the tilt mode setting area A4c are arranged in the lateral direction.
  • the lift mode setting area A4a, the reach mode setting area A4b, and the tilt mode setting area A4c can also be referred to as a lift mode icon, a reach mode icon, and a tilt mode icon, respectively.
  • the lift mode setting area A4a an image showing that it is in the lift mode, and in the present embodiment, the characters "lift” are displayed.
  • the reach mode setting area A4b an image indicating that the mode is the reach mode, in this embodiment, the characters "reach” are displayed.
  • the tilt mode setting area A4c an image indicating that the mode is the tilt mode, and in the present embodiment, a character "tilt” is displayed.
  • each mode setting area A3, A4a to A4c are optional as long as the corresponding mode can be recognized.
  • the operation corresponding to each mode is schematically shown. An image or the like may be displayed.
  • the first area A1 and the second area A2 are wider than the mode setting areas A3 and A4a to A4c. Thereby, the first area A1 and the second area A2 can be easily touched as compared with the other mode setting areas A3 and A4a to A4c. Further, traveling mode setting area A3 is narrower than each of mode setting areas A4a to A4c.
  • the touch sensor 32 detects an input operation to each of the areas A1 to A4, and outputs the detection result to the remote CPU 33.
  • the remote CPU 33 can grasp the input operation to each of the areas A1 to A4.
  • a plurality of operation images G10 are set corresponding to the setting of a plurality of operation modes.
  • the operation image G10 is a travel mode image G11 corresponding to the travel mode, a lift mode image G12 corresponding to the lift mode, a reach mode image G13 corresponding to the reach mode, and a tilt mode image corresponding to the tilt mode And G14.
  • the remote CPU 33 is configured to display an operation image G10 corresponding to the operation mode.
  • the mode images G11 to G14 have the same basic layout, but differ in the image displayed in the first area A1 and the portion to be highlighted. Specifically, as shown in FIG. 5, in the traveling mode image G11, an image of the forklift 20 and an image of an arrow extending in the short direction indicating the traveling direction of the forklift 20 are displayed in the first region A1. There is. From these images, as the operator, the forklift 20 moves forward by sliding operation toward the side (in detail, the travel mode setting area A3 side) that suggests forward movement using a finger or the like, and the opposite side ( In particular, it can be intuitively understood that the forklift 20 retracts by sliding operation to the side which suggests backward movement). In the driving mode image G11, the driving mode setting area A3 is highlighted.
  • the slide operation is a series of input operations in which the position at which the input operation is performed is moved while maintaining the state in which the input operation (in other words, the touch operation) is performed on the touch panel 31.
  • the slide operation is an input operation on the touch panel 31 in which the input operation position changes continuously.
  • an image indicating the lift operation of the fork 22 is displayed in the first area A1.
  • the image of the forklift 20 showing the lowering operation and the image of the forklift 20 showing the raising operation are displayed side by side in the lateral direction.
  • the lift mode setting area A4a is highlighted.
  • the reach mode image G13 an image indicating the reach operation of the fork 22 is displayed in the first area A1.
  • the image of the forklift 20 showing the forward movement of the fork 22 and the image of the forklift 20 showing the backward movement of the fork 22 are displayed side by side in the lateral direction.
  • the reach mode setting area A4b is highlighted.
  • the tilt mode image G14 an image indicating the tilting operation of the fork 22 is displayed in the first area A1.
  • the image of the forklift 20 showing the forward inclination of the fork 22 and the image of the forklift 20 showing the rearward inclination of the fork 22 are displayed side by side in the short direction.
  • the tilt mode setting area A4c is highlighted.
  • the remote CPU 33 grasps the input operation to the operation image G10 in the remote operation control processing, and controls the remote operation based on the grasp result, and more specifically, shifts to each mode, transmission of the remote operation signal SG1, etc. Do.
  • the remote control processing will be described below with reference to FIGS. 9 to 11.
  • the remote CPU 33 first determines in step S101 whether the current control mode is the stop mode.
  • the remote control program 40 is provided with a control mode storage unit 42 in which control mode specifying information for specifying the current control mode of the remote control device 30 (remote CPU 33) is set (FIG. 2) reference).
  • the remote CPU 33 determines the current control mode with reference to the control mode identification information stored in the control mode storage unit 42, and determines whether the current control mode is the stop mode or not. judge. Note that, as described above, in the present embodiment, the control mode at the start of the remote control program 40 is the stop mode.
  • the remote CPU 33 determines that the current control mode is the in-stop mode, it determines in step S102 to S111 whether to shift from the in-stop mode to the operation mode. And switching the operation mode based on the switching operation.
  • the remote CPU 33 determines in step S102 whether or not the first start operation has been performed.
  • the first start operation is an input operation to the inside of the first area A1.
  • the remote CPU 33 determines, based on the detection result of the touch sensor 32, whether or not an input operation into the first area A1 is performed.
  • step S109 If the remote CPU 33 determines that the first start operation has not been performed, the process proceeds to step S109. If the remote CPU 33 determines that the first start operation is performed, the process proceeds to step S103.
  • step S103 the remote CPU 33 determines whether a second start operation different from the first start operation is being performed.
  • the second start operation is an input operation to the inside of the second area A2.
  • the remote CPU 33 determines whether or not an input operation into the second area A2 is performed based on the detection result of the touch sensor 32.
  • first start operation and the second start operation are common in terms of the input operation on the touch panel 31, but the positions at which the input operation is performed are different. Therefore, both start operations are different from each other.
  • step S102 and step S103 correspond to the "start operation grasping step"
  • touch sensor 32 and the remote CPU 33 that executes the processes of step S102 and step S103 correspond to the "start operation grasping unit”.
  • step S109 If the remote CPU 33 determines that the second start operation is not performed, the process proceeds to step S109, while if it is determined that the second start operation is performed, the process proceeds to step S104.
  • step S104 the remote CPU 33 shifts the control mode from the stop mode to the operation mode. Specifically, the remote CPU 33 updates control mode identification information to information corresponding to the operation mode.
  • the remote CPU 33 grasps the presence or absence of the first start operation in step S102, grasps the presence or absence of the second start operation in step S103, and performs both the first start operation and the second start operation. And shift the control mode from the stop mode to the operation mode. Thereby, remote control of the forklift 20 using the remote control device 30 is started.
  • the start condition of the remote control in this embodiment is that both start operations are performed.
  • the first start operation and the second start operation are also referred to as both start operations.
  • the remote CPU 33 shifts to one of the four operation modes.
  • the remote control program 40 is provided with an operation mode storage unit 43 in which operation mode specifying information for specifying an operation mode is stored (see FIG. 2).
  • operation mode specifying information for specifying an operation mode is stored (see FIG. 2).
  • the remote CPU 33 identifies the currently set operation mode based on the operation mode identification information, and shifts to the operation mode. For example, when the travel mode is set as the operation mode, the remote CPU 33 shifts from the in-stop mode to the travel mode in step S104.
  • the remote CPU 33 stores the first start position P10, which is the position at which the first start operation was performed when the remote control was started, in the remote memory 34. Specifically, the remote CPU 33 causes the start position storage unit 44 (see FIG. 2) provided in the remote control program 40 to determine the position of the input operation with respect to the first area A1 detected in the remote control control process this time.
  • the position may be referred to as coordinates, and the first start position P10 may also be referred to as first start coordinates.
  • the first start position P10 is the position of the first start operation when both start operations are performed, in other words, when the remote operation start condition is satisfied. Therefore, if the second start operation is performed after the first start operation is performed, the first start position P10 is the position of the first start operation at the time when the second start operation is performed. . On the other hand, if the first start operation is performed after the second start operation is performed, the first start position P10 is the position at which the input operation is performed first in the first area A1, that is, the first start position P10. It is the initial position of the start operation.
  • step S106 the remote CPU 33 starts tracking the first continuous operation position, which is the position at which the first continuous operation is being performed.
  • the first continuous operation is an operation continued from the first start operation when remote control is started.
  • the remote CPU 33 stores the first start position P10 as an initial position (initial coordinates) of the first continuous operation position in the tracking storage unit 45 provided in the remote control program 40. Then, when the first continuation operation position continuously changes from the initial position (first start position P10) in accordance with the slide operation of the finger in the operation image G10, the remote CPU 33 determines the first continuation operation position. It tracks and recognizes that the 1st continuation operation is performed.
  • storage part 45 for tracking is used in this embodiment. This will be described in step S201 described later.
  • the first continuous operation position can be said to be the current position of the first continuous operation, and can also be said to be the position at which the touch operation is currently performed.
  • step S107 the remote CPU 33 sets stop information in the remote control signal SG1 regardless of the operation on the remote control device 30.
  • the stop information is information for maintaining the state in which the remote control of the forklift 20 is stopped, and more specifically, information in which "0" is set to all of the traveling operation information D1 and the cargo handling operation information D2. It is.
  • the process of step S107 can also be said to be a process of generating the remote control signal SG1 in which the stop information is set.
  • step S108 the remote CPU 33 transmits the remote control signal SG1 in which the stop information is set using the remote communication unit 36.
  • the forklift 20 stops both traveling of the forklift 20 and driving of the fork 22 when the remote control signal SG1 is received by the vehicle communication unit 28. That is, in the situation where the remote control signal SG1 in which the stop information is set is transmitted, the remote control of the forklift 20 is stopped.
  • the forklift 20 receiving the remote control signal SG1 for which the stop information is set maintains the stop state of the remote control. It can be said that
  • the remote CPU 33 determines in step S109 whether or not the operation mode switching condition which is the operation mode switching condition is satisfied. .
  • the operation mode switching condition is that the switching operation is performed on the remote control device 30.
  • the switching operation is, for example, that an input operation is performed on any one of the mode setting areas A3 and A4a to A4c.
  • the remote CPU 33 determines, based on the detection result of the touch sensor 32, the presence / absence of the input operation to the mode setting areas A3 and A4a to A4c.
  • step S107 If the remote CPU 33 determines that there is no input operation to the mode setting areas A3, A4a to A4c, the process proceeds to step S107. On the other hand, when the remote CPU 33 determines that there is an input operation to each mode setting area A3, A4a to A4c, the operation mode switching process is executed to switch the operation mode in step S110, assuming that the operation mode switching condition is satisfied. Do.
  • step S110 the remote CPU 33 switches to the operation mode corresponding to the switching operation. Specifically, the remote CPU 33 specifies the mode setting area in which the input operation has been performed based on the detection result of the touch sensor 32, and sets the operation mode to a mode corresponding to the specified mode setting area.
  • the remote CPU 33 switches the operation mode from the travel mode to the lift mode.
  • the remote CPU 33 switches the operation mode from the reach mode to the tilt mode. That is, the switching of the operation mode in the present embodiment includes switching between the traveling mode and the cargo handling mode, and switching within the cargo handling mode.
  • the remote CPU 33 is configured to specify the operation mode based on the operation mode specification information stored in the operation mode storage unit 43. Therefore, in step S110, the remote CPU 33 updates the operation mode identification information to the information corresponding to the switching operation. Thereby, the remote CPU 33 can grasp switching of the operation mode.
  • the remote CPU 33 executing the process of step S110 corresponds to the "operation mode switching unit".
  • step S111 the remote CPU 33 causes the operation image G10 corresponding to the operation mode switched in step S110 to be displayed, and proceeds to step S107.
  • the remote CPU 33 displays the lift mode image G12 as the operation image G10 instead of the travel mode image G11. That is, in step S111, the remote CPU 33 switches the operation image G10 according to the operation mode.
  • the control mode shifts from the in-stop mode to the operation mode.
  • remote control of the forklift 20 is started.
  • the remote control is not started.
  • the operation mode is switched.
  • the switching operation in the stop mode it is possible to set the operation mode when the remote control is started to the desired mode.
  • the operation mode switching process is executed in the in-stop mode in which the remote control is stopped. Therefore, the switching of the operation mode is performed only when the remote control is stopped. That is, it can be said that the operation mode being the stop mode is part of the operation mode switching condition. In other words, it can be said that the operation mode switching condition is that the switching operation is performed in the situation where the operation mode is the stop mode.
  • the switching of the operation mode is performed with the transition of the control mode from the stop mode to the operation mode given priority over the switching of the operation mode. Absent.
  • step S101 if the current control mode is not the stop mode, the remote CPU 33 makes a negative decision in step S101, proceeds to step S112, and determines whether the current control mode is the operation mode. judge.
  • the remote CPU 33 proceeds to step S113, executes the operation mode process corresponding to the operation mode, and ends the present remote operation control process.
  • the remote CPU 33 proceeds to step S114, executes a forced stop process corresponding to the forced stop mode, and ends the present remote operation control process.
  • the remote control process to be executed next to the predetermined remote control process is the operation. Mode processing will be performed.
  • the remote CPU 33 first grasps the presence or absence of the first continuous operation in step S201.
  • the remote CPU 33 determines the presence / absence of the first continuous operation based on the detection result of the touch sensor 32 and the position stored in the tracking storage unit 45.
  • the remote CPU 33 first determines the presence / absence of the input operation on the touch panel 31 by the touch sensor 32. When the input operation on the touch panel 31 is detected, the remote CPU 33 determines whether the position of the input operation currently detected and the position stored in the tracking storage unit 45 are continuous. . For example, the remote CPU 33 compares the position of the input operation currently detected with the position stored in the tracking storage unit 45, and determines that the positions are continuous if both are within the specified range. If both are out of the specified range, it is determined that they are not continuous. In other words, the remote CPU 33 determines whether the finger is in contact with the touch panel 31, and if the finger is in contact, the remote CPU 33 detects the contact position of the finger detected this time and the contact position detected last time. Based on the determination, it is determined whether the contact position is continuous.
  • the remote CPU 33 detects the position of the input operation at the location closest to the position stored in the tracking storage unit 45 among the plurality of locations. It is determined whether or not the position and the position stored in the tracking storage unit 45 are continuous.
  • the tracking storage unit 45 When the remote CPU 33 determines that the position of the input operation detected this time and the position stored in the tracking storage unit 45 are continuous, the tracking storage unit 45 is detected this time. The position stored in the tracking storage unit 45 is updated so that the position of the input operation is set, and the process proceeds to step S202. Thereby, the position stored in the tracking storage unit 45 is updated following the movement of the finger. For this reason, the tracking storage unit 45 stores the latest first continuous operation position.
  • the first continuous operation position may also be referred to as a current position (coordinates) related to an input operation on the touch panel 31 which is a trigger (ground) for determining that the first continuous operation is being performed.
  • the remote CPU 33 detects the position of the input operation detected this time and the position stored in the tracking storage unit 45 even when the input operation to the touch panel 31 is not detected or even when the input operation is detected. It is determined that the first continuous operation has not been performed if the continuity is not satisfied among them. In this case, the remote CPU 33 makes a negative decision in step S201, and proceeds to step S207.
  • the remote CPU 33 determines that the first continuation operation is being performed based on the fact that the input operation to a location relatively close to the position stored in the tracking storage unit 45 is being performed. .
  • the remote CPU 33 performs an input operation on the touch panel 31 over a period longer than the execution cycle of the remote control control process. If not performed, it can be determined that the first continuation operation has not been performed. In addition, even when the input operation is performed on the touch panel 31, the remote CPU 33 separates the position of the input operation detected this time from the position of the input operation detected in the previous remote control control process. When it is determined, it is determined that the first continuation operation has not been performed.
  • the first continuous operation of the present embodiment (A) there is an input operation on the touch panel 31, (B) the position of the input operation detected this time and the first continuous operation position detected last time are defined ranges The operation satisfies the three conditions of being inside, and (C) that a period from the detection timing of the previous first continuous operation to the detection timing of the current input operation is within a specific period.
  • the first continuous operation of the present embodiment is continuously performed from the first start operation when the remote operation is started, and the first operation when the input operation position is the remote operation is started. This operation is continuous from the position of the start operation.
  • the condition of the first continuous operation does not include that the position of the input operation detected this time is in the first area A1. Therefore, for example, as shown in FIG. 5, the first continuous operation includes the case where the finger slides from the first start position P10 to the first predetermined position P11 in the first area A1, and also the first start position P10. The case also includes the case where the finger slides to the second predetermined position P12 outside the first area A1.
  • the said specific period is an execution period of a remote control control process, it is not restricted to this, You may be longer than this.
  • the remote CPU 33 determines that the first continuous operation is not performed when the input operation on the touch panel 31 is not detected twice in a row. It is also good. In this case, the specific period is twice the execution cycle of the remote control process.
  • step S202 the remote CPU 33 grasps the presence or absence of the second continuation operation. Specifically, the remote CPU 33 determines, based on the detection result of the touch sensor 32, whether or not an input operation into the second area A2 is performed. When the input operation into the second area A2 is not detected, the remote CPU 33 proceeds to step S207 as the second continuation operation is not performed. On the other hand, when the input operation into the second area A2 is detected, the remote CPU 33 determines that the second continuation operation is being performed and thus makes an affirmative determination in step S202.
  • the second continuous operation in the present embodiment is an input operation into the second area A2 continuously performed from the second start operation when the remote control is started. Therefore, for example, as shown in FIG. 5, the position where the second continuation operation is performed by the slide operation of the finger is the second start position P20 from the second start position P20 where the second start operation is performed. Even when it has moved to the predetermined position P21, the remote CPU 33 determines that the second continuation operation is being performed. On the other hand, when the position where the second continuation operation is being performed is moved from the second start position P20 to the predetermined position P22 outside the second area A2 by the slide operation of the finger, the remote CPU 33 performs the second continuation operation It determines that it has not been done.
  • the remote CPU 33 enters the second area A2 for a longer period than the execution cycle of the remote control control process. If the input operation is not performed, it can be determined that the second continuation operation is not performed.
  • the second continuous operation in the present embodiment may be an input operation to the second area A2 continuously performed from the second start operation when remote operation is started, and the continuity of the input operation position is It doesn't matter.
  • the said specific period is an execution period of a remote control control process, it is not restricted to this, You may be longer than this.
  • the remote CPU 33 does not perform the second continuation operation when the input operation into the second area A2 is not detected twice in a row. You may judge. In this case, the specific period is twice the execution cycle of the remote control process.
  • step S201 and step S202 correspond to the "continuous operation grasping step"
  • touch sensor 32 and the remote CPU 33 that executes the processes of step S201 and step S202 correspond to the "continuous operation grasping unit”.
  • step S201 when it is determined that both the first continuation operation and the second continuation operation are being performed (step S201: YES and step S202: YES), the remote CPU 33 proceeds to steps S203 to S206.
  • a process for transmitting the remote control signal SG1 corresponding to the operation mode and the operation mode for the remote control device 30 is executed.
  • the first continuation operation and the second continuation operation are also referred to as both continuation operations.
  • step S203 the remote CPU 33 derives the relative position between the first start position P10 and the first continuous operation position based on the start position storage unit 44 and the tracking storage unit 45.
  • the remote CPU 33 performs the initial position at which the input operation was performed first and the current input operation. It can be said that the relative position to the position is derived.
  • the remote CPU 33 grasps the current operation mode based on the operation mode identification information. Thereafter, in step S205, the remote CPU 33 sets information corresponding to the relative position and the current operation mode in the remote control signal SG1. Specifically, the remote CPU 33 sets a numerical value corresponding to the relative position or the like to the information corresponding to the operation mode.
  • the remote CPU 33 determines the travel speed of the travel operation information D1.
  • a numerical value other than “0” is set to the information Dv and the acceleration information D ⁇ , and “0” is set to the cargo handling operation information D2.
  • the remote CPU 33 causes the traveling speed information Dv to increase so that the traveling speed of the forklift 20 increases as the distance between the first start position P10 and the first continuous operation position in the short direction of the touch panel 31 increases.
  • the numerical value of the acceleration information D ⁇ is set corresponding to the traveling speed set in the traveling speed information Dv.
  • the second predetermined position P12 is farther from the first start position P10 in the lateral direction of the touch panel 31 than the first predetermined position P11.
  • the absolute value of the traveling speed information Dv when the first continuous operation position is the second predetermined position P12 is the absolute value of the traveling speed information Dv when the first continuous operation position is the first predetermined position P11. It is set higher than the value.
  • the first continuous operation position is disposed above the first start position P10, specifically, on one end side (travel mode setting area A3 side) of the touch panel 31 in the short direction. If it is, the remote CPU 33 sets, to the traveling speed information Dv, a value (for example, a positive numerical value) corresponding to forward movement.
  • the remote CPU 33 moves backward to the traveling speed information Dv. Set the corresponding value, for example, a negative number. That is, the remote CPU 33 determines forward or backward based on the slide operation direction from the first start position P10.
  • the remote CPU 33 numerical value information pertaining to the stop in both the traveling speed information Dv and the acceleration information D ⁇ . And set "0".
  • the remote CPU 33 reads the lift information Dfa. And a value (for example, a negative value) corresponding to the descent operation.
  • the remote CPU 33 moves up to the lift information Dfa. Set the corresponding value (for example, a positive number). Further, the remote CPU 33 sets a larger numerical value to the lift information Dfa as the difference between the two positions in the lateral direction of the touch panel 31 becomes larger.
  • the remote CPU 33 receives the reach information Dfb Set a value (for example, a positive number) corresponding to forward movement.
  • the remote CPU 33 moves backward in reach information Dfb when the first continuous operation position is disposed below the first start position P10, specifically, on the image side of the forklift 20 that indicates backward movement.
  • the corresponding value for example, a negative number.
  • the remote CPU 33 sets a larger numerical value in the reach information Dfb as the difference between the two positions in the lateral direction of the touch panel 31 becomes larger.
  • the remote CPU 33 performs tilt information Dfc.
  • a value for example, a positive number
  • the remote CPU 33 sets the reach information Dfb to the rear inclination.
  • the corresponding value for example, a negative number
  • the remote CPU 33 sets a larger numerical value to the tilt information Dfc as the difference between the two positions in the lateral direction of the touch panel 31 becomes larger.
  • the remote CPU 33 sets the relative position between the first start position P10 and the position where the first continuation operation is being performed (in addition to the relative position in the traveling mode). A numerical value corresponding to the operation mode of the first rotation operation is set. Then, the remote CPU 33 generates a remote control signal SG1 in which the above numerical value is set in the information corresponding to the current operation mode and “0” is set in the other information.
  • the information corresponding to the traveling mode is traveling speed information Dv, acceleration information D ⁇ , and steering angle information D ⁇ .
  • the information corresponding to the lift mode is the lift information Dfa
  • the information corresponding to the reach mode is the reach information Dfb
  • the information corresponding to the tilt mode is the tilt information Dfc.
  • the remote CPU 33 permits remote control of the operation corresponding to the current operation mode, but prohibits remote control of the operation corresponding to the operation mode different from the current operation mode. Focusing on this point, it can be said that the travel mode is an operation mode in which the remote control on the fork 22 is prohibited while the remote control on the travel is performed, and the cargo handling mode is the remote control on the fork 22 It can be said that it is an operation mode in which remote control with respect to
  • step S205 can be said to be a process of determining (in other words, controlling) the remote control mode of the forklift 20 in correspondence with the first continuous operation position with respect to the first start position P10.
  • the remote CPU 33 that executes the process of step S205 corresponds to the "determination unit”.
  • the information set in the remote control signal SG1 changes according to the operation mode (first continuous operation position) of the first continuous operation, but does not depend on the operation mode of the second continuous operation. That is, the second continuous operation is a condition for performing the remote control, but is not included in the element that determines the specific operation mode of the remote control.
  • step S205 the remote CPU 33 grasps the operation mode of the first rotation operation based on the detection result of the posture detection unit 35, and steering angle information corresponding to the grasp result Set to D ⁇ .
  • the remote CPU 33 sets steering angle information D ⁇ corresponding to a right turn, and the attitude detection unit 35 operates the operation.
  • the remote CPU 33 sets the steering angle information D ⁇ corresponding to the left turn.
  • the remote CPU 33 sets the steering angle information D ⁇ to “0”.
  • step S206 the remote CPU 33 transmits the remote control signal SG1 and ends the present operation mode processing.
  • the remote control signal SG1 is received by the vehicle communication unit 28, converted into a control signal SGa by the signal conversion unit 29, and the control signal SGa is input to the vehicle CPU 25.
  • the vehicle CPU 25 controls one of the actuators 23 and 24 based on the control signal SGa. Thereby, in the forklift 20, an operation corresponding to the current operation mode, the first continuous operation position, and the like is performed.
  • the remote CPU 33 executes processing for forcibly stopping the forklift 20 and stopping the remote operation in steps S207 to S210. .
  • the remote CPU 33 first erases the information on the first start position P10 stored in the start position storage unit 44 and the first continuous operation position stored in the tracking storage unit 45. Delete information about
  • the remote CPU 33 sets forced stop information for forcibly stopping the operation of the forklift 20 in the remote control signal SG1 regardless of the operation on the remote control device 30.
  • the forcible stop information is preset according to the operation mode.
  • the deceleration information for deceleration for forced stop is set in the acceleration information D ⁇ , and “0” is included in the other information including the travel speed information Dv and the steering angle information D ⁇ . It is set.
  • the forced stop information when the operation mode is the cargo handling mode “lift mode, reach mode or tilt mode”
  • “0” is set in both the traveling operation information D1 and the cargo handling operation information D2.
  • step S208 the remote CPU 33 grasps the currently set operation mode based on the operation mode identification information, and sets the forced stop information corresponding to the operation mode in the remote control signal SG1.
  • step S209 the remote CPU 33 transmits the remote control signal SG1 in which the forcible stop information is set, using the remote communication unit 36.
  • the forklift 20 that has received the remote control signal SG1 for which the forced stop information is set is forcibly stopped. Specifically, the forklift 20 is decelerated and stopped at the deceleration for forced stop when traveling, while the operation of the fork 22 is immediately stopped when the fork 22 is operating.
  • step S210 the remote CPU 33 shifts the control mode from the operation mode to the forced stop mode, and ends the operation mode processing. Specifically, the remote CPU 33 updates the control mode identification information to information corresponding to the forced stop mode.
  • the remote control is continued when both of the continuous operations are grasped, while the remote control is continued.
  • the forced stop of the forklift 20 and the stop of the remote control using the remote control device 30 are performed based on it being understood that at least one is not performed.
  • the processes of steps S104 to S114 and steps S203 to S210 correspond to the "remote operation control step".
  • the state in which the remote control is stopped means that the forklift 20 does not perform the operation corresponding to the various operations even if the various operations are performed on the remote control device 30. I mean. Therefore, the remote control signal SG1 in which the forcible stop information or the stop information is set is transmitted regardless of various operations on the remote control device 30, and the fork lift 20 is forcibly stopped or stopped based on the remote control signal SG1. Also in the state of maintaining, it can be said that the remote control by the remote control device 30 is stopped.
  • a series of input operations including a first start operation and a first continuation operation are set as a first operation
  • a series of input operations including a second start operation and a second continuation operation are set as a second operation.
  • the first operation is a series of input operations on the touch panel 31 which is limited within the first area A1 until the remote operation is started and is not restricted within the first area A1 after the remote operation is started.
  • the second operation is a series of input operations to the second area A2 regardless of the start of remote control.
  • the remote CPU 33 performs remote control when both the first operation and the second operation are being performed, while the remote control is performed based on the fact that at least one of the first operation and the second operation is not performed. It can be said that forced stop control is performed while stopping.
  • the remote CPU 33 first determines in step S301 whether or not the forcible stop of the forklift 20 is completed.
  • the vehicle CPU 25 grasps the traveling condition of the forklift 20 and the operation condition of the fork 22 based on the detection result of the vehicle condition detection unit 27, and transmits the operation condition signal in which the grasping result is set to the vehicle communication unit.
  • the packet is periodically transmitted to the remote communication unit 36 by using the T.28.
  • the remote CPU 33 is configured to be able to grasp the traveling state of the forklift 20 and the operating state of the fork 22 based on the operating state signal received by the remote communication unit 36. In such a configuration, in step S301, the remote CPU 33 determines whether or not both the travel of the forklift 20 and the operation of the fork 22 have stopped.
  • the remote CPU 33 determines that the forced stop has not been completed, the remote CPU 33 continues to execute the instruction related to the forced stop. Specifically, in step S302, the remote CPU 33 sets the forcible stop information in the remote control signal SG1, and in step S303, transmits the remote control signal SG1 in which the forcible stop information is set, and the forcible stop is performed. End the process.
  • step S304 the process proceeds to step S304, and sets stop information for maintaining the stop state of the remote control in the remote control signal SG1.
  • step S305 the remote CPU 33 transmits the remote control signal SG1 in which the stop information is set.
  • step S306 the remote CPU 33 shifts the control mode from the forcible stop mode to the in-stop mode, and terminates the forcible stop processing. Specifically, the remote CPU 33 updates the control mode identification information to information corresponding to the in-stop mode.
  • FIGS. 12 to 14 show the case where the operation mode is the travel mode. Further, for convenience of illustration, in FIGS. 12 to 14, the first predetermined position P11 and the second predetermined position P12 are shown to be different from the positions shown in FIG.
  • the remote control device 30 when the remote control device 30 is held by both hands, the first area A1 is disposed at a position corresponding to the left hand, and the second area A2 is disposed at a position corresponding to the right hand.
  • the remote control device 30 is gripped with both hands. That is, the first start operation and the second start operation can be said to be operations for the operator to hold the remote control device 30 with both hands.
  • the present industrial vehicle remote control system 10 holds the remote control device 30 with both hands as a condition for performing remote control of the forklift 20. It can also be said that the configuration is set.
  • the remote control of the forklift 20 is performed according to the operation mode of the first continuous operation. Specifically, as shown in FIG. 13, when the first continuous operation position moves from the first start position P ⁇ b> 10 to the first predetermined position P ⁇ b> 11 above, the forklift 20 moves forward. When the first continuation operation position moves downward from the first start position P10, the forklift 20 retracts.
  • the industrial vehicle remote control system 10 determines the traveling mode of the forklift 20 based on the mode of the slide operation on the touch panel 31. Specifically, the industrial vehicle remote control system 10 is configured such that the forklift 20 moves faster as the slide operation is larger, in other words, as the movement distance of the finger in the lateral direction is larger.
  • the second predetermined position P12 is outside the first area A1. That is, in the present embodiment, after the finger touches the inside of the first area A1, the remote control is continued even when the finger moves out of the first area A1 by the slide operation.
  • traveling speed is set up large, so that the distance of the 1st start position P10 in operation image G10 and the 1st continuation operation position becomes large. Therefore, by setting the position at which the first start operation is performed below the center line L, a large traveling speed can be set.
  • the travel mode has been described, but the same applies to other operation modes.
  • the operation mode is the lift mode
  • the movement direction (up or down) of the fork 22 in the vertical direction is switched according to the movement direction of the first continuous operation position from the first start position P10.
  • the stroke amount changes in accordance with the distance between the start position P10 and the first continuous operation position in the short direction.
  • the stroke amount increases as the distance increases.
  • the movement direction (forward movement or backward movement) in the front-rear direction of the fork 22 is switched according to the movement direction of the first continuous operation position from the first start position P10.
  • the stroke amount changes in accordance with the distance in the lateral direction between the first start position P10 and the first continuous operation position. In the present embodiment, the stroke amount increases as the distance increases.
  • the inclination direction (forward inclination or back inclination) of the fork 22 is switched according to the movement direction of the first continuous operation position from the first start position P10, and the first start position P10.
  • the tilt angle changes in accordance with the distance between the first continuous operation position and the second continuous operation position. In the present embodiment, the larger the distance, the larger the inclination angle.
  • the industrial vehicle remote control system 10 uses the forklift 20 having the vehicle communication unit 28, the remote control device 30 having the remote communication unit 36 for performing wireless communication with the vehicle communication unit 28, and the remote control device 30.
  • a remote CPU 33 is provided to control remote control of the forklift 20.
  • the remote control device 30 has a touch panel 31 and a touch sensor 32.
  • the remote CPU 33 executes a process (step S102) for grasping the presence or absence of the first start operation and a process (step S103) for grasping the presence or absence of the second start operation based on the detection result of the touch sensor 32. Further, the remote CPU 33 executes a process (step S201) for grasping the presence or absence of the first continuation operation and a process (step S202) for grasping the presence or absence of the second continuation operation based on the detection result of the touch sensor 32.
  • the remote CPU 33 starts remote control based on the understanding that both start operations have been performed.
  • the remote CPU 33 recognizes that both of the two continuous operations are being performed, the remote CPU 33 continues the remote control, while the remote CPU 33 determines that at least one of the two continuous operations is not performed. Stop remote control.
  • the remote control method of the forklift 20 (the remote control method for industrial vehicles) in the present embodiment includes steps S102 and S103 for grasping the presence or absence of both start operations and step S201 for grasping the presence or absence of both continuation operations. And step S202. Then, the remote control method starts remote control on the basis of having grasped both of the start operations, and continues the remote control when grasping the both continuation operations, while at least one of the both continuation operations is It has steps S104 to S114 and steps S203 to S210 for stopping the remote control based on the understanding that it has not been performed.
  • the remote control can be stopped by terminating at least one of the two continuation operations.
  • the operator can easily stop or start the remote control consciously. Therefore, the operator can, for example, temporarily stop the remote control and check the situation, etc., and then easily perform the remote control again, and the convenience can be improved. .
  • the first start operation is an input operation to the inside of the first area A1 of the touch panel 31, and the first continuous operation is continued from the input operation to the inside of the first area A1 when the remote control is started. Input operation to the touch panel 31.
  • the input operation to the touch panel 31 continued from the input operation into the first area A1 when the remote operation is started is adopted, the input operation is performed after the remote operation is started. Is released (for example, a finger or the like is released from the touch panel 31), the remote control is stopped. As a result, for example, when the user releases the finger from the touch panel 31 to perform another operation while the remote control is performed, the remote operation is stopped, so that it is possible to suppress performing the other operation during the remote operation. Further, since the remote control can be stopped simply by releasing the finger from the touch panel 31, the remote control can be consciously stopped easily and quickly.
  • the remote CPU 33 causes the touch panel 31 to display an operation image G10 including the first area A1 and the second area A2.
  • the second start operation is an input operation to the inside of the second area A2
  • the second continuous operation is an input operation to the touch panel 31 continued from the input operation to the inside of the second area A2 when the remote control is started.
  • the remote CPU 33 controls the operation of the forklift 20 based on the operation mode of the first continuation operation, not the operation mode of the second continuation operation, during remote control (specifically, when both continuation operations are being performed). Perform remote control.
  • the operation mode of the first continuous operation affects the remote control of the forklift 20, while the operation mode of the second continuous operation does not affect the remote control of the forklift 20.
  • the operator may concentrate on the operation mode of the first continuous operation, and the operation can be facilitated. Therefore, the erroneous operation of the forklift 20 can be suppressed.
  • the remote CPU 33 determines the first start position P10, which is the position at which the first start operation was performed when the remote control was started, and the first continuous operation position, which is the position at which the first continuous operation is performed.
  • the remote control mode of the forklift 20 is controlled based on the relative position of According to this configuration, it is possible to cause the forklift 20 to perform a desired operation by the slide operation of a finger or the like.
  • the relative position between the first start position P10 and the first continuous operation position is adopted as the operation mode of the first continuous operation, and the remote control mode is controlled according to the relative position.
  • the absolute value itself of both positions does not affect the remote control mode.
  • the first start operation and the first continuous operation may be performed in order to perform desired remote control.
  • the touch position it is necessary to precisely adjust the touch position. Then, the operability is reduced.
  • the operator is likely to operate while looking at the operation image G ⁇ b> 10 instead of the forklift 20, and there is a concern that safety may be reduced.
  • the remote control mode of the forklift 20 is controlled by a series of input operations (more specifically, slide operations) continued from the first start operation when remote control is started. Therefore, it is not necessary to aim at the touch position strictly, and the operability can be improved.
  • the remote control mode is determined based on the relative position between the predetermined position and the first continued operation position, instead of the first start position P10, the range in which the slide operation can be performed is limited. Operation modes may be limited.
  • the range in which the slide operation can be performed can be adjusted by adjusting the first start position P10.
  • the first start position P10 below the center line L
  • the range in which the sliding operation can be performed upward becomes wider.
  • the first continuous operation is an input operation to the touch panel 31 continued from the first start operation when remote operation is started regardless of inside or outside the first area A1, and the second continuous operation is This is an input operation into the second area A2 continued from the second start operation when remote control is started.
  • the slide operation is possible such that the first continuous operation is extended outside the first area A1, so that the degree of freedom of the first continuous operation can be increased.
  • the remote operation is continued. Thereby, the operability and the convenience can be improved.
  • the second continuation operation is an input operation to the inside of the second area A2, when the finger is separated from the second area A2 or when the finger slides and touches the outside of the second area A2.
  • the remote control stops. As a result, other operations during remote control can be suppressed, and safety can be improved.
  • the second continuous operation is an operation necessary to continue the remote operation of the forklift 20, it does not contribute to the remote operation mode. Therefore, an operation such as changing the second continuous operation position is not necessary. Therefore, even if the second continuation operation is limited to the input operation to the second area A2 as described above, the inconvenience such as the decrease in operability hardly occurs.
  • the forklift 20 includes a traveling actuator 23 used for traveling the forklift 20 and a cargo handling actuator 24 used for operating the fork 22 which is an operation different from traveling.
  • the remote CPU 33 has, as an operation mode, a traveling mode in which the traveling actuator 23 is operated and a cargo handling mode (lift mode, reach mode or tilt mode) in which the cargo handling actuator 24 is operated.
  • the remote CPU 33 controls the traveling actuator 23 based on the operation mode of the first continuous operation in the traveling mode, while the remote CPU 33 controls the cargo handling actuator 24 based on the operation mode of the first continuous operation in the cargo handling mode. Control.
  • the traveling mode and the cargo handling mode are separately set as the operation mode, it is possible to suppress that the remote control for the travel of the forklift 20 and the remote control for the operation of the fork 22 are simultaneously performed. , You can control the wrong operation.
  • control of both the actuators 23 and 24 is performed based on the operation mode of the first continuous operation (first operation).
  • the remote CPU 33 executes the process of switching the operation mode (step S110) when the operation mode switching condition is satisfied.
  • the operation mode switching condition includes that the switching operation is performed on the remote control device 30.
  • the switching of the operation mode is performed based on the satisfaction of the operation mode switching condition including the switching operation.
  • the operator can switch the operation mode by performing the switching operation as needed, and can perform desired remote control.
  • the operation mode switching condition is that the switching operation is performed in the state of the in-stop mode. According to this configuration, while the operation mode is switched by performing the switching operation under the situation where the remote operation is stopped, the switching operation is performed when the remote operation is performed. The operation mode does not switch. Thereby, it is possible to suppress the forklift 20 from performing an unintended operation due to the switching of the operation mode during the remote control.
  • the remote control when it is determined that both the start operation and the switching operation have been performed, the remote control is started without switching the operation mode. Thereby, it is possible to suppress the start of remote control in a state in which an unintended switching of the operation mode is performed.
  • a traveling mode setting area A3 for setting the traveling mode and a cargo handling mode setting area A4 for setting the cargo handling mode are displayed.
  • the switching operation is an input operation on the traveling mode setting area A3 or an input operation on the cargo handling mode setting area A4. According to this configuration, the operation mode can be switched by the input operation on the touch panel 31.
  • the operator who is performing the both start operation or the both continuation operation performs the switching operation It is assumed that the right hand or the left hand is once released from the touch panel 31 in order to As a result, the start operation or the continuous operation is not performed naturally, the remote operation is stopped, and the switching operation is performed in the state where the remote operation is stopped. Therefore, the operator can smoothly switch the operation mode without being conscious of setting the control mode to the stop mode. Thus, it is possible to achieve both safety and convenience.
  • the first area A1 and the second area A2 are disposed apart from each other, and at least a part of both mode setting areas A3 and A4, in this embodiment, the mode setting areas A4a to A4 of the cargo handling mode setting area A4 A4c is disposed between the first area A1 and the second area A2.
  • each mode setting area A4a to A4c is disposed between the first area A1 and the second area A2, both right hand and left hand input to each mode setting area A4a to A4c. You can do the operation. Thereby, the switching operation can be facilitated.
  • the cargo handling mode setting area A4 is disposed between the first area A1 and the second area A2, a situation in which an input operation is performed to the cargo handling mode setting area A4 by mistake is unlikely to occur. Thereby, the erroneous operation can be suppressed.
  • the remote CPU 33 displays an image related to traveling in the first area A1 when the operation mode is the travel mode, and displays an image related to the operation of the fork 22 when the operation mode is the cargo handling mode Let According to this configuration, the operator can easily confirm the current operation mode (operation target).
  • the remote control mode of the forklift 20 is determined by the common operation (specifically, the first operation). Therefore, even if the operation on the touch panel 31 is the same, if the operation mode is different, the forklift 20 performs different operations, so it is necessary to accurately grasp the operation mode.
  • the image displayed in the first area A1 differs depending on the operation mode, so the operation mode can be easily confirmed based on the image displayed in the first area A1.
  • the remote control mode of the forklift 20 is determined by the operation mode of the first operation triggered by the input operation into the first area A1, so that the inside of the first area A1 is the second area A2. It can be said that the location is particularly easy for the operator to pay attention to as compared with the surroundings and the like. Since an image suggesting the operation mode is displayed at a location where such an operator can easily pay attention to, it is possible to suppress the operator's oversight.
  • the touch panel 31 has a shape having a longitudinal direction and a lateral direction, and the two areas A1 and A2 are disposed to face each other in the longitudinal direction of the touch panel 31. According to this configuration, since the two areas A1 and A2 are disposed to face each other in the longitudinal direction of the touch panel 31, it is difficult to perform an input operation on the two areas A1 and A2 with one hand. Thus, it is possible to urge the remote control device 30 to be held by both hands. In addition, even if a plurality of fingers of one hand accidentally touch the touch panel 31, a situation in which an input operation is performed on both the areas A1 and A2 hardly occurs. Thereby, the safety can be improved.
  • the remote control device 30 is a smartphone or a tablet terminal. According to this configuration, remote control of the forklift 20 can be realized using the existing general-purpose product.
  • the remote control program 40 for remotely operating the forklift 20 using the remote control device 30 includes the remote control control processing execution program 41 that causes the remote CPU 33 to execute remote control control processing.
  • the remote operation control process starts the remote operation based on the process of grasping the presence or absence of both start operations, the process of grasping the presence or absence of both continuous operations, and the fact that it is recognized that both start operations are performed. And processing. Furthermore, the remote control control processing continues the remote control when it is determined that both of the continuous operations are being performed, while the remote control is performed when it is determined that at least one of the continuous operations is not performed. It has a process to stop the operation. Thereby, the effects of (1) and the like are exerted.
  • the operation on the remote control device 30 for performing the operation image and the remote control is different from that in the first embodiment. The differences will be described below.
  • the remote CPU 33 displays the traveling mode image G21 when the operation mode is the traveling mode, and displays the cargo handling mode image G22 when the operation mode is the cargo handling mode.
  • the traveling mode image G21 of this embodiment includes a first area A11, a second area A12, a traveling mode setting area (traveling mode icon) A21, and a cargo handling mode setting area (a cargo handling mode icon). And A22.
  • the driving mode setting area A21 is highlighted.
  • a forward icon Ic1 and a reverse icon Ic2 disposed opposite to each other in the short direction of the touch panel 31 are displayed.
  • a left icon Ic3 and a right icon Ic4 which are disposed to face each other in the longitudinal direction of the touch panel 31 are displayed.
  • the traveling mode setting area A ⁇ b> 21 and the cargo handling mode setting area A ⁇ b> 22 are disposed to face each other in the short direction of the touch panel 31.
  • the traveling mode setting area A21 and the cargo handling mode setting area A22 are positions shifted with respect to both sides in the short direction of the touch panel 31 in the first area A11, and both sides in the longitudinal direction of the touch panel 31 in the second area A12. It is arranged at the position shifted with respect to.
  • the traveling mode setting area A21 and the cargo handling mode setting area A22 are between the two areas A11 and A12 in the longitudinal direction of the touch panel 31 and in the lateral direction of the touch panel 31 than the two areas A11 and A12.
  • the cargo handling mode image G22 includes a first area A11, a second area A12, a traveling mode setting area A21, a cargo handling mode setting area A22, and a third area A13. .
  • the cargo handling mode setting area A22 is highlighted.
  • a display for notifying a tilt operation, and a first upper icon Ic11 and a first lower icon Ic12 are displayed.
  • a display for notifying a lift operation, and a second upper icon Ic13 and a second lower icon Ic14 are displayed.
  • the third area A13 is disposed between the first area A11 and the second area A12 and between the traveling mode setting area A21 and the cargo handling mode setting area A22.
  • a display for notifying a reach operation and a third upper icon Ic15 and a third lower icon Ic16 are displayed.
  • the remote CPU 33 when the operation mode is the travel mode, the remote CPU 33 performs the remote operation related to the travel of the forklift 20 based on the operation mode of the both continuous operations, and when the operation mode is the cargo handling mode, Remote control of the fork 22 is performed based on the operation mode of both continuous operations.
  • the remote control control process of the present embodiment will be described with reference to FIG. 17 including this point.
  • steps S401, S404 to S408, S412, and S414 of the remote control processing of this embodiment is the same as the corresponding processing of the first embodiment, and thus detailed description will be omitted.
  • the remote CPU 33 grasps the presence or absence of the first start operation in step S402.
  • the first start operation in the present embodiment is an input operation to the inside of the first area A11 when the operation mode is the travel mode.
  • the operation mode is the cargo handling mode
  • the first start operation is an input operation to any of the three areas A11 to A13.
  • the remote CPU 33 grasps the presence or absence of the second start operation in step S403.
  • the second start operation in the present embodiment is an input operation to the inside of the second area A12 when the operation mode is the travel mode.
  • the second start operation is an input operation to an area other than the area corresponding to the first start operation among the three areas A11 to A13.
  • the remote CPU 33 determines in step S402 that the first start operation is being performed based on the input operation to the inside of the first area A11, then in step S403, the inside of the second area A12 or the third It is determined whether or not the input operation to the inside of the area A13 is performed, and when the input operation is performed, it is determined that the second start operation is performed.
  • the area corresponding to the first start operation is the area in which the input operation triggered by the determination that the first start operation is performed is performed.
  • the remote CPU 33 performs the input operation on at least two of the three areas A11 to A13, It is determined that both start operations are being performed. On the other hand, when the remote CPU 33 performs an input operation on only one of the three areas A11 to A13 or an input operation on any of the three areas A11 to A13. If not, it is determined that at least one of both start operations has not been performed.
  • any one of the three areas A11 to A13 corresponds to the “specific area” and the “first area”, and an area different from that corresponds to the “second area”. Further, in the present embodiment, after the processing of step S406, the remote CPU 33 starts the second start position P20, which is the position where the second start operation was performed when the remote control was started in step S415. It is stored in the position storage unit 44.
  • the remote CPU 33 stores the second start position P20 in the tracking storage unit 45 as the initial position of the second continuation operation position, which is the position where the second continuation operation is performed, and the second continuation is performed. Start tracking the operation position. That is, in the present embodiment, the remote CPU 33 is configured to track the second continuation operation position in addition to the first continuation operation position.
  • the specific content of this process is the same as the tracking of the first continuous operation position in the first embodiment, and thus the detailed description will be omitted.
  • the start position storage unit 44 stores both the first start position P10 and the second start position P20
  • the tracking storage unit 45 stores the first continuation operation position and the second continuation operation. Both positions are memorized.
  • the remote CPU 33 determines whether or not the switching operation is being performed, based on the fact that at least one of the start operations has not been performed.
  • the switching operation in the present embodiment is an input operation to either one of the mode setting areas A21 and A22.
  • the remote CPU 33 proceeds to step S410 and switches the operation mode. Specifically, the remote CPU 33 sets the operation mode to the traveling mode when there is an input operation to the inside of the traveling mode setting area A21, and the input operation to the inside of the cargo handling mode setting area A22, Set the operation mode to cargo handling mode. Then, in step S411, the remote CPU 33 displays an operation image G10 (more specifically, the traveling mode image G21 or the cargo handling mode image G22) corresponding to the operation mode.
  • step S501 the remote CPU 33 grasps the presence or absence of the first continuous operation.
  • the first continuous operation is an input operation on the touch panel 31 continued from the first start operation when the remote operation is started, regardless of whether inside or outside the region where the first start operation is performed.
  • the process of step S501 is the same as that of the first embodiment.
  • the remote CPU 33 grasps the presence or absence of the second continuation operation in step S502.
  • the second continuous operation in the present embodiment is an input operation on the touch panel 31 continued from the second start operation when the remote operation is started.
  • the second continuation operation also includes an input operation which is out of the area where the second start operation has been performed. That is, the second continuation operation is an input operation on the touch panel 31 continued from the second start operation when the remote operation is started regardless of inside and outside of the region where the second start operation is performed.
  • step S502 is the same as step S202 of the first embodiment. Specifically, the remote CPU 33 specifies an input operation that is closest to the second continuous operation position stored in the tracking storage unit 45 among the plurality of input operations detected this time. Then, the remote CPU 33 determines whether or not the specified position of the input operation and the second continuous operation position (the second continuous operation position detected last time) stored in the tracking storage unit 45 are continuous. judge.
  • the remote CPU 33 determines that both are continuous, it determines that the second continuation operation is being performed, and detects the second continuation operation position stored in the tracking storage unit 45 this time. Update to the position of the input operation.
  • step S 503 the information stored in the start position storage unit 44 and the tracking storage unit 45 is performed. Based on the first relative position, which is the relative position between the first start position P10 and the first continuous operation position, is derived.
  • the remote CPU 33 derives a second relative position, which is a relative position between the second start position P20 and the second continuous operation position, based on the storage information of the start position storage unit 44 and the tracking storage unit 45.
  • the remote CPU 33 executing the process of the touch sensor 32 and the step S503 corresponds to the "first position grasping unit”
  • the remote CPU 33 executing the process of the touch sensor 32 and the step S504 corresponds to the "second position grasping unit”.
  • step S505 the remote CPU 33 grasps the current operation mode.
  • step S506 remote CPU 33 sets information corresponding to the current operation mode and the relative position in remote control signal SG1 and thereafter, in step S507, the above information is set using remote communication unit 36.
  • the remote control signal SG1 is transmitted.
  • the forklift 20 having received the remote control signal SG1 performs traveling or an operation of the fork 22 corresponding to the information set in the remote control signal SG1.
  • the remote CPU 33 sets numerical values (traveling speed and acceleration) corresponding to the first relative position to the traveling speed information Dv and the acceleration information D ⁇ , and the steering angle information D ⁇ . While setting the numerical value (steering angle) corresponding to the second relative position, “0” is set to the cargo handling operation information D2. As a result, control of the traveling actuator 23 corresponding to the operation mode of both continuous operations is performed.
  • the remote CPU 33 specifies forward or backward movement based on the upper and lower slide operation directions from the first start position P10, and the first start position P10 and the first continuous operation position in the short direction of the touch panel 31
  • the traveling speed and acceleration are set based on the distance of. This point is the same as the first embodiment.
  • the remote CPU 33 specifies whether the right turn or the left turn is based on the left and right slide operation directions from the second start position P20, and the second start position P20 and the second continuation operation position in the longitudinal direction of the touch panel 31
  • the absolute value of the steering angle is set based on the distance of. For example, when the second continuation operation position is closer to the right icon Ic4 than the second start position P20, the remote CPU 33 sets a steering angle corresponding to a right turn, and the second start position P20 and the second continuation As the distance to the operation position increases, the absolute value of the steering angle is set larger.
  • the operation mode is the travel mode
  • forward or backward movement is determined by the operation of the hand (left hand) on the first area A11 side
  • speed control is performed
  • the hand on the second area A12 side Steering angle control is performed by the operation of (right hand).
  • the remote control related to the travel of the forklift 20 can be performed without performing the first rotation operation on the remote control device 30.
  • the remote CPU 33 specifies the area where the first start operation has been performed based on the storage information of the start position storage unit 44 in step S506, and the first start operation is performed.
  • the cargo handling operation information D2 corresponding to the area is specified.
  • remote CPU33 sets the numerical value corresponding to the 1st relative position to the specified cargo handling operation information D2.
  • the remote CPU 33 sets the tilt information Dfc a numerical value (tilt angle) corresponding to the first relative position.
  • tilt information Dfc a numerical value (tilt angle) corresponding to the first relative position.
  • the remote CPU 33 sets an inclination angle corresponding to the front inclination.
  • the remote CPU 33 sets a larger inclination angle as the distance between the two positions in the lateral direction increases.
  • the remote CPU 33 specifies the area where the second start operation has been performed based on the storage information of the start position storage unit 44, and specifies the cargo handling operation information D2 corresponding to the area where the second start operation has been performed. . Then, the remote CPU 33 sets a numerical value corresponding to the second relative position to the specified cargo handling operation information D2. That is, the remote CPU 33 controls the cargo handling actuator 24 corresponding to the operation mode of the both continuous operations.
  • the remote CPU 33 sets the lift information Dfa a numerical value (stroke amount) corresponding to the second relative position. Specifically, when the second continuation operation position is closer to the second upper icon Ic13 than the second start position P20, the remote CPU 33 sets a stroke amount corresponding to the increase. Also, the remote CPU 33 sets a larger stroke amount as the distance between the two positions in the lateral direction increases.
  • the remote CPU 33 sets, in the reach information Dfb, a numerical value (stroke amount) corresponding to the second relative position. Specifically, when the second continuation operation position is closer to the third upper icon Ic15 than the second start position P20, the remote CPU 33 sets a stroke amount corresponding to forward movement. Also, the remote CPU 33 sets a larger stroke amount as the distance between the two positions in the lateral direction increases.
  • the remote CPU 33 controls the remote control mode of the forklift 20 by controlling the numerical value set in the remote control signal SG1 according to the relative position of the two.
  • the industrial vehicle remote control system 10 can execute two types of operations. Thereby, for example, the lift operation and the reach operation can be performed simultaneously.
  • the operation of the fork 22 corresponding to the first continuous operation among the lift operation, the reach operation, and the tilt operation corresponds to the "first operation" and corresponds to the second continuous operation.
  • the action of the fork 22 corresponding to the second action corresponds to the “second action”.
  • step S501: NO or step S502: NO the remote CPU 33 forcibly stops in steps S508 to S511. Execute such processing.
  • step S508 the remote CPU 33 erases the information on both start positions P10 and P20 stored in the start position storage unit 44, and continues both continuous operation positions stored in the tracking storage unit 45. Delete information about
  • steps S509 to S511 are the same as the processes of steps S208 to S210 of the first embodiment.
  • the remote CPU 33 When the remote CPU 33 recognizes that both continuous operations are being performed, the remote CPU 33 remotely operates the forklift 20 based on both the operation mode of the first continuous operation and the operation mode of the second continuous operation.
  • the remote CPU 33 transmits a remote control signal SG1 in which information corresponding to both the operation mode of the first continuous operation and the operation mode of the second continuous operation is set, thereby a forklift corresponding to both operation modes.
  • Perform 20 remote controls According to this configuration, remote control of the forklift 20 can be suitably performed by combining the operation mode of the first continuous operation and the operation mode of the second continuous operation.
  • the remote CPU 33 determines the position where the first start operation was performed (the first start position P10) when the remote control was started and the position where the first continuation operation is performed (first continuation operation position).
  • ascertains the 1st relative position which is a relative position of is performed.
  • the remote CPU 33 determines the relative position between the position where the second start operation was performed (second start position P20) when the remote control was started and the position where the second continuation operation was performed (second continuation operation position). And a process of grasping the second relative position (step S504).
  • the remote CPU 33 controls the remote control mode of the forklift 20 based on both relative positions. In detail, the remote CPU 33 performs remote control of the forklift 20 corresponding to both relative positions by transmitting a remote control signal SG1 in which information corresponding to both relative positions is set.
  • a series of input operations continued from the first start operation when the remote operation is started, and a series of sequences continued from the second start operation when the remote operation is started
  • the forklift 20 can be remotely operated by the input operation (slide operation).
  • the absolute value itself of the position of each input operation does not affect the remote control mode.
  • the first continuous operation is an input operation to the touch panel 31 continued from the first start operation when remote control is started, regardless of whether inside or outside the first area A11.
  • the second continuation operation is an input operation on the touch panel 31 continued from the second start operation when the remote operation is started, regardless of whether inside or outside the second area A12.
  • the slide operation is possible such that the first continuous operation is out of the first area A11. Therefore, the degree of freedom of the first continuous operation can be increased.
  • the remote control is continued even if the desired remote control mode is intended. Thereby, the operability and the convenience can be improved.
  • the slide operation is possible such that it slides out of the second area A12, so that the degree of freedom of the second continuation operation can be increased.
  • the remote control is continued even if the desired remote control mode is intended. Thereby, the operability and the convenience can be improved.
  • the remote CPU 33 advances or retracts the forklift 20 based on the operation mode of the first continuous operation and a steering angle corresponding to the operation mode of the second continuous operation
  • the traveling actuator 23 is controlled to be According to this configuration, it is possible to cause the forklift 20 to travel in a desired direction by the both continuous operations.
  • the remote CPU 33 performs the first operation which is any one of the lift operation, the reach operation, and the tilt operation based on the operation mode of the first continuous operation, and Based on the operation mode of the second continuous operation, the cargo handling actuator 24 is controlled such that a second operation different from the first operation among the above three operations is performed.
  • the first operation and the second operation can be performed simultaneously.
  • the present embodiment is different from the first embodiment in the processing configuration and the like related to the forced stop. The differences will be described in detail below.
  • step S101 there are two control modes in this embodiment, an operation mode in which remote control is possible and a stop mode in which remote control is stopped, and there is no forced stop mode. For this reason, in the present embodiment, as shown in FIG. 19, when the determination of step S101 is negative, the remote CPU 33 determines that the control mode is the operation mode and executes the operation mode process of step S604.
  • the remote CPU 33 transmits a release signal SG3 for instructing release of the stop state of the remote control using the remote control device 30 in step S601.
  • the release signal SG3 is a signal of a communication format that can be exchanged between the two communication units 28 and 36. While the identification information indicating that it is the release signal SG3 is set in the release signal SG3, the traveling operation information D1 and the cargo handling operation information D2 are not set.
  • the release signal SG3 can also be said to be a start signal instructing to start the remote control.
  • the remote CPU 33 determines that the step S109 is negative or after the process of the step S111, the process for transmitting the remote control signal SG1 in which the stop information is set in the steps S602 and S603. Run.
  • the operation mode processing of the present embodiment will be described with reference to FIG.
  • the remote CPU 33 executes the process of step S205, and in step S206, the remote control signal SG1 corresponding to the operation mode and the operation mode of the first continuous operation.
  • Send The remote control signal SG1 includes, in addition to the traveling operation information D1 and the cargo handling operation information D2, identification information indicating that it is the remote control signal SG1.
  • step S207 the remote CPU 33 executes processing of transmitting a forcible stop signal SG2 for instructing to perform a forcible stop in step S701. Thereafter, in step S702, the remote CPU 33 shifts the control mode from the operation mode to the in-stop mode, and ends the operation mode processing.
  • the forced stop signal SG2 is a signal of a communication format that can be exchanged between the two communication units 28 and 36, as with the remote control signal SG1. While the identification information indicating that the forcible stop signal SG2 is set is set in the forcible stop signal SG2, the traveling operation information D1 and the cargo handling operation information D2 are not set.
  • the remote control signal SG1 the forced stop signal SG2 and the release signal SG3 are different in type.
  • the vehicle CPU 25 controlling the forklift 20 has a remote movable mode and a remote stop mode as a vehicle control mode for controlling the forklift 20.
  • the remote movement mode is a vehicle control mode in which the forklift 20 is controlled in correspondence with the remote control signal SG1 based on the remote control signal SG1 transmitted from the remote communication unit 36 being received by the vehicle communication unit 28.
  • the remote stop mode is a vehicle control mode in which the forklift 20 corresponding to the remote control signal SG1 is not controlled even when the remote control signal SG1 transmitted from the remote communication unit 36 is received by the vehicle communication unit 28. is there.
  • the signal conversion unit 29 converts the received signal into a control signal SGa. Then, the control signal SGa converted by the signal conversion unit 29 is input to the vehicle CPU 25.
  • the signal conversion unit 29 also sets the identification information set in the reception signal to the control signal SGa.
  • the vehicle CPU 25 can specify the type of the received signal based on the control signal SGa.
  • the vehicle CPU 25 specifies the type of the received signal received by the vehicle communication unit 28 based on the input of the control signal SGa, and controls the remote control in accordance with the received signal and the vehicle control mode. Execute the process That is, the vehicle control process is performed each time a signal is received from the remote communication unit 36.
  • the remote control execution program of the vehicle memory 26 stores a program for executing a vehicle control process.
  • the vehicle CPU 25 executes a vehicle control process by reading the program.
  • the vehicle control process will be described with reference to FIG. For convenience of explanation, the following description will be made based on not the control signal SGa but a signal exchanged between the two communication units 28 and 36.
  • the vehicle CPU 25 first determines in step S801 whether or not the current vehicle control mode is the remote movable mode. The vehicle CPU 25 proceeds to step S802 if the current vehicle control mode is the remote movable mode.
  • step S802 the vehicle CPU 25 determines whether or not the received signal that triggered execution of the vehicle control process this time is the remote control signal SG1.
  • the vehicle CPU 25 is set to the remote control signal SG1 (more specifically, the control signal SGa obtained by converting the remote control signal SG1) in step S803. It grasps traveling operation information D1 and cargo handling operation information D2.
  • step S804 the vehicle CPU 25 controls the respective actuators 23, 24 based on the traveling operation information D1 and the cargo handling operation information D2 grasped in step S803, and ends the present vehicle control processing. Thereby, remote control of the forklift 20 using the remote control device 30 is performed.
  • the vehicle CPU 25 determines in step S805 whether the current reception signal is the forcible stop signal SG2. If the reception signal is not the forced stop signal SG2, the vehicle CPU 25 ends the present vehicle control processing as it is.
  • the vehicle CPU 25 proceeds to step S806 to perform forcible stop control for forcibly stopping the operation of the forklift 20. More specifically, the vehicle CPU 25 decelerates at the deceleration for forced stop and stops the fork 22 when the forklift 20 is traveling, and immediately stops the fork 22 when the fork 22 is in operation.
  • the vehicle CPU 25 continues the process of step S806 until the forced stop of the forklift 20 is completed, or in detail, until the operation of the forklift 20 is stopped. That is, in the present embodiment, the forcible stop control is performed when the vehicle communication unit 28 receives the forcible stop signal SG2.
  • the vehicle CPU 25 shifts the vehicle control mode from the remote movable mode to the remote stop mode in step S807, and ends the present vehicle control process. .
  • the vehicle communication unit 28 receives the forcible stop signal SG2 in a situation where the vehicle control mode is the remote movable mode
  • the vehicle CPU 25 forcibly stops the forklift 20 and remotely controls the vehicle control mode from the remote movable mode. Move to stop mode.
  • the vehicle CPU 25 determines whether the release condition is satisfied when the vehicle control mode is the remote stop mode, and when the release condition is satisfied, the vehicle control mode is remotely movable from the remote stop mode. Switch to mode.
  • the vehicle CPU 25 makes a negative decision in step S801 to proceed to step S808 and determines whether the current reception signal is the release signal SG3. It is determined whether or not.
  • the cancellation condition of the present embodiment is that the vehicle communication unit 28 receives the cancellation signal SG3.
  • the vehicle CPU 25 ends the present vehicle control processing as it is.
  • the vehicle CPU 25 shifts the vehicle control mode from the remote stop mode to the remote movable mode in step S809, and ends the present vehicle control process. This enables remote control using the remote control device 30.
  • the vehicle CPU 25 shifts the vehicle control mode from the remote stop mode to the remote movable mode based on the fact that the vehicle communication unit 28 receives the release signal SG3 in the situation where the vehicle control mode is the remote stop mode. In other words, the vehicle CPU 25 maintains the state in which the remote control is stopped until the release signal SG3 is received after the forced stop is performed.
  • the forcible stop of the forklift 20 is performed based on the reception of the forcible stop signal SG2 by the vehicle communication unit 28. Therefore, the signal from the remote communication unit 36 after the forcible stop signal SG2 is received for some reason Even if it stops, the forklift 20 can be forcibly stopped.
  • the present vehicle control process is ended without executing the processes of steps S803 and S804. Therefore, the remote control corresponding to the remote control signal SG1 is not executed during the forced stop control. That is, when the vehicle control mode is the remote stop mode, the forklift 20 according to the present embodiment does not perform the remote control corresponding to the remote control signal SG1 even if the remote control signal SG1 is received. As regulated.
  • step S803 and step S804 are not executed during the forced stop control. Therefore, the remote control based on the remote control signal SG1 is not performed during the forced stop control. That is, the vehicle CPU 25 is configured such that remote control based on the remote control signal SG1 is not performed during the forced stop control.
  • the vehicle CPU 25 determines whether or not the release condition is satisfied, specifically, whether or not the vehicle communication unit 28 receives the release signal SG3 during the forced stop control. If the vehicle CPU 25 receives the release signal SG3 during forced stop control, after the end of the forced stop control, the vehicle CPU 25 ends the present vehicle control process without executing step S807, or after the process of step S807 is executed. The vehicle control mode is again shifted from the remote stop mode to the remote movable mode, and the present vehicle control process is ended.
  • the vehicle CPU 25 of the present embodiment continues the forced stop control without stopping it. Then, the vehicle CPU 25 does not execute the transition process from the remote stop mode to the remote movable mode after the termination of the forced stop control, or executes the transition process from the remote stop mode to the remote movable mode after the transition process. Do.
  • the vehicle CPU 25 executing the processing of steps S 803 and S 804 corresponds to the “remote movable mode control unit”, and the vehicle CPU 25 executing the processing of step S 806 corresponds to the “forced stop control unit”.
  • the vehicle CPU 25 of the forklift 20 controls the forklift 20 (each actuator 23, 24) in response to the remote control signal SG1 based on the remote control signal SG1 received by the vehicle communication unit 28.
  • the vehicle CPU 25 performs forced stop control based on the vehicle communication unit 28 receiving the forced stop signal SG2 during the remote movement mode.
  • the forklift 20 (vehicle CPU 25) is configured such that remote control by the remote control device 30 is not performed during forced stop control.
  • the forklift 20 is remotely operated using the remote control device 30, it may be desirable to be able to forcibly stop the forklift 20 using the remote operation device 30 so as to be able to respond quickly to any abnormal situation. .
  • the forklift 20 is forcibly stopped when the vehicle communication unit 28 receives the forcible stop signal SG2.
  • the fork lift 20 can be forcibly stopped by the remote communication unit 36 of the remote control device 30 transmitting the forcible stop signal SG2 as needed, so that the safety can be improved.
  • the forklift 20 after the transmission of the forcible stop signal SG2 by the remote communication unit 36, the forklift 20 is forcibly stopped without transmitting a periodic signal from the remote communication unit 36 to the vehicle communication unit 28. .
  • the forklift 20 can be forcibly stopped.
  • the release signal SG3 and the remote control signal SG1 are during the forced stop control. May be sent.
  • the forced stop is stopped halfway and remote control based on the remote control signal SG1 is performed, the behavior of the forklift 20 tends to be unstable.
  • the forced stop control since the remote control based on the remote control signal SG1 is not performed during the forced stop control, the forced stop control is continuously executed. As a result, it can be avoided that the forced stop is stopped halfway and the remote control is performed again, and the behavior of the forklift 20 can be suppressed from becoming unstable.
  • the vehicle CPU 25 performs forced stop control based on the vehicle communication unit 28 receiving the forced stop signal SG2 in the remote movable mode.
  • the vehicle CPU 25 determines whether or not the release condition for enabling the remote control is established during the forced stop control.
  • the vehicle CPU 25 continues the forced stop control even if the release condition is satisfied during the forced stop control.
  • the vehicle CPU 25 shifts the vehicle control mode from the remote movable mode to the remote stop mode after the forced stop control ends.
  • the vehicle CPU 25 sets the vehicle control mode to the remote movable mode after the end of the forced stop control.
  • the second start operation may be an operation other than the input operation on the touch panel 31.
  • the second start operation may be to operate the operation button.
  • the remote control device 30 may have a detection unit that detects the presence or absence of the operation of the operation button as the operation grasping unit.
  • the second continuation operation continued from the second start operation when the remote control is started is to continue to operate the operation button from when the remote control is started.
  • the finger detection sensor for detecting a finger is provided on the back surface of the remote control device 30, the second start operation may touch the finger detection sensor.
  • the operation button may be a dedicated button used for the start operation and the continuation operation, or may be a button used for other applications.
  • 1st start operation when operation other than input operation with respect to the touch panel 31 is employ
  • the first continuous operation may be limited to the input operation in the first areas A1 and A11. Specifically, the remote CPU 33 may determine that the first continuous operation is not performed when the first continuous operation position is out of the first areas A1 and A11.
  • the first continuous operation position itself may be adopted as the operation mode of the first continuous operation.
  • the remote CPU 33 sets traveling operation information D1 corresponding to forward movement, while the remote CPU 33 sets the traveling operation information D1 below the central line L.
  • traveling operation information D1 corresponding to reverse movement may be set.
  • the remote CPU 33 may control the remote control mode based on the relative position between the prescribed position in the touch panel 31 and the first continuous operation position instead of the first start position P10. For example, in the traveling mode, the remote CPU 33 may determine the traveling speed based on the distance from the center line L to the first continuous operation position. Also, when the remote CPU 33 first performs an input operation into the first area A1 and then performs an input operation into the second area A2 and the remote control is started, the input when starting the remote operation The remote control mode may be controlled based on the position at which the input operation into the first area A1 is first performed and the first continuous operation position, instead of the first start position P10 which is the operation position.
  • the second continuation operation position itself may be adopted instead of the relative position between the second start position P20 and the second continuation operation position.
  • the specific layout of the operation image G10 is arbitrary, and may be changed as appropriate.
  • the first areas A1 and A11 and the second areas A2 and A12 may be interchanged.
  • the forklift 20 can perform a desired operation by the operation of the right hand.
  • the first areas A1 and A11 and the second areas A2 and A12 may be spaced apart in the lateral direction, or both may be continuous without separation. However, if focusing on the viewpoint of prompting the user to operate with both hands, it is preferable that the two be separated.
  • the images displayed in the first areas A1 and A11 may be the same regardless of the operation mode.
  • the second continuation operation is continued from the second start operation (input operation to the inside of the second area A2) when the remote operation is started regardless of whether inside or outside the second area A2 31 may be input operation.
  • the second operation is limited within the second area A2 until the remote control is started, and a series of input operations on the touch panel 31 which is not restricted within the second area A2 after the remote control is started Good.
  • the remote CPU 33 has the traveling mode and the cargo handling mode as the operation mode, and is configured not to simultaneously perform the traveling control of the forklift 20 and the control of the fork 22, but the present invention is not limited thereto.
  • the remote CPU 33 may be configured to be able to simultaneously perform travel control of the forklift 20 and control of the fork 22. That is, both modes are not essential.
  • the remote CPU 33 causes the operation image G10 to display an operation icon related to traveling and an operation icon related to control of the fork 22, and transmits the remote operation signal SG1 corresponding to the input operation on these operation icons. Good.
  • the remote CPU 33 be configured not to simultaneously perform the travel control of the forklift 20 and the control of the fork 22 if attention is paid to the point of suppressing erroneous operations and the like due to the complicated operation.
  • the remote control device 30 may be configured to select one or a plurality of desired operations from the traveling of the forklift 20 and the operations of the fork 22, and to execute the selected operations simultaneously.
  • the remote CPU 33 displays a selection image for selecting one or more of the traveling, the lift operation, the reach operation, and the tilt operation. Then, when traveling and lift operation are selected, the remote CPU 33 performs remote control related to traveling based on the operation mode of the first continuous operation, and remote control of the lift operation based on the operation mode of the second continuous operation.
  • the configuration may be such that the operation is performed.
  • the third area A13 may be omitted.
  • the remote CPU 33 may be configured to perform the reach operation based on the second rotation operation. For example, when the second rotation operation is grasped, the remote CPU 33 may set the reach information Dfb to a numerical value corresponding to the operation mode of the second rotation operation. Thereby, three types of operations can be performed simultaneously. Note that, instead of the third area A13, the first area A11 or the second area A12 may be omitted.
  • the travel speed, the stroke amount, or the inclination angle increases as the distance between the first start position P10 and the first continuous operation position in the lateral direction of the touch panel 31 increases. It is not limited to.
  • the remote control mode of the forklift 20 may be controlled according to the relative position between the first start position P10 and the first continuous operation position, and the specific setting mode is arbitrary.
  • the remote CPU 33 steers based on the slide operation direction from the first start position P10 in the longitudinal direction of the touch panel 31 and the distance between the first start position P10 and the first continuous operation position in the longitudinal direction. The corners may be determined. In this case, the remote CPU 33 may not determine the steering angle based on the first rotation operation.
  • the operation mode switching condition is that the switching operation is performed in the stop mode, but is not limited thereto.
  • the operation mode switching condition may be that the switching operation is performed regardless of the control mode.
  • the switching operation is not limited to the input operation to each mode setting area A3, A4, A21, A22, and is arbitrary.
  • the switching operation may be performed.
  • the remote CPU 33 determines that both the start operation and the switching operation have been performed, it determines that an erroneous operation is being performed, switches the operation mode, and switches from the stop mode to the operation mode. Both of the control mode transitions may be prohibited.
  • the vehicle control mode is configured to shift from the remote movable mode to the remote stop mode after the forcible stop control.
  • the present invention is not limited thereto, and the forcible stop control may be performed after the shift to the vehicle control mode Good.
  • the forklift 20 may be configured to prohibit (disable) remote control using the remote control device 30 during forced stop control.
  • the release condition is the reception of the release signal SG3, but is not limited to this and is arbitrary.
  • the remote control start switch provided on the forklift 20 may be operated in a state in which communication between the two communication units 28 and 36 is possible.
  • the vehicle communication unit 28 when the vehicle communication unit 28 receives the remote control signal SG1 during the forced stop control, the vehicle CPU 25 does not execute the processing corresponding to the remote control signal SG1, whereby the remote control is performed.
  • the signal conversion unit 29 may be configured not to convert the remote control signal SG1 into the control signal SGa during the forced stop control. In this case, the vehicle CPU 25 does not know the reception of the remote control signal SG1 in the first place.
  • the remote CPU 33 may shift the control mode from the forcible stop mode to the operation mode based on the fact that both start operations are performed during the forcible stop mode. As a result, the control related to the forced stop is cancelled, and the remote control is resumed. Similarly, in the third embodiment, the vehicle CPU 25 may cancel the forced stop control and resume the remote control based on the release signal SG3 being received during the forced stop control.
  • the specific processing configuration for stopping the remote control by the remote control device 30 in the industrial vehicle remote control system 10 is optional.
  • the remote control device 30 may be configured to transmit the remote control signal SG1 related to stop regardless of the operation on the remote control device 30, as in the third embodiment.
  • the forklift 20 may be configured not to perform an operation based on the remote control signal SG1, or may not be.
  • the industrial vehicle is not limited to the forklift 20 but is optional, and may be, for example, an unmanned carrier. Moreover, the industrial vehicle which does not have a driving target other than driving may be sufficient. That is, the operation drive unit used for an operation different from traveling is not essential.
  • the communication method between the two communication units 28 and 36 is not limited to wireless communication, and may be wired communication.
  • the posture detection unit 35 detects the first rotation operation in a state where the thickness direction of the remote control device 30 intersects or is orthogonal to the vertical direction, while the thickness direction of the remote control device 30 matches the vertical direction.
  • the first rotation operation may not be detected in this state.
  • the thickness direction of the remote control device 30 tends to cross or be orthogonal to the vertical direction. For this reason, even if the first rotation operation is not detected in the state where the thickness direction of the remote control device 30 coincides with the vertical direction, a problem hardly occurs.
  • the remote CPU 33 is configured to execute both display control of the touch panel 31 and remote control control of the forklift 20, the present invention is not limited thereto. Another display control of the touch panel 31 is performed separately from the remote CPU 33 A control unit (CPU) may be provided. The point is that the remote control device 30 may be configured to execute display control and remote control as a whole.
  • the remote control system 10 for industrial vehicles may be in a state in which remote control can always be performed while the remote control program 40 is activated, and forced stop is performed based on at least one of both continuous operations being stopped. It is not necessary to execute control. That is, the in-stop mode and the forced stop mode may be omitted, and the “forced stop control unit” and the “remote control unit” are not essential.
  • the remote control program 40 may be stored in the vehicle memory 26.
  • the remote CPU 33 periodically aims at the vehicle communication unit 28 an operation signal in which information on various operations on the remote control device 30 (for example, information on the attitude of the remote control device 30 and the input operation position on the touch panel 31) is set.
  • Send to The vehicle CPU 25 determines the remote control mode and the control mode by executing the remote control control process based on the above-mentioned operation signal, and controls each of the actuators 23 and 24 or the determined control mode information is set.
  • the remote control device 30 may be controlled by transmitting the signal to the remote control device 30.
  • the vehicle CPU 25 corresponds to the "remote control unit".
  • the specific configuration for determining the remote control mode and the control mode based on the operation signal is as described in the first embodiment and the like.
  • a remote control device having an industrial vehicle having a vehicle communication unit, and a remote communication unit for communicating with the vehicle communication unit, the remote control device used to remotely control the industrial vehicle, and the remote control device
  • the remote control of the industrial vehicle is performed when the first operation and the second operation are performed, and the remote control of the industrial vehicle is performed when at least one of the first operation and the second operation is not performed.
  • a remote control system for industrial vehicles comprising:
  • An industrial vehicle having a vehicle communication unit, a remote communication unit for communicating with the vehicle communication unit, a remote control device used to remotely control the industrial vehicle, and the remote control device
  • a control mode of remote control of the industrial vehicle an operation mode is controlled to perform an operation corresponding to an operation on the remote control device, and a restriction is performed such that an operation corresponding to an operation on the remote control device is not performed
  • a remote control control unit having a restriction mode, the remote control control unit performing both the first operation and the second operation different from the first operation on the remote control device
  • the control mode is set to the restriction mode.
  • the “first operation” in (A) and (B) is optional as long as it is an operation to the remote control device, and may be a series of input operations including, for example, a first start operation and a first continuous operation.
  • the “second operation” may be any operation on the remote control device, and may be a series of input operations including, for example, a second start operation and a second continuation operation.
  • the forced stop mode or the stop mode corresponds to (b) “limit mode”.
  • a remote control system for an industrial vehicle comprising: a device; and a remote control unit for controlling remote control of the forklift using the remote control device, wherein the remote control control unit uses the remote control device.
  • the remote control related to traveling of the forklift is performed based on the operation mode with respect to the operation unit, while the travel mode in which remote operation with respect to the fork is prohibited While performing remote control regarding the fork based on the operation mode, the remote control regarding travel of the forklift
  • the industrial vehicle remote control system has the operation mode set to the travel mode or the cargo handling mode based on the switching operation being performed on the remote control device.
  • An industrial vehicle remote control system comprising an operation mode switching unit for switching to
  • a remote control device having an industrial vehicle having a vehicle communication unit, a remote communication unit for performing wireless communication with the vehicle communication unit, and a touch panel, and used to remotely control the industrial vehicle, and the remote control device A remote control control unit for controlling remote control of the industrial vehicle using the control unit, the remote control control unit performing an input operation on the touch panel
  • the apparatus further includes a determination unit that determines a remote control mode of the industrial vehicle based on a slide operation in which the position at which the input operation is performed moves while maintaining the state, and the determination unit first performs the input operation in the slide operation.
  • the remote control mode of the industrial vehicle is determined based on the relative position between the initial position performed and the position at which the input operation is currently performed. Work system.
  • At least one of the first start operation and the second start operation may be omitted as the condition for starting the remote control, and the remote control is continued.
  • As the condition to be performed at least one of the first continuation operation and the second continuation operation may be omitted.
  • the first start position P10 or the second start position P20 corresponds to the "initial position" in (e).

Abstract

L'invention concerne un système de commande à distance de véhicule industriel comprenant : un chariot élévateur à fourche ayant une unité de communication de véhicule ; un dispositif de commande à distance ayant une unité de communication à distance qui effectue des communications sans fil avec l'unité de communication de véhicule ; et une unité centrale distante qui commande la commande à distance du chariot élévateur à fourche à l'aide du dispositif de commande à distance. L'unité centrale distante démarre la commande à distance du chariot élévateur à fourche sur la base de l'exécution d'une première opération de démarrage et d'une seconde opération de démarrage. Ensuite, l'unité centrale distante continue la commande à distance s'il est déterminé qu'une première opération de poursuite et une seconde opération de poursuite sont toutes deux exécutées, mais arrête la commande à distance lorsqu'il est déterminé qu'au moins une des deux opérations de poursuite n'est pas exécutée.
PCT/JP2018/038173 2017-10-23 2018-10-12 Système de commande à distance de véhicule industriel, dispositif de commande à distance, programme de commande à distance de véhicule industriel, procédé de commande à distance de véhicule industriel, et véhicule industriel WO2019082701A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-204622 2017-10-23
JP2017204622A JP6959516B2 (ja) 2017-10-23 2017-10-23 産業車両用遠隔操作システム、遠隔操作装置、産業車両用遠隔操作プログラム、産業車両用遠隔操作方法及び産業車両

Publications (1)

Publication Number Publication Date
WO2019082701A1 true WO2019082701A1 (fr) 2019-05-02

Family

ID=66247363

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/038173 WO2019082701A1 (fr) 2017-10-23 2018-10-12 Système de commande à distance de véhicule industriel, dispositif de commande à distance, programme de commande à distance de véhicule industriel, procédé de commande à distance de véhicule industriel, et véhicule industriel

Country Status (2)

Country Link
JP (1) JP6959516B2 (fr)
WO (1) WO2019082701A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116767117B (zh) * 2023-08-21 2023-12-05 徐州徐工汽车制造有限公司 车辆控制系统、方法、控制器和存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003002599A (ja) * 2001-06-18 2003-01-08 Nippon Yusoki Co Ltd フォークリフト
US20080292448A1 (en) * 2007-05-23 2008-11-27 Moffett Research & Development Limited Method for mounting a forklift to a vehicle
JP2009099067A (ja) * 2007-10-18 2009-05-07 Sharp Corp 携帯型電子機器、および携帯型電子機器の操作制御方法
JP2012236700A (ja) * 2011-05-13 2012-12-06 Nippon Yusoki Co Ltd フォークリフト
JP2013075551A (ja) * 2011-09-29 2013-04-25 Komatsu Ltd 作業機械の表示装置および表示装置を搭載した作業機械
JP2014042465A (ja) * 2012-08-24 2014-03-13 Kubota Corp 携帯端末及び携帯端末を備えた作業機操作システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003002599A (ja) * 2001-06-18 2003-01-08 Nippon Yusoki Co Ltd フォークリフト
US20080292448A1 (en) * 2007-05-23 2008-11-27 Moffett Research & Development Limited Method for mounting a forklift to a vehicle
JP2009099067A (ja) * 2007-10-18 2009-05-07 Sharp Corp 携帯型電子機器、および携帯型電子機器の操作制御方法
JP2012236700A (ja) * 2011-05-13 2012-12-06 Nippon Yusoki Co Ltd フォークリフト
JP2013075551A (ja) * 2011-09-29 2013-04-25 Komatsu Ltd 作業機械の表示装置および表示装置を搭載した作業機械
JP2014042465A (ja) * 2012-08-24 2014-03-13 Kubota Corp 携帯端末及び携帯端末を備えた作業機操作システム

Also Published As

Publication number Publication date
JP6959516B2 (ja) 2021-11-02
JP2019077526A (ja) 2019-05-23

Similar Documents

Publication Publication Date Title
WO2019082705A1 (fr) Système de commande à distance de véhicule industriel, dispositif de commande à distance, programme de commande à distance de véhicule industriel, procédé de commande à distance de véhicule industriel, et véhicule industriel
EP3770108B1 (fr) Système de commande à distance destiné à des véhicules industriels, véhicule industriel, dispositif de commande à distance, programme de commande à distance destiné à des véhicules industriels, et procédé de commande à distance destiné à des véhicules industriels
JP6943143B2 (ja) 産業車両用遠隔操作システム、産業車両、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
EP3578501B1 (fr) Système de commande à distance destiné à des véhicules industriels et procédé de commande à distance destiné à des véhicules industriels
JP2018072945A (ja) 産業車両用遠隔操作システム、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
JP4591835B2 (ja) 車両及び遠隔操作装置
WO2019082701A1 (fr) Système de commande à distance de véhicule industriel, dispositif de commande à distance, programme de commande à distance de véhicule industriel, procédé de commande à distance de véhicule industriel, et véhicule industriel
WO2019181664A1 (fr) Système d'actionnement à distance pour véhicules industriels, véhicule industriel, dispositif d'actionnement à distance, programme d'actionnement à distance pour véhicules industriels, et procédé d'actionnement à distance pour véhicules industriels
JP6834904B2 (ja) 産業車両用遠隔操作システム、遠隔操作装置、産業車両用遠隔操作プログラム、産業車両用遠隔操作方法及び産業車両
WO2019082761A1 (fr) Système de commande à distance pour véhicule industriel, dispositif de commande à distance, programme de commande à distance pour véhicule industriel, procédé de commande à distance pour véhicule industriel et véhicule industriel
JP7004162B2 (ja) 産業車両用遠隔操作システム、遠隔操作装置、産業車両、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
JP6959532B2 (ja) 産業車両用遠隔操作システム
WO2019208266A1 (fr) Système d'actionnement à distance de véhicule industriel, véhicule industriel, programme d'actionnement à distance de véhicule industriel, procédé d'actionnement à distance de véhicule industriel et dispositif d'actionnement à distance
WO2018142992A1 (fr) Système de commande à distance destiné à des véhicules industriels, véhicule industriel, dispositif de commande à distance, programme de commande à distance destiné à des véhicules industriels, et procédé de commande à distance destiné à des véhicules industriels
JP6950626B2 (ja) 産業車両用遠隔操作システム、遠隔操作装置、産業車両、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
JP2024020127A (ja) 操作対象機器の操作用のプログラム
KR20170031822A (ko) 전동식 이동장치
JP2019077527A5 (fr)

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18870381

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18870381

Country of ref document: EP

Kind code of ref document: A1