WO2019082761A1 - Remote operation system for industrial vehicle, remote operation device, remote operation program for industrial vehicle, remote operation method for industrial vehicle and industrial vehicle - Google Patents

Remote operation system for industrial vehicle, remote operation device, remote operation program for industrial vehicle, remote operation method for industrial vehicle and industrial vehicle

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Publication number
WO2019082761A1
WO2019082761A1 PCT/JP2018/038635 JP2018038635W WO2019082761A1 WO 2019082761 A1 WO2019082761 A1 WO 2019082761A1 JP 2018038635 W JP2018038635 W JP 2018038635W WO 2019082761 A1 WO2019082761 A1 WO 2019082761A1
Authority
WO
WIPO (PCT)
Prior art keywords
remote control
mode
industrial vehicle
remote
control device
Prior art date
Application number
PCT/JP2018/038635
Other languages
French (fr)
Japanese (ja)
Inventor
小野琢磨
岡本浩伸
榊原健人
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 WO2019082761A1 publication Critical patent/WO2019082761A1/en

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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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom

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 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 device, a remote control program for industrial vehicles, and a remote control for industrial vehicles, which can improve operability.
  • 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 Based on an operation device, a setting unit for setting a reference position of the operation of the remote control device based on the reference setting operation performed on the remote control device, and a degree of change from the reference position
  • a determination unit that determines a remote control mode of the industrial vehicle; and an execution unit that remotely controls the industrial vehicle in the remote control mode determined by the determination unit.
  • the remote control mode of the industrial vehicle is determined based on the degree of change from the reference position, and the remote control of the industrial vehicle is performed in the remote control mode.
  • the reference position is set by the operator performing a reference setting operation.
  • the remote control device has a posture detection unit that detects the posture of the remote control device, and the setting unit performs the reference setting operation on the remote control device. And setting a posture of the remote control device when the reference setting operation is performed as the reference posture, which is a kind of the reference position, based on the detection result of the posture detection unit.
  • the determination unit may include a posture correspondence determination unit that determines a remote control mode of the industrial vehicle based on the degree of change in the posture of the remote control from the reference posture.
  • the remote control mode of the industrial vehicle can be changed by changing the attitude of the remote control device.
  • the posture detection unit detects a rotational position of the remote control device in a specific rotational direction
  • the reference posture setting unit is a reference rotational position which is a kind of the reference posture. Setting the rotation position of the remote control device in the specific rotation direction when the reference setting operation is performed, and the posture correspondence determination unit determines the remote control device from the reference rotation position in the specific rotation direction
  • the remote control mode of the industrial vehicle may be determined based on the degree of change in the rotational position of the vehicle.
  • the reference rotational position can be appropriately changed by the operation of the operator, so that the above-mentioned inconvenience can be suppressed. Therefore, the said inconvenience resulting from having employ
  • the posture correspondence determination unit is a remote control mode of the industrial vehicle based on the degree of change in rotational position of the remote control device from the reference rotational position in the specific rotational direction.
  • the steering angle of the industrial vehicle may be determined.
  • the steering angle of the industrial vehicle can be controlled by rotating the remote control device in the specific rotation direction from the reference rotation position.
  • the remote control device may have a plate shape, and the specific rotation direction may be a rotation direction with the thickness direction of the remote control device as a rotation axis.
  • the steering angle of the industrial vehicle when the remote control device is gripped with both hands, the steering angle of the industrial vehicle can be changed by rotating it clockwise or counterclockwise as viewed from the operator.
  • the steering angle of the industrial vehicle can be controlled in the sense of operating the steering wheel, and operability can be improved.
  • the remote control device includes a touch panel and a touch sensor for detecting an input operation on the touch panel, and the reference setting operation is performed on the touch panel. It is good.
  • the setting unit performs the reference setting operation on the remote control device.
  • a reference input position setting unit configured to set the input operation position when the reference setting operation is performed as a reference input position which is a type of the reference position, based on the detection result of the touch sensor;
  • the determination unit may include a panel correspondence determination unit that determines the remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
  • the industrial vehicle can be remotely controlled in a desired remote control mode.
  • the panel correspondence determining unit determines the change in the input operation position from the reference input position based on the relative position between the reference input position and the input operation position. It is preferable to determine the remote control mode of the industrial vehicle.
  • the industrial vehicle can be operated in a desired remote control mode by performing a slide operation which is a series of input operations of performing an input operation on the touch panel and then changing the input operation position while maintaining the input operation. Can be controlled remotely.
  • the panel correspondence determination unit determines the traveling speed of the industrial vehicle as a remote control mode of the industrial vehicle based on the relative position between the reference input position and the input operation position. Good.
  • the traveling speed can be varied according to the operation amount of the slide operation, and an intuitive operation can be performed through it.
  • the industrial vehicle is a forklift having a fork
  • the panel correspondence determining unit remotely controls the forklift based on a relative position between the reference input position and the input operation position.
  • the fork large or small according to the operation amount of the slide operation.
  • the movement mode of the fork for example, the stroke amount of the reach operation, the stroke amount of the lift operation, the inclination angle of the tilt operation, and the like can be considered.
  • the reference input position setting unit sets a start position, which is a position at which the start operation has been performed, as the reference input position, based on the start operation being performed as the reference setting operation.
  • the correspondence determining unit may determine the remote control mode of the industrial vehicle based on a relative position between the start position and a continued operation position which is a position at which the continued operation is performed.
  • the start position is set by performing the start operation, and the remote control mode of the industrial vehicle is determined based on the relative position between the start position and the continued operation position.
  • the reference input position since the reference input position is set every time the start operation is performed, the reference input position can be changed each time the remote control is performed. Therefore, for example, when performing a remote control after performing a certain remote control and performing the remote control again, the reference input position can be changed according to the change of the posture, so that the remote control corresponding to the changed posture is performed. Can.
  • remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation which are input operations to the touch panel are performed on the remote control device.
  • the first continuation operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started
  • the remote control control unit continues the remote control of the industrial vehicle when both of the continued second continuous operations are performed
  • the reference input position setting unit is configured to perform the first start as the reference setting operation.
  • the first start operation is performed when both the first start operation and the second start operation are performed in response to both the operation and the second start operation being performed.
  • a first start position which is a position setting, is set as the reference input position, and the panel correspondence determining unit compares the first start position with the first continuous operation position, which is the position at which the first continuous operation is performed. It is preferable to determine the remote control mode of the industrial vehicle based on the position.
  • the remote control can be stopped by ending at least one of the both continuous 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 position is set as the reference input position by performing both start operations for starting the remote control.
  • the operation can be simplified.
  • the first start position is set as the reference input position every time both start operations are performed, the reference input position can be changed each time the remote control is performed.
  • the first start operation is an input operation to a specific area of the touch panel, and the first continuous operation starts remote control regardless of inside or outside of the specific area. It is preferable that the input operation to the touch panel continues from the first start operation at the time.
  • the slide operation is possible such that it slides out of the specific region, so the degree of freedom of the first continuous operation can be increased. Further, the remote control is continued even if the position where the first continuous operation is performed is out of the specific area, which is to be realized with the desired remote control mode. Thereby, the operability and the convenience can be improved.
  • remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation which are input operations to the touch panel are performed on the remote control device.
  • the first continuation operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started
  • the remote control control unit continues the remote control of the industrial vehicle when both of the continued second continuous operations are performed
  • the reference input position setting unit is configured to perform the first start as the reference setting operation.
  • the first start operation and the second open operation are performed when both the first start operation and the second start operation are performed in response to both the operation and the second start operation being performed.
  • a first start position and a second start position which are positions where an operation is being performed, are set as the reference input position, and the panel correspondence determining unit performs the first start position and the first continuous operation. Based on both the relative position to the first continuous operation position which is the position and the relative position to the second continuous operation position which is the position where the second start position and the second continuous operation are being performed, It is preferable to determine the remote control mode of the industrial vehicle.
  • the remote control can be stopped by ending at least one of the both continuous 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 position and the second start position are set as the reference input position by performing both start operations for starting the remote control.
  • the operation can be simplified.
  • the reference input position is set each time both start operations are performed, the reference input position can be changed each time remote operation is performed.
  • the remote control mode is determined based on the two relative positions, a desired remote control mode can be realized by combining the two input operations.
  • the first start operation is an input operation to the first area of the touch panel
  • the first continuous operation starts the remote operation regardless of inside and outside of the first area.
  • the input operation to the touch panel continued from the first start operation when being performed, and the second start operation is an input operation to a second area of the touch panel different from the first area
  • the second continuous operation may be an input operation to the touch panel continued from the second start operation when remote operation is started, regardless of whether inside or outside the second area.
  • the slide operation is possible such that it slides out of the first region, so the degree of freedom of the first continuous operation can be increased.
  • the remote control is continued even when the position where the first continuous operation is performed is out of the first area, which is to achieve the desired remote control mode. The same applies to the second continuation operation. Therefore, operability and convenience 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 a remote communication unit performing wireless communication with the vehicle communication unit and a reference setting operation are performed.
  • An industrial vehicle remote control program for achieving the above object is for remotely controlling the industrial vehicle using a remote control device provided with a remote communication unit for performing wireless communication with a vehicle communication unit provided in the industrial vehicle.
  • a setting unit for setting a reference position of the operation of the remote control device based on the reference setting operation performed on the remote control device; and a change from the reference position It functions as a determination unit that determines the remote control mode of the industrial vehicle based on the degree of.
  • An industrial vehicle remote control method for achieving the above object is to remotely control the industrial vehicle using a remote control device provided with a remote communication unit for performing wireless communication with a vehicle communication unit provided in the industrial vehicle.
  • the determining step of the industrial vehicle determining the remote control mode of the industrial vehicle based on the degree of change from the reference position, and the remote control device or the industrial vehicle is a remote determined by the determining step.
  • an execution step of remotely operating the industrial vehicle in an operation mode is to remotely control the industrial vehicle using a remote control device provided with a remote communication unit for performing wireless communication with a vehicle communication unit provided in the industrial vehicle.
  • 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, and is remotely controlled by the remote control device, and the remote control device Determining the remote control mode of the industrial vehicle based on the setting unit for setting the reference position of the remote control device based on the reference setting operation performed and the degree of change from the reference position And an execution unit for remotely operating the industrial vehicle in the remote control mode determined by the determination unit.
  • the remote control mode of the industrial vehicle is determined based on the degree of change from the reference position, and the remote control of the industrial vehicle is performed in the remote control mode.
  • the reference position is set by the operator performing a reference setting operation. Thereby, the operability can be improved.
  • the operability 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.
  • Operation movement explanatory drawing which shows typically an example of operation with respect to a remote control.
  • the top view which shows typically the motion of the forklift with respect to operation with respect to a remote control.
  • the flowchart which shows the remote control control processing of 2nd Embodiment.
  • 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 as a travel drive unit 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 can be said to be an operation subject performing an operation different from traveling, the operation of the fork 22 can be said to be an operation different from traveling, and the cargo handling actuator 24 is used for an operation different from traveling It can be said that.
  • the vehicle state detection unit 27 detects the state of the forklift 20.
  • the vehicle state detection unit 27 detects, for example, the current traveling mode of the forklift 20 and the 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 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 can be said to be a 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 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 steps S102 to S112 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 first determines in step S102 and step S103 whether the remote control start condition is satisfied. Specifically, the remote CPU 33 determines in step S102 whether or not the first start operation has been performed. In the present embodiment, 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 S110 the process proceeds to step S110.
  • step S103 the remote CPU 33 determines whether a second start operation different from the first start operation is being performed. That is, the remote control start condition of this embodiment is that both the first start operation and the second start operation are performed. Further, in the present embodiment, performing both the first start operation and the second start operation corresponds to the “start operation”.
  • 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 S110 the process proceeds to step S110.
  • 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 uses the first start position P10, which is the position at which the first start operation was performed when the remote control was started, as a reference input, which is a type of reference position of the remote control device 30.
  • a reference input which is a type of reference position of the remote control device 30.
  • remote CPU 33 causes start position storage unit 44 (see FIG. 2) provided in remote control program 40 to store the position of the input operation with respect to the first area A1 detected in the remote control control process this time.
  • the position may be referred to as coordinates, and the first start position P10 may also be referred to as first start coordinates.
  • the remote CPU 33 that executes the process of step S105 corresponds to the "reference input position setting unit".
  • 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 executes reference attitude setting processing for setting a reference attitude which is a kind of reference position of the operation of the remote control device 30.
  • the remote CPU 33 sets the attitude of the remote control device 30 when the remote control is started as the reference attitude.
  • the remote CPU 33 sets the rotational position in the first rotational operation direction when both start operations are performed as the reference rotational position, which is a type of reference attitude, based on the detection result of the attitude detection unit 35 Do.
  • the remote CPU 33 stores the current rotational position of the remote control device 30 in the first rotational operation direction in the reference rotational position storage unit 46 (see FIG. 2) provided in the remote control program 40.
  • the remote CPU 33 that executes the process of step S107 corresponds to the "reference posture setting unit".
  • the remote CPU 33 sets the first start position P10 as the reference position of the remote control device 30 and the reference rotational position based on the fact that both start operations have been performed.
  • the processes of steps S105 and S107 correspond to the "setting step", and the remote CPU 33 that executes these processes corresponds to the "setting unit”.
  • step S108 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 S108 can also be said to be a process of generating the remote control signal SG1 in which the stop information is set.
  • the remote control signal SG1 for which the stop information is set is simply referred to as a remote control signal SG11 during stop.
  • step S109 the remote CPU 33 transmits the in-stop remote control signal SG11 using the remote communication unit 36.
  • the remote control signal SG11 is received by the vehicle communication unit 28 during the stop, the forklift 20 stops both traveling of the forklift 20 and driving of the fork 22. That is, in the situation where the remote control signal SG11 is transmitted during stop, the remote control of the forklift 20 is stopped.
  • the remote CPU 33 determines in step S110 whether or not the operation mode switching condition which is the operation mode switching condition is satisfied. .
  • 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 S108 the operation mode switching process is executed to switch the operation mode in step S111, assuming that the operation mode switching condition is satisfied. Do.
  • step S111 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 S111, the remote CPU 33 updates the operation mode identification information to information corresponding to the switching operation. Thereby, the remote CPU 33 can grasp switching of the operation mode.
  • step S112 the remote CPU 33 displays the operation image G10 corresponding to the operation mode switched in step S111, and proceeds to step S108.
  • the remote CPU 33 displays a lift mode image G12 as the operation image G10 instead of the travel mode image G11. That is, in step S112, 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 when the current control mode is not the stop mode, the remote CPU 33 makes a negative decision in step S101, proceeds to step S113, and determines whether the current control mode is the operation mode. judge.
  • the remote CPU 33 proceeds to step S114, executes the operation mode process corresponding to the operation 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 S209.
  • 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 S209 because 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: YES and step S202: YES the remote CPU 33 proceeds to steps S203 to S208.
  • a process for transmitting the remote control signal SG1 corresponding to the operation mode and the operation mode of the operation on the remote control device 30 is executed.
  • the remote control signal SG1 corresponding to the operation mode and the operation mode of the operation on the remote control device 30 is referred to as a normal remote control signal SG12.
  • 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.
  • step S204 the remote CPU 33 grasps the current operation mode based on the operation mode identification information. Thereafter, in step S205, the remote CPU 33 determines whether the current operation mode is the travel mode. If the current operation mode is not the travel mode, the remote CPU 33 proceeds to step S207.
  • the remote CPU 33 recognizes the operation angle of the first rotation operation, which is the operation mode of the first rotation operation, in step S206, and proceeds to step S207.
  • the remote CPU 33 grasps the current rotational position of the remote control device 30 in the first rotational operation direction based on the detection result of the posture detection unit 35, and performs remote control based on the storage information of the reference rotational position storage unit 46.
  • the reference rotational position which is the rotational position when the operation is started is grasped.
  • remote CPU33 grasps
  • the remote CPU 33 when the first rotation operation is performed by the first angle counterclockwise from the reference rotation position as viewed from the operator, the remote CPU 33 is an operation having a positive value and an absolute value of the first angle. Understand the angle.
  • the remote CPU 33 when the first rotation operation is performed by the second angle clockwise from the reference rotation position as viewed from the operator, the remote CPU 33 is an operation having a negative value and an absolute value of the second angle. Understand the angle.
  • the rotation direction can be specified based on the positive / negative of the operation angle
  • the rotation amount can be specified based on the absolute value of the operation angle.
  • step S207 the remote CPU 33 sets at least information corresponding to the relative position and the current operation mode to 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.
  • step S207 when the operation mode is the traveling mode will be described.
  • the remote CPU 33 compares the traveling speed information Dv and the acceleration information D ⁇ of the traveling operation information D1.
  • a numerical value other than "0" is set, 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 sets a numerical value corresponding to the operation angle to the steering angle information D ⁇ . For example, when the operation angle is positive, the remote CPU 33 sets a value corresponding to a left turn to the steering angle information D ⁇ , while when the operation angle is negative, the right turn to the steering angle information D ⁇ . Set the value corresponding to. Further, the remote CPU 33 sets a value corresponding to a large steering angle to the steering angle information D ⁇ as the absolute value of the operation angle increases. Further, when the first rotation operation is not detected, that is, when the operation angle is “0”, the remote CPU 33 sets “0” corresponding to the neutral steering angle in the steering angle information D ⁇ .
  • step S207 when the operation mode is the cargo handling mode will be described.
  • the remote CPU 33 lifts In the information Dfa, a value (for example, a negative value) corresponding to the descent operation is set.
  • the remote CPU 33 moves up to the lift information Dfa.
  • the corresponding value for example, a positive number
  • 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). Set a numerical value corresponding to the operation angle). Then, the remote CPU 33 generates a normal remote control signal SG12 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
  • the relative position and the operation angle are the degrees of change from the first start position P10 and the reference rotational position as a reference position set in response to both start operations being performed (remote operation being started).
  • the amount of change In consideration of this point, it can be said that the remote CPU 33 determines the remote control mode of the forklift 20 in step S207 based on the degree of change from the reference position (specifically, the amount of change).
  • the reference position may be referred to as a reference operation mode, and the degree of change may be referred to as a change mode.
  • step S207 corresponds to the "determination step”
  • the remote CPU 33 executing the process of step S207 corresponds to the "determination unit", the "posture correspondence determination unit”, and the "panel correspondence determination unit”.
  • the information set in the normal remote control signal SG12 changes according to the operation mode of the first continuous operation (first continuous operation position), but does not depend on the operation mode of the second continuous operation. . That is, 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 S208 the remote CPU 33 transmits the normal remote control signal SG12 and ends the present operation mode processing.
  • the normal remote control signal SG12 is received by the vehicle communication unit 28, converted into a control signal SGa by the signal conversion unit 29, and the control signal SGa is input to the vehicle CPU 25.
  • the vehicle CPU 25 controls one of the actuators 23 and 24 based on the control signal SGa.
  • the forklift 20 performs an operation corresponding to the current operation mode and the degree of change from the reference position.
  • step S208 is the operation of the operation on the remote control device 30. It can also be said to be a process for remotely operating the forklift 20 in a remote control mode determined based on the mode.
  • the process of step S208 corresponds to the "execution step”
  • the remote CPU 33 that executes the process of step S208 corresponds to the "execution unit”.
  • the first start position P10 and the first continuous operation position correspond to the "input operation position".
  • the remote CPU 33 erases the information on the first start position P10 stored in the start position storage unit 44 in step S209. At the same time, the information on the first continuous operation position stored in the tracking storage unit 45 is deleted. Furthermore, the remote CPU 33 deletes the information on the reference rotational position stored in the reference rotational position storage unit 46.
  • step S210 the remote CPU 33 shifts the control mode from the operation mode to the forced stop mode. Specifically, the remote CPU 33 updates the control mode identification information to information corresponding to the forced stop mode.
  • the remote CPU 33 performs forced stop control to forcibly stop the forklift 20 in steps S211 and S212. That is, in the present embodiment, the execution trigger of the forced stop control is that at least one of the first continuous operation and the second continuous operation is not performed.
  • step S211 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 S211 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.
  • the remote control signal SG1 for which the forcible stop information is set is taken as a forcible stop remote control signal SG13.
  • step S212 the remote CPU 33 transmits the forced stop remote control signal SG13 using the remote communication unit 36.
  • the forklift 20 that has received the forced stop remote control signal SG13 forcibly stops. 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.
  • 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 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, regardless of various operations on the remote control device 30, the forced stop remote control signal SG13 or the in-stop remote control signal SG11 is transmitted, and the forklift 20 is maintained in the forced stop or stop state based on these signals. It can be said that the remote control by the remote control device 30 is stopped.
  • 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 makes a negative decision in step S113 and proceeds to step S115 to execute a forced stop process corresponding to the forced stop mode. End the operation control process.
  • the forcible stop processing is processing for continuing the forcible stop control until the forcible stop of the forklift 20 is completed, and shifting the control mode to the in-stop mode after the forcible stop is completed.
  • 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, the remote CPU 33 executes the processing relating to the transmission of the forcible stop remote control signal SG13 in steps S302 and S303, and ends the forcible stop processing.
  • the control mode is shifted from the forcible stop mode to the in-stop mode in step S304. Specifically, the remote CPU 33 updates the control mode identification information to information corresponding to the in-stop mode.
  • steps S305 and S306 the remote CPU 33 executes processing relating to transmission of the in-stop remote control signal SG11, and ends the present forced stop processing.
  • the operation of the present embodiment will be described with reference to FIGS. 12 to 15 show the case where the operation mode is the traveling mode, and the remote control device 30 operates in a state where the short direction of the remote control device 30 matches the vertical direction. Is held by a person. Further, in FIG. 16, the initial position of the forklift 20 is indicated by a two-dot chain line.
  • both start operations are performed in a state where the longitudinal direction of the remote control device 30 coincides with the horizontal direction.
  • the posture of the remote control device 30 in the state where the longitudinal direction of the remote control device 30 coincides with the horizontal direction is the reference posture
  • the rotational position in the first rotational operation direction in the above state is the reference rotational position.
  • the first start position P10 is set as the reference input position by performing both start operations. That is, in the present embodiment, both start operations serving as an execution trigger for remote operation start are reference setting operations serving as a setting trigger for the reference posture and the reference input position.
  • the current first start position P10 is above the center line L.
  • the first continuous operation position is disposed at the third predetermined position P13 separated from the first start position P10 by the slide operation, and the first rotation operation of the first operation angle ⁇ 1 is performed.
  • the third predetermined position P13 is disposed in the first area A1.
  • the first operation angle ⁇ 1 is a change angle from the reference rotational position.
  • the forklift 20 has a first traveling speed v1 corresponding to a first distance Y1 which is a distance between both positions P10 and P13 in the lateral direction of the touch panel 31, and a first operation angle ⁇ 1.
  • the vehicle travels at a first steering angle ⁇ f1 corresponding to
  • both start operations are performed in a state where the longitudinal direction of the remote control device 30 has been rotated counterclockwise in advance with respect to the horizontal direction.
  • the attitude of the remote control device 30 in the state of rotating counterclockwise as described above is the reference attitude
  • the rotational position in the first rotational direction in the above state is the reference rotational position.
  • the first start position P10 is set as the reference input position by performing both start operations. It is assumed that the current first start position P10 is below the center line L.
  • the first continuous operation position is disposed at the fourth predetermined position P14 separated from the first start position P10 by the slide operation, and the first rotation operation of the second operation angle ⁇ 2 is performed.
  • the fourth predetermined position P14 is disposed outside the first area A1 and the first start position P10 is below the center line L, the first start position P10 in the lateral direction of the touch panel 31 is obtained.
  • the second distance Y2 between the second predetermined position P14 and the fourth predetermined position P14 is larger than the first distance Y1.
  • the rotational position itself of the remote control device 30 in the state where the first rotation operation is performed that is, the inclination angle of the remote control device 30 with respect to the horizontal direction is the same.
  • the second operation angle ⁇ 2 is a change angle from the reference rotational position
  • the reference rotational position is a state in which the second rotational angle ⁇ 2 has been rotated counterclockwise in advance with respect to the horizontal direction.
  • the operation angle ⁇ 2 is larger than the first operation angle ⁇ 1 by the amount of rotation in the left direction in advance.
  • the forklift 20 travels at a second steering angle ⁇ f2 corresponding to a second operation angle ⁇ 2 at a second traveling speed v2 corresponding to the second distance Y2.
  • the second traveling speed v2 is larger than the first traveling speed v1
  • the second steering angle ⁇ f2 is larger than the first steering angle ⁇ f1. That is, even if the inclination angle of the remote control device 30 with respect to the horizontal direction is the same, the remote control mode of the forklift 20 can be made different by making the reference position different.
  • the remote control is started and the reference position (reference input position and reference posture) is set by performing both start operations. Then, during remote control, the relative position between the first continuous operation position and the first start position P10, which is the amount of change from the reference input position, and the operation angle, which is the amount of change from the reference rotational position as the reference posture.
  • the remote control of the forklift 20 is performed in a remote control mode corresponding to.
  • 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 remote control is continued over the period in which both continuous operations are being performed.
  • the forcible stop of the forklift 20 is performed. Then, the remote control by the remote control device 30 is stopped until the forcible stop of the forklift 20 is completed and until both start operations are performed again after the forcible stop of the forklift 20.
  • the industrial vehicle remote control system 10 includes the forklift 20 having the vehicle communication unit 28, and the remote control device 30 having the remote communication unit 36 that performs wireless communication with the vehicle communication unit 28.
  • the remote CPU 33 of the remote control device 30 executes the processing of step S105 and step S107 for setting the reference position of the operation of the remote control device 30 based on the fact that the reference setting operation is performed on the remote control device 30. .
  • the remote CPU 33 executes the process of step S207 of determining the remote control mode of the forklift 20 based on the degree of change from the reference position, and remotely controls the forklift 20 in the determined remote control mode.
  • the remote control method of the forklift 20 of the present embodiment sets the reference position of the operation of the remote control device 30 based on the fact that the reference setting operation is performed; Step S107 is provided. Then, the remote control method of the present embodiment determines the remote control mode of the forklift 20 based on the degree of change from the reference position, and the step of remotely operating the forklift 20 in the determined remote control mode. And S208.
  • the remote control mode of the forklift 20 is determined based on the degree of change from the reference position, and the remote control of the forklift 20 is performed in the remote control mode.
  • the reference position is set by the operator performing a reference setting operation. Thereby, the operability can be improved.
  • a configuration for determining the remote control mode of the forklift 20 for example, a configuration may be considered that is determined based on the operation position itself, not the degree of change from the reference position.
  • the configuration for example, when the input operation is performed above the center line L in the first area A1 in the traveling mode, the input operation proceeds forward and the input operation is performed below the center line L in the first area A1. It is thought that it will recede if it is received.
  • the remote control mode of the forklift 20 is determined based on the degree of change from the reference position, it is not necessary to strictly adjust the operation mode of the input operation as described above. , Can improve operability. For example, in the present embodiment, if the first start position P10 is set below the center line L in the first area A1 in the traveling mode, the first start position P10 is upward regardless of the center line L. The forklift 20 can be advanced by sliding it in a direction.
  • the remote control device 30 is used to remotely control the forklift 20
  • the operator does not need to get on the forklift 20, so the degree of freedom of the operator's posture is high. Therefore, the operator can remotely operate the forklift 20 in a free position. Therefore, remote control of the forklift 20 can be performed while looking into a blind spot or an important part, for example.
  • the operable range may be changed or limited depending on the operating position.
  • the reference position is fixed temporarily, depending on the operation posture, the operable range from the reference position can not be sufficiently secured, or the reference position with respect to the desired remote control mode
  • the operable range from the above may not be sufficient, or the user may be forced to try to operate in the desired remote control mode.
  • the present embodiment it is possible to set a desired reference position by performing the reference setting operation. Thereby, even under conditions where the operable range is limited, the degree of freedom of the degree of change from the reference position can be enhanced, and the operability can be improved.
  • the remote control device 30 includes the posture detection unit 35 that detects the posture of the remote control device 30.
  • the remote CPU 33 determines the attitude of the remote control device 30 when both start operations are performed based on the detection result of the attitude detection unit 35, a reference attitude that is a kind of reference position. Set as. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the degree of change from the reference posture.
  • the forklift 20 can be remotely operated in a desired remote operation mode by the attitude operation of the remote control device 30.
  • the posture detection unit 35 detects the first rotation operation.
  • the remote CPU 33 sets the rotational position of the remote control device 30 in the first rotational operation direction when both start operations are performed as a reference rotational position which is a kind of reference attitude. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the positional change of the remote control device 30 from the reference rotational position in the first rotational operation direction.
  • the first rotational operation is fixed with respect to the reference rotational position depending on the posture of the operator.
  • the range in which one rotation operation can be performed is limited, and in order to realize a desired remote control mode, an unnatural posture may occur.
  • the remote control device 30 when trying to secure the second operation angle ⁇ 2 under the condition that the longitudinal direction of the remote control device 30 coincides with the horizontal direction as the reference rotational position, the remote control device 30 It is necessary to rotate more clockwise than the case shown in FIG. In this case, a disadvantage may occur that the operator is difficult to operate.
  • the reference rotational position can be appropriately changed by the operation of the operator, the above-mentioned inconvenience can be suppressed.
  • the second operation angle ⁇ 2 can be secured without becoming an unreasonable posture by setting the state of rotating counterclockwise in advance as the reference rotational position. Therefore, the said inconvenience resulting from having employ
  • the remote CPU 33 determines the steering angle of the forklift 20 based on the first rotation operation, specifically, the degree of change (change amount) from the reference rotation position in the first rotation operation direction. According to this configuration, the steering angle of the forklift 20 can be controlled by rotating the remote control device 30 in the first rotational operation direction from the reference rotational position. This makes it possible to realize intuitive remote control.
  • the remote control device 30 has a rectangular plate shape, and the first rotation operation direction is a rotation direction with the thickness direction of the remote control device 30 as a rotation axis. According to this configuration, when the remote control device 30 is gripped with both hands, the steering angle of the forklift 20 can be changed by rotating it clockwise or counterclockwise as viewed from the operator. As a result, the steering angle of the forklift 20 can be controlled in the sense of operating the steering wheel, and operability can be improved.
  • the remote control device 30 includes the touch panel 31 and the touch sensor 32 that detects an input operation on the touch panel 31.
  • the reference setting operation is an input operation on the touch panel 31.
  • setting of the reference position can be realized by a relatively simple operation of input operation to the touch panel 31, setting of the reference position can be easily performed.
  • the desired posture can be set to the reference posture by performing the input operation on the touch panel 31 after setting the posture to the desired posture in advance, it is easy to adjust the reference posture.
  • the input operation on the touch panel 31 can be performed without breaking the attitude of the remote control device 30. For this reason, it is hard to produce the problem that a reference
  • the first start position P10 is set.
  • the remote CPU 33 determines the remote control mode of the forklift 20 based on the degree of change of the input operation position on the touch panel 31 from the first start position P10. According to this configuration, by controlling the input operation on the touch panel 31, the forklift 20 can be remotely operated in a desired remote operation mode.
  • the remote CPU 33 determines the remote control mode of the forklift 20 based on the relative position between the first start position P10 and the first continuous operation position. According to this configuration, it is possible to remotely control the forklift 20 in a desired remote control mode by performing the slide operation which is a series of input operations of touching the touch panel 31 and then changing the touch position.
  • the settable relative position is restricted.
  • the remote control mode may be limited. For example, when the reference input position is fixed to the center line L, the upper limit value of the distance from the reference input position in the lateral direction of the touch panel 31 to the first continuous operation position is the distance from the center line L to the upper end of the touch panel 31. Limited to distance.
  • the range in which the slide operation can be performed can be adjusted.
  • the range in which the slide operation can be performed upward can be widened, and the first start position P10 in the lateral direction and the first continuous operation
  • the distance between the position and the position can be made longer than the distance from the center line L to the upper end of the touch panel 31.
  • the remote CPU 33 determines the traveling speed of the forklift 20 based on the relative position between the first start position P10 and the first continuous operation position. According to this configuration, the traveling speed can be varied according to the operation amount of the slide operation, and an intuitive operation can be performed through it.
  • the remote CPU 33 determines the operation mode of the fork 22 based on the relative position. According to this configuration, it is possible to move the fork 22 large or small according to the operation amount of the slide operation.
  • the remote CPU 33 starts remote control on the basis of both start operations being performed, and thereafter continues remote control when both continuous operations are being performed, while at least one of the both continuous operations is a line Stop remote control based on the failure.
  • 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 reference setting operation is that both the first start operation and the second start operation are performed, and the remote CPU 33 operates the operation mode for the remote control device 30 when the both start operations are performed (first start The position P10 and the rotational position in the first rotational operation direction) are set as the reference position.
  • the reference position is set by performing both start operations for starting the remote control. As a result, there is no need to perform an operation for setting the reference position separately from the both start operations, so that the operation can be simplified.
  • the reference position since the reference position is set each time both start operations are performed, the reference position can be changed each time remote operation is started. Therefore, for example, when performing a remote control after performing a certain remote control and performing the remote control again, the reference position can be changed according to the change of the posture, so that the remote control corresponding to the changed posture may be performed. it can.
  • the first start operation is an input operation to the inside of the first area A1 of the touch panel 31, and the first continuation operation is the time when the remote operation is started regardless of inside or outside the first area A1. This is an input operation on the touch panel 31 continued from the input operation on the inside of the one area A1.
  • 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 slide operation is possible such that it slides out of the first area A1, so the degree of freedom of the first continuous operation can be increased.
  • the remote control is continued. Thereby, the operability and the convenience can be improved.
  • 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 second area A2
  • the second continuous operation is an input operation to the touch panel 31 continued from the input operation to the second area A2 when the remote control is started. .
  • the remote CPU 33 is not in the operation mode of the second continuation operation but a series of operations including the first start operation and the first continuation operation during the remote operation (specifically, when both continuation operations are performed).
  • Remote control of the forklift 20 is performed based on the operation mode of the first operation which is the input operation.
  • the operation mode of the first operation of the present embodiment is the degree of change of the first continuous operation position from the first start position P10 (specifically, the relative position).
  • the operation mode of the first operation affects the remote operation of the forklift 20, while the operation mode of the second operation consisting of the second start operation and the second continuation operation is the remote operation of the forklift 20. Not affect.
  • the operator can concentrate on the first operation, and the operation can be facilitated. Therefore, the erroneous operation of the forklift 20 can be suppressed.
  • the second continuation operation is an input operation to the inside of the second area A2 continued from the second start operation when the remote operation is started. According to this configuration, since the second continuation operation is an input operation to the inside of the second area A2, the finger is separated from the second area A2, or the finger slides and touches the outside of the second area A2. If it does, remote control will stop. 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 operation in the traveling mode, and controls the cargo handling actuator 24 based on the operation mode of the first operation in the cargo handling mode. .
  • 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 S111) 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 CPU 33 When the remote CPU 33 recognizes that both the start operation and the switching operation have been performed in the in-stop mode, the remote CPU 33 operates from the in-stop mode without executing the operation mode switching process. Execute processing to shift to the mode.
  • 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.
  • each mode setting area 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 concerning traveling in the first area A1 when the operation mode is the traveling mode, and displays an image concerning 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 sets a reference position of the operation of the remote control device 30 based on the reference setting operation performed on the remote control device 30, and a degree of change from the reference position. And a process of determining the remote control mode of the forklift 20, and a process of remotely operating the forklift 20 in the determined remote control mode (step S208). 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 has 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 this embodiment will be described with reference to FIG. 19 including this point.
  • steps S401, S404 to S406, S408, S409, S413, and S415 of the remote operation control process of the present embodiment are the same as the corresponding processes 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 S416. 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 being 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. Further, in the present embodiment, the process corresponding to step S107 is not performed.
  • positions of a series of input operations consisting of a first start operation and a first continuation operation, that is, a series of a first start position P10 and a first continuation operation position, and a second start operation and a second continuation operation.
  • the position of the input operation that is, both the second start position P20 and the second continuous operation position correspond to the “input operation position”.
  • the remote CPU 33 determines whether or not the switching operation has been 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 S411 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 S412, 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 continuation 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 processed. 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. Do.
  • step S505 the remote CPU 33 grasps the current operation mode.
  • step S506 the remote CPU 33 sets information corresponding to the current operation mode and both relative positions in the remote control signal SG1.
  • step S507 the remote CPU 33 transmits a normal remote control signal SG12, which is the remote control signal SG1 in which the above information is set, using the remote communication unit 36.
  • the forklift 20 having received the normal remote control signal SG12 performs traveling or an operation of the fork 22 corresponding to the information set in the normal remote control signal SG12.
  • Step S506 will be described in detail.
  • the remote CPU 33 sets numerical values (travel speed and acceleration) corresponding to the first relative position to the travel speed information Dv and the acceleration information D ⁇ , and the remote CPU 33 2) Set a numerical value (steering angle) corresponding to the relative position, and set "0" to the cargo handling operation information D2.
  • both the operation mode of both continuous operations in other words, the degree of change of the first continuous operation position from the first start position P10 and the degree of change of the second continuous operation position from the second start position P20 Control of the corresponding travel actuator 23 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 first rotation operation is not set as the operation for determining the remote control mode of the forklift 20.
  • the reference rotational position storage unit 46 may be omitted.
  • 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 operation mode of the first continuation operation can be said to be the degree of change of the first continuation operation position from the first start position P10, and the operation mode of the second continuation operation is the second continuation operation from the second start position P20 It can be said that the degree of change in position.
  • 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 the first operation and the second operation which are different from each other. Thereby, for example, the lift operation and the reach operation can be performed simultaneously.
  • the operation mode is the cargo handling mode
  • the operation of the fork 22 corresponding to the first continuous operation among the lift operation, the reach operation, and the tilt operation is also referred to as "first operation” and corresponds to the second continuous operation.
  • the operation of the fork 22 is also referred to as a "second operation".
  • the remote CPU 33 determines, in step S508, both start positions P10 stored in the start position storage unit 44, The information on P20 is erased, and the information on both continuous operation positions stored in the tracking storage unit 45 is erased.
  • steps S509 to S511 are the same as the processes of steps S210 to S212 of the first embodiment.
  • the remote CPU 33 sets both start positions P10 and P20, which are input operation positions of the touch panel 31 at that time, as reference input positions based on the fact that both start operations have been performed. Then, the remote CPU 33 remotely controls the forklift 20 based on the degree of change of the first continuous operation position from the first start position P10 and the degree of change of the second continuous operation position from the second start position P20. Determine the aspect. Specifically, the remote CPU 33 is a forklift based on the first relative position between the first start position P10 and the first continuation operation position, and the second relative position between the second start position P20 and the second continuation operation position. Determine 20 remote control modes. According to this configuration, remote control of the forklift 20 can be suitably performed by combining the change of both continuous operation positions.
  • the remote CPU 33 determines forward or backward movement of the forklift 20 based on the first relative position, and determines the steering angle of the forklift 20 based on the second relative position. According to this configuration, the forklift 20 can travel in a desired direction without performing the first rotation operation.
  • the remote CPU 33 determines the operation mode of the first operation which is any one of the lift operation, the reach operation and the tilt operation based on the first relative position in the cargo handling mode, and sets the operation mode to the second relative position. Based on the operation mode of the second operation different from the first operation is determined. According to this configuration, it is possible to simultaneously perform two types of operations regarding the fork 22. As a result, for example, it is possible to perform remote control with a higher degree of freedom, such as performing a lift operation while performing a tilt 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 has been performed
  • the second The 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 area where the second start operation is performed.
  • 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 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 reference setting operation is not limited to both start operations and is optional.
  • the reference setting operation may be an operation performed separately from both start operations.
  • the reference setting operation may be that the operation button is operated.
  • the remote CPU 33 sets the attitude of the remote control device 30 at the operated timing and the input operation position on the touch panel 31 as the reference attitude and the reference input position. It is also good.
  • a second rotation operation may be adopted as the reference setting operation. That is, the reference setting operation is not limited to the input operation on the touch panel 31, and the reference input position is not limited to the start position.
  • a second rotation operation may be employed instead of or in addition to the first rotation operation.
  • a cargo handling mode image G32 in which the third area A13 is omitted may be displayed.
  • the remote CPU 33 performs remote control related to the reach operation based on the first operation (specifically, the first start operation and the first continuation operation) triggered by the input operation into the first area A11.
  • the remote control related to the lift operation is performed based on the second operation (specifically, the second start operation and the second continuation operation) triggered by the input operation in the two areas A12.
  • remote CPU33 may perform remote control regarding tilting operation based on the operation mode of 2nd rotation operation. Specifically, based on the fact that both start operations have been performed, the remote CPU 33 sets the rotational position in the second rotational operation direction at that point in time as the reference rotational position, and causes the reference rotational position storage unit 46 to store it. Then, when both continuous operations are being performed, the remote CPU 33 determines the degree of change from the reference rotational position in the second rotational operation direction, and more specifically, tilts in the front-rear direction from the reference rotational position as viewed from the operator The tilt angle of the tilt operation is set based on the angle. This makes it possible to execute three operations simultaneously. In addition, since the operation of tilting the remote control device 30 in tandem with the tilt operation, the tilt operation can be performed with an intuitive sense of operation, and the operability can be improved.
  • the remote CPU 33 adopts the operation angle as the degree of change from the reference posture.
  • the present invention is not limited thereto, and any parameter that changes can be used.
  • angular acceleration may be adopted.
  • the remote CPU 33 may remotely control the steering angle of the forklift 20 to be larger as the angular acceleration in the first rotation operation direction is larger.
  • the remote CPU 33 may determine the traveling speed and the like based on the second rotation operation. In this case, the remote CPU 33 may not determine the remote control mode in accordance with the relative position between the first start position P10 and the first continuous operation position. That is, the remote CPU 33 may determine the remote control mode of the forklift 20 based on only the posture change of the remote control device 30 without using the input operation on the touch panel 31. In this case, the first start operation or the second start operation may be omitted from the remote operation start condition, or the first continuation operation or the second continuation operation may be omitted from the remote operation continuation condition.
  • the relative position between the first start position P10 and the first continuation operation position is adopted as the degree of change of the first continuation operation position from the first start position P10.
  • I can not.
  • the remote CPU 33 may determine the remote control mode of the forklift 20 based on the slide movement speed from the first start position P10 to the first continuous operation position. For example, in the traveling mode, the remote CPU 33 may set the acceleration to be larger as the slide movement speed is higher. The same applies to the cargo handling mode and the second embodiment.
  • At least one of the first start operation and the second start operation may be an operation other than the input operation on the touch panel 31.
  • 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 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 on traveling based on the degree of change of the first continuous operation position from the first start position P10, and the second start position P20. The remote control of the lift operation may be performed based on the degree of change of the second continuous operation position from the above.
  • 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 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.
  • 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 transmit the remote control signal SG1 related to stop regardless of the operation to the remote control device 30, or the forklift 20 may transmit the remote control signal SG1. It may be configured not to perform an operation based on or other than that.
  • 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. The point is that the "remote control unit" is 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 “setting unit”, the “determining unit”, and the “execution unit”.
  • the specific configuration for determining the remote control mode and the control mode based on the operation signal is as described in the first embodiment and the like.

Abstract

This remote operation system for an industrial vehicle comprises: a forklift having a vehicle communication unit; a remote operation device having a remote communication unit for performing radio communication with the vehicle communication unit; and a remote CPU that controls remote operation of a forklift using the remote operation device. The remote CPU starts remote operation of the forklift on the basis of the fact that both a first start operation and a second start operation have been performed. Then, the remote CPU sets the reference position of the operation of the remote operation device on the basis of the fact that both start operations have been performed, and determines the remote operation mode of the forklift on the basis of the degree of change from the reference position.

Description

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Industrial vehicle remote control system, remote control device, industrial vehicle remote control program, industrial vehicle remote control method and industrial vehicle
　本発明は、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に関する。 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.
　特許文献１には、産業車両としてのフォークリフトを遠隔操作する遠隔操作装置としての遠隔制御装置が、フォークリフトに対して離れた位置からフォークリフトの荷役作業を遠隔操作する点について記載されている。 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.
特開２００２－１０４８００号公報JP 2002-104800 A
　ここで、遠隔操作装置を用いて産業車両を遠隔操作する構成においては、操作性の向上が求められる場合がある。
　本発明は、上述した事情を鑑みてなされたものであり、その目的は操作性の向上を図ることができる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を提供することである。 Here, in the configuration in which the industrial vehicle is remotely operated using the remote control device, improvement in operability may be required.
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 device, a remote control program for industrial vehicles, and a remote control for industrial vehicles, which can improve operability. An operating method and an industrial vehicle are provided.
　上記目的を達成する産業車両用遠隔操作システムは、車両通信部を有する産業車両と、前記車両通信部と無線通信を行うリモート通信部を有し、前記産業車両を遠隔操作するのに用いられる遠隔操作装置と、前記遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部と、前記決定部によって決定された遠隔操作態様で前記産業車両を遠隔操作する実行部と、を備えていることを特徴とする。 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 Based on an operation device, a setting unit for setting a reference position of the operation of the remote control device based on the reference setting operation performed on the remote control device, and a degree of change from the reference position A determination unit that determines a remote control mode of the industrial vehicle; and an execution unit that remotely controls the industrial vehicle in the remote control mode determined by the determination unit.
　かかる構成によれば、基準位置からの変化の度合いに基づいて、産業車両の遠隔操作態様が決定され、当該遠隔操作態様で産業車両の遠隔操作が行われる。当該基準位置は、操作者によって基準設定操作が行われることにより設定される。これにより、操作性の向上を図ることができる。 According to this configuration, the remote control mode of the industrial vehicle is determined based on the degree of change from the reference position, and the remote control of the industrial vehicle is performed in the remote control mode. The reference position is set by the operator performing a reference setting operation. Thereby, the operability can be improved.
　上記産業車両用遠隔操作システムについて、前記遠隔操作装置は、当該遠隔操作装置の姿勢を検知する姿勢検知部を有し、前記設定部は、前記遠隔操作装置に対して前記基準設定操作が行われた場合に、前記姿勢検知部の検知結果に基づいて、前記基準位置の一種である基準姿勢として、前記基準設定操作が行われたときの前記遠隔操作装置の姿勢を設定する基準姿勢設定部を備え、前記決定部は、前記基準姿勢からの前記遠隔操作装置の姿勢の変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する姿勢対応決定部を備えているとよい。 In the industrial vehicle remote control system, the remote control device has a posture detection unit that detects the posture of the remote control device, and the setting unit performs the reference setting operation on the remote control device. And setting a posture of the remote control device when the reference setting operation is performed as the reference posture, which is a kind of the reference position, based on the detection result of the posture detection unit. The determination unit may include a posture correspondence determination unit that determines a remote control mode of the industrial vehicle based on the degree of change in the posture of the remote control from the reference posture.
　かかる構成によれば、遠隔操作装置の姿勢を変えることにより、産業車両の遠隔操作態様を変えることができる。これにより、遠隔操作装置の姿勢操作によって所望の遠隔操作態様で産業車両を遠隔操作することができる。 According to this configuration, the remote control mode of the industrial vehicle can be changed by changing the attitude of the remote control device. Thus, it is possible to remotely control the industrial vehicle in a desired remote control mode by the attitude control of the remote control device.
　上記産業車両用遠隔操作システムについて、前記姿勢検知部は、特定回転方向における前記遠隔操作装置の回転位置を検知するものであり、前記基準姿勢設定部は、前記基準姿勢の一種である基準回転位置として、前記基準設定操作が行われたときの前記特定回転方向における前記遠隔操作装置の回転位置を設定し、前記姿勢対応決定部は、前記特定回転方向における前記基準回転位置からの前記遠隔操作装置の回転位置の変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定するとよい。 In the industrial vehicle remote control system, the posture detection unit detects a rotational position of the remote control device in a specific rotational direction, and the reference posture setting unit is a reference rotational position which is a kind of the reference posture. Setting the rotation position of the remote control device in the specific rotation direction when the reference setting operation is performed, and the posture correspondence determination unit determines the remote control device from the reference rotation position in the specific rotation direction The remote control mode of the industrial vehicle may be determined based on the degree of change in the rotational position of the vehicle.
　かかる構成によれば、遠隔操作装置を特定回転方向に回転させるという操作によって、所望の遠隔操作態様で産業車両を遠隔操作することができる。
　ここで、上記のように産業車両の遠隔操作態様を決定付ける操作として特定回転方向の回転が採用されている構成において、基準回転位置が固定されていると、操作者の体勢によっては、基準回転位置に対して回転可能な範囲が制限されたり、所望の遠隔操作態様を実現させるためには、不自然な体勢になったりする不都合が生じ得る。 According to this configuration, it is possible to remotely control the industrial vehicle in a desired remote control mode by the operation of rotating the remote control device in the specific rotation direction.
Here, in the configuration in which the rotation in the specific rotation direction is adopted as the operation for determining the remote control mode of the industrial vehicle as described above, if the reference rotation position is fixed, depending on the posture of the operator, the reference rotation There may be the disadvantage that the range of rotation with respect to the position is limited, or an unnatural posture may occur in order to realize the desired remote control mode.
　この点、本構成によれば、基準回転位置を操作者の操作によって適宜変更できるため、上記不都合を抑制できる。したがって、遠隔操作態様を決定付ける操作の一種として特定回転方向の回転が採用されたことに起因する上記不都合を抑制でき、操作性の更なる向上を図ることができる。 In this respect, according to this configuration, the reference rotational position can be appropriately changed by the operation of the operator, so that the above-mentioned inconvenience can be suppressed. Therefore, the said inconvenience resulting from having employ | adopted rotation of a specific rotation direction as 1 type of operation which determines a remote control aspect can be suppressed, and the improvement of operativity can be aimed at.
　上記産業車両用遠隔操作システムについて、前記姿勢対応決定部は、前記特定回転方向における前記基準回転位置からの前記遠隔操作装置の回転位置の変化の度合いに基づいて、前記産業車両の遠隔操作態様として前記産業車両の操舵角を決定するとよい。 In the above-mentioned industrial vehicle remote control system, the posture correspondence determination unit is a remote control mode of the industrial vehicle based on the degree of change in rotational position of the remote control device from the reference rotational position in the specific rotational direction. The steering angle of the industrial vehicle may be determined.
　かかる構成によれば、基準回転位置から特定回転方向に遠隔操作装置を回転させることにより、産業車両の操舵角を制御できる。これにより、直感的な遠隔操作を実現できる。
　上記産業車両用遠隔操作システムについて、前記遠隔操作装置は板状であり、前記特定回転方向は、前記遠隔操作装置の厚さ方向を回転軸とする回転方向であるとよい。 According to this configuration, the steering angle of the industrial vehicle can be controlled by rotating the remote control device in the specific rotation direction from the reference rotation position. This makes it possible to realize intuitive remote control.
In the industrial vehicle remote control system, the remote control device may have a plate shape, and the specific rotation direction may be a rotation direction with the thickness direction of the remote control device as a rotation axis.
　かかる構成によれば、遠隔操作装置を両手で把持した場合に、操作者から見て、右回り又は左回りに回転させることにより、産業車両の操舵角を変更できる。これにより、ハンドルを操作するような感覚で産業車両の操舵角を制御でき、操作性の向上を図ることができる。 According to this configuration, when the remote control device is gripped with both hands, the steering angle of the industrial vehicle can be changed by rotating it clockwise or counterclockwise as viewed from the operator. Thus, the steering angle of the industrial vehicle can be controlled in the sense of operating the steering wheel, and operability can be improved.
　上記産業車両用遠隔操作システムについて、前記遠隔操作装置は、タッチパネルと、前記タッチパネルに対する入力操作を検知するタッチセンサと、を備え、前記基準設定操作は、前記タッチパネルに対して入力操作が行われることであるとよい。 In the industrial vehicle remote control system, the remote control device includes a touch panel and a touch sensor for detecting an input operation on the touch panel, and the reference setting operation is performed on the touch panel. It is good.
　かかる構成によれば、タッチパネルに対する入力操作という比較的簡単な操作で基準位置の設定を実現できるため、基準位置の設定を容易に行うことができる。
　上記産業車両用遠隔操作システムについて、前記タッチパネルに対して入力操作が行われている位置を入力操作位置とすると、前記設定部は、前記遠隔操作装置に対して前記基準設定操作が行われた場合に、前記タッチセンサの検知結果に基づいて、前記基準位置の一種である基準入力位置として、前記基準設定操作が行われたときにおける前記入力操作位置を設定する基準入力位置設定部を備え、前記決定部は、前記基準入力位置からの前記入力操作位置の変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定するパネル対応決定部を備えているとよい。 According to this configuration, since setting of the reference position can be realized by a relatively simple operation of input operation to the touch panel, setting of the reference position can be easily performed.
In the industrial vehicle remote control system, assuming that the position where the input operation is performed on the touch panel is the input operation position, the setting unit performs the reference setting operation on the remote control device. A reference input position setting unit configured to set the input operation position when the reference setting operation is performed as a reference input position which is a type of the reference position, based on the detection result of the touch sensor; The determination unit may include a panel correspondence determination unit that determines the remote control mode of the industrial vehicle based on the degree of change of the input operation position from the reference input position.
　かかる構成によれば、入力操作位置を制御することによって、所望の遠隔操作態様で産業車両を遠隔操作することができる。
　上記産業車両用遠隔操作システムについて、前記パネル対応決定部は、前記基準入力位置からの前記入力操作位置の変化の度合いとして、前記基準入力位置と前記入力操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様を決定するとよい。 According to such a configuration, by controlling the input operation position, the industrial vehicle can be remotely controlled in a desired remote control mode.
In the industrial vehicle remote control system, the panel correspondence determining unit determines the change in the input operation position from the reference input position based on the relative position between the reference input position and the input operation position. It is preferable to determine the remote control mode of the industrial vehicle.
　かかる構成によれば、タッチパネルに対して入力操作を行い、その後入力操作を維持したまま入力操作位置を変更するという一連の入力操作であるスライド操作を行うことにより、所望の遠隔操作態様で産業車両を遠隔操作することができる。 According to this configuration, the industrial vehicle can be operated in a desired remote control mode by performing a slide operation which is a series of input operations of performing an input operation on the touch panel and then changing the input operation position while maintaining the input operation. Can be controlled remotely.
　上記産業車両用遠隔操作システムについて、前記パネル対応決定部は、前記基準入力位置と前記入力操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様として前記産業車両の走行速度を決定するとよい。 In the industrial vehicle remote control system, the panel correspondence determination unit determines the traveling speed of the industrial vehicle as a remote control mode of the industrial vehicle based on the relative position between the reference input position and the input operation position. Good.
　かかる構成によれば、スライド操作の操作量に応じて、走行速度を異ならせることができ、それを通じて直感的な操作が可能となる。
　上記産業車両用遠隔操作システムについて、前記産業車両は、フォークを有するフォークリフトであり、前記パネル対応決定部は、前記基準入力位置と前記入力操作位置との相対位置に基づいて、前記フォークリフトの遠隔操作態様として前記フォークの動作態様を決定するとよい。 According to this configuration, the traveling speed can be varied according to the operation amount of the slide operation, and an intuitive operation can be performed through it.
In the industrial vehicle remote control system, the industrial vehicle is a forklift having a fork, and the panel correspondence determining unit remotely controls the forklift based on a relative position between the reference input position and the input operation position. In an aspect, it is preferable to determine the operation mode of the fork.
　かかる構成によれば、スライド操作の操作量に応じて、フォークを大きく動かしたり、小さく動かしたりすることができる。なお、フォークの動作態様とは、例えばリーチ動作のストローク量や、リフト動作のストローク量やチルト動作の傾斜角度等が考えられる。 According to this configuration, it is possible to move the fork large or small according to the operation amount of the slide operation. As the movement mode of the fork, for example, the stroke amount of the reach operation, the stroke amount of the lift operation, the inclination angle of the tilt operation, and the like can be considered.
　上記産業車両用遠隔操作システムについて、前記タッチパネルに対して、遠隔操作が開始される開始操作と当該開始操作から継続される継続操作とによって構成される一連の入力操作が行われた場合には、前記基準入力位置設定部は、前記基準設定操作としての前記開始操作が行われたことに基づいて、前記基準入力位置として、前記開始操作が行われた位置である開始位置を設定し、前記パネル対応決定部は、前記開始位置と前記継続操作が行われている位置である継続操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様を決定するとよい。 In the industrial vehicle remote control system, when a series of input operations including the start operation for starting the remote operation and the continuous operation continued from the start operation are performed on the touch panel, The reference input position setting unit sets a start position, which is a position at which the start operation has been performed, as the reference input position, based on the start operation being performed as the reference setting operation. The correspondence determining unit may determine the remote control mode of the industrial vehicle based on a relative position between the start position and a continued operation position which is a position at which the continued operation is performed.
　かかる構成によれば、開始操作が行われることによって開始位置が設定され、当該開始位置と継続操作位置との相対位置に基づいて、産業車両の遠隔操作態様が決定される。これにより、開始操作及び継続操作によって構成される一連の入力操作とは別に基準設定操作を行う必要がないため、操作の簡略化を図ることができる。 According to this configuration, the start position is set by performing the start operation, and the remote control mode of the industrial vehicle is determined based on the relative position between the start position and the continued operation position. As a result, since it is not necessary to perform the reference setting operation separately from the series of input operations configured by the start operation and the continuous operation, the operation can be simplified.
　また、本構成によれば、開始操作が行われる度に基準入力位置が設定されるため、遠隔操作を行うごとに基準入力位置を変更できる。したがって、例えば、ある遠隔操作を行った後に体勢を変更して再度遠隔操作を行う場合に、体勢の変更に対応させて基準入力位置を変更できるため、変更した体勢に対応した遠隔操作を行うことができる。 Further, according to this configuration, since the reference input position is set every time the start operation is performed, the reference input position can be changed each time the remote control is performed. Therefore, for example, when performing a remote control after performing a certain remote control and performing the remote control again, the reference input position can be changed according to the change of the posture, so that the remote control corresponding to the changed posture is performed. Can.
　上記産業車両用遠隔操作システムについて、前記タッチパネルに対する入力操作である第１開始操作及び第２開始操作の双方が前記遠隔操作装置に対して行われることに基づいて前記産業車両の遠隔操作を開始し、前記産業車両の遠隔操作の開始後は、遠隔操作が開始されたときの前記第１開始操作から継続される第１継続操作、及び、遠隔操作が開始されたときの前記第２開始操作から継続される第２継続操作の双方が行われている場合に前記産業車両の遠隔操作を継続する遠隔操作制御部を備え、前記基準入力位置設定部は、前記基準設定操作としての前記第１開始操作及び前記第２開始操作の双方が行われたことを契機として、前記第１開始操作及び前記第２開始操作の双方が行われた時点において前記第１開始操作が行われている位置である第１開始位置を前記基準入力位置として設定し、前記パネル対応決定部は、前記第１開始位置と前記第１継続操作が行われている位置である第１継続操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様を決定するとよい。 In the industrial vehicle remote control system, remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation which are input operations to the touch panel are performed on the remote control device. After the start of the remote control of the industrial vehicle, the first continuation operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started The remote control control unit continues the remote control of the industrial vehicle when both of the continued second continuous operations are performed, and the reference input position setting unit is configured to perform the first start as the reference setting operation. The first start operation is performed when both the first start operation and the second start operation are performed in response to both the operation and the second start operation being performed. A first start position, which is a position setting, is set as the reference input position, and the panel correspondence determining unit compares the first start position with the first continuous operation position, which is the position at which the first continuous operation is performed. It is preferable to determine the remote control mode of the industrial vehicle based on the position.
　かかる構成によれば、遠隔操作を開始するためには、第１開始操作及び第２開始操作の双方を行う必要がある。これにより、意図せず遠隔操作が行われることや、他の作業を行いながら遠隔操作が開始されることを抑制できる。そして、遠隔操作の開始後も、遠隔操作を継続するためには両継続操作を行う必要がある。これにより、遠隔操作中に遠隔操作以外の作業を行うことを抑制できる。したがって、安全性の向上を図ることができる。 According to this configuration, in order to start the remote control, it is necessary to perform both the first start operation and the second start operation. Thereby, it is possible to suppress that the remote control is performed unintentionally or that the remote control is started while performing other work. And, even after the start of the remote control, in order to continue the remote control, it is necessary to perform both continuous operations. Thereby, it is possible to suppress performing work other than remote control during remote control. Therefore, the safety can be improved.
　また、本構成によれば、両継続操作の少なくとも一方を終了することによって、遠隔操作を停止させることができる。これにより、操作者としては、遠隔操作を意識的に停止させたり、開始させたりすることを容易にできる。したがって、操作者としては、例えば一時的に遠隔操作を停止して状況の確認等を行い、その後再度遠隔操作を行う等といったことを容易に行うことができ、利便性の向上を図ることができる。 Further, according to this configuration, the remote control can be stopped by ending at least one of the both continuous operations. Thus, 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. .
　特に、本構成によれば、遠隔操作を開始するための両開始操作が行われることによって、基準入力位置として第１開始位置が設定される。これにより、遠隔操作を開始するための操作とは別に基準入力位置を設定するための操作を行う必要がないため、操作の簡略化を図ることができる。また、両開始操作が行われる度に基準入力位置として第１開始位置が設定されるため、遠隔操作を行うごとに基準入力位置を変更できる。 In particular, according to this configuration, the first start position is set as the reference input position by performing both start operations for starting the remote control. As a result, since it is not necessary to perform an operation for setting the reference input position separately from the operation for starting the remote control, the operation can be simplified. In addition, since the first start position is set as the reference input position every time both start operations are performed, the reference input position can be changed each time the remote control is performed.
　上記産業車両用遠隔操作システムについて、前記第１開始操作は、前記タッチパネルの特定領域内に対する入力操作であり、前記第１継続操作は、前記特定領域の内外に関わらず、遠隔操作が開始されたときの前記第１開始操作から継続される前記タッチパネルへの入力操作であるとよい。 In the industrial vehicle remote control system, the first start operation is an input operation to a specific area of the touch panel, and the first continuous operation starts remote control regardless of inside or outside of the specific area. It is preferable that the input operation to the touch panel continues from the first start operation at the time.
　かかる構成によれば、遠隔操作を開始させるためには、例えば指等を用いて特定領域内に対して入力操作を行う必要がある。このような特定領域内に対する入力操作は、指を用いてできる操作であることから比較的容易である一方、タッチパネルのうち狙った場所に対して入力操作を行う必要があるため、相応の注意力を要する。これにより、操作者に対して相応の注意を促しつつ、簡単な操作で遠隔操作を開始させることができる。 According to this configuration, in order to start the remote control, it is necessary to perform an input operation in the specific area using, for example, a finger or the like. While such an input operation to a specific area is relatively easy because it is an operation that can be performed using a finger, it is necessary to perform the input operation to a target location on the touch panel, so appropriate attention It takes This makes it possible to start remote control with a simple operation while alerting the operator accordingly.
　一方、第１継続操作については、特定領域外にはみ出すようなスライド操作が可能となっているため、第１継続操作の自由度を高くすることができる。また、所望の遠隔操作態様と実現しようとするあまり、第１継続操作が行われている位置が特定領域外にはみ出した場合であっても、遠隔操作は継続される。これにより、操作性及び利便性の向上を図ることができる。 On the other hand, as the first continuous operation, the slide operation is possible such that it slides out of the specific region, so the degree of freedom of the first continuous operation can be increased. Further, the remote control is continued even if the position where the first continuous operation is performed is out of the specific area, which is to be realized with the desired remote control mode. Thereby, the operability and the convenience can be improved.
　上記産業車両用遠隔操作システムについて、前記タッチパネルに対する入力操作である第１開始操作及び第２開始操作の双方が前記遠隔操作装置に対して行われることに基づいて前記産業車両の遠隔操作を開始し、前記産業車両の遠隔操作の開始後は、遠隔操作が開始されたときの前記第１開始操作から継続される第１継続操作、及び、遠隔操作が開始されたときの前記第２開始操作から継続される第２継続操作の双方が行われている場合に前記産業車両の遠隔操作を継続する遠隔操作制御部を備え、前記基準入力位置設定部は、前記基準設定操作としての前記第１開始操作及び前記第２開始操作の双方が行われたことを契機として、前記第１開始操作及び前記第２開始操作の双方が行われた時点において前記第１開始操作及び前記第２開始操作が行われている位置である第１開始位置及び第２開始位置を前記基準入力位置として設定し、前記パネル対応決定部は、前記第１開始位置と前記第１継続操作が行われている位置である第１継続操作位置との相対位置、及び、前記第２開始位置と前記第２継続操作が行われている位置である第２継続操作位置との相対位置の双方に基づいて、前記産業車両の遠隔操作態様を決定するとよい。 In the industrial vehicle remote control system, remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation which are input operations to the touch panel are performed on the remote control device. After the start of the remote control of the industrial vehicle, the first continuation operation continued from the first start operation when the remote control is started, and the second start operation when the remote control is started The remote control control unit continues the remote control of the industrial vehicle when both of the continued second continuous operations are performed, and the reference input position setting unit is configured to perform the first start as the reference setting operation. The first start operation and the second open operation are performed when both the first start operation and the second start operation are performed in response to both the operation and the second start operation being performed. A first start position and a second start position, which are positions where an operation is being performed, are set as the reference input position, and the panel correspondence determining unit performs the first start position and the first continuous operation. Based on both the relative position to the first continuous operation position which is the position and the relative position to the second continuous operation position which is the position where the second start position and the second continuous operation are being performed, It is preferable to determine the remote control mode of the industrial vehicle.
　かかる構成によれば、遠隔操作を開始するためには、第１開始操作及び第２開始操作の双方を行う必要がある。これにより、意図せず遠隔操作が行われることや、他の作業を行いながら遠隔操作が開始されることを抑制できる。そして、遠隔操作の開始後も、遠隔操作を継続するためには両継続操作を行う必要がある。これにより、遠隔操作中に遠隔操作以外の作業を行うことを抑制できる。したがって、安全性の向上を図ることができる。 According to this configuration, in order to start the remote control, it is necessary to perform both the first start operation and the second start operation. Thereby, it is possible to suppress that the remote control is performed unintentionally or that the remote control is started while performing other work. And, even after the start of the remote control, in order to continue the remote control, it is necessary to perform both continuous operations. Thereby, it is possible to suppress performing work other than remote control during remote control. Therefore, the safety can be improved.
　また、本構成によれば、両継続操作の少なくとも一方を終了することによって、遠隔操作を停止させることができる。これにより、操作者としては、遠隔操作を意識的に停止させたり、開始させたりすることを容易にできる。したがって、操作者としては、例えば一時的に遠隔操作を停止して状況の確認等を行い、その後再度遠隔操作を行う等といったことを容易に行うことができ、利便性の向上を図ることができる。 Further, according to this configuration, the remote control can be stopped by ending at least one of the both continuous operations. Thus, 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. .
　特に、本構成によれば、遠隔操作を開始するための両開始操作が行われることによって、基準入力位置として第１開始位置及び第２開始位置が設定される。これにより、遠隔操作を開始するための操作とは別に基準入力位置を設定するための操作を行う必要がないため、操作の簡略化を図ることができる。また、両開始操作が行われる度に基準入力位置が設定されるため、遠隔操作を行うごとに基準入力位置を変更できる。更に、２つの相対位置に基づいて遠隔操作態様が決定されるため、２つの入力操作を組み合わせることにより、所望の遠隔操作態様を実現できる。 In particular, according to the present configuration, the first start position and the second start position are set as the reference input position by performing both start operations for starting the remote control. As a result, since it is not necessary to perform an operation for setting the reference input position separately from the operation for starting the remote control, the operation can be simplified. In addition, since the reference input position is set each time both start operations are performed, the reference input position can be changed each time remote operation is performed. Furthermore, since the remote control mode is determined based on the two relative positions, a desired remote control mode can be realized by combining the two input operations.
　上記産業車両用遠隔操作システムについて、前記第１開始操作は、前記タッチパネルの第１領域内に対する入力操作であり、前記第１継続操作は、前記第１領域の内外に関わらず、遠隔操作が開始されたときの前記第１開始操作から継続される前記タッチパネルへの入力操作であり、前記第２開始操作は、前記タッチパネルのうち前記第１領域とは異なる第２領域内に対する入力操作であり、前記第２継続操作は、前記第２領域の内外に関わらず、遠隔操作が開始されたときの前記第２開始操作から継続される前記タッチパネルへの入力操作であるとよい。 In the industrial vehicle remote control system, the first start operation is an input operation to the first area of the touch panel, and the first continuous operation starts the remote operation regardless of inside and outside of the first area. The input operation to the touch panel continued from the first start operation when being performed, and the second start operation is an input operation to a second area of the touch panel different from the first area, The second continuous operation may be an input operation to the touch panel continued from the second start operation when remote operation is started, regardless of whether inside or outside the second area.
　かかる構成によれば、遠隔操作を開始させるためには、タッチパネルのうち少なくとも２つの異なる位置に対して入力操作を行う必要がある。これにより、操作者としては、２つの異なる位置に対して入力操作を行うために、両手で遠隔操作装置を把持することが想定される。したがって、片手での遠隔操作を抑制でき、それを通じて遠隔操作と他の作業とが同時に行われることを抑制できる。 According to this configuration, in order to start the remote control, it is necessary to perform the input operation at at least two different positions on the touch panel. Thus, it is assumed that the operator holds the remote control device with both hands in order to perform input operations at two different positions. Therefore, the remote control with one hand can be suppressed, and through this, it can be suppressed that the remote control and other work are performed simultaneously.
　また、第１継続操作については、第１領域外にはみ出すようなスライド操作が可能となっているため、第１継続操作の自由度を高くすることができる。また、所望の遠隔操作態様と実現しようとするあまり、第１継続操作が行われている位置が第１領域外にはみ出した場合であっても、遠隔操作は継続される。第２継続操作についても同様である。したがって、操作性及び利便性の向上を図ることができる。 In addition, as the first continuous operation, the slide operation is possible such that it slides out of the first region, so the degree of freedom of the first continuous operation can be increased. Further, the remote control is continued even when the position where the first continuous operation is performed is out of the first area, which is to achieve the desired remote control mode. The same applies to the second continuation operation. Therefore, operability and convenience can be improved.
　上記産業車両用遠隔操作システムについて、前記遠隔操作装置は、スマートフォン又はタブレット端末であるとよい。
　かかる構成によれば、既存の汎用品を用いて産業車両の遠隔操作を実現できる。 In the industrial vehicle remote control system, 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.
　上記目的を達成する遠隔操作装置は、車両通信部を有する産業車両を遠隔操作するのに用いられるものであって、前記車両通信部と無線通信を行うリモート通信部と、基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部と、を備えていることを特徴とする。 A remote control device for achieving the above object is used to remotely control an industrial vehicle having a vehicle communication unit, and a remote communication unit performing wireless communication with the vehicle communication unit and a reference setting operation are performed. A setting unit that sets a reference position of the operation of the remote control device based on the setting, and a determination unit that determines the remote control mode of the industrial vehicle based on the degree of change from the reference position. It is characterized by
　上記目的を達成する産業車両用遠隔操作プログラムは、産業車両に設けられた車両通信部と無線通信を行うリモート通信部を備えた遠隔操作装置を用いて前記産業車両を遠隔操作するためのものであって、前記遠隔操作装置を、当該遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部として機能させることを特徴とする。 An industrial vehicle remote control program for achieving the above object is for remotely controlling the industrial vehicle using a remote control device provided with a remote communication unit for performing wireless communication with a vehicle communication unit provided in the industrial vehicle. A setting unit for setting a reference position of the operation of the remote control device based on the reference setting operation performed on the remote control device; and a change from the reference position It functions as a determination unit that determines the remote control mode of the industrial vehicle based on the degree of.
　上記目的を達成する産業車両用遠隔操作方法は、産業車両に設けられた車両通信部と無線通信を行うリモート通信部を備えた遠隔操作装置を用いて前記産業車両を遠隔操作するものであって、前記遠隔操作装置又は前記産業車両が、前記遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定ステップと、前記遠隔操作装置又は前記産業車両が、前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定ステップと、前記遠隔操作装置又は前記産業車両が、前記決定ステップによって決定された遠隔操作態様で前記産業車両を遠隔操作する実行ステップと、を備えていることを特徴とする。 An industrial vehicle remote control method for achieving the above object is to remotely control the industrial vehicle using a remote control device provided with a remote communication unit for performing wireless communication with a vehicle communication unit provided in the industrial vehicle. Setting the reference position of the operation of the remote control device based on the reference setting operation performed on the remote control device, the remote control device or the industrial vehicle, and the remote control device Or the determining step of the industrial vehicle determining the remote control mode of the industrial vehicle based on the degree of change from the reference position, and the remote control device or the industrial vehicle is a remote determined by the determining step. And an execution step of remotely operating the industrial vehicle in an operation mode.
　上記目的を達成する産業車両は、遠隔操作装置に設けられたリモート通信部と無線通信を行う車両通信部を備え、前記遠隔操作装置によって遠隔操作されるものであって、前記遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部と、前記決定部によって決定された遠隔操作態様で前記産業車両を遠隔操作する実行部と、を備えていることを特徴とする。 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, and is remotely controlled by the remote control device, and the remote control device Determining the remote control mode of the industrial vehicle based on the setting unit for setting the reference position of the remote control device based on the reference setting operation performed and the degree of change from the reference position And an execution unit for remotely operating the industrial vehicle in the remote control mode determined by the determination unit.
　上記各構成によれば、基準位置からの変化の度合いに基づいて、産業車両の遠隔操作態様が決定され、当該遠隔操作態様で産業車両の遠隔操作が行われる。当該基準位置は、操作者によって基準設定操作が行われることにより設定される。これにより、操作性の向上を図ることができる。 According to each configuration, the remote control mode of the industrial vehicle is determined based on the degree of change from the reference position, and the remote control of the industrial vehicle is performed in the remote control mode. The reference position is set by the operator performing a reference setting operation. Thereby, the operability can be improved.
　この発明によれば、操作性の向上を図ることができる。 According to this invention, the operability can be improved.
産業車両用遠隔操作システムの概要図。The schematic diagram of the remote control system for industrial vehicles. 産業車両用遠隔操作システムの電気的構成を示すブロック図。The block diagram which shows the electric constitution of the remote control system for industrial vehicles. 遠隔操作信号及び制御信号を説明するための概念図。The conceptual diagram for demonstrating a remote control signal and a control signal. 第１実施形態の産業車両用遠隔操作システムにて設定されている各種モードを説明するための概念図。FIG. 3 is a conceptual diagram for explaining various modes set in the industrial vehicle remote control system of the first embodiment. 走行モード画像が表示された遠隔操作装置の正面図。The front view of the remote control in which the driving mode image was displayed. リフトモード画像が表示された遠隔操作装置の正面図。The front view of the remote control in which the lift mode image was displayed. リーチモード画像が表示された遠隔操作装置の正面図。The front view of the remote control in which the reach mode image was displayed. チルトモード画像が表示された遠隔操作装置の正面図。The front view of the remote control with the tilt mode image displayed. 第１実施形態の遠隔操作制御処理を示すフローチャート。5 is a flowchart showing a remote control process of the first embodiment. 第１実施形態の操作モード処理を示すフローチャート。5 is a flowchart showing operation mode processing of the first embodiment. 強制停止処理を示すフローチャート。The flowchart which shows forced stop processing. 遠隔操作装置に対する操作の一例を模式的に示す動作説明図。Operation | movement explanatory drawing which shows typically an example of operation with respect to a remote control. 遠隔操作装置に対する操作の一例を模式的に示す動作説明図。Operation | movement explanatory drawing which shows typically an example of operation with respect to a remote control. 遠隔操作装置に対する操作の一例を模式的に示す動作説明図。Operation | movement explanatory drawing which shows typically an example of operation with respect to a remote control. 遠隔操作装置に対する操作の一例を模式的に示す動作説明図。Operation | movement explanatory drawing which shows typically an example of operation with respect to a remote control. 遠隔操作装置に対する操作に対するフォークリフトの動きを模式的に示す上面図。The top view which shows typically the motion of the forklift with respect to operation with respect to a remote control. 第２実施形態の走行モード画像が表示された遠隔操作装置の正面図。The front view of the remote control in which the driving mode image of 2nd Embodiment was displayed. 荷役モード画像が表示された遠隔操作装置の正面図。The front view of the remote control in which the cargo handling mode image was displayed. 第２実施形態の遠隔操作制御処理を示すフローチャート。The flowchart which shows the remote control control processing of 2nd Embodiment. 第２実施形態の操作モード処理を示すフローチャート。The flowchart which shows the operation mode process of 2nd Embodiment. 別例の操作を説明するための遠隔操作装置の正面図。The front view of the remote control for demonstrating another operation.
第１実施形態First embodiment
　以下、産業車両用遠隔操作システムの第１実施形態について説明する。
　図１に示すように、産業車両用遠隔操作システム１０は、産業車両としてのフォークリフト２０と、フォークリフト２０を遠隔操作するのに用いられる遠隔操作装置３０と、を備えている。 Hereinafter, a first embodiment of the industrial vehicle remote control system will be described.
As shown in FIG. 1, 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.
　フォークリフト２０は、車輪２１と、荷物の積み上げ又は積み降ろしを行う荷役装置としてのフォーク２２と、を備えている。本実施形態のフォークリフト２０は、運転者が着座して操縦することが可能に構成されている。フォーク２２は、リフト動作、リーチ動作及びチルト動作が可能に構成されている。 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.
　なお、フォークリフト２０は、例えばエンジンが搭載されたエンジンタイプであってもよいし、蓄電装置及び電動モータが搭載されたＥＶタイプであってもよいし、燃料電池及び電動モータが搭載されたＦＣＶタイプであってもよい。また、フォークリフト２０は、例えばエンジンと蓄電装置と電動モータとを有するＨＶタイプでもよい。 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.
　図２に示すように、フォークリフト２０は、走行アクチュエータ２３と、荷役アクチュエータ２４と、これら走行アクチュエータ２３及び荷役アクチュエータ２４を制御する車両ＣＰＵ２５と、車両メモリ２６と、車両状態検知部２７と、を備えている。 As shown in FIG. 2, the forklift 20 includes a traveling actuator 23, a cargo handling actuator 24, a vehicle CPU 25 that controls the traveling actuator 23 and the cargo handling actuator 24, a vehicle memory 26, and a vehicle state detection unit 27. ing.
　走行駆動部としての走行アクチュエータ２３は、フォークリフト２０の走行に用いられるものであり、具体的には車輪２１を回転駆動させるとともに、操舵角（進行方向）を変更する。なお、例えばフォークリフト２０がエンジンタイプであれば、走行アクチュエータ２３はエンジン及びステアリング装置等であり、例えばフォークリフト２０がＥＶタイプであれば、走行アクチュエータ２３は車輪２１を回転駆動させる電動モータ及びステアリング装置等である。 The travel actuator 23 as a travel drive unit 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.
　荷役アクチュエータ２４は、走行とは異なる動作に用いられるものであり、詳細にはフォーク２２を駆動させるものである。例えば、荷役アクチュエータ２４は、フォーク２２を上下方向に移動させるリフト動作を行うリフト駆動部２４ａと、フォーク２２を前後方向に移動させるリーチ動作を行うリーチ駆動部２４ｂと、フォーク２２を傾けるチルト動作を行うチルト駆動部２４ｃと、を有している。 The cargo handling actuator 24 is used for an operation different from that for traveling, and in particular, drives the fork 22. For example, 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. And a tilt drive unit 24c.
　なお、フォーク２２が、走行とは異なる動作を行う動作対象とも言え、フォーク２２の動作が「走行とは異なる動作」とも言え、荷役アクチュエータ２４が走行とは異なる動作に用いられる「動作駆動部」とも言える。 The fork 22 can be said to be an operation subject performing an operation different from traveling, the operation of the fork 22 can be said to be an operation different from traveling, and the cargo handling actuator 24 is used for an operation different from traveling It can be said that.
　車両状態検知部２７は、フォークリフト２０の状態を検知するものである。車両状態検知部２７は、例えば現在のフォークリフト２０の走行態様及びフォーク２２の動作態様を検知するとともに、フォークリフト２０の異常の有無を検知し、その検知結果である走行情報、動作情報及び異常情報が設定された検知信号を車両ＣＰＵ２５に向けて出力する。 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.
　なお、走行情報は、例えばフォークリフト２０の走行速度、加速度及び操舵角に関する情報を含む。換言すれば、本実施形態の車両状態検知部２７は、フォークリフト２０の走行態様として、少なくともフォークリフト２０の走行速度、加速度及び操舵角を検知している。また、動作情報は、上下方向におけるフォーク２２の位置（リフト位置）及びリフト動作中の場合にはその動作速度に関する情報と、前後方向におけるフォーク２２の位置（リーチ位置）及びリーチ動作中の場合にはその動作速度に関する情報と、鉛直方向に対するフォーク２２の傾斜角度及びチルト動作中の場合にはその動作速度に関する情報とを含む。換言すれば、本実施形態における車両状態検知部２７が検知するフォークリフト２０の動作態様には、リフト動作、リーチ動作及びチルト動作が含まれている。 The travel information includes, for example, information on the travel speed, acceleration, and steering angle of the forklift 20. In other words, the vehicle state detection unit 27 according to the present embodiment detects at least the traveling speed, acceleration, and steering angle of the forklift 20 as the traveling mode of the forklift 20. 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. In other words, the operation mode of the forklift 20 detected by the vehicle state detection unit 27 in the present embodiment includes a lift operation, a reach operation, and a tilt operation.
　また、フォークリフト２０の異常とは、例えば、走行アクチュエータ２３又は荷役アクチュエータ２４の異常や、車輪２１の異常等がある。但し、フォークリフト２０の異常は、これに限られず任意であり、例えばフォークリフト２０が蓄電装置を有する構成においては、蓄電装置の異常等を含んでもよい。 Further, the abnormality of the forklift 20 includes, for example, an abnormality of the traveling actuator 23 or the cargo handling actuator 24, an abnormality of the wheel 21, and the like. However, the abnormality of the forklift 20 is not limited to this, and is arbitrary. For example, in the configuration in which the forklift 20 includes the power storage device, the abnormality of the power storage device may be included.
　車両ＣＰＵ２５は、フォークリフト２０に設けられているステアリング装置や各種操作レバーが操作されることに基づいて、車両メモリ２６に記憶されている各種プログラムを読み出し実行することによって、走行アクチュエータ２３及び荷役アクチュエータ２４を制御する。つまり、本実施形態のフォークリフト２０は、遠隔操作装置３０を用いずに、フォークリフト２０に設けられているステアリング装置や各種操作レバーにより運転することも可能となっている。また、車両ＣＰＵ２５は、車両状態検知部２７から入力される検知信号に基づいて、フォークリフト２０の現在の状態を把握する。車両ＣＰＵ２５は、車両ＥＣＵとも車両ＭＰＵとも言える。 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.
　遠隔操作装置３０は、通信機能を有する操作端末である。遠隔操作装置３０は、例えばスマートフォン又はタブレット端末といった汎用品である。但し、これに限られず、遠隔操作装置３０は、携帯電話やヴァーチャルリアリティ端末などでもよいし、遠隔操作のための専用品であってもよい。 The remote control device 30 is an operation terminal having a communication function. The remote control device 30 is a general-purpose product such as a smartphone or a tablet terminal. However, the present invention is not limited to this, and the remote control device 30 may be a mobile phone, a virtual reality terminal, or the like, or may be a dedicated item for remote control.
　図１に示すように、本実施形態では、遠隔操作装置３０は、一方を長手方向とし他方を短手方向とする矩形板状である。遠隔操作装置３０は、遠隔操作を行う場合、当該遠隔操作装置３０の長手方向の両端部のうち一方の端部が右手によって把持され、他方の端部が左手によって把持された状態で用いられる。つまり、遠隔操作装置３０は遠隔操作を行う際には横向きに両手で把持されることを想定している。 As shown in FIG. 1, in the present embodiment, the remote control device 30 has a rectangular plate shape in which one is a longitudinal direction and the other is a lateral direction. When 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.
　図２に示すように、遠隔操作装置３０は、タッチパネル３１と、タッチセンサ３２と、リモートＣＰＵ３３と、リモートメモリ３４と、姿勢検知部３５と、を備えている。
　図１に示すように、タッチパネル３１は、遠隔操作装置３０の一方の板面に形成されている。タッチパネル３１は長手方向及び短手方向を有する矩形状であり、タッチパネル３１の長手方向は遠隔操作装置３０の長手方向と一致している。タッチパネル３１は、所望の画像を表示させることが可能に構成されている。 As shown in FIG. 2, the remote control device 30 includes a touch panel 31, a touch sensor 32, a remote CPU 33, a remote memory 34, and a posture detection unit 35.
As shown in FIG. 1, the touch panel 31 is formed on one plate surface of the remote control device 30. The touch panel 31 has a rectangular shape having a longitudinal direction and a lateral direction, and the longitudinal direction of the touch panel 31 coincides with the longitudinal direction of the remote control device 30. The touch panel 31 is configured to be able to display a desired image.
　ちなみに、遠隔操作装置３０が横向きに把持された場合、タッチパネル３１の短手方向は操作者から見て上下方向又は前後方向であり、タッチパネル３１の長手方向は操作者から見て左右方向である。 Incidentally, when the remote control device 30 is gripped in the horizontal direction, the short direction of the touch panel 31 is the vertical direction or the front-rear direction as viewed from the operator, and the longitudinal direction of the touch panel 31 is the horizontal direction as viewed from the operator.
　なお、以降の説明において、タッチパネル３１を視認できるように遠隔操作装置３０が横向きに把持された場合において、操作者から見てタッチパネル３１の上端側（図５～図８における紙面上方向）を上方とし、操作者から見て下端側（図５～図８における紙面下方向）を下方とする。 In the following description, 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.
　タッチセンサ３２は、遠隔操作装置３０に対する操作の一種である、タッチパネル３１に対する入力操作（詳細にはタッチ操作やスライド操作）を検知するものである。詳細には、タッチセンサ３２は、タッチパネル３１に対して指が接触しているか否かを検知するとともに、指の接触が検知された場合にはその位置を検知する。そして、タッチセンサ３２は、検知結果をリモートＣＰＵ３３に出力する。これにより、リモートＣＰＵ３３は、タッチパネル３１に対する入力操作を把握できる。なお、タッチセンサ３２の具体的な構成は任意であるが、例えば静電容量の変化に基づいて検出する静電容量式センサや圧力センサ等がある。 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. Although 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.
　ちなみに、本実施形態のタッチセンサ３２は、タッチパネル３１に対して複数の入力操作が行われている場合には、各入力操作をそれぞれ個別に検知する。例えば、タッチパネル３１に対して左手の指と右手の指の双方が接触している場合には、左手の指の接触位置及び右手の指の接触位置の双方を個別に検知し、その検知結果をリモートＣＰＵ３３に出力する。 Incidentally, when a plurality of input operations are performed on the touch panel 31, 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.
　姿勢検知部３５は、遠隔操作装置３０の姿勢を検知するものである。姿勢検知部３５は、例えば３軸の加速度センサと３軸のジャイロセンサとを含み、これらのセンサから得られる情報に基づいて、遠隔操作装置３０の向き及びその変化を検知する。 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.
　例えば、図１に示すように、遠隔操作装置３０の長手方向の両端部が操作者によって把持されている場合においては、姿勢検知部３５は、遠隔操作装置３０の中心を通り当該遠隔操作装置３０の厚さ方向に延びた第１中心線Ｍ１を回転軸とする回転操作（以降、単に「第１回転操作」という。）を検知する。更に姿勢検知部３５は、遠隔操作装置３０の中心を通り当該遠隔操作装置３０の長手方向に延びた第２中心線Ｍ２を回転軸とする回転操作（以降、単に「第２回転操作」という。）を検知する。 For example, as shown in FIG. 1, when both ends in the longitudinal direction of the remote control device 30 are gripped by the operator, 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. Furthermore, 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.
　第１回転操作方向は、遠隔操作装置３０の厚さ方向を回転軸とする遠隔操作装置３０の回転方向であり、第２回転操作方向は、遠隔操作装置３０の長手方向を回転軸とする遠隔操作装置３０の回転方向である。換言すれば、姿勢検知部３５は、第１回転操作方向における遠隔操作装置３０の回転位置の変化、及び、第２回転操作方向における遠隔操作装置３０の回転位置の変化を検知するものである。 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. In other words, 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.
　姿勢検知部３５は、第１回転操作及び第２回転操作の少なくとも一方が行われているか否か、及び、両回転操作の少なくとも一方が行われている場合には当該回転操作の態様を検知し、その検知結果をリモートＣＰＵ３３に出力する。これにより、リモートＣＰＵ３３は、遠隔操作装置３０に対する操作の一種である第１回転操作及び第２回転操作を把握できる。 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. Thus, 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.
　なお、回転操作の態様とは、例えば回転操作の角速度の変化具合である。詳細には、姿勢検知部３５は、回転操作の態様として角加速度を検知する。これにより、遠隔操作装置３０（詳細にはリモートＣＰＵ３３）は、回転操作の有無に加えて角加速度も把握できる。 In addition, the aspect of rotation operation is the change condition of the angular velocity of rotation operation, for example. In detail, the posture detection unit 35 detects angular acceleration as a mode of rotational operation. Thus, 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.
　リモートＣＰＵ３３は、リモートメモリ３４に記憶されている各種プログラムを用いて各種処理を実行するものである。詳細には、リモートメモリ３４には、タッチパネル３１の画像制御に関するプログラムが記憶されており、リモートＣＰＵ３３は、当該プログラムを読み出し実行することによってタッチパネル３１の表示制御を行う。また、リモートＣＰＵ３３は、タッチセンサ３２及び姿勢検知部３５から入力される信号に基づいて、遠隔操作装置３０に対する各種操作を把握する。本実施形態では、リモートＣＰＵ３３は表示制御部ともいえる。 The remote CPU 33 executes various processes using various programs stored in the remote memory 34. In detail, 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. In the present embodiment, the remote CPU 33 can be said to be a display control unit.
　図２に示すように、フォークリフト２０と遠隔操作装置３０とは通信可能に構成されている。詳細には、フォークリフト２０は、車両通信部２８を有しており、遠隔操作装置３０は、車両通信部２８と通信可能なリモート通信部３６を有している。 As shown in FIG. 2, the forklift 20 and the remote control device 30 are configured to be communicable. In detail, 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.
　車両通信部２８及びリモート通信部３６は、例えば無線通信を行う通信インターフェースである。リモート通信部３６は、通信範囲内にペアリング（登録）済みのフォークリフト２０が存在する場合には、当該フォークリフト２０の車両通信部２８との通信接続を確立する。これにより、遠隔操作装置３０とフォークリフト２０との間で信号のやり取りが可能となる。 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.
　本実施形態では、車両通信部２８及びリモート通信部３６間の通信形式は、Ｗｉ－Ｆｉ（換言すればＩＥＥＥ８０２．１１規格の無線ＬＡＮ）である。両通信部２８，３６は、パケット通信によって信号の送受信を行う。 In the present embodiment, the communication format between the vehicle communication unit 28 and the remote communication unit 36 is Wi-Fi (in other words, a wireless LAN according to the IEEE 802.11 standard). Both communication units 28 and 36 transmit and receive signals by packet communication.
　なお、Ｗｉ－Ｆｉには、ＩＥＥＥ８０２．１１ａやＩＥＥＥ８０２．１１ａｃ等といった複数の規格が存在するが、車両通信部２８及びリモート通信部３６間の通信形式は、上記複数の規格のうちいずれでもよい。また、両通信部２８，３６の信号の送受信は、パケット通信に限られず任意である。 Although 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. In addition, transmission and reception of the signals of both communication units 28 and 36 is not limited to packet communication, but is arbitrary.
　更に、車両通信部２８とリモート通信部３６との間の通信形式については、Ｗｉ－Ｆｉに限られず、任意であり、例えばＢｌｕｅｔｏｏｔｈ（登録商標）及びＺｉｇｂｅｅ（登録商標）等であってもよい。 Furthermore, 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.
　リモートＣＰＵ３３は、リモート通信部３６と電気的に接続されている。リモートＣＰＵ３３は、リモート通信部３６を用いて、遠隔操作に関する各種情報が設定された遠隔操作信号ＳＧ１を車両通信部２８に向けて送信することにより、フォークリフト２０を遠隔操作する。遠隔操作信号ＳＧ１は、無線通信用の規格に対応する信号であり、本実施形態ではＷｉ－Ｆｉ規格に対応したパケット通信信号である。 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.
　フォークリフト２０は、遠隔操作信号ＳＧ１を、車内通信用規格に対応した制御信号ＳＧａに変換する信号変換部２９を備えている。信号変換部２９は、車両通信部２８及び車両ＣＰＵ２５に電気的に接続されており、車両通信部２８によって受信された遠隔操作信号ＳＧ１を、車両ＣＰＵ２５が認識可能な制御信号ＳＧａに変換し、当該制御信号ＳＧａを車両ＣＰＵ２５に向けて出力する。 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.
　なお、本実施形態では、フォークリフト２０の具体的な車内通信用規格はＣＡＮ規格である。すなわち、本実施形態では、制御信号ＳＧａはＣＡＮ信号である。但し、これに限られず、具体的な車内通信用規格は任意である。 In the present embodiment, 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. However, the present invention is not limited to this, and a specific in-vehicle communication standard is optional.
　図３に示すように、遠隔操作信号ＳＧ１の規格と制御信号ＳＧａの規格とが異なっていることに起因して、遠隔操作信号ＳＧ１及び制御信号ＳＧａの信号形式（換言すれば信号形態）が異なっている一方、遠隔操作信号ＳＧ１及び制御信号ＳＧａに設定されている情報（換言すれば内容）は同一である。換言すれば、信号変換部２９は、遠隔操作に関する情報が設定された無線通信用規格の遠隔操作信号ＳＧ１から、当該遠隔操作に関する情報を保持しつつ車両ＣＰＵ２５が認識可能な制御信号ＳＧａに変換するものであるといえる。 As shown in FIG. 3, 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. On the other hand, the information (in other words, the contents) set in the remote control signal SG1 and the control signal SGa is the same. In other words, the signal conversion unit 29 converts the remote control signal SG1 of the wireless communication standard in which the information related to 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.
　遠隔操作信号ＳＧ１及び制御信号ＳＧａは、遠隔操作に関する情報として、走行操作に関する走行操作情報Ｄ１と、荷役操作に関する荷役操作情報Ｄ２とを含む。
　走行操作情報Ｄ１は、例えばフォークリフト２０の走行速度が設定された走行速度情報Ｄｖと、フォークリフト２０の加速度が設定された加速度情報Ｄαと、フォークリフト２０の操舵角が設定された操舵角情報Ｄθと、を有している。 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 Dα at which the acceleration of the forklift 20 is set, and steering angle information Dθ at which the steering angle of the forklift 20 is set. have.
　荷役操作情報Ｄ２は、例えばリフト動作のストローク量が設定されたリフト情報Ｄｆａと、リーチ動作のストローク量が設定されたリーチ情報Ｄｆｂと、チルト動作の傾斜角度が設定されたチルト情報Ｄｆｃと、を有している。 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.
　車両ＣＰＵ２５は、信号変換部２９から制御信号ＳＧａが入力された場合には、車両メモリ２６に記憶されている遠隔操作実行プログラムを読み出し且つ当該遠隔操作実行プログラムを実行することにより、当該制御信号ＳＧａに対応した態様でフォークリフト２０（詳細には両アクチュエータ２３，２４）を駆動させる。 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.
　例えば、走行操作情報Ｄ１の各情報Ｄｖ，Ｄα，Ｄθが「０」以外の数値であり且つ荷役操作情報Ｄ２の各情報Ｄｆａ，Ｄｆｂ，Ｄｆｃが「０」又は「ｎｕｌｌ」である制御信号ＳＧａが車両ＣＰＵ２５に入力されたとする。この場合、車両ＣＰＵ２５は、走行アクチュエータ２３を制御することにより、走行速度情報Ｄｖに設定されている走行速度となるように加速度情報Ｄαに設定されている加速度で加減速を行うとともに、操舵角情報Ｄθに設定されている操舵角となるようにフォークリフト２０の操舵角を変更する。 For example, the control signal SGa in which each information Dv, Dα, Dθ 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 Dα 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 Dθ.
　また、例えばリフト情報Ｄｆａが「０」以外の数値であり且つその他の情報が「０」又は「ｎｕｌｌ」である制御信号ＳＧａが車両ＣＰＵ２５に入力された場合には、車両ＣＰＵ２５は、リフト情報Ｄｆａに設定されている数値のストローク量だけフォーク２２が上下方向に移動するように荷役アクチュエータ２４を制御する。 In addition, for example, when the control signal SGa in which the lift information Dfa is a numerical value other than “0” and the other information is “0” or “null” is input to the vehicle CPU 25, the vehicle CPU 25 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.
　なお、リフト情報Ｄｆａは、例えば正（＋）又は負（－）の値を取り得る数値情報である。車両ＣＰＵ２５は、リフト情報Ｄｆａが正の値である場合には、荷役アクチュエータ２４（詳細にはリフト駆動部２４ａ）を制御してリフト情報Ｄｆａに設定されている数値のストローク量だけフォーク２２を上方へ移動させる。一方、車両ＣＰＵ２５は、リフト情報Ｄｆａが負の値である場合には、荷役アクチュエータ２４（詳細にはリフト駆動部２４ａ）を制御してリフト情報Ｄｆａに設定されている数値のストローク量だけフォーク２２を下方へ移動させる。 The lift information Dfa is, for example, numerical information that can take positive (+) or negative (-) values. When the lift information Dfa is a positive value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the lift drive unit 24a) to move the fork 22 upward by the stroke amount of the value set in the lift information Dfa. Move to On the other hand, when the lift information Dfa has a negative value, 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.
　同様に、リーチ情報Ｄｆｂは、正（＋）又は負（－）の値を取り得る数値情報である。車両ＣＰＵ２５は、リーチ情報Ｄｆｂが正の値である場合には荷役アクチュエータ２４（詳細にはリーチ駆動部２４ｂ）を制御してリーチ情報Ｄｆｂに設定されている数値のストローク量だけフォーク２２を前方へ移動させる。一方、車両ＣＰＵ２５は、リーチ情報Ｄｆｂが負の値である場合には荷役アクチュエータ２４（詳細にはリーチ駆動部２４ｂ）を制御してリーチ情報Ｄｆｂに設定されている数値のストローク量だけフォーク２２を後方へ移動させる。 Similarly, the reach information Dfb is numerical information that can take positive (+) or negative (-) values. When the reach information Dfb is a positive value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the reach drive unit 24b) to move the fork 22 forward by the stroke amount of the numerical value set in the reach information Dfb. Move it. On the other hand, when the reach information Dfb is a negative value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the reach drive unit 24b) to move the fork 22 by the stroke amount of the numerical value set in the reach information Dfb. Move backwards.
　チルト情報Ｄｆｃは、正（＋）又は負（－）の値を取り得る数値情報である。車両ＣＰＵ２５は、チルト情報Ｄｆｃが正の値である場合には荷役アクチュエータ２４（詳細にはチルト駆動部２４ｃ）を制御してチルト情報Ｄｆｃに設定されている数値の傾斜角度だけフォーク２２を前方へ傾斜させる。一方、車両ＣＰＵ２５は、チルト情報Ｄｆｃが負の値である場合には荷役アクチュエータ２４（詳細にはチルト駆動部２４ｃ）を制御してチルト情報Ｄｆｃに設定されている数値の傾斜角度だけフォーク２２を後方へ傾斜させる。 The tilt information Dfc is numerical information that can take positive (+) or negative (-) values. When the tilt information Dfc is a positive value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the tilt drive unit 24c) to move the fork 22 forward by the inclination angle of the numerical value set in the tilt information Dfc. Tilt it. On the other hand, when the tilt information Dfc is a negative value, the vehicle CPU 25 controls the cargo handling actuator 24 (specifically, the tilt drive unit 24c) to move the fork 22 by the inclination angle of the numerical value set in the tilt information Dfc. Tilt backwards.
　すなわち、車両通信部２８が少なくとも走行速度情報Ｄｖに「０」以外の数値が設定されている遠隔操作信号ＳＧ１を受信した場合には、車両ＣＰＵ２５は走行アクチュエータ２３を制御する。一方、車両通信部２８が荷役操作情報Ｄ２の少なくとも１つに「０」以外の数値が設定されている遠隔操作信号ＳＧ１を受信した場合には、車両ＣＰＵ２５は荷役アクチュエータ２４を制御する。 That is, 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. On the other hand, when 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.
　以上のことから、遠隔操作装置３０及びフォークリフト２０（詳細には両通信部２８，３６）が通信可能な範囲内に配置されている場合には、リモート通信部３６から送信される遠隔操作信号ＳＧ１に基づいて、フォークリフト２０の遠隔操作が行われる。 From the above, when the remote control device 30 and the forklift 20 (specifically, both communication units 28 and 36) are disposed within the communicable range, the remote control signal SG1 transmitted from the remote communication unit 36 The remote control of the forklift 20 is performed based on FIG.
　ここで、遠隔操作装置３０を用いてフォークリフト２０（産業車両）の遠隔操作が行われる構成においては、操作者がフォークリフト２０に乗車する必要がないため、利便性の向上を図ることができる一方、安全性が求められる。例えば、操作者がフォークリフト２０に乗車する必要がないため、操作者の行動の自由度が高い。このため、操作者としては、例えば他の作業を行いながら遠隔操作を開始したり、遠隔操作中に遠隔操作装置３０から手を離して遠隔操作以外の作業を行ったりする場合もあり得る。この場合、フォークリフト２０の誤操作が発生し易い。また、例えば、遠隔操作装置３０を用いて遠隔操作を行う構成においては、ハンドル等を用いた通常の運転とは異なる操作体系となるため、誤操作が生じる場合があり得る。 Here, in the configuration in which the remote control of the forklift 20 (industrial vehicle) is performed using the remote control device 30, since the operator does not need to get on the forklift 20, convenience can be improved. Safety is required. For example, 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. In addition, for example, in the configuration in which the remote control is performed using the remote control device 30, an operation system different from normal operation using a steering wheel or the like may occur, and thus an erroneous operation may occur.
　これに対して、本産業車両用遠隔操作システム１０は、操作性等を考慮して安全性を高めるように構成されている。以下では、この点を踏まえつつ、遠隔操作装置３０を用いたフォークリフト２０の遠隔操作制御に係る構成について説明する。 On the other hand, 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.
　図２に示すように、リモートメモリ３４には、遠隔操作信号ＳＧ１の送信処理を含むフォークリフト２０の遠隔操作に関する各種処理を実行するための遠隔操作プログラム４０が記憶されている。遠隔操作プログラム４０は、フォークリフト２０の遠隔操作を行うためのアプリケーションプログラムである。遠隔操作プログラム４０は、遠隔操作を制御する遠隔操作制御処理を実行するための遠隔操作制御処理実行プログラム４１を含む。遠隔操作プログラム４０が「産業車両用遠隔操作プログラム」に対応する。 As shown in FIG. 2, 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".
　リモートＣＰＵ３３は、遠隔操作起動条件が成立した場合には、遠隔操作プログラム４０（遠隔操作アプリケーション）を起動させる。
　本実施形態では、遠隔操作起動条件は遠隔操作装置３０に対して起動操作が行われることである。起動操作とは、例えばタッチパネル３１に遠隔操作アイコンが表示されている構成においては、当該遠隔操作アイコンに対する入力操作（タッチ操作）である。 The remote CPU 33 starts the remote control program 40 (remote control application) when the remote control start condition is satisfied.
In the present embodiment, 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.
　但し、遠隔操作起動条件は、これに限られず任意であり、例えば遠隔操作装置３０のリモート通信部３６とフォークリフト２０の車両通信部２８との通信接続が確立したことでもよいし、両通信部２８，３６間の通信接続が確立した条件下において起動操作が行われることでもよい。すなわち、遠隔操作起動条件において、操作者の操作は必須ではない。 However, the remote control activation condition is not limited to this, but may be arbitrary. For example, 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.
　リモートＣＰＵ３３は、遠隔操作プログラム４０の起動に伴い、まずリモート通信部３６と通信可能な範囲内に通信接続が可能なフォークリフト２０をサーチし、当該フォークリフト２０が存在する場合には当該フォークリフト２０の車両通信部２８と通信接続を確立する。 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.
　その後、リモートＣＰＵ３３は、タッチパネル３１に操作画像Ｇ１０を表示させる。操作画像Ｇ１０は、遠隔操作プログラム４０に記憶されている。リモートＣＰＵ３３は、基本的には、遠隔操作プログラム４０の起動中、常時操作画像Ｇ１０を表示させる。 Thereafter, 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.
　続いて、リモートＣＰＵ３３は、遠隔操作制御処理実行プログラム４１を読み出し、遠隔操作制御処理を遠隔操作プログラム４０の起動中に定期的に実行することにより、遠隔操作装置３０に対する操作者の操作に対応した遠隔操作信号ＳＧ１の送信制御を行う。これにより、遠隔操作装置３０を用いたフォークリフト２０の遠隔操作が制御される。遠隔操作制御処理を実行するリモートＣＰＵ３３が「遠隔操作制御部」に対応する。 Subsequently, 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".
　ここで、図４に示すように、遠隔操作制御処理では、遠隔操作の制御モードとして、操作モードと、強制停止モードと、停止中モードとが設定されている。すなわち、遠隔操作装置３０（詳細にはリモートＣＰＵ３３）は、遠隔操作の制御モードとして、操作モード、強制停止モード及び停止中モードを有している。 Here, as shown in FIG. 4, in the remote control process, 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.
　遠隔操作制御処理の詳細な説明の前に、各モードについて簡単に説明する。
　操作モードは、遠隔操作装置３０に対する操作に応じてフォークリフト２０の遠隔操作を行う制御モードである。操作モード時には、遠隔操作装置３０に対する操作に対応した動作が行われるようにフォークリフト２０の制御が行われる。 Before the detailed description of the remote control processing, each mode will be briefly described.
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. In the operation mode, control of the forklift 20 is performed such that an operation corresponding to the operation on the remote control device 30 is performed.
　操作モードは複数のモードを有しており、詳細には走行アクチュエータ２３を操作対象（制御対象）とする走行モードと、荷役アクチュエータ２４を操作対象（制御対象）とするリフトモード、リーチモード及びチルトモードとを有している。 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.
　走行モードは、フォークリフト２０の走行に関する遠隔操作を行う操作モードである。リフトモードは、フォーク２２のリフト動作に関する遠隔操作を行う操作モードである。リーチモードは、フォーク２２のリーチ動作に関する遠隔操作を行う操作モードである。チルトモードは、フォーク２２のチルト動作に関する遠隔操作を行う操作モードである。すなわち、本実施形態では、種類が異なる動作ごとに操作モードがそれぞれ設定されている。なお、以降の説明においては、リフトモード、リーチモード及びチルトモードをまとめて荷役モードとも言う。 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. In the following description, the lift mode, the reach mode, and the tilt mode are collectively referred to as a cargo handling mode.
　強制停止モードは、フォークリフト２０を強制的に停止させる制御モードである。すなわち、本実施形態の遠隔操作装置３０は、フォークリフト２０を強制停止させる機能を有している。強制停止モード時は、遠隔操作装置３０による遠隔操作が停止される。 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.
　本実施形態では、強制停止モードは、フォークリフト２０において各種動作が行われている場合には当該動作を強制的に停止させる制御モードである。各種動作とは任意であるが、例えば走行及びフォーク２２の動作の少なくとも一方である。 In the present embodiment, 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.
　停止中モードは、例えばフォークリフト２０が強制停止してから再度遠隔操作が行われるまでの間に設定される制御モードである。停止中モード時は、遠隔操作装置３０による遠隔操作が停止される。 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. In the stop mode, the remote control by the remote control device 30 is stopped.
　ちなみに、遠隔操作装置３０による遠隔操作が停止される状態とは、遠隔操作装置３０に対する各種操作が行われた場合であっても、フォークリフト２０において各種操作に対応する動作が行われない状態を意味する。換言すれば、強制停止モード及び停止中モードは、遠隔操作装置３０に対する操作に対応した動作が行われないようにフォークリフト２０の遠隔操作が制限されている制御モードとも言える。 Incidentally, 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. Do. In other words, 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.
　リモートＣＰＵ３３は、遠隔操作制御処理では、遠隔操作装置３０に対する各種操作の有無等、詳細には操作画像Ｇ１０が表示されているタッチパネル３１に対する入力操作の有無等に基づいて、操作モード、強制停止モード、停止中モードのいずれかに移行する。これにより、遠隔操作装置３０を用いたフォークリフト２０の遠隔操作が行われたり、当該遠隔操作が停止したりする。なお、操作モードは、遠隔操作が許可（許容）された制御モードである一方、強制停止モード及び停止中モードは、遠隔操作が禁止された制御モードであるとも言える。 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.
　ちなみに、既に説明したとおり、制御モードには、遠隔操作が停止するモードが含まれている。そして、遠隔操作プログラム４０の起動時において設定される制御モード（すなわち初期制御モード）は、停止中モードである。このため、遠隔操作プログラム４０が起動することに伴って、直ちに遠隔操作装置３０を用いたフォークリフト２０の遠隔操作が開始されるわけではない。 Incidentally, as described above, the control mode includes a mode in which the remote control is stopped. The control mode (i.e., the initial 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.
　すなわち、遠隔操作プログラム４０の起動／終了と、実際のフォークリフト２０の遠隔操作の開始／停止とは完全に同期しているわけではなく、遠隔操作プログラム４０の起動中に、操作者の操作に応じて、遠隔操作の開始／停止が繰り返し行われ得る。 That is, 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.
　また、本実施形態では、操作モードにおいて、動作種別ごとにそれぞれ専用のモードが設定されており、リモートＣＰＵ３３は、操作モードにおいては、走行モード、リフトモード、リーチモード及びチルトモードのうち予め選択されているモードでフォークリフト２０の遠隔操作を行う。これにより、同時に２種類以上の動作を行うことが回避されている。 Further, in the present embodiment, in the operation mode, 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.
　次に、遠隔操作プログラム４０の起動に伴いタッチパネル３１に表示される操作画像Ｇ１０について図５～図８を用いて説明する。
　図５～図８に示すように、操作画像Ｇ１０はタッチパネル３１の全面に表示されている。タッチパネル３１が長手方向及び短手方向を有する形状（詳細には矩形状）であることに対応させて、操作画像Ｇ１０は、長手方向及び短手方向を有する形状（詳細には矩形状）である。 Next, 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.
As shown in FIGS. 5 to 8, the operation image G10 is displayed on the entire surface of the touch panel 31. In response to the touch panel 31 having a shape having a longitudinal direction and a lateral direction (specifically, a rectangular shape), the operation image G10 has a shape having a longitudinal direction and a lateral direction (specifically, a rectangular shape). .
　操作画像Ｇ１０は、それぞれ区画された複数の領域Ａ１～Ａ４を有している。詳細には、操作画像Ｇ１０は、特定領域としての第１領域Ａ１と、第１領域Ａ１とは異なる位置に設けられた第２領域Ａ２と、走行モード設定領域（走行モードアイコン）Ａ３と、動作モード設定領域としての荷役モード設定領域（荷役モードアイコン）Ａ４とを有している。これら各領域Ａ１～Ａ４は、互いに離間して配置されている。なお、各領域Ａ１～Ａ４は、操作者による入力操作が行われることを想定しているものである。この点を考慮すれば、各領域Ａ１～Ａ４は操作アイコンとも言える。 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.
　第１領域Ａ１は、操作画像Ｇ１０における長手方向の両端部のうち第１端部側に配置されている。第１領域Ａ１は、両手で遠隔操作装置３０を把持した場合に、左手の指（例えば親指）が自然と配置される位置に設けられている。第１領域Ａ１内には、フォークリフト２０の動作に関する画像が表示されているとともに、中央線Ｌが表示されている。 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. In the first area A1, an image related to the operation of the forklift 20 is displayed, and a center line L is displayed.
　第２領域Ａ２は、操作画像Ｇ１０における長手方向の両端部のうち第１端部とは反対側の第２端部側に配置されている。第１領域Ａ１と第２領域Ａ２とは、タッチパネル３１（換言すれば操作画像Ｇ１０）の長手方向に離間して対向配置されている。第２領域Ａ２は、両手で遠隔操作装置３０を把持した場合に、右手の指（例えば親指）が自然と配置される位置に設けられている。第２領域Ａ２内には、指を接触させることを促す画像が表示されている。 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.
　かかる構成によれば、両手で遠隔操作装置３０を把持した場合、自ずと左手の親指が第１領域Ａ１内に配置され、右手の親指が第２領域Ａ２内に配置されることが想定される。これにより、操作者としては、第１領域Ａ１内に対する入力操作及び第２領域Ａ２内に対する入力操作を同時且つ容易に行うことができる。 According to this configuration, 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.
　走行モード設定領域Ａ３は、操作画像Ｇ１０内において、第１領域Ａ１に対して遠隔操作装置３０の短手方向に離間した位置に設けられている。すなわち、走行モード設定領域Ａ３と第１領域Ａ１とは短手方向に配列されている。走行モード設定領域Ａ３内には、走行モードであることを示す画像、本実施形態では「走行」という文字が表示されている。 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. In the traveling mode setting area A3, an image indicating that the traveling mode is in progress, and in the present embodiment, characters "traveling" are displayed.
　荷役モード設定領域Ａ４は、第１領域Ａ１と第２領域Ａ２との間に配置されている。荷役モード設定領域Ａ４は、リフトモードに設定するのに用いられるリフトモード設定領域Ａ４ａと、リーチモードに設定するのに用いられるリーチモード設定領域Ａ４ｂと、チルトモードに設定するのに用いられるチルトモード設定領域Ａ４ｃとを有している。リフトモード設定領域Ａ４ａ、リーチモード設定領域Ａ４ｂ及びチルトモード設定領域Ａ４ｃは、短手方向に配列されている。リフトモード設定領域Ａ４ａ、リーチモード設定領域Ａ４ｂ及びチルトモード設定領域Ａ４ｃはそれぞれリフトモードアイコン、リーチモードアイコン及びチルトモードアイコンとも言える。 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.
　リフトモード設定領域Ａ４ａ内には、リフトモードであることを示す画像、本実施形態では「リフト」という文字が表示されている。リーチモード設定領域Ａ４ｂ内には、リーチモードであることを示す画像、本実施形態では「リーチ」という文字が表示されている。チルトモード設定領域Ａ４ｃ内には、チルトモードであることを示す画像、本実施形態では「チルト」という文字が表示されている。 In 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. In the reach mode setting area A4b, an image indicating that the mode is the reach mode, in this embodiment, the characters "reach" are displayed. In 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.
　なお、各モード設定領域Ａ３，Ａ４ａ～Ａ４ｃ内にて表示される画像は、対応するモードが認識可能であれば任意であり、例えば文字に代えて、各モードに対応する動作を模式的に示す画像等が表示される構成でもよい。 Note that the images displayed in each mode setting area A3, A4a to A4c are optional as long as the corresponding mode can be recognized. For example, instead of the characters, the operation corresponding to each mode is schematically shown. An image or the like may be displayed.
　本実施形態では、第１領域Ａ１及び第２領域Ａ２は、各モード設定領域Ａ３，Ａ４ａ～Ａ４ｃよりも広い。これにより、第１領域Ａ１及び第２領域Ａ２は、他のモード設定領域Ａ３，Ａ４ａ～Ａ４ｃと比較して、タッチし易い。また、走行モード設定領域Ａ３は、各モード設定領域Ａ４ａ～Ａ４ｃよりも狭い。 In the present embodiment, 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.
　タッチセンサ３２は、各領域Ａ１～Ａ４に対する入力操作を検知するものであり、その検知結果をリモートＣＰＵ３３に出力する。これにより、リモートＣＰＵ３３は、各領域Ａ１～Ａ４に対する入力操作を把握できる。 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. Thus, the remote CPU 33 can grasp the input operation to each of the areas A1 to A4.
　ここで、本実施形態では、操作モードが複数設定されていることに対応させて、複数の操作画像Ｇ１０が設定されている。詳細には、操作画像Ｇ１０は、走行モードに対応した走行モード画像Ｇ１１と、リフトモードに対応したリフトモード画像Ｇ１２と、リーチモードに対応したリーチモード画像Ｇ１３と、チルトモードに対応したチルトモード画像Ｇ１４とを含む。リモートＣＰＵ３３は、操作モードに対応した操作画像Ｇ１０を表示させるように構成されている。 Here, in the present embodiment, a plurality of operation images G10 are set corresponding to the setting of a plurality of operation modes. In detail, 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.
　各モード画像Ｇ１１～Ｇ１４は、基本的なレイアウトが共通している一方、第１領域Ａ１に表示されている画像及び強調表示される箇所が異なっている。
　詳細には、図５に示すように、走行モード画像Ｇ１１では、第１領域Ａ１にフォークリフト２０の画像と、フォークリフト２０の進行方向を示唆する短手方向に延びた矢印の画像とが表示されている。これらの画像から、操作者としては、指などを用いて前進を示唆する側（詳細には走行モード設定領域Ａ３側）へ向けてスライド操作することによりフォークリフト２０が前進し、それとは反対側（詳細には後退を示唆する側）へスライド操作することによりフォークリフト２０が後退することを直感的に理解できる。また、走行モード画像Ｇ１１では、走行モード設定領域Ａ３が強調表示されている。 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.
　なお、スライド操作とは、タッチパネル３１に対して入力操作（換言すればタッチ操作）が行われている状態を維持しつつ当該入力操作が行われる位置が移動する一連の入力操作である。換言すれば、スライド操作は、入力操作位置が連続的に変化するタッチパネル３１に対する入力操作である。 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. In other words, the slide operation is an input operation on the touch panel 31 in which the input operation position changes continuously.
　図６に示すように、リフトモード画像Ｇ１２では、第１領域Ａ１にフォーク２２のリフト動作を示唆する画像が表示されている。詳細には、下降動作を示すフォークリフト２０の画像と、上昇動作を示すフォークリフト２０の画像とが短手方向に並んで表示されている。そして、リフトモード画像Ｇ１２では、リフトモード設定領域Ａ４ａが強調表示されている。 As shown in FIG. 6, in the lift mode image G12, an image indicating the lift operation of the fork 22 is displayed in the first area A1. In detail, 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. Then, in the lift mode image G12, the lift mode setting area A4a is highlighted.
　図７に示すように、リーチモード画像Ｇ１３では、第１領域Ａ１にフォーク２２のリーチ動作を示唆する画像が表示されている。詳細には、フォーク２２の前方移動を示すフォークリフト２０の画像と、フォーク２２の後方移動を示すフォークリフト２０の画像とが短手方向に並んで表示されている。そして、リーチモード画像Ｇ１３では、リーチモード設定領域Ａ４ｂが強調表示されている。 As shown in FIG. 7, in the reach mode image G13, an image indicating the reach operation of the fork 22 is displayed in the first area A1. In detail, 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. Then, in the reach mode image G13, the reach mode setting area A4b is highlighted.
　図８に示すように、チルトモード画像Ｇ１４では、第１領域Ａ１にフォーク２２のチルト動作を示唆する画像が表示されている。詳細には、フォーク２２の前方傾斜を示すフォークリフト２０の画像と、フォーク２２の後方傾斜を示すフォークリフト２０の画像とが短手方向に並んで表示されている。そして、チルトモード画像Ｇ１４では、チルトモード設定領域Ａ４ｃが強調表示されている。 As shown in FIG. 8, in the tilt mode image G14, an image indicating the tilting operation of the fork 22 is displayed in the first area A1. In detail, 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. Then, in the tilt mode image G14, the tilt mode setting area A4c is highlighted.
　すなわち、走行モード画像Ｇ１１における第１領域Ａ１には、フォークリフト２０の走行に関する画像が表示される。一方、リフトモード画像Ｇ１２、リーチモード画像Ｇ１３及びチルトモード画像Ｇ１４における第１領域Ａ１には、フォーク２２の動作に関する画像が表示される。 That is, in the first area A1 in the traveling mode image G11, an image regarding traveling of the forklift 20 is displayed. On the other hand, in the first area A1 of the lift mode image G12, the reach mode image G13, and the tilt mode image G14, an image regarding the operation of the fork 22 is displayed.
　リモートＣＰＵ３３は、遠隔操作制御処理にて、上記操作画像Ｇ１０に対する入力操作を把握し、その把握結果に基づいて遠隔操作の制御、詳細には各モードへの移行や遠隔操作信号ＳＧ１の送信等を行う。以下、遠隔操作制御処理について図９～図１１を用いて説明する。 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.
　図９に示すように、リモートＣＰＵ３３は、まずステップＳ１０１にて、現在の制御モードが停止中モードであるか否かを判定する。
　詳細には、遠隔操作プログラム４０には、遠隔操作装置３０（リモートＣＰＵ３３）の現在の制御モードを特定するための制御モード特定情報が設定された制御モード記憶部４２が設けられている（図２参照）。リモートＣＰＵ３３は、ステップＳ１０１では、制御モード記憶部４２に記憶されている制御モード特定情報を参照して、現在の制御モードを把握し、当該現在の制御モードが停止中モードであるか否かを判定する。なお、既に説明したとおり、本実施形態では、遠隔操作プログラム４０の起動時における制御モードは停止中モードである。 As shown in FIG. 9, the remote CPU 33 first determines in step S101 whether the current control mode is the stop mode.
In detail, 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). In step S101, 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.
　図９に示すように、リモートＣＰＵ３３は、現在の制御モードが停止中モードであると判定した場合には、ステップＳ１０２～Ｓ１１２にて、停止中モードから操作モードへ移行するか否かを判定したり、切替操作に基づく操作モードの切り替えを行ったりする。 As shown in FIG. 9, when the remote CPU 33 determines that the current control mode is the in-stop mode, it determines in steps S102 to S112 whether to shift from the in-stop mode to the operation mode. And switching the operation mode based on the switching operation.
　リモートＣＰＵ３３は、まずステップＳ１０２及びステップＳ１０３にて、遠隔操作開始条件が成立しているか否かを判定する。詳細には、リモートＣＰＵ３３は、ステップＳ１０２にて、第１開始操作が行われているか否かを判定する。本実施形態において、第１開始操作とは、第１領域Ａ１内に対する入力操作である。リモートＣＰＵ３３は、タッチセンサ３２の検知結果に基づいて、第１領域Ａ１内への入力操作が行われているか否かを判定する。 The remote CPU 33 first determines in step S102 and step S103 whether the remote control start condition is satisfied. Specifically, the remote CPU 33 determines in step S102 whether or not the first start operation has been performed. In the present embodiment, 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.
　リモートＣＰＵ３３は、第１開始操作が行われていないと判定した場合にはステップＳ１１０に進む一方、第１開始操作が行われていると判定した場合にはステップＳ１０３に進む。 If the remote CPU 33 determines that the first start operation has not been performed, the process proceeds to step S110, while if the remote CPU 33 determines that the first start operation is performed, the process proceeds to step S103.
　ステップＳ１０３では、リモートＣＰＵ３３は、第１開始操作とは異なる第２開始操作が行われているか否かを判定する。すなわち、本実施形態の遠隔操作開始条件は、第１開始操作及び第２開始操作の双方が行われていることである。また、本実施形態では、第１開始操作及び第２開始操作の双方を行うことが「開始操作」に対応する。 In step S103, the remote CPU 33 determines whether a second start operation different from the first start operation is being performed. That is, the remote control start condition of this embodiment is that both the first start operation and the second start operation are performed. Further, in the present embodiment, performing both the first start operation and the second start operation corresponds to the “start operation”.
　本実施形態において、第２開始操作とは、第２領域Ａ２内に対する入力操作である。リモートＣＰＵ３３は、タッチセンサ３２の検知結果に基づいて、第２領域Ａ２内への入力操作が行われているか否かを判定する。 In the present embodiment, 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.
　なお、念のため説明すると、第１開始操作と第２開始操作とは、タッチパネル３１に対する入力操作という点では共通する一方、当該入力操作が行われる位置が異なっている。このため、両開始操作は互いに異なる操作である。 It should be noted that the 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.
　リモートＣＰＵ３３は、第２開始操作が行われていないと判定した場合にはステップＳ１１０に進む一方、第２開始操作が行われていると判定した場合にはステップＳ１０４に進む。 If the remote CPU 33 determines that the second start operation is not performed, the process proceeds to step S110, while if the remote CPU 33 determines that the second start operation is performed, the process proceeds to step S104.
　ステップＳ１０４では、リモートＣＰＵ３３は、制御モードを停止中モードから操作モードへ移行させる。詳細には、リモートＣＰＵ３３は、制御モード特定情報を操作モードに対応する情報に更新する。 In 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.
　すなわち、リモートＣＰＵ３３は、ステップＳ１０２にて第１開始操作の有無を把握し、ステップＳ１０３にて第２開始操作の有無を把握し、第１開始操作及び第２開始操作の両開始操作が行われていると把握されたことに基づいて、制御モードを停止中モードから操作モードへ移行させる。これにより、遠隔操作装置３０を用いたフォークリフト２０の遠隔操作が開始される。換言すれば、本実施形態における遠隔操作の開始条件は、両開始操作が行われることである。なお、以降の説明においては、第１開始操作及び第２開始操作を両開始操作といもいう。 That is, 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. In other words, the start condition of the remote control in this embodiment is that both start operations are performed. In the following description, the first start operation and the second start operation are also referred to as both start operations.
　ここで、本実施形態では操作モードとして走行モード、リフトモード、リーチモード及びチルトモードの４つの操作モードが存在する。ステップＳ１０４では、リモートＣＰＵ３３は、４つの操作モードのうちいずれかに移行する。 Here, in the present embodiment, there are four operation modes: a travel mode, a lift mode, a reach mode, and a tilt mode, as operation modes. At step S104, the remote CPU 33 shifts to one of the four operation modes.
　詳細には、遠隔操作プログラム４０には、操作モードを特定するための操作モード特定情報が記憶された操作モード記憶部４３が設けられている（図２参照）。リモートＣＰＵ３３は、制御モードが操作モードに移行することに伴い、操作モード特定情報に基づいて現在設定されている操作モードを特定し、当該操作モードに移行する。例えば、操作モードとして走行モードが設定されている場合には、リモートＣＰＵ３３は、ステップＳ１０４では、停止中モードから走行モードに移行する。 In detail, 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). As the control mode shifts to the operation mode, 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.
　続くステップＳ１０５では、リモートＣＰＵ３３は、遠隔操作が開始されたときの第１開始操作が行われた位置である第１開始位置Ｐ１０を、遠隔操作装置３０の操作の基準位置の一種である基準入力位置として設定する。一例として、リモートＣＰＵ３３は、遠隔操作プログラム４０に設けられた開始位置記憶部４４（図２参照）に、今回の遠隔操作制御処理において検知された第１領域Ａ１内に対する入力操作の位置を記憶させる。なお、位置とは座標とも言え、第１開始位置Ｐ１０は第１開始座標とも言える。ステップＳ１０５の処理を実行するリモートＣＰＵ３３が「基準入力位置設定部」に対応する。 In the following step S105, the remote CPU 33 uses the first start position P10, which is the position at which the first start operation was performed when the remote control was started, as a reference input, which is a type of reference position of the remote control device 30. Set as a position. As an example, remote CPU 33 causes start position storage unit 44 (see FIG. 2) provided in remote control program 40 to store the position of the input operation with respect to the first area A1 detected in the remote control control process this time. . The position may be referred to as coordinates, and the first start position P10 may also be referred to as first start coordinates. The remote CPU 33 that executes the process of step S105 corresponds to the "reference input position setting unit".
　ここで、第１開始位置Ｐ１０は、両開始操作が行われたとき、換言すれば遠隔操作の開始条件が成立したときにおける第１開始操作の位置である。このため、仮に第１開始操作が行われた後に第２開始操作が行われた場合には、第１開始位置Ｐ１０は、第２開始操作が行われた時点における第１開始操作の位置である。一方、仮に第２開始操作が行われた後に第１開始操作が行われた場合には、第１開始位置Ｐ１０は、最初に第１領域Ａ１内に入力操作が行われた位置、すなわち第１開始操作の初期位置である。 Here, the first start position P10 is the position of the first start operation when both start operations are performed, in other words, when the 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.
　その後、リモートＣＰＵ３３は、ステップＳ１０６にて、第１継続操作が行われている位置である第１継続操作位置の追跡を開始する。第１継続操作とは、遠隔操作が開始されたときの第１開始操作から継続される操作である。 Thereafter, in 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.
　詳細には、リモートＣＰＵ３３は、遠隔操作プログラム４０に設けられた追跡用記憶部４５に、第１継続操作位置の初期位置（初期座標）として第１開始位置Ｐ１０を記憶させる。そして、リモートＣＰＵ３３は、操作画像Ｇ１０における指のスライド操作等に伴って第１継続操作位置が初期位置（第１開始位置Ｐ１０）から連続的に変化する場合には、当該第１継続操作位置を追跡するとともに、第１継続操作が行われていると認識する。 In detail, 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.
　なお、第１継続操作位置の追跡に係る具体的な処理内容については、任意であるが、本実施形態では追跡用記憶部４５を用いる。これについては後述するステップＳ２０１にて説明する。また、第１継続操作位置とは、第１継続操作の現在位置とも言えるし、現在タッチ操作が行われている位置とも言える。 In addition, although it is arbitrary about the specific processing content which concerns on tracking of a 1st continuation operation position, the memory | storage part 45 for tracking is used in this embodiment. This will be described in step S201 described later. Further, the first continuous operation position can be said to be the current position of the first continuous operation, and can also be said to be the position at which the touch operation is currently performed.
　リモートＣＰＵ３３は、ステップＳ１０７では、遠隔操作装置３０の操作の基準位置の一種である基準姿勢を設定する基準姿勢設定処理を実行する。詳細には、リモートＣＰＵ３３は、基準姿勢として、遠隔操作が開始されたときの遠隔操作装置３０の姿勢を設定する。本実施形態では、リモートＣＰＵ３３は、姿勢検知部３５の検知結果に基づいて、基準姿勢の一種である基準回転位置として、両開始操作が行われたときの第１回転操作方向の回転位置を設定する。一例として、リモートＣＰＵ３３は、遠隔操作プログラム４０に設けられている基準回転位置記憶部４６（図２参照）に、第１回転操作方向における現在の遠隔操作装置３０の回転位置を記憶させる。ステップＳ１０７の処理を実行するリモートＣＰＵ３３が「基準姿勢設定部」に対応する。 In step S107, the remote CPU 33 executes reference attitude setting processing for setting a reference attitude which is a kind of reference position of the operation of the remote control device 30. In detail, the remote CPU 33 sets the attitude of the remote control device 30 when the remote control is started as the reference attitude. In the present embodiment, the remote CPU 33 sets the rotational position in the first rotational operation direction when both start operations are performed as the reference rotational position, which is a type of reference attitude, based on the detection result of the attitude detection unit 35 Do. As an example, the remote CPU 33 stores the current rotational position of the remote control device 30 in the first rotational operation direction in the reference rotational position storage unit 46 (see FIG. 2) provided in the remote control program 40. The remote CPU 33 that executes the process of step S107 corresponds to the "reference posture setting unit".
　すなわち、本実施形態では、リモートＣＰＵ３３は、両開始操作が行われたことに基づいて、遠隔操作装置３０の基準位置としての第１開始位置Ｐ１０及び基準回転位置を設定する。ステップＳ１０５及びステップＳ１０７の処理が「設定ステップ」に対応し、これらの処理を実行するリモートＣＰＵ３３が「設定部」に対応する。 That is, in the present embodiment, the remote CPU 33 sets the first start position P10 as the reference position of the remote control device 30 and the reference rotational position based on the fact that both start operations have been performed. The processes of steps S105 and S107 correspond to the "setting step", and the remote CPU 33 that executes these processes corresponds to the "setting unit".
　その後、リモートＣＰＵ３３は、ステップＳ１０８にて、遠隔操作装置３０に対する操作に関わらず、遠隔操作信号ＳＧ１に停止用情報を設定する。停止用情報とは、フォークリフト２０の遠隔操作が停止している状態を維持するための情報であり、具体的には走行操作情報Ｄ１及び荷役操作情報Ｄ２の全てに「０」が設定された情報である。なお、ステップＳ１０８の処理は、停止用情報が設定された遠隔操作信号ＳＧ１を生成する処理とも言える。なお、以降の説明においては、停止用情報が設定された遠隔操作信号ＳＧ１を単に停止中遠隔操作信号ＳＧ１１という。 Thereafter, in step S108, 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 S108 can also be said to be a process of generating the remote control signal SG1 in which the stop information is set. In the following description, the remote control signal SG1 for which the stop information is set is simply referred to as a remote control signal SG11 during stop.
　その後、ステップＳ１０９にて、リモートＣＰＵ３３は、リモート通信部３６を用いて停止中遠隔操作信号ＳＧ１１を送信する。フォークリフト２０は、車両通信部２８によって当該停止中遠隔操作信号ＳＧ１１が受信された場合には、フォークリフト２０の走行及びフォーク２２の駆動の双方を停止する。すなわち、停止中遠隔操作信号ＳＧ１１が送信されている状況においては、フォークリフト２０の遠隔操作は停止している。 Thereafter, in step S109, the remote CPU 33 transmits the in-stop remote control signal SG11 using the remote communication unit 36. When the remote control signal SG11 is received by the vehicle communication unit 28 during the stop, the forklift 20 stops both traveling of the forklift 20 and driving of the fork 22. That is, in the situation where the remote control signal SG11 is transmitted during stop, the remote control of the forklift 20 is stopped.
　なお、実際には、停止中モードにおいてフォークリフト２０の遠隔操作は停止しているため、停止中遠隔操作信号ＳＧ１１を受信したフォークリフト２０としては、遠隔操作の停止状態を維持していると言える。 In fact, since the remote control of the forklift 20 is stopped in the stop mode, it can be said that the forklift 20 that has received the remote control signal SG11 during stop is maintaining the stop state of the remote control.
　一方、第１開始操作及び第２開始操作の少なくとも一方が行われていない場合、リモートＣＰＵ３３は、ステップＳ１１０にて、操作モードの切替条件である操作モード切替条件が成立したか否かを判定する。 On the other hand, when at least one of the first start operation and the second start operation is not performed, the remote CPU 33 determines in step S110 whether or not the operation mode switching condition which is the operation mode switching condition is satisfied. .
　本実施形態では、操作モード切替条件とは、遠隔操作装置３０に対して切替操作が行われることである。切替操作とは、例えば各モード設定領域Ａ３，Ａ４ａ～Ａ４ｃのうちいずれか１つに対して入力操作が行われることである。リモートＣＰＵ３３は、タッチセンサ３２の検知結果に基づいて、これら各モード設定領域Ａ３，Ａ４ａ～Ａ４ｃに対する入力操作の有無を判定する。 In the present embodiment, the operation mode switching condition is that the switching operation is performed on the remote control device 30. The switching operation is, for example, 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.
　リモートＣＰＵ３３は、各モード設定領域Ａ３，Ａ４ａ～Ａ４ｃに対する入力操作がないと判定した場合にはステップＳ１０８に進む。一方、リモートＣＰＵ３３は、各モード設定領域Ａ３，Ａ４ａ～Ａ４ｃに対する入力操作があると判定した場合には、操作モード切替条件が成立したとして、ステップＳ１１１にて操作モードを切り替える操作モード切替処理を実行する。 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 S108. On the other hand, when the remote CPU 33 determines that there is an input operation to each of the mode setting areas A3, A4a to A4c, the operation mode switching process is executed to switch the operation mode in step S111, assuming that the operation mode switching condition is satisfied. Do.
　ステップＳ１１１では、リモートＣＰＵ３３は、切替操作に対応する操作モードに切り替える。詳細には、リモートＣＰＵ３３は、タッチセンサ３２の検知結果に基づいて、入力操作が行われたモード設定領域を特定し、操作モードを、その特定されたモード設定領域に対応するモードに設定する。 In step S111, 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.
　例えば、操作モードが走行モードである状況においてリフトモード設定領域Ａ４ａに対する入力操作が検知された場合、リモートＣＰＵ３３は、操作モードを走行モードからリフトモードに切り替える。同様に、操作モードがリーチモードである状況においてチルトモード設定領域Ａ４ｃに対する入力操作が検知された場合、リモートＣＰＵ３３は、操作モードをリーチモードからチルトモードに切り替える。すなわち、本実施形態における操作モードの切り替えは、走行モードと荷役モードとの間の切り替えと、荷役モード内の切り替えとを含む。 For example, when an input operation to the lift mode setting area A4a is detected in a situation where the operation mode is the travel mode, the remote CPU 33 switches the operation mode from the travel mode to the lift mode. Similarly, when an input operation to the tilt mode setting area A4c is detected in a situation where the operation mode is the reach mode, the remote CPU 33 switches the operation mode from the reach mode to the tilt mode. That is, the switching of the operation mode in the present embodiment includes switching between the traveling mode and the cargo handling mode, and switching within the cargo handling mode.
　なお、既に説明したとおり、リモートＣＰＵ３３は、操作モード記憶部４３に記憶されている操作モード特定情報に基づいて、操作モードを特定するように構成されている。このため、ステップＳ１１１では、リモートＣＰＵ３３は、操作モード特定情報を、切替操作に対応する情報に更新する。これにより、リモートＣＰＵ３３は、操作モードの切り替えを把握できる。 As described above, 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 S111, the remote CPU 33 updates the operation mode identification information to information corresponding to the switching operation. Thereby, the remote CPU 33 can grasp switching of the operation mode.
　なお、念のために説明すると、操作モードの切り替えと、制御モードの切り替えとは別々の処理である。このため、操作モード切替処理が行われた場合であっても制御モードは停止中モードのままである。 Note that switching the operation mode and switching the control mode are separate processes. Therefore, even when the operation mode switching process is performed, the control mode remains in the stop mode.
　続くステップＳ１１２では、リモートＣＰＵ３３は、ステップＳ１１１にて切り替えられた操作モードに対応した操作画像Ｇ１０を表示させて、ステップＳ１０８に進む。例えば、ステップＳ１１１にて操作モードが走行モードからリフトモードに切り替えられた場合には、リモートＣＰＵ３３は、操作画像Ｇ１０として、走行モード画像Ｇ１１に代えてリフトモード画像Ｇ１２を表示させる。すなわち、リモートＣＰＵ３３は、ステップＳ１１２では、操作モードに応じて操作画像Ｇ１０を切り替える。 In the following step S112, the remote CPU 33 displays the operation image G10 corresponding to the operation mode switched in step S111, and proceeds to step S108. For example, when the operation mode is switched from the travel mode to the lift mode in step S111, the remote CPU 33 displays a lift mode image G12 as the operation image G10 instead of the travel mode image G11. That is, in step S112, the remote CPU 33 switches the operation image G10 according to the operation mode.
　かかる構成によれば、停止中モードにおいて遠隔操作装置３０に対して第１開始操作及び第２開始操作の双方が行われている場合には、制御モードが、停止中モードから操作モードへ移行して、フォークリフト２０の遠隔操作が開始される。一方、遠隔操作装置３０に対して第１開始操作及び第２開始操作の少なくとも一方が行われていない場合には、遠隔操作は開始されない。 According to this configuration, when both the first start operation and the second start operation are performed on the remote control device 30 in the in-stop mode, the control mode shifts from the in-stop mode to the operation mode. Thus, remote control of the forklift 20 is started. On the other hand, when at least one of the first start operation and the second start operation is not performed on the remote control device 30, the remote control is not started.
　また、停止中モードにおいて第１開始操作及び第２開始操作の少なくとも一方が行われておらず、且つ、切替操作が行われた場合には、操作モードが切り替わる。これにより、停止中モード時において切替操作を行うことによって、遠隔操作が開始されたときの操作モードを所望のモードにしておくことができる。 When at least one of the first start operation and the second start operation is not performed in the in-stop mode and the switching operation is performed, the operation mode is switched. Thus, by performing 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.
　ちなみに、操作モード切替処理は、遠隔操作が停止している停止中モード時において実行される。このため、操作モードの切り替えは、遠隔操作が停止している場合にのみに行われる。すなわち、操作モードが停止中モードであることは、操作モード切替条件の一部であるとも言える。換言すれば、操作モード切替条件は、操作モードが停止中モードである状況において切替操作が行われることと言える。 Incidentally, 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.
　特に、両開始操作と切替操作との双方が実行された場合には、操作モードの切り替えよりも、停止中モードから操作モードへの制御モードの移行が優先されて、操作モードの切り替えは行われない。 In particular, when both the start operation and the switching operation are performed, 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.
　図９に示すように、リモートＣＰＵ３３は、現在の制御モードが停止中モードではない場合には、ステップＳ１０１を否定判定し、ステップＳ１１３に進み、現在の制御モードが操作モードであるか否かを判定する。 As shown in FIG. 9, when the current control mode is not the stop mode, the remote CPU 33 makes a negative decision in step S101, proceeds to step S113, and determines whether the current control mode is the operation mode. judge.
　リモートＣＰＵ３３は、現在の制御モードが操作モードである場合には、ステップＳ１１４に進み、操作モードに対応した操作モード処理を実行して本遠隔操作制御処理を終了する。 If the current control mode is the operation mode, the remote CPU 33 proceeds to step S114, executes the operation mode process corresponding to the operation mode, and ends the present remote operation control process.
　なお、例えば、所定の遠隔操作制御処理において、制御モードが停止中モードから操作モードに移行した場合には、当該所定の遠隔操作制御処理に対して次に実行される遠隔操作制御処理では、操作モード処理が実行されることとなる。 For example, in the predetermined remote control process, when the control mode is shifted from the stop mode to the operation mode, the remote control process to be executed next to the predetermined remote control process is the operation. Mode processing will be performed.
　図１０を用いて操作モード処理について説明する。
　図１０に示すように、リモートＣＰＵ３３は、まずステップＳ２０１にて第１継続操作の有無を把握する。本実施形態では、リモートＣＰＵ３３は、タッチセンサ３２の検知結果と追跡用記憶部４５に記憶されている位置とに基づいて第１継続操作の有無を判断する。 The operation mode process will be described with reference to FIG.
As shown in FIG. 10, the remote CPU 33 first grasps the presence or absence of the first continuous operation in step S201. In the present embodiment, 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.
　詳細には、リモートＣＰＵ３３は、まずタッチセンサ３２によってタッチパネル３１に対する入力操作の有無を判定する。
　リモートＣＰＵ３３は、タッチパネル３１に対する入力操作が検知されている場合には、今回検知されている入力操作の位置と追跡用記憶部４５に記憶されている位置とが連続しているか否かを判定する。例えば、リモートＣＰＵ３３は、今回検知されている入力操作の位置と追跡用記憶部４５に記憶されている位置とを比較し、両者が規定範囲内にある場合には連続していると判定する一方、両者が規定範囲外にある場合には連続していないと判定する。換言すれば、リモートＣＰＵ３３は、タッチパネル３１に対して指が接触しているかを判定するとともに、指が接触している場合には今回検知された指の接触位置と前回検知された接触位置とに基づいて、接触位置が連続しているか否かを判定する。 Specifically, 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.
　なお、タッチパネル３１に対して複数箇所の入力操作が検知された場合には、リモートＣＰＵ３３は、上記複数箇所のうち追跡用記憶部４５に記憶されている位置に最も近い箇所の入力操作の位置を判定対象とし、当該位置と追跡用記憶部４５に記憶されている位置とが連続しているか否かを判定する。 When an input operation at a plurality of locations is detected on the touch panel 31, 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.
　そして、リモートＣＰＵ３３は、今回検知された入力操作の位置と追跡用記憶部４５に記憶されている位置とが連続していると判定する場合には、追跡用記憶部４５に今回検知されている入力操作の位置が設定されるように追跡用記憶部４５に記憶されている位置を更新して、ステップＳ２０２に進む。これにより、追跡用記憶部４５に記憶されている位置は、指の動きに追従して更新される。このため、追跡用記憶部４５には、最新の第１継続操作位置が記憶されている。なお、第１継続操作位置とは、第１継続操作が行われていると判定する契機（根拠）となったタッチパネル３１に対する入力操作に係る現在位置（座標）とも言える。 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.
　一方、リモートＣＰＵ３３は、タッチパネル３１に対する入力操作が検知されなかった場合又は入力操作が検知された場合であっても今回検知された入力操作の位置と追跡用記憶部４５に記憶されている位置との間で連続性を満たしていない場合には、第１継続操作が行われていないと判定する。この場合、リモートＣＰＵ３３は、ステップＳ２０１を否定判定して、ステップＳ２０９に進む。 On the other hand, 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 S209.
　すなわち、リモートＣＰＵ３３は、追跡用記憶部４５に記憶されている位置に対して比較的近い箇所への入力操作が行われていることに基づいて、第１継続操作が行われていると判定する。 That is, 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. .
　ちなみに、遠隔操作制御処理が周期的に実行されていることに着目すれば、本実施形態では、リモートＣＰＵ３３は、遠隔操作制御処理の実行周期よりも長い期間に亘ってタッチパネル３１への入力操作が行われなかった場合には、第１継続操作が行われていないと判定するものといえる。また、リモートＣＰＵ３３は、タッチパネル３１に対する入力操作が行われている場合であっても今回検知された入力操作の位置と前回の遠隔操作制御処理にて検知された入力操作の位置とが乖離している場合には第１継続操作が行われていないと判定する。 Incidentally, if attention is paid to the fact that the remote control control process is periodically executed, in the present embodiment, 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.
　つまり、本実施形態の第１継続操作とは、（Ａ）タッチパネル３１に対する入力操作があること、（Ｂ）今回検知された入力操作の位置と前回検知された第１継続操作位置とが規定範囲内にあること、（Ｃ）前回の第１継続操作の検知タイミングから今回の入力操作の検知タイミングまでの期間が特定期間以内であること、の３条件を満たす操作である。換言すれば、本実施形態の第１継続操作は、遠隔操作が開始されたときの第１開始操作から継続して行われ、且つ、入力操作位置が、遠隔操作が開始されたときの第１開始操作の位置から連続している操作である。 That is, in 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. In other words, 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.
　ちなみに、第１継続操作の条件には、今回検知された入力操作の位置が第１領域Ａ１内にあることは含まれていない。このため、例えば図５に示すように、第１継続操作は、第１開始位置Ｐ１０から第１領域Ａ１内の第１所定位置Ｐ１１まで指がスライド移動した場合も含むとともに、第１開始位置Ｐ１０から第１領域Ａ１外の第２所定位置Ｐ１２まで指がスライド移動した場合も含む。 Incidentally, 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.
　また、本実施形態では、上記特定期間は遠隔操作制御処理の実行周期であるが、これに限られず、これよりも長くてもよい。例えば、遠隔操作制御処理が周期的に実行される構成において、リモートＣＰＵ３３は、２回続けてタッチパネル３１への入力操作が検知されなかった場合に第１継続操作が行われていないと判定してもよい。この場合、上記特定期間は、遠隔操作制御処理の実行周期の２倍である。 Moreover, in this embodiment, although 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. For example, in the configuration in which the remote operation control process is periodically executed, 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.
　図１０に示すように、ステップＳ２０２では、リモートＣＰＵ３３は、第２継続操作の有無を把握する。詳細には、リモートＣＰＵ３３は、タッチセンサ３２の検知結果に基づいて、第２領域Ａ２内への入力操作が行われているか否かを判定する。リモートＣＰＵ３３は、第２領域Ａ２内への入力操作が検知されていない場合には第２継続操作が行われていないとしてステップＳ２０９に進む。一方、リモートＣＰＵ３３は、第２領域Ａ２内への入力操作が検知されている場合には第２継続操作が行われているとしてステップＳ２０２を肯定判定する。 As shown in FIG. 10, in 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 S209 because 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.
　すなわち、本実施形態における第２継続操作とは、遠隔操作が開始されたときの第２開始操作から継続して行われる第２領域Ａ２内への入力操作である。このため、例えば図５に示すように、指のスライド操作によって、第２継続操作が行われている位置が、第２開始操作が行われた位置である第２開始位置Ｐ２０から第２領域Ａ２内の所定位置Ｐ２１まで移動した場合であっても、リモートＣＰＵ３３は第２継続操作が行われていると判定する。一方、指のスライド操作によって第２継続操作が行われている位置が第２開始位置Ｐ２０から第２領域Ａ２外の所定位置Ｐ２２まで移動した場合には、リモートＣＰＵ３３は、第２継続操作が行われていないと判定する。 That is, 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.
　ちなみに、遠隔操作制御処理が周期的に実行されていることに着目すれば、本実施形態では、リモートＣＰＵ３３は、遠隔操作制御処理の実行周期よりも長い期間に亘って第２領域Ａ２内への入力操作が行われなかった場合には、第２継続操作が行われていないと判定するものといえる。 Incidentally, if attention is paid to the fact that the remote control control process is periodically executed, in the present embodiment, 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.
　換言すれば、本実施形態における第２継続操作とは、（Ｄ）第２領域Ａ２内への入力操作があること、及び、（Ｅ）前回の第２領域Ａ２内に対する入力操作が検知されたタイミングから今回の第２領域Ａ２内に対する入力操作が検知されたタイミングまでの期間が特定期間以内であることの２つの条件を満たす操作である。 In other words, in the second continuous operation in the present embodiment, (D) there is an input operation into the second area A2, and (E) an input operation into the previous second area A2 is detected. The operation satisfies the two conditions that the period from the timing to the timing when the input operation to the second area A2 is detected is within a specific period.
　なお、本実施形態の第２継続操作は、遠隔操作が開始されたときの第２開始操作から継続して行われる第２領域Ａ２内に対する入力操作であればよく、入力操作位置の連続性は問わない。 Note that 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.
　また、本実施形態では、上記特定期間は遠隔操作制御処理の実行周期であるが、これに限られず、これよりも長くてもよい。例えば、遠隔操作制御処理が周期的に実行される構成において、リモートＣＰＵ３３は、２回続けて第２領域Ａ２内への入力操作が検知されなかった場合に第２継続操作が行われていないと判定してもよい。この場合、上記特定期間は、遠隔操作制御処理の実行周期の２倍である。 Moreover, in this embodiment, although 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. For example, in the configuration in which the remote operation control process is periodically executed, 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.
　図１０に示すように、リモートＣＰＵ３３は、第１継続操作及び第２継続操作の双方が行われていると把握された場合（ステップＳ２０１：ＹＥＳ且つステップＳ２０２：ＹＥＳ）、ステップＳ２０３～Ｓ２０８にて、遠隔操作装置３０に対する操作の操作態様及び操作モードに対応した遠隔操作信号ＳＧ１を送信するための処理を実行する。なお、以降の説明において、遠隔操作装置３０に対する操作の操作態様及び操作モードに対応した遠隔操作信号ＳＧ１を通常遠隔操作信号ＳＧ１２という。また、第１継続操作及び第２継続操作を両継続操作ともいう。 As shown in FIG. 10, 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 S208. A process for transmitting the remote control signal SG1 corresponding to the operation mode and the operation mode of the operation on the remote control device 30 is executed. In the following description, the remote control signal SG1 corresponding to the operation mode and the operation mode of the operation on the remote control device 30 is referred to as a normal remote control signal SG12. Further, the first continuation operation and the second continuation operation are also referred to as both continuation operations.
　詳細には、リモートＣＰＵ３３は、ステップＳ２０３にて、開始位置記憶部４４と追跡用記憶部４５とに基づいて、第１開始位置Ｐ１０と第１継続操作位置との相対位置を導出する。換言すれば、リモートＣＰＵ３３は、遠隔操作が開始されたときの開始操作から連続して行われている一連の入力操作において、最初に入力操作が行われた初期位置と現在入力操作が行われている位置との相対位置を導出しているとも言える。 Specifically, in 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. In other words, in the series of input operations performed continuously from the start operation when remote control is started, 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.
　続くステップＳ２０４では、リモートＣＰＵ３３は、操作モード特定情報に基づいて、現在の操作モードを把握する。
　その後、リモートＣＰＵ３３は、ステップＳ２０５にて、現在の操作モードが走行モードであるか否かを判定する。リモートＣＰＵ３３は、現在の操作モードが走行モードではない場合には、ステップＳ２０７に進む。 In the subsequent step S204, the remote CPU 33 grasps the current operation mode based on the operation mode identification information.
Thereafter, in step S205, the remote CPU 33 determines whether the current operation mode is the travel mode. If the current operation mode is not the travel mode, the remote CPU 33 proceeds to step S207.
　一方、リモートＣＰＵ３３は、現在の操作モードが走行モードである場合には、ステップＳ２０６にて、第１回転操作の操作態様である第１回転操作の操作角度を把握してステップＳ２０７に進む。詳細には、リモートＣＰＵ３３は、姿勢検知部３５の検知結果に基づいて現在の遠隔操作装置３０の第１回転操作方向の回転位置を把握し、基準回転位置記憶部４６の記憶情報に基づいて遠隔操作が開始されたときの回転位置である基準回転位置を把握する。そして、リモートＣＰＵ３３は、現在の回転位置と基準回転位置との変化量である操作角度を把握する。 On the other hand, when the current operation mode is the travel mode, the remote CPU 33 recognizes the operation angle of the first rotation operation, which is the operation mode of the first rotation operation, in step S206, and proceeds to step S207. In detail, the remote CPU 33 grasps the current rotational position of the remote control device 30 in the first rotational operation direction based on the detection result of the posture detection unit 35, and performs remote control based on the storage information of the reference rotational position storage unit 46. The reference rotational position which is the rotational position when the operation is started is grasped. And remote CPU33 grasps | ascertains the operation angle which is the variation | change_quantity of the present rotational position and a reference | standard rotational position.
　例えば、操作者から見て、基準回転位置から左回りに第１角度だけ第１回転操作が行われている場合には、リモートＣＰＵ３３は、正の値であって絶対値が第１角度の操作角度を把握する。一方、操作者から見て、基準回転位置から右回りに第２角度だけ第１回転操作が行われている場合には、リモートＣＰＵ３３は、負の値であって絶対値が第２角度の操作角度を把握する。これにより、操作角度の正負に基づいて回転方向を特定でき、操作角度の絶対値に基づいて回転量を特定できる。 For example, when the first rotation operation is performed by the first angle counterclockwise from the reference rotation position as viewed from the operator, the remote CPU 33 is an operation having a positive value and an absolute value of the first angle. Understand the angle. On the other hand, when the first rotation operation is performed by the second angle clockwise from the reference rotation position as viewed from the operator, the remote CPU 33 is an operation having a negative value and an absolute value of the second angle. Understand the angle. Thereby, the rotation direction can be specified based on the positive / negative of the operation angle, and the rotation amount can be specified based on the absolute value of the operation angle.
　リモートＣＰＵ３３は、ステップＳ２０７では、少なくとも相対位置と現在の操作モードとに対応した情報を遠隔操作信号ＳＧ１に設定する。詳細には、リモートＣＰＵ３３は、操作モードに対応する情報に対して、上記相対位置等に対応した数値を設定する。 In step S207, the remote CPU 33 sets at least information corresponding to the relative position and the current operation mode to 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.
　操作モードが走行モードである場合のステップＳ２０７の処理について説明する。
　例えば、第１継続操作位置が第１開始位置Ｐ１０に対してタッチパネル３１の短手方向にずれている場合には、リモートＣＰＵ３３は、走行操作情報Ｄ１の走行速度情報Ｄｖ及び加速度情報Ｄαに対して「０」以外の数値を設定し且つ荷役操作情報Ｄ２に対して「０」を設定する。 The process of step S207 when the operation mode is the traveling mode will be described.
For example, when the first continuous operation position is deviated in the short direction of the touch panel 31 with respect to the first start position P10, the remote CPU 33 compares the traveling speed information Dv and the acceleration information Dα of the traveling operation information D1. A numerical value other than "0" is set, and "0" is set to the cargo handling operation information D2.
　また、本実施形態では、リモートＣＰＵ３３は、タッチパネル３１の短手方向における第１開始位置Ｐ１０と第１継続操作位置との距離が大きくなるほど、フォークリフト２０の走行速度が大きくなるように走行速度情報Ｄｖの数値を設定し、走行速度情報Ｄｖに設定される走行速度に対応させて加速度情報Ｄαの数値を設定する。 Further, in the present embodiment, 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 Dα is set corresponding to the traveling speed set in the traveling speed information Dv.
　例えば、図５に示すように、第２所定位置Ｐ１２は、第１所定位置Ｐ１１よりも第１開始位置Ｐ１０に対してタッチパネル３１の短手方向に離れている。かかる構成においては、第１継続操作位置が第２所定位置Ｐ１２である場合の走行速度情報Ｄｖの絶対値は、第１継続操作位置が第１所定位置Ｐ１１である場合の走行速度情報Ｄｖの絶対値よりも高く設定される。 For example, as shown in FIG. 5, 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. In this configuration, the absolute value of the traveling speed information Dv when the first continuous operation position is the second predetermined position P12 is the absolute value of the traveling speed information Dv when the first continuous operation position is the first predetermined position P11. It is set higher than the value.
　また、操作モードが走行モードである状況において第１継続操作位置が第１開始位置Ｐ１０よりも上方、詳細にはタッチパネル３１の短手方向の一端側（走行モード設定領域Ａ３側）に配置されている場合、リモートＣＰＵ３３は、走行速度情報Ｄｖに、前進に対応した値（例えば正の数値）を設定する。一方、リモートＣＰＵ３３は、第１継続操作位置が第１開始位置Ｐ１０よりも下方、詳細にはタッチパネル３１の短手方向の他端側に配置されている場合には、走行速度情報Ｄｖに後退に対応した値、例えば負の数値を設定する。つまり、リモートＣＰＵ３３は、第１開始位置Ｐ１０からのスライド操作方向に基づいて前進か後退かを決定する。 Further, in a situation where the operation mode is the travel mode, 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. On the other hand, when the first continuation operation position is disposed below the first start position P10, specifically, on the other end side in the short side direction of the touch panel 31, 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.
　なお、リモートＣＰＵ３３は、第１継続操作位置が第１開始位置Ｐ１０に対してタッチパネル３１の短手方向にずれていない場合には、走行速度情報Ｄｖ及び加速度情報Ｄαの双方に停止に係る数値情報である「０」を設定する。 In addition, when the first continuous operation position is not shifted in the short direction of the touch panel 31 with respect to 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 Dα. And set "0".
　更に、リモートＣＰＵ３３は、操作モードが走行モードである場合には、操作角度に対応した数値を操舵角情報Ｄθに設定する。例えば、リモートＣＰＵ３３は、操作角度が正である場合には、操舵角情報Ｄθに左旋回に対応した値を設定する一方、操作角度が負である場合には、操舵角情報Ｄθに右旋回に対応した値を設定する。また、リモートＣＰＵ３３は、操作角度の絶対値が大きくなるほど、操舵角情報Ｄθに大きな操舵角に対応した値を設定する。また、リモートＣＰＵ３３は、第１回転操作が検知されていない場合、すなわち操作角度が「０」である場合には、操舵角情報Ｄθに、ニュートラルの操舵角に対応する「０」を設定する。 Furthermore, when the operation mode is the travel mode, the remote CPU 33 sets a numerical value corresponding to the operation angle to the steering angle information Dθ. For example, when the operation angle is positive, the remote CPU 33 sets a value corresponding to a left turn to the steering angle information Dθ, while when the operation angle is negative, the right turn to the steering angle information Dθ. Set the value corresponding to. Further, the remote CPU 33 sets a value corresponding to a large steering angle to the steering angle information Dθ as the absolute value of the operation angle increases. Further, when the first rotation operation is not detected, that is, when the operation angle is “0”, the remote CPU 33 sets “0” corresponding to the neutral steering angle in the steering angle information Dθ.
　次に、操作モードが荷役モードである場合のステップＳ２０７の処理について説明する。
　例えば、操作モードがリフトモードである状況において第１継続操作位置が第１開始位置Ｐ１０よりも上方、詳細には下降動作を示すフォークリフト２０の画像側に配置されている場合、リモートＣＰＵ３３は、リフト情報Ｄｆａに、下降動作に対応した値（例えば負の数値）を設定する。一方、リモートＣＰＵ３３は、第１継続操作位置が第１開始位置Ｐ１０よりも下方、詳細には上昇動作を示すフォークリフト２０の画像側に配置されている場合には、リフト情報Ｄｆａに、上昇動作に対応した値（例えば正の数値）を設定する。また、リモートＣＰＵ３３は、タッチパネル３１の短手方向における両位置の差が大きくなるほどリフト情報Ｄｆａに大きな数値を設定する。 Next, the process of step S207 when the operation mode is the cargo handling mode will be described.
For example, in a situation where the operation mode is the lift mode, when the first continuous operation position is disposed above the first start position P10, specifically, on the image side of the forklift 20 showing the descent operation, the remote CPU 33 lifts In the information Dfa, a value (for example, a negative value) corresponding to the descent operation is set. On the other hand, when the first continuation operation position is disposed below the first start position P10, specifically, on the image side of the forklift 20 which indicates the rising 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.
　操作モードがリーチモードである状況において第１継続操作位置が第１開始位置Ｐ１０よりも上方、詳細には前方移動を示すフォークリフト２０の画像側に配置されている場合、リモートＣＰＵ３３は、リーチ情報Ｄｆｂに、前方移動に対応した値（例えば正の数値）を設定する。一方、リモートＣＰＵ３３は、第１継続操作位置が第１開始位置Ｐ１０よりも下方、詳細には後方移動を示すフォークリフト２０の画像側に配置されている場合には、リーチ情報Ｄｆｂに、後方移動に対応した値（例えば負の数値）を設定する。また、リモートＣＰＵ３３は、タッチパネル３１の短手方向における両位置の差が大きくなるほどリーチ情報Ｄｆｂに大きな数値を設定する。 In the situation where the operation mode is the reach mode, when the first continuous operation position is disposed above the first start position P10, specifically, on the image side of the forklift 20 indicating forward movement, the remote CPU 33 receives the reach information Dfb Set a value (for example, a positive number) corresponding to forward movement. On the other hand, 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. Set the corresponding value (for example, a negative number). Further, the remote CPU 33 sets a larger numerical value in the reach information Dfb as the difference between the two positions in the lateral direction of the touch panel 31 becomes larger.
　操作モードがチルトモードである状況において第１継続操作位置が第１開始位置Ｐ１０よりも上方、詳細には前方傾斜を示すフォークリフト２０の画像側に配置されている場合、リモートＣＰＵ３３は、チルト情報Ｄｆｃに、前方傾斜に対応した値（例えば正の数値）を設定する。一方、リモートＣＰＵ３３は、第１継続操作位置が第１開始位置Ｐ１０よりも下方、詳細には後方傾斜を示すフォークリフト２０の画像側に配置されている場合には、リーチ情報Ｄｆｂに、後方傾斜に対応した値（例えば負の数値）を設定する。また、リモートＣＰＵ３３は、タッチパネル３１の短手方向における両位置の差が大きくなるほどチルト情報Ｄｆｃに大きな数値を設定する。 In a situation where the operation mode is the tilt mode, when the first continuous operation position is disposed above the first start position P10, specifically, on the image side of the forklift 20 that indicates the front inclination, the remote CPU 33 performs tilt information Dfc. Set a value (for example, a positive number) corresponding to the forward inclination. On the other hand, when the first continuation operation position is disposed below the first start position P10, specifically, on the image side of the forklift 20 that indicates the rear inclination, the remote CPU 33 sets the reach information Dfb to the rear inclination. Set the corresponding value (for example, a negative number). Further, 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.
　すなわち、リモートＣＰＵ３３は、現在の操作モードに対応した情報に対して、第１開始位置Ｐ１０と第１継続操作が行われている位置との相対位置（走行モード時においては当該相対位置に加えて操作角度）に対応した数値を設定する。そして、リモートＣＰＵ３３は、現在の操作モードに対応した情報に上記数値が設定され且つその他の情報には「０」が設定された通常遠隔操作信号ＳＧ１２を生成する。 That is, relative to the information corresponding to the current operation mode, 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). Set a numerical value corresponding to the operation angle). Then, the remote CPU 33 generates a normal remote control signal SG12 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.
　なお、走行モードに対応した情報とは走行速度情報Ｄｖ、加速度情報Ｄα及び操舵角情報Ｄθである。リフトモードに対応した情報とはリフト情報Ｄｆａであり、リーチモードに対応した情報とはリーチ情報Ｄｆｂであり、チルトモードに対応した情報とはチルト情報Ｄｆｃである。 The information corresponding to the traveling mode is traveling speed information Dv, acceleration information Dα, and steering angle information Dθ. The information corresponding to the lift mode is the lift information Dfa, the information corresponding to the reach mode is the reach information Dfb, and the information corresponding to the tilt mode is the tilt information Dfc.
　これにより、フォークリフト２０において、現在の操作モードに対応した動作が行われる一方、それ以外の動作が行われないように禁止（換言すれば規制）される。すなわち、リモートＣＰＵ３３は、現在の操作モードに対応する動作の遠隔操作を許容する一方、現在の操作モードとは異なる操作モードに対応する動作の遠隔操作を禁止する。この点に着目すれば、走行モードは、走行に関する遠隔操作を行う一方、フォーク２２に関する遠隔操作が禁止された操作モードであると言えるし、荷役モードは、フォーク２２に関する遠隔操作を行う一方、走行に関する遠隔操作が禁止された操作モードであると言える。 Thereby, in the forklift 20, while the operation corresponding to the current operation mode is performed, it is prohibited (in other words, restricted) so that the other operation is not performed. That is, 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
　ちなみに、上記相対位置及び操作角度は、両開始操作が行われること（遠隔操作が開始されること）を契機として設定された基準位置としての第１開始位置Ｐ１０及び基準回転位置からの変化の度合い（詳細には変化量）である。この点を考慮すれば、リモートＣＰＵ３３は、ステップＳ２０７では、基準位置からの変化の度合い（詳細には変化量）に基づいて、フォークリフト２０の遠隔操作態様を決定していると言える。なお、基準位置とは基準操作態様とも言え、変化の度合いとは変化態様とも言える。 Incidentally, the relative position and the operation angle are the degrees of change from the first start position P10 and the reference rotational position as a reference position set in response to both start operations being performed (remote operation being started). (In detail, the amount of change). In consideration of this point, it can be said that the remote CPU 33 determines the remote control mode of the forklift 20 in step S207 based on the degree of change from the reference position (specifically, the amount of change). The reference position may be referred to as a reference operation mode, and the degree of change may be referred to as a change mode.
　ステップＳ２０７の処理が「決定ステップ」に対応し、ステップＳ２０７の処理を実行するリモートＣＰＵ３３が「決定部」、「姿勢対応決定部」及び「パネル対応決定部」に対応する。 The process of step S207 corresponds to the "determination step", and the remote CPU 33 executing the process of step S207 corresponds to the "determination unit", the "posture correspondence determination unit", and the "panel correspondence determination unit".
　本実施形態では、通常遠隔操作信号ＳＧ１２に設定されている情報は、第１継続操作の操作態様（第１継続操作位置）に応じて変化する一方、第２継続操作の操作態様には依存しない。つまり、第２継続操作は、遠隔操作を行うための条件ではあるが、遠隔操作の具体的な操作態様を決定付ける要素に含まれていない。 In the present embodiment, the information set in the normal remote control signal SG12 changes according to the operation mode of the first continuous operation (first continuous operation position), but does not depend on the operation mode of the second continuous operation. . That is, 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.
　その後、リモートＣＰＵ３３は、ステップＳ２０８にて、通常遠隔操作信号ＳＧ１２を送信して本操作モード処理を終了する。通常遠隔操作信号ＳＧ１２は、車両通信部２８にて受信され、信号変換部２９によって制御信号ＳＧａに変換され、当該制御信号ＳＧａが車両ＣＰＵ２５に入力される。車両ＣＰＵ２５は、制御信号ＳＧａに基づいて両アクチュエータ２３，２４のいずれか一方を制御する。これにより、フォークリフト２０において、現在の操作モードと基準位置からの変化度合いとに対応した動作が行われる。 Thereafter, in step S208, the remote CPU 33 transmits the normal remote control signal SG12 and ends the present operation mode processing. The normal remote control signal SG12 is received by the vehicle communication unit 28, converted into a control signal SGa by the signal conversion unit 29, and the control signal SGa is input to the vehicle CPU 25. The vehicle CPU 25 controls one of the actuators 23 and 24 based on the control signal SGa. Thereby, the forklift 20 performs an operation corresponding to the current operation mode and the degree of change from the reference position.
　なお、通常遠隔操作信号ＳＧ１２を送信することにより、ステップＳ２０７にて決定された遠隔操作態様でフォークリフト２０が動作することに着目すれば、上記ステップＳ２０８の処理は、遠隔操作装置３０に対する操作の操作態様に基づいて決定された遠隔操作態様でフォークリフト２０を遠隔操作する処理とも言える。ステップＳ２０８の処理が「実行ステップ」に対応し、ステップＳ２０８の処理を実行するリモートＣＰＵ３３が「実行部」に対応する。また、本実施形態では、第１開始位置Ｐ１０及び第１継続操作位置が「入力操作位置」に対応する。 If attention is paid to the fact that the forklift 20 operates in the remote control mode determined in step S207 by transmitting the normal remote control signal SG12, the process of step S208 described above is the operation of the operation on the remote control device 30. It can also be said to be a process for remotely operating the forklift 20 in a remote control mode determined based on the mode. The process of step S208 corresponds to the "execution step", and the remote CPU 33 that executes the process of step S208 corresponds to the "execution unit". Further, in the present embodiment, the first start position P10 and the first continuous operation position correspond to the "input operation position".
　リモートＣＰＵ３３は、第１継続操作及び第２継続操作の少なくとも一方が行われなくなった場合には、ステップＳ２０９にて、開始位置記憶部４４に記憶されている第１開始位置Ｐ１０に関する情報を消去するとともに追跡用記憶部４５に記憶されている第１継続操作位置に関する情報を消去する。更に、リモートＣＰＵ３３は、基準回転位置記憶部４６に記憶されている基準回転位置に関する情報を消去する。 When at least one of the first continuation operation and the second continuation operation is not performed, the remote CPU 33 erases the information on the first start position P10 stored in the start position storage unit 44 in step S209. At the same time, the information on the first continuous operation position stored in the tracking storage unit 45 is deleted. Furthermore, the remote CPU 33 deletes the information on the reference rotational position stored in the reference rotational position storage unit 46.
　その後、リモートＣＰＵ３３は、ステップＳ２１０にて、制御モードを操作モードから強制停止モードへ移行させる。詳細には、リモートＣＰＵ３３は、制御モード特定情報を強制停止モードに対応する情報に更新する。 Thereafter, in step S210, the remote CPU 33 shifts the control mode from the operation mode to the forced stop mode. Specifically, the remote CPU 33 updates the control mode identification information to information corresponding to the forced stop mode.
　そして、リモートＣＰＵ３３は、ステップＳ２１１，Ｓ２１２にて、フォークリフト２０を強制停止させる強制停止制御を行う。すなわち、本実施形態において強制停止制御の実行契機は、第１継続操作及び第２継続操作の少なくとも一方が行われなくなることである。 Then, the remote CPU 33 performs forced stop control to forcibly stop the forklift 20 in steps S211 and S212. That is, in the present embodiment, the execution trigger of the forced stop control is that at least one of the first continuous operation and the second continuous operation is not performed.
　詳細には、リモートＣＰＵ３３は、ステップＳ２１１にて、遠隔操作装置３０に対する操作に関わらず、遠隔操作信号ＳＧ１に、フォークリフト２０の動作を強制停止させるための強制停止情報を設定する。 Specifically, in step S211, 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.
　ここで、強制停止情報は、操作モードに対応させて予め設定されている。例えば、操作モードが走行モードである場合の強制停止情報では、加速度情報Ｄαに強制停止用減速度が設定され且つ走行速度情報Ｄｖ及び操舵角情報Ｄθを含めてその他の情報には「０」が設定されている。また、操作モードが荷役モード（リフトモード、リーチモード又はチルトモード）である場合における強制停止情報では、走行操作情報Ｄ１及び荷役操作情報Ｄ２の双方に「０」が設定されている。 Here, the forcible stop information is preset according to the operation mode. For example, in the forced stop information when the operation mode is the travel mode, the deceleration information for deceleration for forced stop is set in the acceleration information Dα, and “0” is included in the other information including the travel speed information Dv and the steering angle information Dθ. It is set. Further, in the forced stop information when the operation mode is the cargo handling mode (lift mode, reach mode or tilt mode), “0” is set in both the traveling operation information D1 and the cargo handling operation information D2.
　リモートＣＰＵ３３は、ステップＳ２１１では、操作モード特定情報に基づいて現在設定されている操作モードを把握し、その操作モードに対応した強制停止情報を遠隔操作信号ＳＧ１に設定する。なお、強制停止情報が設定された遠隔操作信号ＳＧ１を強制停止遠隔操作信号ＳＧ１３とする。 In step S211, 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. The remote control signal SG1 for which the forcible stop information is set is taken as a forcible stop remote control signal SG13.
　そして、リモートＣＰＵ３３は、ステップＳ２１２にて、リモート通信部３６を用いて、強制停止遠隔操作信号ＳＧ１３を送信する。強制停止遠隔操作信号ＳＧ１３を受信したフォークリフト２０は強制停止する。具体的には、フォークリフト２０は、走行中である場合には強制停止用減速度で減速して停止する一方、フォーク２２の動作中である場合には当該フォーク２２の動作を直ちに停止する。 Then, in step S212, the remote CPU 33 transmits the forced stop remote control signal SG13 using the remote communication unit 36. The forklift 20 that has received the forced stop remote control signal SG13 forcibly stops. 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.
　かかる構成によれば、停止中モードから操作モードへの移行後（すなわち遠隔操作の開始後）は、両継続操作の双方が把握されている場合に遠隔操作が継続される一方、両継続操作の少なくとも一方が行われていないことが把握されることに基づいて、フォークリフト２０の強制停止と遠隔操作装置３０を用いた遠隔操作の停止とが行われる。 According to this configuration, after the transition from the in-stop mode to the operation mode (that is, after the start of the remote control), 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.
　なお、既に説明したとおり、遠隔操作が停止している状態とは、遠隔操作装置３０に対する各種操作が行われた場合であっても、フォークリフト２０において各種操作に対応する動作が行われない状態を意味している。このため、遠隔操作装置３０に対する各種操作に関わらず、強制停止遠隔操作信号ＳＧ１３又は停止中遠隔操作信号ＳＧ１１が送信され、これらの信号に基づいてフォークリフト２０が強制停止又は停止状態を維持する状態も、遠隔操作装置３０による遠隔操作が停止されている状態と言える。 As described above, 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, regardless of various operations on the remote control device 30, the forced stop remote control signal SG13 or the in-stop remote control signal SG11 is transmitted, and the forklift 20 is maintained in the forced stop or stop state based on these signals. It can be said that the remote control by the remote control device 30 is stopped.
　ここで、第１開始操作及び第１継続操作を含む一連の入力操作を第１操作とし、第２開始操作及び第２継続操作を含む一連の入力操作を第２操作とする。第１操作は、遠隔操作が開始されるまでは第１領域Ａ１内に制限され、遠隔操作が開始されてからは第１領域Ａ１内に制限されないタッチパネル３１に対する一連の入力操作である。第２操作は、遠隔操作の開始前後に関わらず、第２領域Ａ２内に対する一連の入力操作である。 Here, a series of input operations including a first start operation and a first continuation operation are set as a first operation, and 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.
　この場合、リモートＣＰＵ３３は、第１操作及び第２操作の双方が行われている場合に遠隔操作を行う一方、第１操作及び第２操作の少なくとも一方が行われなくなることに基づいて遠隔操作を停止するとともに強制停止制御を行うと言える。 In this case, 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.
　図９に示すように、リモートＣＰＵ３３は、現在の制御モードが操作モードでない場合には、ステップＳ１１３を否定判定してステップＳ１１５に進み、強制停止モードに対応した強制停止処理を実行して本遠隔操作制御処理を終了する。強制停止処理は、フォークリフト２０の強制停止が完了するまで強制停止制御を継続し、当該強制停止が完了後に制御モードを停止中モードに移行させる処理である。 As shown in FIG. 9, when the current control mode is not the operation mode, the remote CPU 33 makes a negative decision in step S113 and proceeds to step S115 to execute a forced stop process corresponding to the forced stop mode. End the operation control process. The forcible stop processing is processing for continuing the forcible stop control until the forcible stop of the forklift 20 is completed, and shifting the control mode to the in-stop mode after the forcible stop is completed.
　図１１を用いて強制停止処理について説明する。
　図１１に示すように、リモートＣＰＵ３３は、まずステップＳ３０１にてフォークリフト２０の強制停止が完了したか否かを判定する。 The forced stop process will be described with reference to FIG.
As shown in FIG. 11, the remote CPU 33 first determines in step S301 whether or not the forcible stop of the forklift 20 is completed.
　詳細には、車両ＣＰＵ２５は、車両状態検知部２７の検知結果に基づいて、フォークリフト２０の走行状況及びフォーク２２の動作状況を把握し、その把握結果が設定された動作状況信号を、車両通信部２８を用いてリモート通信部３６に向けて定期的に送信している。そして、リモートＣＰＵ３３は、リモート通信部３６にて受信される動作状況信号に基づいて、フォークリフト２０の走行状況及びフォーク２２の動作状況を把握できるように構成されている。かかる構成において、リモートＣＰＵ３３は、ステップＳ３０１では、フォークリフト２０の走行及びフォーク２２の動作の双方が停止しているか否かを判定する。 In detail, 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.
　リモートＣＰＵ３３は、強制停止が完了していないと判定した場合には、強制停止に係る指示を継続して実行する。詳細には、リモートＣＰＵ３３は、ステップＳ３０２及びステップＳ３０３にて、強制停止遠隔操作信号ＳＧ１３の送信に係る処理を実行して、本強制停止処理を終了する。 If 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, the remote CPU 33 executes the processing relating to the transmission of the forcible stop remote control signal SG13 in steps S302 and S303, and ends the forcible stop processing.
　一方、リモートＣＰＵ３３は、強制停止が完了したと判定した場合には、ステップＳ３０４にて、制御モードを、強制停止モードから停止中モードへ移行させる。詳細には、リモートＣＰＵ３３は、制御モード特定情報を停止中モードに対応する情報に更新する。 On the other hand, when the remote CPU 33 determines that the forcible stop has been completed, the control mode is shifted from the forcible stop mode to the in-stop mode in step S304. Specifically, the remote CPU 33 updates the control mode identification information to information corresponding to the in-stop mode.
　その後、リモートＣＰＵ３３は、ステップＳ３０５及びステップＳ３０６にて、停止中遠隔操作信号ＳＧ１１の送信に係る処理を実行して、本強制停止処理を終了する。
　次に本実施形態の作用について図１２～図１６を用いて説明する。なお、説明の便宜上、図１２～図１５では、操作モードが走行モードである場合を示し、遠隔操作装置３０は、当該遠隔操作装置３０の短手方向が鉛直方向と一致している状態で操作者に把持されているとする。また、図１６では、フォークリフト２０の初期位置を２点鎖線で示す。 Thereafter, in steps S305 and S306, the remote CPU 33 executes processing relating to transmission of the in-stop remote control signal SG11, and ends the present forced stop processing.
Next, the operation of the present embodiment will be described with reference to FIGS. 12 to 15 show the case where the operation mode is the traveling mode, and the remote control device 30 operates in a state where the short direction of the remote control device 30 matches the vertical direction. Is held by a person. Further, in FIG. 16, the initial position of the forklift 20 is indicated by a two-dot chain line.
　図１２に示すように、遠隔操作装置３０の長手方向が水平方向と一致している状態で、両開始操作が行われたとする。この場合、遠隔操作装置３０の長手方向が水平方向と一致している状態の遠隔操作装置３０の姿勢が基準姿勢となり、上記状態の第１回転操作方向の回転位置が基準回転位置となる。また、両開始操作が行われたことにより、第１開始位置Ｐ１０が基準入力位置として設定される。すなわち、本実施形態では、遠隔操作の開始の実行契機となる両開始操作が、基準姿勢及び基準入力位置の設定契機となる基準設定操作となっている。なお、今回の第１開始位置Ｐ１０は、中央線Ｌよりも上方であったとする。 As shown in FIG. 12, it is assumed that both start operations are performed in a state where the longitudinal direction of the remote control device 30 coincides with the horizontal direction. In this case, the posture of the remote control device 30 in the state where the longitudinal direction of the remote control device 30 coincides with the horizontal direction is the reference posture, and the rotational position in the first rotational operation direction in the above state is the reference rotational position. Further, the first start position P10 is set as the reference input position by performing both start operations. That is, in the present embodiment, both start operations serving as an execution trigger for remote operation start are reference setting operations serving as a setting trigger for the reference posture and the reference input position. Here, it is assumed that the current first start position P10 is above the center line L.
　その後、図１３に示すように、スライド操作によって第１継続操作位置が第１開始位置Ｐ１０から離間した第３所定位置Ｐ１３に配置されるとともに、第１操作角度θ１の第１回転操作が行われたとする。第３所定位置Ｐ１３は、第１領域Ａ１内に配置されている。第１操作角度θ１は、基準回転位置からの変化角度である。 Thereafter, as shown in FIG. 13, the first continuous operation position is disposed at the third predetermined position P13 separated from the first start position P10 by the slide operation, and the first rotation operation of the first operation angle θ1 is performed. I suppose. The third predetermined position P13 is disposed in the first area A1. The first operation angle θ1 is a change angle from the reference rotational position.
　この場合、図１６に示すように、フォークリフト２０は、タッチパネル３１の短手方向における両位置Ｐ１０，Ｐ１３間距離である第１距離Ｙ１に対応した第１走行速度ｖ１であって第１操作角度θ１に対応した第１操舵角θｆ１で走行する。 In this case, as shown in FIG. 16, the forklift 20 has a first traveling speed v1 corresponding to a first distance Y1 which is a distance between both positions P10 and P13 in the lateral direction of the touch panel 31, and a first operation angle θ1. The vehicle travels at a first steering angle θf1 corresponding to
　一方、図１４に示すように、遠隔操作装置３０の長手方向が水平方向に対して予め左回りに回転している状態で、両開始操作が行われたとする。この場合、上記のように左回りに回転している状態の遠隔操作装置３０の姿勢が基準姿勢となり、上記状態の第１回転方向の回転位置が基準回転位置となる。また、両開始操作が行われたことにより、第１開始位置Ｐ１０が基準入力位置として設定される。今回の第１開始位置Ｐ１０は、中央線Ｌよりも下方であるとする。 On the other hand, as shown in FIG. 14, it is assumed that both start operations are performed in a state where the longitudinal direction of the remote control device 30 has been rotated counterclockwise in advance with respect to the horizontal direction. In this case, the attitude of the remote control device 30 in the state of rotating counterclockwise as described above is the reference attitude, and the rotational position in the first rotational direction in the above state is the reference rotational position. Further, the first start position P10 is set as the reference input position by performing both start operations. It is assumed that the current first start position P10 is below the center line L.
　その後、図１５に示すように、スライド操作によって第１継続操作位置が第１開始位置Ｐ１０から離間した第４所定位置Ｐ１４に配置されるとともに、第２操作角度θ２の第１回転操作が行われたとする。この場合、第４所定位置Ｐ１４が第１領域Ａ１外に配置されており、且つ、第１開始位置Ｐ１０が中央線Ｌよりも下方であったため、タッチパネル３１の短手方向における第１開始位置Ｐ１０と第４所定位置Ｐ１４との第２距離Ｙ２は、第１距離Ｙ１よりも大きくなっている。 Thereafter, as shown in FIG. 15, the first continuous operation position is disposed at the fourth predetermined position P14 separated from the first start position P10 by the slide operation, and the first rotation operation of the second operation angle θ2 is performed. I suppose. In this case, since the fourth predetermined position P14 is disposed outside the first area A1 and the first start position P10 is below the center line L, the first start position P10 in the lateral direction of the touch panel 31 is obtained. The second distance Y2 between the second predetermined position P14 and the fourth predetermined position P14 is larger than the first distance Y1.
　ここで、図１３及び図１５に示すように、第１回転操作が行われている状態における遠隔操作装置３０の回転位置自体、すなわち水平方向に対する遠隔操作装置３０の傾斜角度は、同一となっている。しかしながら、既に説明したとおり、第２操作角度θ２は、基準回転位置からの変化角度であり、当該基準回転位置は、水平方向に対して予め左回りに回転していた状態であったため、第２操作角度θ２は、予め左回りに回転していた分だけ、第１操作角度θ１よりも大きくなっている。 Here, as shown in FIGS. 13 and 15, the rotational position itself of the remote control device 30 in the state where the first rotation operation is performed, that is, the inclination angle of the remote control device 30 with respect to the horizontal direction is the same. There is. However, as described above, the second operation angle θ2 is a change angle from the reference rotational position, and the reference rotational position is a state in which the second rotational angle θ 2 has been rotated counterclockwise in advance with respect to the horizontal direction. The operation angle θ2 is larger than the first operation angle θ1 by the amount of rotation in the left direction in advance.
　かかる操作が行われた場合、図１６に示すように、フォークリフト２０は、第２距離Ｙ２に対応した第２走行速度ｖ２であって第２操作角度θ２に対応した第２操舵角θｆ２で走行する。第２走行速度ｖ２は、第１走行速度ｖ１よりも大きく、第２操舵角θｆ２は、第１操舵角θｆ１よりも大きい。すなわち、水平方向に対する遠隔操作装置３０の傾斜角度が同一であっても、基準位置を異ならせることによりフォークリフト２０の遠隔操作態様を異ならせることができる。 When such an operation is performed, as shown in FIG. 16, the forklift 20 travels at a second steering angle θf2 corresponding to a second operation angle θ2 at a second traveling speed v2 corresponding to the second distance Y2. . The second traveling speed v2 is larger than the first traveling speed v1, and the second steering angle θf2 is larger than the first steering angle θf1. That is, even if the inclination angle of the remote control device 30 with respect to the horizontal direction is the same, the remote control mode of the forklift 20 can be made different by making the reference position different.
　以上のとおり、本実施形態では、両開始操作が行われたことによって、遠隔操作が開始されるとともに基準位置（基準入力位置及び基準姿勢）が設定される。そして、遠隔操作中は、当該基準入力位置からの変化量である第１継続操作位置と第１開始位置Ｐ１０との相対位置、及び、基準姿勢としての基準回転位置からの変化量である操作角度に対応した遠隔操作態様でフォークリフト２０の遠隔操作が行われる。 As described above, in the present embodiment, the remote control is started and the reference position (reference input position and reference posture) is set by performing both start operations. Then, during remote control, the relative position between the first continuous operation position and the first start position P10, which is the amount of change from the reference input position, and the operation angle, which is the amount of change from the reference rotational position as the reference posture. The remote control of the forklift 20 is performed in a remote control mode corresponding to.
　なお、上記の説明では走行モードについて説明したが、他の操作モードにおいても同様である。
　例えば、操作モードがリフトモードである場合には、第１開始位置Ｐ１０からの第１継続操作位置の移動方向に応じて、フォーク２２の垂直方向における移動方向（上昇又は下降）が切り替わり、第１開始位置Ｐ１０と第１継続操作位置との短手方向の距離に応じてストローク量が変化する。本実施形態では、上記距離が大きくなるほど、ストローク量が大きくなる。 In the above description, the travel mode has been described, but the same applies to other operation modes.
For example, when 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. In the present embodiment, the stroke amount increases as the distance increases.
　操作モードがリーチモードである場合には、第１開始位置Ｐ１０からの第１継続操作位置の移動方向に応じて、フォーク２２の前後方向における移動方向（前方移動又は後方移動）が切り替わる。また、第１開始位置Ｐ１０と第１継続操作位置との短手方向の距離に応じてストローク量が変化する。本実施形態では、上記距離が大きくなるほど、ストローク量が大きくなる。 When the operation mode is the reach mode, the movement direction (forward movement or backward movement) in the front-rear direction of the fork 22 is switched according to the movement direction of the first continuous operation position from the first start position P10. In addition, 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.
　操作モードがチルトモードである場合には、第１開始位置Ｐ１０からの第１継続操作位置の移動方向に応じて、フォーク２２の傾斜方向（前方傾斜又は後方傾斜）が切り替わり、第１開始位置Ｐ１０と第１継続操作位置との短手方向の距離に応じて傾斜角度が変化する。本実施形態では、上記距離が大きくなるほど、傾斜角度が大きくなる。 When the operation mode is the tilt mode, 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.
　ちなみに、遠隔操作は両継続操作が行われている期間に亘って継続される。一方、両継続操作の少なくとも一方が行われなくなった場合、すなわちタッチパネル３１に対する２つのタッチ操作のうちいずれかが行われなくなった場合には、フォークリフト２０の強制停止が行われる。そして、フォークリフト２０の強制停止が完了するまで、及び、フォークリフト２０の強制停止後に再度両開始操作が行われるまで、遠隔操作装置３０による遠隔操作が停止する。 Incidentally, the remote control is continued over the period in which both continuous operations are being performed. On the other hand, when at least one of the two continuation operations is not performed, that is, when one of the two touch operations on the touch panel 31 is not performed, the forcible stop of the forklift 20 is performed. Then, the remote control by the remote control device 30 is stopped until the forcible stop of the forklift 20 is completed and until both start operations are performed again after the forcible stop of the forklift 20.
　以上詳述した本実施形態によれば以下の効果を奏する。
　（１）産業車両用遠隔操作システム１０は、車両通信部２８を有するフォークリフト２０と、車両通信部２８と無線通信を行うリモート通信部３６を有する遠隔操作装置３０と、を備えている。遠隔操作装置３０のリモートＣＰＵ３３は、当該遠隔操作装置３０に対して基準設定操作が行われたことに基づいて遠隔操作装置３０の操作の基準位置を設定するステップＳ１０５及びステップＳ１０７の処理を実行する。そして、リモートＣＰＵ３３は、基準位置からの変化の度合いに基づいて、フォークリフト２０の遠隔操作態様を決定するステップＳ２０７の処理を実行し、その決定された遠隔操作態様でフォークリフト２０を遠隔操作する。 According to the embodiment described above, the following effects can be obtained.
(1) The industrial vehicle remote control system 10 includes the forklift 20 having the vehicle communication unit 28, and the remote control device 30 having the remote communication unit 36 that performs wireless communication with the vehicle communication unit 28. The remote CPU 33 of the remote control device 30 executes the processing of step S105 and step S107 for setting the reference position of the operation of the remote control device 30 based on the fact that the reference setting operation is performed on the remote control device 30. . Then, the remote CPU 33 executes the process of step S207 of determining the remote control mode of the forklift 20 based on the degree of change from the reference position, and remotely controls the forklift 20 in the determined remote control mode.
　換言すれば、本実施形態のフォークリフト２０の遠隔操作方法（産業車両用遠隔操作方法）は、基準設定操作が行われたことに基づいて遠隔操作装置３０の操作の基準位置を設定するステップＳ１０５及びステップＳ１０７を備えている。そして、本実施形態の遠隔操作方法は、基準位置からの変化の度合いに基づいて、フォークリフト２０の遠隔操作態様を決定するステップＳ２０７と、その決定された遠隔操作態様でフォークリフト２０を遠隔操作するステップＳ２０８とを備えている。 In other words, the remote control method of the forklift 20 of the present embodiment (the remote control method for industrial vehicles) sets the reference position of the operation of the remote control device 30 based on the fact that the reference setting operation is performed; Step S107 is provided. Then, the remote control method of the present embodiment determines the remote control mode of the forklift 20 based on the degree of change from the reference position, and the step of remotely operating the forklift 20 in the determined remote control mode. And S208.
　かかる構成によれば、基準位置からの変化の度合いに基づいて、フォークリフト２０の遠隔操作態様が決定され、当該遠隔操作態様でフォークリフト２０の遠隔操作が行われる。当該基準位置は、操作者によって基準設定操作が行われることにより設定される。これにより、操作性の向上を図ることができる。 According to this configuration, the remote control mode of the forklift 20 is determined based on the degree of change from the reference position, and the remote control of the forklift 20 is performed in the remote control mode. The reference position is set by the operator performing a reference setting operation. Thereby, the operability can be improved.
　詳述すると、フォークリフト２０の遠隔操作態様を決定する構成としては、例えば、基準位置からの変化の度合いではなく、操作位置そのものに基づいて決定する構成が考えられる。当該構成としては、例えば走行モードにおいて第１領域Ａ１内のうち中央線Ｌよりも上方に入力操作が行われると前進し、第１領域Ａ１内のうち中央線Ｌよりも下方に入力操作が行われると後退することが考えられる。 More specifically, as a configuration for determining the remote control mode of the forklift 20, for example, a configuration may be considered that is determined based on the operation position itself, not the degree of change from the reference position. As the configuration, for example, when the input operation is performed above the center line L in the first area A1 in the traveling mode, the input operation proceeds forward and the input operation is performed below the center line L in the first area A1. It is thought that it will recede if it is received.
　このような構成において所望の遠隔操作態様を実現させるためには、入力操作を厳密に調整する必要があり、操作性が低下する。例えば、上記構成において、フォークリフト２０を前進させるためには、第１領域Ａ１内のうち中央線Ｌよりも上方の部分に入力操作を行う必要がある。したがって、前進させるための入力操作に対応する領域が狭くなり、操作性の低下が懸念される。また、操作者としては、中央線Ｌを認識しながら操作する必要が生じるため、フォークリフト２０ではなく、操作画像Ｇ１０を見ながら入力操作を行うことになり易く、安全性の低下が懸念される。 In order to realize the desired remote control mode in such a configuration, it is necessary to strictly adjust the input operation, which reduces the operability. For example, in the above configuration, in order to move the forklift 20 forward, it is necessary to perform an input operation to a portion above the center line L in the first area A1. Therefore, the area corresponding to the input operation for advancing is narrowed, and there is a concern that the operability may be reduced. In addition, since the operator needs to operate while recognizing the center line L, it is likely to perform the input operation while looking at the operation image G10 instead of the forklift 20, and there is a concern that the safety may be lowered.
　これに対して、本実施形態では、基準位置からの変化の度合いに基づいて、フォークリフト２０の遠隔操作態様が決定されるため、上記のように入力操作の操作態様を厳密に調整する必要がなく、操作性を高めることができる。例えば、本実施形態では、走行モードにおいて第１領域Ａ１内のうち中央線Ｌよりも下方に第１開始位置Ｐ１０が設定されれば、中央線Ｌに関係なく、第１開始位置Ｐ１０から上方に向けてスライド操作することによってフォークリフト２０を前進させることができる。 On the other hand, in the present embodiment, since the remote control mode of the forklift 20 is determined based on the degree of change from the reference position, it is not necessary to strictly adjust the operation mode of the input operation as described above. , Can improve operability. For example, in the present embodiment, if the first start position P10 is set below the center line L in the first area A1 in the traveling mode, the first start position P10 is upward regardless of the center line L. The forklift 20 can be advanced by sliding it in a direction.
　ここで、遠隔操作装置３０を用いてフォークリフト２０の遠隔操作を行う構成においては、操作者がフォークリフト２０に乗車する必要がないため、操作者の姿勢の自由度が高い。このため、操作者としては、自由な体勢でフォークリフト２０の遠隔操作を行うことができる。したがって、例えば死角や重要な箇所を覗き込みながらフォークリフト２０の遠隔操作を行うことができる。 Here, in the configuration in which the remote control device 30 is used to remotely control the forklift 20, the operator does not need to get on the forklift 20, so the degree of freedom of the operator's posture is high. Therefore, the operator can remotely operate the forklift 20 in a free position. Therefore, remote control of the forklift 20 can be performed while looking into a blind spot or an important part, for example.
　上記のように操作体勢に様々なバリエーションが考えられる構成においては、操作体勢に応じて操作可能範囲が変更されたり、制限されたりする場合があり得る。このような使用条件下で仮に基準位置が固定されていると、操作体勢によっては、基準位置からの操作可能範囲を十分に確保することができなかったり、所望の遠隔操作態様に対して基準位置からの操作可能範囲が足りなかったり、所望の遠隔操作態様になるように操作しようとして無理な体勢となったりする不都合が生じ得る。 As described above, in the configuration in which various variations can be considered for the operating position, the operable range may be changed or limited depending on the operating position. Under such use conditions, if the reference position is fixed temporarily, depending on the operation posture, the operable range from the reference position can not be sufficiently secured, or the reference position with respect to the desired remote control mode There is a disadvantage that the operable range from the above may not be sufficient, or the user may be forced to try to operate in the desired remote control mode.
　この点、本実施形態によれば、基準設定操作を行うことにより、所望の基準位置に設定できる。これにより、操作可能範囲が限られた条件下であっても、基準位置からの変化の度合いの自由度を高めることができ、操作性の向上を図ることができる。 In this respect, according to the present embodiment, it is possible to set a desired reference position by performing the reference setting operation. Thereby, even under conditions where the operable range is limited, the degree of freedom of the degree of change from the reference position can be enhanced, and the operability can be improved.
　（２）遠隔操作装置３０は、当該遠隔操作装置３０の姿勢を検知する姿勢検知部３５を備えている。リモートＣＰＵ３３は、両開始操作が行われた場合に、姿勢検知部３５の検知結果に基づいて、両開始操作が行われたときの遠隔操作装置３０の姿勢を、基準位置の一種である基準姿勢として設定する。そして、リモートＣＰＵ３３は、基準姿勢からの変化の度合いに基づいて、フォークリフト２０の遠隔操作態様を決定する。 (2) The remote control device 30 includes the posture detection unit 35 that detects the posture of the remote control device 30. When both start operations are performed, the remote CPU 33 determines the attitude of the remote control device 30 when both start operations are performed based on the detection result of the attitude detection unit 35, a reference attitude that is a kind of reference position. Set as. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the degree of change from the reference posture.
　かかる構成によれば、遠隔操作装置３０の姿勢を変えることにより、フォークリフト２０の遠隔操作態様を変えることができる。これにより、遠隔操作装置３０の姿勢操作によって所望の遠隔操作態様でフォークリフト２０を遠隔操作することができる。 According to this configuration, by changing the attitude of the remote control device 30, it is possible to change the remote control mode of the forklift 20. Thereby, the forklift 20 can be remotely operated in a desired remote operation mode by the attitude operation of the remote control device 30.
　（３）姿勢検知部３５は、第１回転操作を検知する。リモートＣＰＵ３３は、両開始操作が行われたときの第１回転操作方向における遠隔操作装置３０の回転位置を、基準姿勢の一種である基準回転位置として設定する。そして、リモートＣＰＵ３３は、第１回転操作方向における基準回転位置からの遠隔操作装置３０の位置変化に基づいて、フォークリフト２０の遠隔操作態様を決定する。 (3) The posture detection unit 35 detects the first rotation operation. The remote CPU 33 sets the rotational position of the remote control device 30 in the first rotational operation direction when both start operations are performed as a reference rotational position which is a kind of reference attitude. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the positional change of the remote control device 30 from the reference rotational position in the first rotational operation direction.
　かかる構成によれば、遠隔操作装置３０を第１回転操作方向に回転させるという操作、すなわち第１回転操作によって、所望の遠隔操作態様でフォークリフト２０を遠隔操作することができる。 According to this configuration, it is possible to remotely control the forklift 20 in a desired remote control mode by the operation of rotating the remote control device 30 in the first rotation operation direction, that is, the first rotation operation.
　ここで、上記のように遠隔操作態様を決定付ける操作として第１回転操作が採用されている構成において基準回転位置が固定されていると、操作者の体勢によっては、基準回転位置に対して第１回転操作が可能な範囲が制限されたり、所望の遠隔操作態様を実現させるためには、不自然な体勢になったりする不都合が生じ得る。例えば、図１２に示すように、遠隔操作装置３０の長手方向が水平方向と一致している状態を基準回転位置とした条件下において第２操作角度θ２を確保しようとすると、遠隔操作装置３０を図１５に示す場合よりも、より右回りに回転させる必要がある。この場合、操作者が操作しにくいという不都合が生じ得る。 Here, if the reference rotational position is fixed in the configuration in which the first rotational operation is adopted as the operation for determining the remote control mode as described above, the first rotational operation is fixed with respect to the reference rotational position depending on the posture of the operator. The range in which one rotation operation can be performed is limited, and in order to realize a desired remote control mode, an unnatural posture may occur. For example, as shown in FIG. 12, when trying to secure the second operation angle θ2 under the condition that the longitudinal direction of the remote control device 30 coincides with the horizontal direction as the reference rotational position, the remote control device 30 It is necessary to rotate more clockwise than the case shown in FIG. In this case, a disadvantage may occur that the operator is difficult to operate.
　この点、本実施形態によれば、基準回転位置を操作者の操作によって適宜変更できるため、上記不都合を抑制できる。例えば、図１４に示すように、予め左回りに回転した状態を基準回転位置とすることにより、無理な体勢になることなく、第２操作角度θ２を確保できる。したがって、遠隔操作態様を決定付ける操作の１つとして第１回転操作が採用されたことに起因する上記不都合を抑制でき、操作性の更なる向上を図ることができる。 In this respect, according to the present embodiment, since the reference rotational position can be appropriately changed by the operation of the operator, the above-mentioned inconvenience can be suppressed. For example, as shown in FIG. 14, the second operation angle θ2 can be secured without becoming an unreasonable posture by setting the state of rotating counterclockwise in advance as the reference rotational position. Therefore, the said inconvenience resulting from having employ | adopted 1st rotation operation as one of the operation which determines a remote control aspect can be suppressed, and the further improvement of operativity can be aimed at.
　（４）リモートＣＰＵ３３は、第１回転操作、詳細には第１回転操作方向における基準回転位置からの変化の度合い（変化量）に基づいて、フォークリフト２０の操舵角を決定する。かかる構成によれば、基準回転位置から第１回転操作方向に遠隔操作装置３０を回転させることにより、フォークリフト２０の操舵角を制御できる。これにより、直感的な遠隔操作を実現できる。 (4) The remote CPU 33 determines the steering angle of the forklift 20 based on the first rotation operation, specifically, the degree of change (change amount) from the reference rotation position in the first rotation operation direction. According to this configuration, the steering angle of the forklift 20 can be controlled by rotating the remote control device 30 in the first rotational operation direction from the reference rotational position. This makes it possible to realize intuitive remote control.
　（５）遠隔操作装置３０は矩形板状であり、第１回転操作方向は、遠隔操作装置３０の厚さ方向を回転軸とする回転方向である。かかる構成によれば、遠隔操作装置３０を両手で把持した場合に、操作者から見て、右回り又は左回りに回転させることにより、フォークリフト２０の操舵角を変更できる。これにより、ハンドルを操作するような感覚でフォークリフト２０の操舵角を制御でき、操作性の向上を図ることができる。 (5) The remote control device 30 has a rectangular plate shape, and the first rotation operation direction is a rotation direction with the thickness direction of the remote control device 30 as a rotation axis. According to this configuration, when the remote control device 30 is gripped with both hands, the steering angle of the forklift 20 can be changed by rotating it clockwise or counterclockwise as viewed from the operator. As a result, the steering angle of the forklift 20 can be controlled in the sense of operating the steering wheel, and operability can be improved.
　（６）遠隔操作装置３０は、タッチパネル３１と、タッチパネル３１に対する入力操作を検知するタッチセンサ３２と、を備えている。基準設定操作は、タッチパネル３１に対する入力操作である。 (6) The remote control device 30 includes the touch panel 31 and the touch sensor 32 that detects an input operation on the touch panel 31. The reference setting operation is an input operation on the touch panel 31.
　かかる構成によれば、タッチパネル３１に対する入力操作という比較的簡単な操作で基準位置の設定を実現できるため、基準位置の設定を容易に行うことができる。
　特に、事前に所望の姿勢にしてからタッチパネル３１に対して入力操作を行うことによって所望の姿勢を基準姿勢にできるため、基準姿勢の調整が行い易い。また、タッチパネル３１に対する入力操作は、遠隔操作装置３０の姿勢を崩すことなく行うことができる。このため、基準設定操作を行うことによって、基準姿勢が所望の姿勢からずれてしまうといった不都合が生じにくい。したがって、基準位置を所望なものに設定し易く、操作性の向上を図ることができる。 According to this configuration, since setting of the reference position can be realized by a relatively simple operation of input operation to the touch panel 31, setting of the reference position can be easily performed.
In particular, since the desired posture can be set to the reference posture by performing the input operation on the touch panel 31 after setting the posture to the desired posture in advance, it is easy to adjust the reference posture. Further, the input operation on the touch panel 31 can be performed without breaking the attitude of the remote control device 30. For this reason, it is hard to produce the problem that a reference | standard attitude | position shifts from a desired attitude | position by performing reference | standard setting operation. Therefore, it is easy to set the reference position to a desired one, and operability can be improved.
　（７）リモートＣＰＵ３３は、両開始操作が行われた場合に、タッチセンサ３２の検知結果に基づいて、基準位置の一種である基準入力位置として、両開始操作が行われたときの入力操作位置である第１開始位置Ｐ１０を設定する。そして、リモートＣＰＵ３３は、第１開始位置Ｐ１０からのタッチパネル３１に対する入力操作位置の変化の度合いに基づいて、フォークリフト２０の遠隔操作態様を決定する。かかる構成によれば、タッチパネル３１に対する入力操作を制御することによって、所望の遠隔操作態様でフォークリフト２０を遠隔操作することができる。 (7) When both start operations are performed, the input operation position when both start operations are performed as a reference input position which is a kind of reference position based on the detection result of the touch sensor 32 The first start position P10 is set. Then, the remote CPU 33 determines the remote control mode of the forklift 20 based on the degree of change of the input operation position on the touch panel 31 from the first start position P10. According to this configuration, by controlling the input operation on the touch panel 31, the forklift 20 can be remotely operated in a desired remote operation mode.
　（８）リモートＣＰＵ３３は、第１開始位置Ｐ１０と第１継続操作位置との相対位置に基づいて、フォークリフト２０の遠隔操作態様を決定する。
　かかる構成によれば、タッチパネル３１をタッチし、その後タッチ位置を変更するという一連の入力操作であるスライド操作を行うことにより、所望の遠隔操作態様でフォークリフト２０を遠隔操作することができる。 (8) The remote CPU 33 determines the remote control mode of the forklift 20 based on the relative position between the first start position P10 and the first continuous operation position.
According to this configuration, it is possible to remotely control the forklift 20 in a desired remote control mode by performing the slide operation which is a series of input operations of touching the touch panel 31 and then changing the touch position.
　ここで、例えば、第１開始位置Ｐ１０ではなく、予め定められた規定位置と第１継続操作位置との相対位置に基づいて遠隔操作態様が決まる場合、設定可能な相対位置が制限されてしまうため、遠隔操作態様が制限される場合があり得る。例えば、基準入力位置が中央線Ｌに固定されている場合、タッチパネル３１の短手方向における基準入力位置から第１継続操作位置までの距離の上限値は、中央線Ｌからタッチパネル３１の上端までの距離に制限される。 Here, for example, if 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 settable relative position is restricted. The remote control mode may be limited. For example, when the reference input position is fixed to the center line L, the upper limit value of the distance from the reference input position in the lateral direction of the touch panel 31 to the first continuous operation position is the distance from the center line L to the upper end of the touch panel 31. Limited to distance.
　これに対して、本実施形態によれば、第１開始位置Ｐ１０を自由に設定できることにより、スライド操作ができる範囲を調整できる。例えば、図１４に示すように、第１開始位置Ｐ１０を中央線Ｌよりも下方にすることにより、上方にスライド操作できる範囲を広くでき、短手方向における第１開始位置Ｐ１０と第１継続操作位置との間の距離を、中央線Ｌからタッチパネル３１の上端までの距離よりも長くできる。これにより、上方へのスライド操作に起因する動作（走行モードである場合には前進）を、より精密に調整したり、設定可能な速度幅をより大きくしたりすることが可能となる。 On the other hand, according to the present embodiment, since the first start position P10 can be freely set, the range in which the slide operation can be performed can be adjusted. For example, as shown in FIG. 14, by setting the first start position P10 below the center line L, the range in which the slide operation can be performed upward can be widened, and the first start position P10 in the lateral direction and the first continuous operation The distance between the position and the position can be made longer than the distance from the center line L to the upper end of the touch panel 31. As a result, it is possible to more precisely adjust the operation (advancing in the case of the travel mode) caused by the upward slide operation or to increase the settable speed range.
　（９）リモートＣＰＵ３３は、操作モードが走行モードである場合には、第１開始位置Ｐ１０と第１継続操作位置との相対位置に基づいて、フォークリフト２０の走行速度を決定する。かかる構成によれば、スライド操作の操作量に応じて、走行速度を異ならせることができ、それを通じて直感的な操作が可能となる。 (9) When the operation mode is the traveling mode, the remote CPU 33 determines the traveling speed of the forklift 20 based on the relative position between the first start position P10 and the first continuous operation position. According to this configuration, the traveling speed can be varied according to the operation amount of the slide operation, and an intuitive operation can be performed through it.
　（１０）リモートＣＰＵ３３は、操作モードが荷役モードである場合には、上記相対位置に基づいて、フォーク２２の動作態様を決定する。かかる構成によれば、スライド操作の操作量に応じて、フォーク２２を大きく動かしたり、小さく動かしたりすることができる。 (10) When the operation mode is the loading mode, the remote CPU 33 determines the operation mode of the fork 22 based on the relative position. According to this configuration, it is possible to move the fork 22 large or small according to the operation amount of the slide operation.
　（１１）リモートＣＰＵ３３は、両開始操作が行われることに基づいて遠隔操作を開始し、その後は両継続操作が行われている場合に遠隔操作を継続する一方、両継続操作の少なくとも一方が行われなくなることに基づいて遠隔操作を停止する。 (11) The remote CPU 33 starts remote control on the basis of both start operations being performed, and thereafter continues remote control when both continuous operations are being performed, while at least one of the both continuous operations is a line Stop remote control based on the failure.
　かかる構成によれば、遠隔操作を開始するためには、第１開始操作及び第２開始操作の双方を行う必要がある。これにより、意図せず遠隔操作が行われることや、他の作業を行いながら遠隔操作が開始されることを抑制できる。そして、遠隔操作の開始後も、遠隔操作を継続するためには両継続操作を行う必要がある。これにより、遠隔操作中に遠隔操作以外の作業を行うことを抑制できる。したがって、安全性の向上を図ることができる。 According to this configuration, in order to start the remote control, it is necessary to perform both the first start operation and the second start operation. Thereby, it is possible to suppress that the remote control is performed unintentionally or that the remote control is started while performing other work. And, even after the start of the remote control, in order to continue the remote control, it is necessary to perform both continuous operations. Thereby, it is possible to suppress performing work other than remote control during remote control. Therefore, the safety can be improved.
　また、本実施形態によれば、両継続操作の少なくとも一方を終了することによって、遠隔操作を停止させることができる。これにより、操作者としては、遠隔操作を意識的に停止させたり、開始させたりすることを容易にできる。したがって、操作者としては、例えば一時的に遠隔操作を停止して状況の確認等を行い、その後再度遠隔操作を行う等といったことを容易に行うことができ、利便性の向上を図ることができる。 Further, according to the present embodiment, the remote control can be stopped by terminating at least one of the two continuation operations. Thus, 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. .
　（１２）基準設定操作は、第１開始操作及び第２開始操作の双方が行われることであり、リモートＣＰＵ３３は、両開始操作が行われたときの遠隔操作装置３０に対する操作態様（第１開始位置Ｐ１０及び第１回転操作方向の回転位置）を基準位置として設定する。 (12) The reference setting operation is that both the first start operation and the second start operation are performed, and the remote CPU 33 operates the operation mode for the remote control device 30 when the both start operations are performed (first start The position P10 and the rotational position in the first rotational operation direction) are set as the reference position.
　かかる構成によれば、遠隔操作を開始するための両開始操作が行われることによって、基準位置が設定される。これにより、両開始操作とは別に基準位置を設定するための操作を行う必要がないため、操作の簡略化を図ることができる。 According to this configuration, the reference position is set by performing both start operations for starting the remote control. As a result, there is no need to perform an operation for setting the reference position separately from the both start operations, so that the operation can be simplified.
　また、本実施形態によれば、両開始操作が行われる度に基準位置が設定されるため、遠隔操作を開始するごとに基準位置を変更することができる。したがって、例えば、ある遠隔操作を行った後に体勢を変更して再度遠隔操作を行う場合に、体勢の変更に対応させて基準位置を変更できるため、変更した体勢に対応した遠隔操作を行うことができる。 Further, according to the present embodiment, since the reference position is set each time both start operations are performed, the reference position can be changed each time remote operation is started. Therefore, for example, when performing a remote control after performing a certain remote control and performing the remote control again, the reference position can be changed according to the change of the posture, so that the remote control corresponding to the changed posture may be performed. it can.
　（１３）第１開始操作は、タッチパネル３１のうちの第１領域Ａ１内に対する入力操作であり、第１継続操作は、第１領域Ａ１の内外に関わらず、遠隔操作が開始されたときの第１領域Ａ１内に対する入力操作から継続されるタッチパネル３１への入力操作である。 (13) The first start operation is an input operation to the inside of the first area A1 of the touch panel 31, and the first continuation operation is the time when the remote operation is started regardless of inside or outside the first area A1. This is an input operation on the touch panel 31 continued from the input operation on the inside of the one area A1.
　かかる構成によれば、遠隔操作を開始させるためには、例えば指等を用いて第１領域Ａ１内に対して入力操作を行う必要がある。このような第１領域Ａ１内に対する入力操作は、指を用いてできる操作であることから比較的容易である一方、タッチパネル３１のうち狙った場所に対して入力操作を行う必要があるため、相応の注意力を要する。これにより、操作者に対して相応の注意を促しつつ、簡単な操作で遠隔操作を開始させることができる。 According to this configuration, in order to start the remote control, it is necessary to perform an input operation in the first area A1 using, for example, a finger or the like. Such an input operation to the inside of the first area A1 is relatively easy because it is an operation that can be performed using a finger, while it is necessary to perform the input operation to a target location on the touch panel 31. Be careful of This makes it possible to start remote control with a simple operation while alerting the operator accordingly.
　また、第１継続操作として、遠隔操作が開始されたときの第１領域Ａ１内に対する入力操作から継続されるタッチパネル３１への入力操作が採用されているため、遠隔操作の開始後は、入力操作を解除する（例えば指等をタッチパネル３１から離す）だけで遠隔操作が停止する。これにより、例えば遠隔操作中に他の作業を行おうとして指をタッチパネル３１から離すと遠隔操作が停止するため、遠隔操作中に他の作業を行うことを抑制できる。また、指をタッチパネル３１から離すだけで遠隔操作を停止させることができるため、容易且つ迅速に遠隔操作を意識的に停止させることもできる。 Further, as the first continuous operation, since 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.
　特に、第１継続操作については、第１領域Ａ１外にはみ出すようなスライド操作が可能となっているため、第１継続操作の自由度を高くすることができる。また、所望の遠隔操作態様を実現しようとするあまり、第１継続操作位置が第１領域Ａ１外にはみ出した場合であっても、遠隔操作は継続される。これにより、操作性及び利便性の向上を図ることができる。 In particular, as the first continuous operation, the slide operation is possible such that it slides out of the first area A1, so the degree of freedom of the first continuous operation can be increased. In addition, even if the first continuous operation position is out of the first area A1 so as to realize the desired remote control mode, the remote control is continued. Thereby, the operability and the convenience can be improved.
　（１４）リモートＣＰＵ３３は、タッチパネル３１に、第１領域Ａ１及び第２領域Ａ２を含む操作画像Ｇ１０を表示させる。第２開始操作は、第２領域Ａ２内に対する入力操作であり、第２継続操作は、遠隔操作が開始されたときの第２領域Ａ２内に対する入力操作から継続されるタッチパネル３１に対する入力操作である。 (14) 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 second area A2, and the second continuous operation is an input operation to the touch panel 31 continued from the input operation to the second area A2 when the remote control is started. .
　かかる構成によれば、遠隔操作を開始させるためには、タッチパネル３１のうち少なくとも２つの異なる位置に対して入力操作を行う必要がある。これにより、操作者としては、２つの異なる位置に対して入力操作を行うために、両手で遠隔操作装置３０を把持することが想定される。したがって、片手での遠隔操作を抑制でき、それを通じて遠隔操作と他の作業とが同時に行われることを抑制できる。 According to this configuration, in order to start the remote control, it is necessary to perform the input operation at at least two different positions on the touch panel 31. As a result, it is assumed that the operator holds the remote control device 30 with both hands in order to perform input operations at two different positions. Therefore, the remote control with one hand can be suppressed, and through this, it can be suppressed that the remote control and other work are performed simultaneously.
　（１５）リモートＣＰＵ３３は、遠隔操作中（詳細には両継続操作の双方が行われている場合）、第２継続操作の操作態様ではなく、第１開始操作及び第１継続操作を含む一連の入力操作である第１操作の操作態様に基づいてフォークリフト２０の遠隔操作を行う。本実施形態の第１操作の操作態様とは、第１開始位置Ｐ１０からの第１継続操作位置の変化の度合い（詳細には相対位置）である。かかる構成によれば、第１操作の操作態様は、フォークリフト２０の遠隔操作に影響を与える一方、第２開始操作及び第２継続操作からなる第２操作の操作態様は、フォークリフト２０の遠隔操作に影響を与えない。これにより、操作者としては、第１操作に集中すればよく、操作の容易化を図ることができる。したがって、フォークリフト２０の誤操作を抑制できる。 (15) The remote CPU 33 is not in the operation mode of the second continuation operation but a series of operations including the first start operation and the first continuation operation during the remote operation (specifically, when both continuation operations are performed). Remote control of the forklift 20 is performed based on the operation mode of the first operation which is the input operation. The operation mode of the first operation of the present embodiment is the degree of change of the first continuous operation position from the first start position P10 (specifically, the relative position). According to this configuration, the operation mode of the first operation affects the remote operation of the forklift 20, while the operation mode of the second operation consisting of the second start operation and the second continuation operation is the remote operation of the forklift 20. Not affect. As a result, the operator can concentrate on the first operation, and the operation can be facilitated. Therefore, the erroneous operation of the forklift 20 can be suppressed.
　（１６）第２継続操作は、遠隔操作が開始されたときの第２開始操作から継続される第２領域Ａ２内に対する入力操作である。
　かかる構成によれば、第２継続操作は、第２領域Ａ２内に対する入力操作となっているため、第２領域Ａ２から指が離れたり、指がスライドして第２領域Ａ２外をタッチしていたりする場合には、遠隔操作が停止する。これにより、遠隔操作中の他の作業を抑制でき、安全性の向上を図ることができる。 (16) The second continuation operation is an input operation to the inside of the second area A2 continued from the second start operation when the remote operation is started.
According to this configuration, since the second continuation operation is an input operation to the inside of the second area A2, the finger is separated from the second area A2, or the finger slides and touches the outside of the second area A2. If it does, remote control will stop. As a result, other operations during remote control can be suppressed, and safety can be improved.
　ここで、第２継続操作は、フォークリフト２０の遠隔操作を継続する上で必要な操作である一方、遠隔操作態様には寄与しない。このため、第２継続操作位置を変更する等といった操作は必要ない。したがって、上記のように第２継続操作を第２領域Ａ２内に対する入力操作に限定したとしても、操作性の低下といった不都合が生じにくい。 Here, while 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.
　（１７）フォークリフト２０は、フォークリフト２０の走行に用いられる走行アクチュエータ２３と、走行とは異なる動作であるフォーク２２の動作に用いられる荷役アクチュエータ２４とを備えている。リモートＣＰＵ３３は、操作モードとして、走行アクチュエータ２３を操作対象とする走行モードと、荷役アクチュエータ２４を操作対象とする荷役モード（リフトモード、リーチモード又はチルトモード）とを有している。リモートＣＰＵ３３は、走行モードである場合には第１操作の操作態様に基づいて走行アクチュエータ２３を制御する一方、荷役モードである場合には第１操作の操作態様に基づいて荷役アクチュエータ２４を制御する。 (17) The forklift 20 includes a traveling actuator 23 used for traveling the forklift 20 and a cargo handling actuator 24 used for operating the fork 22 which is an operation different from traveling. The remote CPU 33 has, as an operation mode, a 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 operation in the traveling mode, and controls the cargo handling actuator 24 based on the operation mode of the first operation in the cargo handling mode. .
　かかる構成によれば、操作モードとして、走行モードと荷役モードとが別々に設定されているため、フォークリフト２０の走行に関する遠隔操作と、フォーク２２の動作に関する遠隔操作とが同時に行われることを抑制でき、誤操作を抑制できる。 According to this configuration, since 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.
　また、走行モード及び荷役モードの双方とも第１継続操作（第１操作）の操作態様に基づいて両アクチュエータ２３，２４の制御が行われる。これにより、操作モードに関わらず、共通の操作でフォークリフト２０を遠隔操作できるため、操作の簡略化を図ることができる。 Further, in both the traveling mode and the cargo handling mode, control of both the actuators 23 and 24 is performed based on the operation mode of the first continuous operation (first operation). Thereby, regardless of the operation mode, since the forklift 20 can be remotely operated by the common operation, the operation can be simplified.
　（１８）リモートＣＰＵ３３は、操作モード切替条件が成立した場合には、操作モードを切り替える処理（ステップＳ１１１）を実行する。操作モード切替条件は、遠隔操作装置３０に対して切替操作が行われることを含む。 (18) The remote CPU 33 executes the process of switching the operation mode (step S111) 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.
　かかる構成によれば、切替操作を含む操作モード切替条件の成立に基づいて操作モードの切り替えが行われる。これにより、操作者としては、必要に応じて切替操作を行うことにより、操作モードを切り替えることができ、所望の遠隔操作を行うことができる。 According to this configuration, the switching of the operation mode is performed based on the satisfaction of the operation mode switching condition including the switching operation. As a result, the operator can switch the operation mode by performing the switching operation as needed, and can perform desired remote control.
　（１９）操作モード切替条件は、停止中モードである状況において切替操作が行われることである。かかる構成によれば、遠隔操作が停止している状況下において切替操作が行われることによって操作モードが切り替わる一方、遠隔操作が行われている場合には切替操作が行われた場合であっても操作モードは切り替わらない。これにより、遠隔操作中に操作モードが切り替わることに起因してフォークリフト２０が意図しない動作をすることを抑制できる。 (19) 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.
　（２０）リモートＣＰＵ３３は、停止中モードにおいて両開始操作と切替操作との双方が行われたことを把握した場合には、操作モード切替処理を実行することなく、制御モードを停止中モードから操作モードへ移行させる処理を実行する。 (20) When the remote CPU 33 recognizes that both the start operation and the switching operation have been performed in the in-stop mode, the remote CPU 33 operates from the in-stop mode without executing the operation mode switching process. Execute processing to shift to the mode.
　両開始操作と切替操作との双方が行われる場合とは、誤って切替操作が行われた蓋然性が高い。このような場合に操作モードの切り替えが行われ、その状態で遠隔操作が開始されると、フォークリフト２０が意図しない動作をする蓋然性が高い。 When both the start operation and the switching operation are performed, there is a high probability that the switching operation has been performed by mistake. In such a case, switching of the operation mode is performed, and when remote control is started in that state, the probability that the forklift 20 performs an unintended operation is high.
　この点、本実施形態では、両開始操作と切替操作との双方が行われたことが把握された場合には、操作モードの切り替えが行われることなく、遠隔操作が開始される。これにより、意図しない操作モードの切り替えが行われた状態で遠隔操作が開始されることを抑制できる。 In this respect, in the present embodiment, 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.
　（２１）操作画像Ｇ１０には、走行モードに設定するための走行モード設定領域Ａ３と、荷役モードに設定するための荷役モード設定領域Ａ４とが表示されている。切替操作は、走行モード設定領域Ａ３に対する入力操作又は荷役モード設定領域Ａ４に対する入力操作である。かかる構成によれば、タッチパネル３１に対する入力操作によって操作モードの切り替えを行うことができる。 (21) In the operation image G10, a traveling mode setting area A3 for setting the traveling mode and a cargo handling mode setting area A4 for setting the cargo handling mode are displayed. The switching operation is an input operation 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.
　ここで、切替操作として、両領域Ａ１，Ａ２とは別に設けられたモード設定領域Ａ３，Ａ４に対する入力操作が設定されているため、両開始操作又は両継続操作を行っている操作者が切替操作を行うためには、一旦右手又は左手をタッチパネル３１から離すことが想定される。これにより、自ずと開始操作又は継続操作が行われなくなり、遠隔操作が停止し、遠隔操作が停止した状態で切替操作が行われることになる。したがって、操作者としては、特に制御モードを停止中モードにすることを意識することなく、円滑に操作モードの切り替えを行うことができる。よって、安全性と利便性との両立を図ることができる。 Here, since the input operation to the mode setting areas A3 and A4 provided separately from both the areas A1 and A2 is set as the switching operation, 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.
　（２２）第１領域Ａ１と第２領域Ａ２とは離間して配置されており、両モード設定領域Ａ３，Ａ４の少なくとも一部、本実施形態では荷役モード設定領域Ａ４の各モード設定領域Ａ４ａ～Ａ４ｃは、第１領域Ａ１と第２領域Ａ２との間に配置されている。 (22) 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, each mode setting area A4a to A4 of the cargo handling mode setting area A4 A4c is disposed between the first area A1 and the second area A2.
　かかる構成によれば、各モード設定領域Ａ４ａ～Ａ４ｃが第１領域Ａ１と第２領域Ａ２との間に配置されているため、右手及び左手のどちらでも各モード設定領域Ａ４ａ～Ａ４ｃに対して入力操作を行うことができる。これにより、切替操作の容易化を図ることができる。 According to this configuration, since 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.
　また、荷役モード設定領域Ａ４が第１領域Ａ１と第２領域Ａ２との間に配置されているため、誤って荷役モード設定領域Ａ４に対して入力操作が行われる事態が生じにくい。これにより、誤操作の抑制を図ることができる。 Further, since 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.
　（２３）リモートＣＰＵ３３は、操作モードが走行モードである場合には、第１領域Ａ１に走行に関する画像を表示させる一方、操作モードが荷役モードである場合には、フォーク２２の動作に関する画像を表示させる。かかる構成によれば、操作者が現在の操作モード（操作対象）を容易に確認できる。 (23) The remote CPU 33 displays an image concerning traveling in the first area A1 when the operation mode is the traveling mode, and displays an image concerning 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).
　特に、本実施形態では、操作モードに関わらず、共通の操作（具体的には第１操作）によって、フォークリフト２０の遠隔操作態様が決定される。このため、タッチパネル３１に対する操作が同一であっても操作モードが異なると、フォークリフト２０が異なる動作を行うため、操作モードを正確に把握する必要がある。この点、本実施形態では、第１領域Ａ１内に表示される画像が操作モードに応じて異なるため、第１領域Ａ１内に表示される画像に基づいて操作モードを容易に確認できる。 In particular, in the present embodiment, regardless of the operation mode, 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. In this respect, in the present embodiment, 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.
　また、本実施形態では、第１領域Ａ１内への入力操作を契機とする第１操作の操作態様によってフォークリフト２０の遠隔操作態様が決定されるため、第１領域Ａ１内は、第２領域Ａ２周辺等と比較して、操作者が特に注目し易い箇所であると言える。このような操作者が注目し易い箇所に操作モードを示唆する画像が表示されているため、操作者の見落としを抑制できる。 Further, in the present embodiment, 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.
　（２４）タッチパネル３１は長手方向及び短手方向を有する形状であり、両領域Ａ１，Ａ２は、タッチパネル３１の長手方向に対向配置されている。かかる構成によれば、両領域Ａ１，Ａ２がタッチパネル３１の長手方向に対向配置されているため、片手で両領域Ａ１，Ａ２に対する入力操作を行うことが困難である。これにより、遠隔操作装置３０を両手で把持させることを促すことができる。また、誤って片手の複数の指がタッチパネル３１に接触したとしても、両領域Ａ１，Ａ２の双方に対して入力操作が行われる事態は生じにくい。これにより、安全性の向上を図ることができる。 (24) 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.
　（２５）遠隔操作装置３０は、スマートフォン又はタブレット端末である。かかる構成によれば、既存の汎用品を用いてフォークリフト２０の遠隔操作を実現できる。
　（２６）遠隔操作装置３０を用いてフォークリフト２０を遠隔操作するための遠隔操作プログラム４０は、リモートＣＰＵ３３にて遠隔操作制御処理を実行させる遠隔操作制御処理実行プログラム４１を含む。遠隔操作制御処理は、当該遠隔操作装置３０に対して基準設定操作が行われたことに基づいて遠隔操作装置３０の操作の基準位置を設定する処理と、基準位置からの変化の度合いに基づいて、フォークリフト２０の遠隔操作態様を決定する処理と、その決定された遠隔操作態様でフォークリフト２０を遠隔操作させる処理（ステップＳ２０８）とを含む。これにより、（１）等の効果を奏する。 (25) 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.
(26) 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 sets a reference position of the operation of the remote control device 30 based on the reference setting operation performed on the remote control device 30, and a degree of change from the reference position. And a process of determining the remote control mode of the forklift 20, and a process of remotely operating the forklift 20 in the determined remote control mode (step S208). Thereby, the effects of (1) and the like are exerted.
第２実施形態Second embodiment
　本実施形態では、操作画像及び遠隔操作を行うための遠隔操作装置３０に対する操作が第１実施形態と異なっている。その異なる点について以下に説明する。 In the present embodiment, 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.
　本実施形態では、操作モードは、走行モードと荷役モードとの２種類である。リモートＣＰＵ３３は、操作モードが走行モードである場合には走行モード画像Ｇ２１を表示させ、操作モードが荷役モードである場合には荷役モード画像Ｇ２２を表示させる。 In the present embodiment, there are two types of operation modes: a traveling mode and a cargo handling mode. The remote CPU 33 displays the 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.
　図１７に示すように、本実施形態の走行モード画像Ｇ２１は、第１領域Ａ１１と、第２領域Ａ１２と、走行モード設定領域（走行モードアイコン）Ａ２１と、荷役モード設定領域（荷役モードアイコン）Ａ２２とを有している。走行モード画像Ｇ２１においては、走行モード設定領域Ａ２１が強調表示されている。 As shown in FIG. 17, 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. In the driving mode image G21, the driving mode setting area A21 is highlighted.
　第１領域Ａ１１内には、タッチパネル３１の短手方向に対向配置された前進アイコンＩｃ１及び後退アイコンＩｃ２が表示されている。第２領域Ａ１２内には、タッチパネル３１の長手方向に対向配置された左アイコンＩｃ３及び右アイコンＩｃ４が表示されている。 In the first area A11, 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. In the second area A12, 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.
　走行モード設定領域Ａ２１及び荷役モード設定領域Ａ２２は、互いにタッチパネル３１の短手方向に対向配置されている。走行モード設定領域Ａ２１及び荷役モード設定領域Ａ２２は、第１領域Ａ１１におけるタッチパネル３１の短手方向の両側に対してずれた位置であって、且つ、第２領域Ａ１２におけるタッチパネル３１の長手方向の両側に対してずれた位置に配置されている。詳細には、走行モード設定領域Ａ２１及び荷役モード設定領域Ａ２２は、タッチパネル３１の長手方向において両領域Ａ１１，Ａ１２の間であって且つタッチパネル３１の短手方向において両領域Ａ１１，Ａ１２よりもタッチパネル３１の両端側に配置されている。これにより、第１領域Ａ１１に接触している指が上下方向にスライドしても両モード設定領域Ａ２１，Ａ２２に指が接触しにくい。また、第２領域Ａ１２に接触している指が左右方向にスライドしても両モード設定領域Ａ２１，Ａ２２に指が接触しにくい。 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. Specifically, the traveling mode setting area A21 and the cargo handling mode setting area A22 are between the two areas A11 and A12 in the longitudinal direction of the touch panel 31 and in the lateral direction of the touch panel 31 than the two areas A11 and A12. Are placed at both ends of the Thus, even if the finger in contact with the first area A11 slides in the vertical direction, the finger is less likely to contact both mode setting areas A21 and A22. In addition, even if the finger in contact with the second area A12 slides in the left-right direction, the finger is less likely to contact both mode setting areas A21 and A22.
　図１８に示すように、荷役モード画像Ｇ２２は、第１領域Ａ１１と、第２領域Ａ１２と、走行モード設定領域Ａ２１と、荷役モード設定領域Ａ２２と、第３領域Ａ１３と、を有している。荷役モード画像Ｇ２２においては、荷役モード設定領域Ａ２２が強調表示されている。 As shown in FIG. 18, the cargo handling mode image G22 has 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. . In the cargo handling mode image G22, the cargo handling mode setting area A22 is highlighted.
　第１領域Ａ１１には、チルト動作を報知する表示と、第１上アイコンＩｃ１１及び第１下アイコンＩｃ１２とが表示されている。
　第２領域Ａ１２には、リフト動作を報知する表示と、第２上アイコンＩｃ１３及び第２下アイコンＩｃ１４とが表示されている。 In the first area A11, a display for notifying a tilt operation, and a first upper icon Ic11 and a first lower icon Ic12 are displayed.
In the second area A12, a display for notifying a lift operation, and a second upper icon Ic13 and a second lower icon Ic14 are displayed.
　第３領域Ａ１３は、第１領域Ａ１１と第２領域Ａ１２との間であって、走行モード設定領域Ａ２１と荷役モード設定領域Ａ２２との間に配置されている。第３領域Ａ１３には、リーチ動作を報知する表示と、第３上アイコンＩｃ１５及び第３下アイコンＩｃ１６とが表示されている。 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. In the third area A13, a display for notifying a reach operation, and a third upper icon Ic15 and a third lower icon Ic16 are displayed.
　本実施形態では、リモートＣＰＵ３３は、操作モードが走行モードである場合には、両継続操作の操作態様に基づいてフォークリフト２０の走行に関する遠隔操作を行い、操作モードが荷役モードである場合には、両継続操作の操作態様に基づいてフォーク２２に関する遠隔操作を行う。この点を含めて、本実施形態の遠隔操作制御処理について図１９を用いて説明する。 In the present embodiment, 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 this embodiment will be described with reference to FIG. 19 including this point.
　なお、本実施形態の遠隔操作制御処理のステップＳ４０１，Ｓ４０４～Ｓ４０６，Ｓ４０８，Ｓ４０９，Ｓ４１３，Ｓ４１５の処理は、第１実施形態の対応する処理と同様であるため、詳細な説明を省略する。 The processes of steps S401, S404 to S406, S408, S409, S413, and S415 of the remote operation control process of the present embodiment are the same as the corresponding processes of the first embodiment, and thus detailed description will be omitted.
　図１９に示すように、リモートＣＰＵ３３は、ステップＳ４０１の処理の実行後、ステップＳ４０２にて、第１開始操作の有無を把握する。本実施形態における第１開始操作とは、操作モードが走行モードである場合には、第１領域Ａ１１内に対する入力操作である。一方、操作モードが荷役モードである場合には、第１開始操作とは、３つの領域Ａ１１～Ａ１３のうちいずれかの領域内に対する入力操作である。 As shown in FIG. 19, after executing the process of step S401, 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. On the other hand, when 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.
　また、リモートＣＰＵ３３は、ステップＳ４０３にて第２開始操作の有無を把握する。本実施形態における第２開始操作とは、操作モードが走行モードである場合には、第２領域Ａ１２内に対する入力操作である。 In addition, 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.
　一方、操作モードが荷役モードである場合には、第２開始操作とは、３つの領域Ａ１１～Ａ１３のうち第１開始操作に対応する領域とは別の領域内に対する入力操作である。例えば、リモートＣＰＵ３３は、ステップＳ４０２にて、第１領域Ａ１１内に対する入力操作に基づいて第１開始操作が行われていると判定した場合には、ステップＳ４０３では、第２領域Ａ１２内又は第３領域Ａ１３内に対する入力操作が行われているか否かを判定し、当該入力操作が行われている場合には第２開始操作が行われていると判定する。換言すれば、第１開始操作に対応する領域とは、第１開始操作が行われていると判定する契機となった入力操作が行われている領域である。 On the other hand, when the operation mode is the cargo handling 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. For example, if 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. In other words, 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.
　すなわち、３つの領域Ａ１１～Ａ１３が設定されている荷役モードである場合、リモートＣＰＵ３３は、３つの領域Ａ１１～Ａ１３のうち少なくとも２つの領域内に対して入力操作が行われている場合には、両開始操作が行われていると判定する。一方、リモートＣＰＵ３３は、３つの領域Ａ１１～Ａ１３のうち１つの領域内に対してのみ入力操作が行われている場合又は３つの領域Ａ１１～Ａ１３のうちいずれの領域内に対しても入力操作が行われていない場合には、両開始操作の少なくとも一方が行われていないと判定する。 That is, in the case of the cargo handling mode in which three areas A11 to A13 are set, 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.
　なお、本実施形態では、３つの領域Ａ１１～Ａ１３のうちいずれか１つが「特定領域」及び「第１領域」に対応し、それとは異なる領域が「第２領域」に対応する。
　また、本実施形態では、リモートＣＰＵ３３は、ステップＳ４０６の処理の実行後、ステップＳ４１６にて、遠隔操作が開始されたときの第２開始操作が行われた位置である第２開始位置Ｐ２０を開始位置記憶部４４に記憶させる。 In the present embodiment, 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 S416. It is stored in the position storage unit 44.
　続くステップＳ４１７では、リモートＣＰＵ３３は、第２継続操作が行われている位置である第２継続操作位置の初期位置として、第２開始位置Ｐ２０を追跡用記憶部４５に記憶させて、第２継続操作位置の追跡を開始する。すなわち、本実施形態では、リモートＣＰＵ３３は、第１継続操作位置に加えて、第２継続操作位置を追跡するように構成されている。この処理の具体的な内容については、第１実施形態における第１継続操作位置の追跡と同様であるため、詳細な説明を省略する。 In the following step S417, the remote CPU 33 stores the second start position P20 in the tracking storage unit 45 as the initial position of the second continuation operation position which is the position where the second continuation operation is being 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.
　なお、本実施形態では、開始位置記憶部４４は、第１開始位置Ｐ１０及び第２開始位置Ｐ２０の双方を記憶しており、追跡用記憶部４５は、第１継続操作位置及び第２継続操作位置の双方を記憶している。また、本実施形態では、ステップＳ１０７に対応する処理は実行されない。 In the present embodiment, the start position storage unit 44 stores both the first start position P10 and the second start position P20, and the tracking storage unit 45 stores the first continuation operation position and the second continuation operation. Both positions are memorized. Further, in the present embodiment, the process corresponding to step S107 is not performed.
　本実施形態では、第１開始操作及び第１継続操作からなる一連の入力操作の位置、すなわち第１開始位置Ｐ１０及び第１継続操作位置と、第２開始操作及び第２継続操作からなる一連の入力操作の位置、すなわち第２開始位置Ｐ２０及び第２継続操作位置との双方が「入力操作位置」に対応する。 In this embodiment, positions of a series of input operations consisting of a first start operation and a first continuation operation, that is, a series of a first start position P10 and a first continuation operation position, and a second start operation and a second continuation operation. The position of the input operation, that is, both the second start position P20 and the second continuous operation position correspond to the “input operation position”.
　リモートＣＰＵ３３は、両開始操作の少なくとも一方が行われていないと把握されたことに基づいて、ステップＳ４１０にて、切替操作が行われているか否かを判定する。本実施形態における切替操作は、両モード設定領域Ａ２１，Ａ２２のいずれか一方に対する入力操作である。 At step S410, the remote CPU 33 determines whether or not the switching operation has been 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.
　リモートＣＰＵ３３は、切替操作が行われていると把握された場合には、ステップＳ４１１に進み、操作モードを切り替える。詳細には、リモートＣＰＵ３３は、走行モード設定領域Ａ２１内に対する入力操作があった場合には、操作モードを走行モードに設定する一方、荷役モード設定領域Ａ２２内に対する入力操作があった場合には、操作モードを荷役モードに設定する。そして、ステップＳ４１２では、リモートＣＰＵ３３は、操作モードに対応した操作画像Ｇ１０（詳細には走行モード画像Ｇ２１又は荷役モード画像Ｇ２２）を表示させる。 If it is determined that the switching operation is being performed, the remote CPU 33 proceeds to step S411 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 S412, 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.
　次に、本実施形態におけるステップＳ４１４の操作モード処理について説明する。
　図２０に示すように、リモートＣＰＵ３３は、ステップＳ５０１では、第１継続操作の有無を把握する。第１継続操作は、第１開始操作が行われた領域の内外に関わらず、遠隔操作が開始されたときの第１開始操作から継続されるタッチパネル３１に対する入力操作である。ステップＳ５０１の処理は、第１実施形態と同様である。 Next, the operation mode process of step S414 in the present embodiment will be described.
As shown in FIG. 20, in step S501, the remote CPU 33 grasps the presence or absence of the first continuation 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.
　また、リモートＣＰＵ３３は、ステップＳ５０２にて、第２継続操作の有無を把握する。本実施形態における第２継続操作は、遠隔操作が開始されたときの第２開始操作から継続されるタッチパネル３１に対する入力操作である。本実施形態では、第２継続操作は、第２開始操作が行われた領域からはみ出した入力操作も含む。つまり、第２継続操作は、第２開始操作が行われた領域の内外に関わらず、遠隔操作が開始されたときの第２開始操作から継続されるタッチパネル３１に対する入力操作である。 In addition, 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. In the present embodiment, 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.
　ステップＳ５０２の具体的な処理は、第１実施形態のステップＳ２０２と同様である。
　詳細には、リモートＣＰＵ３３は、今回検知された複数の入力操作のうち追跡用記憶部４５に記憶されている第２継続操作位置と最も近い位置にある入力操作を特定する。そして、リモートＣＰＵ３３は、その特定された入力操作の位置と追跡用記憶部４５に記憶されている第２継続操作位置（前回検知された第２継続操作位置）とが連続しているか否かを判定する。 The specific process of 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.
　つまり、本実施形態の第２継続操作とは、（Ａ）タッチパネル３１に対する入力操作があること、（Ｂ）今回検知された入力操作の位置と前回検知された第２継続操作位置とが規定範囲内にあること、（Ｃ）前回の第２継続操作の検知タイミングから今回の入力操作の検知タイミングまでの期間が特定期間以内であること、の３条件を満たす操作である。 That is, in the second 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 second continuous operation position detected last time are defined ranges The operation satisfies the three conditions of being inside, and (C) the period from the detection timing of the previous second continuation operation to the detection timing of the current input operation being within a specific period.
　リモートＣＰＵ３３は、両者が連続していると判定する場合には、第２継続操作が行われていると判定するとともに、追跡用記憶部４５に記憶されている第２継続操作位置を今回検知された入力操作の位置に更新する。 When 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.
　図２０に示すように、リモートＣＰＵ３３は、両継続操作が行われていると把握された場合には、ステップＳ５０３に進み、開始位置記憶部４４及び追跡用記憶部４５に記憶されている情報に基づいて、第１開始位置Ｐ１０と第１継続操作位置との相対位置である第１相対位置を導出する。 As shown in FIG. 20, when the remote CPU 33 determines that both continuous operations are being performed, the process proceeds to step S 503, and the information stored in the start position storage unit 44 and the tracking storage unit 45 is processed. 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.
　続くステップＳ５０４では、リモートＣＰＵ３３は、開始位置記憶部４４及び追跡用記憶部４５の記憶情報に基づいて、第２開始位置Ｐ２０と第２継続操作位置との相対位置である第２相対位置を導出する。 In the subsequent step S504, the remote CPU 33 derives a second relative position, which is a relative position between the second start position P20 and the second continuous operation position, based on the storage information of the start position storage unit 44 and the tracking storage unit 45. Do.
　その後、ステップＳ５０５にて、リモートＣＰＵ３３は、現在の操作モードを把握する。リモートＣＰＵ３３は、続くステップＳ５０６にて、遠隔操作信号ＳＧ１に、現在の操作モード及び両相対位置に対応した情報を設定する。その後、リモートＣＰＵ３３は、ステップＳ５０７にて、リモート通信部３６を用いて上記情報が設定された遠隔操作信号ＳＧ１である通常遠隔操作信号ＳＧ１２を送信する。通常遠隔操作信号ＳＧ１２を受信したフォークリフト２０は、当該通常遠隔操作信号ＳＧ１２に設定されている情報に対応した走行又はフォーク２２の動作を行う。 Thereafter, in step S505, the remote CPU 33 grasps the current operation mode. In the subsequent step S506, the remote CPU 33 sets information corresponding to the current operation mode and both relative positions in the remote control signal SG1. Thereafter, in step S507, the remote CPU 33 transmits a normal remote control signal SG12, which is the remote control signal SG1 in which the above information is set, using the remote communication unit 36. The forklift 20 having received the normal remote control signal SG12 performs traveling or an operation of the fork 22 corresponding to the information set in the normal remote control signal SG12.
　ステップＳ５０６について詳細に説明する。
　操作モードが走行モードである場合、リモートＣＰＵ３３は、走行速度情報Ｄｖ及び加速度情報Ｄαに対して第１相対位置に対応した数値（走行速度及び加速度）を設定し、操舵角情報Ｄθに対して第２相対位置に対応した数値（操舵角）を設定する一方、荷役操作情報Ｄ２に対して「０」を設定する。これにより、両継続操作の操作態様、換言すれば第１開始位置Ｐ１０からの第１継続操作位置の変化の度合いと第２開始位置Ｐ２０からの第２継続操作位置の変化の度合いとの双方に対応した走行アクチュエータ２３の制御が行われる。 Step S506 will be described in detail.
When the operation mode is the travel mode, the remote CPU 33 sets numerical values (travel speed and acceleration) corresponding to the first relative position to the travel speed information Dv and the acceleration information Dα, and the remote CPU 33 2) Set a numerical value (steering angle) corresponding to the relative position, and set "0" to the cargo handling operation information D2. Thereby, both the operation mode of both continuous operations, in other words, the degree of change of the first continuous operation position from the first start position P10 and the degree of change of the second continuous operation position from the second start position P20 Control of the corresponding travel actuator 23 is performed.
　一例としては、リモートＣＰＵ３３は、第１開始位置Ｐ１０からの上下のスライド操作方向に基づいて前進か後退かを特定し、タッチパネル３１の短手方向における第１開始位置Ｐ１０と第１継続操作位置との距離に基づいて走行速度及び加速度を設定する。この点については、第１実施形態と同様である。 As an example, 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.
　また、リモートＣＰＵ３３は、第２開始位置Ｐ２０からの左右のスライド操作方向に基づいて右旋回か左旋回かを特定し、タッチパネル３１の長手方向における第２開始位置Ｐ２０と第２継続操作位置との距離に基づいて操舵角の絶対値を設定する。例えば、第２継続操作位置が第２開始位置Ｐ２０よりも右アイコンＩｃ４側である場合、リモートＣＰＵ３３は、右旋回に対応する操舵角を設定し、且つ、第２開始位置Ｐ２０と第２継続操作位置との距離が大きいほど操舵角の絶対値を大きく設定する。 Further, 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.
　すなわち、本実施形態では、操作モードが走行モードである場合、第１領域Ａ１１側の手（左手）の操作によって前進又は後退が決定されるとともに速度制御が行われ、第２領域Ａ１２側の手（右手）の操作によって操舵角制御が行われる。これにより、遠隔操作装置３０に対して第１回転操作を行うことなくフォークリフト２０の走行に関する遠隔操作を行うことができる。なお、本実施形態では、第１回転操作は、フォークリフト２０の遠隔操作態様を決定付ける操作として設定されていない。このため、本実施形態では、基準回転位置記憶部４６を省略してもよい。 That is, in the present embodiment, when 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, and speed control is performed, and the hand on the second area A12 side Steering angle control is performed by the operation of (right hand). Thus, 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. In the present embodiment, the first rotation operation is not set as the operation for determining the remote control mode of the forklift 20. For this reason, in the present embodiment, the reference rotational position storage unit 46 may be omitted.
　操作モードが荷役モードである場合、リモートＣＰＵ３３は、ステップＳ５０６では、開始位置記憶部４４の記憶情報に基づいて第１開始操作が行われた領域を特定し、当該第１開始操作が行われた領域に対応する荷役操作情報Ｄ２を特定する。そして、リモートＣＰＵ３３は、その特定された荷役操作情報Ｄ２に第１相対位置に対応した数値を設定する。 When the operation mode is the cargo handling mode, 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. And remote CPU33 sets the numerical value corresponding to the 1st relative position to the specified cargo handling operation information D2.
　例えば、第１開始操作が行われた領域が第１領域Ａ１１である場合、リモートＣＰＵ３３は、チルト情報Ｄｆｃに第１相対位置に対応した数値（傾斜角度）を設定する。詳細には、リモートＣＰＵ３３は、第１継続操作位置が第１開始位置Ｐ１０よりも第１上アイコンＩｃ１１側である場合には、前方傾斜に対応する傾斜角度を設定する。また、リモートＣＰＵ３３は、短手方向における両位置間の距離が大きくなるほど大きい傾斜角度を設定する。 For example, when the area where the first start operation has been performed is the first area A11, the remote CPU 33 sets the tilt information Dfc a numerical value (tilt angle) corresponding to the first relative position. In detail, when the first continuous operation position is closer to the first upper icon Ic11 than the first start position P10, the remote CPU 33 sets an inclination angle corresponding to the front inclination. Also, the remote CPU 33 sets a larger inclination angle as the distance between the two positions in the lateral direction increases.
　更に、リモートＣＰＵ３３は、開始位置記憶部４４の記憶情報に基づいて第２開始操作が行われた領域を特定し、当該第２開始操作が行われた領域に対応する荷役操作情報Ｄ２を特定する。そして、リモートＣＰＵ３３は、その特定された荷役操作情報Ｄ２に第２相対位置に対応した数値を設定する。すなわち、リモートＣＰＵ３３は、両継続操作の操作態様に対応させて荷役アクチュエータ２４を制御する。第１継続操作の操作態様とは、第１開始位置Ｐ１０からの第１継続操作位置の変化の度合いとも言え、第２継続操作の操作態様とは、第２開始位置Ｐ２０からの第２継続操作位置の変化の度合いとも言える。 Furthermore, 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 operation mode of the first continuation operation can be said to be the degree of change of the first continuation operation position from the first start position P10, and the operation mode of the second continuation operation is the second continuation operation from the second start position P20 It can be said that the degree of change in position.
　例えば、第２開始操作が行われた領域が第２領域Ａ１２である場合、リモートＣＰＵ３３は、リフト情報Ｄｆａに第２相対位置に対応した数値（ストローク量）を設定する。詳細には、リモートＣＰＵ３３は、第２継続操作位置が第２開始位置Ｐ２０よりも第２上アイコンＩｃ１３側である場合には、上昇に対応するストローク量を設定する。また、リモートＣＰＵ３３は、短手方向における両位置間の距離が大きくなるほど大きいストローク量を設定する。 For example, when the area where the second start operation has been performed is the second area A12, 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.
　また、例えば、第２開始操作が行われた領域が第３領域Ａ１３である場合、リモートＣＰＵ３３は、リーチ情報Ｄｆｂに第２相対位置に対応した数値（ストローク量）を設定する。詳細には、リモートＣＰＵ３３は、第２継続操作位置が第２開始位置Ｐ２０よりも第３上アイコンＩｃ１５側である場合には、前方移動に対応するストローク量を設定する。また、リモートＣＰＵ３３は、短手方向における両位置間の距離が大きくなるほど大きいストローク量を設定する。 Also, for example, when the area where the second start operation has been performed is the third area A13, 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.
　すなわち、本実施形態のリモートＣＰＵ３３は、両相対位置に応じて遠隔操作信号ＳＧ１に設定する数値を制御することにより、フォークリフト２０の遠隔操作態様を制御する。 That is, the remote CPU 33 according to the present embodiment controls the remote control mode of the forklift 20 by controlling the numerical value set in the remote control signal SG1 according to the relative position of the two.
　また、産業車両用遠隔操作システム１０は、操作モードが荷役モードである場合、互いに種類の異なる第１動作及び第２動作を実行可能となっている。これにより、例えばリフト動作とリーチ動作とを同時に行うことができる。なお、操作モードが荷役モードである場合において、リフト動作、リーチ動作及びチルト動作のうち、第１継続操作に対応するフォーク２２の動作を「第１動作」ともいい、第２継続操作に対応するフォーク２２の動作を「第２動作」ともいう。 Further, when the operation mode is the cargo handling mode, the industrial vehicle remote control system 10 can execute the first operation and the second operation which are different from each other. Thereby, for example, the lift operation and the reach operation can be performed simultaneously. When the operation mode is the cargo handling mode, the operation of the fork 22 corresponding to the first continuous operation among the lift operation, the reach operation, and the tilt operation is also referred to as "first operation" and corresponds to the second continuous operation. The operation of the fork 22 is also referred to as a "second operation".
　図２０に示すように、リモートＣＰＵ３３は、両継続操作の少なくとも一方が行われていないと把握された場合には、ステップＳ５０８にて、開始位置記憶部４４に記憶されている両開始位置Ｐ１０，Ｐ２０に関する情報を消去するとともに、追跡用記憶部４５に記憶されている両継続操作位置に関する情報を消去する。 As shown in FIG. 20, when it is determined that at least one of the two continuation operations has not been performed, the remote CPU 33 determines, in step S508, both start positions P10 stored in the start position storage unit 44, The information on P20 is erased, and the information on both continuous operation positions stored in the tracking storage unit 45 is erased.
　その後、リモートＣＰＵ３３は、ステップＳ５０９～Ｓ５１１の処理を実行する。ステップＳ５０９～Ｓ５１１の処理は、第１実施形態のステップＳ２１０～Ｓ２１２の処理と同様である。 Thereafter, the remote CPU 33 executes the processing of steps S509 to S511. The processes of steps S509 to S511 are the same as the processes of steps S210 to S212 of the first embodiment.
　以上詳述した本実施形態によれば、以下の作用効果を奏する。
　（２７）リモートＣＰＵ３３は、両開始操作が行われたことに基づいて、その時点におけるタッチパネル３１の入力操作位置である両開始位置Ｐ１０，Ｐ２０を基準入力位置として設定する。そして、リモートＣＰＵ３３は、第１開始位置Ｐ１０からの第１継続操作位置の変化の度合いと、第２開始位置Ｐ２０からの第２継続操作位置の変化の度合いとに基づいて、フォークリフト２０の遠隔操作態様を決定する。詳細には、リモートＣＰＵ３３は、第１開始位置Ｐ１０と第１継続操作位置との第１相対位置、及び、第２開始位置Ｐ２０と第２継続操作位置との第２相対位置に基づいて、フォークリフト２０の遠隔操作態様を決定する。かかる構成によれば、両継続操作位置の変化を組み合わせることにより、フォークリフト２０の遠隔操作を好適に行うことができる。 According to the embodiment described above, the following effects can be obtained.
(27) The remote CPU 33 sets both start positions P10 and P20, which are input operation positions of the touch panel 31 at that time, as reference input positions based on the fact that both start operations have been performed. Then, the remote CPU 33 remotely controls the forklift 20 based on the degree of change of the first continuous operation position from the first start position P10 and the degree of change of the second continuous operation position from the second start position P20. Determine the aspect. Specifically, the remote CPU 33 is a forklift based on the first relative position between the first start position P10 and the first continuation operation position, and the second relative position between the second start position P20 and the second continuation operation position. Determine 20 remote control modes. According to this configuration, remote control of the forklift 20 can be suitably performed by combining the change of both continuous operation positions.
　（２８）リモートＣＰＵ３３は、走行モード時において、第１相対位置に基づいてフォークリフト２０の前進又は後退を決定し、第２相対位置に基づいてフォークリフト２０の操舵角を決定する。かかる構成によれば、第１回転操作を行うことなく、フォークリフト２０を所望の方向に走行させることができる。 (28) In the travel mode, the remote CPU 33 determines forward or backward movement of the forklift 20 based on the first relative position, and determines the steering angle of the forklift 20 based on the second relative position. According to this configuration, the forklift 20 can travel in a desired direction without performing the first rotation operation.
　（２９）リモートＣＰＵ３３は、荷役モード時において、第１相対位置に基づいてリフト動作、リーチ動作及びチルト動作のうちいずれかの動作である第１動作の動作態様を決定し、第２相対位置に基づいて、第１動作とは異なる第２動作の動作態様を決定する。かかる構成によれば、フォーク２２に関する２種類の動作を同時に行わせることができる。これにより、例えばチルト動作を行いながらリフト動作を行う等といった、より自由度が高い遠隔操作を行うことができる。 (29) The remote CPU 33 determines the operation mode of the first operation which is any one of the lift operation, the reach operation and the tilt operation based on the first relative position in the cargo handling mode, and sets the operation mode to the second relative position. Based on the operation mode of the second operation different from the first operation is determined. According to this configuration, it is possible to simultaneously perform two types of operations regarding the fork 22. As a result, for example, it is possible to perform remote control with a higher degree of freedom, such as performing a lift operation while performing a tilt operation.
　（３０）第１継続操作は、第１開始操作が行われた領域の内外に関わらず、遠隔操作が開始されたときの第１開始操作から継続されるタッチパネル３１に対する入力操作であり、第２継続操作は、第２開始操作が行われた領域の内外に関わらず、遠隔操作が開始されたときの第２開始操作から継続されるタッチパネル３１に対する入力操作である。例えば、走行モード時において、第１継続操作は、第１領域Ａ１１の内外に関わらず、遠隔操作が開始されたときの第１開始操作から継続されるタッチパネル３１への入力操作である。第２継続操作は、第２領域Ａ１２の内外に関わらず、遠隔操作が開始されたときの第２開始操作から継続されるタッチパネル３１への入力操作である。 (30) 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 has been performed, the second The 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 area where the second start operation is performed. For example, in the traveling mode, the first continuous operation is an input operation to the touch panel 31 continued from the first start operation when remote operation 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.
　かかる構成によれば、第１継続操作について、第１領域Ａ１１外にはみ出すようなスライド操作が可能となっているため、第１継続操作の自由度を高くすることができる。また、所望の遠隔操作態様としようとするあまり、第１継続操作位置が第１領域Ａ１１外にはみ出した場合であっても、遠隔操作は継続される。これにより、操作性及び利便性の向上を図ることができる。 According to this configuration, 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. In addition, even if the first continuous operation position is out of the first area A11, the remote control is continued even if the desired remote control mode is intended. Thereby, the operability and the convenience can be improved.
　同様に、第２継続操作について、第２領域Ａ１２外にはみ出すようなスライド操作が可能となっているため、第２継続操作の自由度を高くすることができる。また、所望の遠隔操作態様としようとするあまり、第２継続操作位置が第２領域Ａ１２外にはみ出した場合であっても、遠隔操作は継続される。これにより、操作性及び利便性の向上を図ることができる。 Similarly, in the second continuation operation, 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. In addition, even if the second continuous operation position is out of the second area A12, the remote control is continued even if the desired remote control mode is intended. Thereby, the operability and the convenience can be improved.
　なお、上記各実施形態は以下のように変更してもよい。
　○　基準設定操作は、両開始操作に限られず、任意である。例えば、基準設定操作は、両開始操作とは別に行われる操作であってもよい。例えば遠隔操作装置３０に操作ボタンが設けられている場合には、基準設定操作は当該操作ボタンが操作されることでもよい。この場合、リモートＣＰＵ３３は、上記操作ボタンが操作されたことに基づいて、当該操作されたタイミングにおける遠隔操作装置３０の姿勢及びタッチパネル３１に対する入力操作位置を、基準姿勢及び基準入力位置として設定してもよい。また、基準設定操作として、例えば第２回転操作を採用してもよい。つまり、基準設定操作は、タッチパネル３１に対する入力操作に限られないし、基準入力位置は、開始位置に限られない。 The above embodiments may be modified as follows.
○ The reference setting operation is not limited to both start operations and is optional. For example, the reference setting operation may be an operation performed separately from both start operations. For example, when the remote control device 30 is provided with an operation button, the reference setting operation may be that the operation button is operated. In this case, based on the operation of the operation button, the remote CPU 33 sets the attitude of the remote control device 30 at the operated timing and the input operation position on the touch panel 31 as the reference attitude and the reference input position. It is also good. Further, as the reference setting operation, for example, a second rotation operation may be adopted. That is, the reference setting operation is not limited to the input operation on the touch panel 31, and the reference input position is not limited to the start position.
　○　フォークリフト２０の遠隔操作態様を決定付ける操作の一種として、第１回転操作に代えて又は加えて、第２回転操作を採用してもよい。
　例えば、第２実施形態の別例として、図２１に示すように、第３領域Ａ１３が省略された荷役モード画像Ｇ３２が表示されてもよい。この場合、リモートＣＰＵ３３は、第１領域Ａ１１内への入力操作を契機とする第１操作（詳細には第１開始操作及び第１継続操作）に基づいて、リーチ動作に関する遠隔操作を行い、第２領域Ａ１２内の入力操作を契機とする第２操作（詳細には第２開始操作及び第２継続操作）に基づいて、リフト動作に関する遠隔操作を行う。 As a type of operation for determining the remote control mode of the forklift 20, a second rotation operation may be employed instead of or in addition to the first rotation operation.
For example, as another example of the second embodiment, as shown in FIG. 21, a cargo handling mode image G32 in which the third area A13 is omitted may be displayed. In this case, the remote CPU 33 performs remote control related to the reach operation based on the first operation (specifically, the first start operation and the first continuation operation) triggered by the input operation into the first area A11. The remote control related to the lift operation is performed based on the second operation (specifically, the second start operation and the second continuation operation) triggered by the input operation in the two areas A12.
　そして、リモートＣＰＵ３３は、第２回転操作の操作態様に基づいて、チルト動作に関する遠隔操作を行ってもよい。詳細には、リモートＣＰＵ３３は、両開始操作が行われたことに基づいて、その時点における第２回転操作方向の回転位置を基準回転位置として設定して、基準回転位置記憶部４６に記憶させる。そして、リモートＣＰＵ３３は、両継続操作が行われている場合には、第２回転操作方向における基準回転位置からの変化の度合い、詳細には操作者から見て基準回転位置からの前後方向の傾斜角度に基づいて、チルト動作の傾斜角度を設定する。これにより、３つの動作を同時に実行することが可能となる。また、遠隔操作装置３０を前後に傾斜させる動作と、チルト動作とが連動するため、直感的な操作感覚でチルト動作を行うことができ、操作性の向上を図ることができる。 And remote CPU33 may perform remote control regarding tilting operation based on the operation mode of 2nd rotation operation. Specifically, based on the fact that both start operations have been performed, the remote CPU 33 sets the rotational position in the second rotational operation direction at that point in time as the reference rotational position, and causes the reference rotational position storage unit 46 to store it. Then, when both continuous operations are being performed, the remote CPU 33 determines the degree of change from the reference rotational position in the second rotational operation direction, and more specifically, tilts in the front-rear direction from the reference rotational position as viewed from the operator The tilt angle of the tilt operation is set based on the angle. This makes it possible to execute three operations simultaneously. In addition, since the operation of tilting the remote control device 30 in tandem with the tilt operation, the tilt operation can be performed with an intuitive sense of operation, and the operability can be improved.
　○　第１実施形態において、リモートＣＰＵ３３は、基準姿勢からの変化の度合いとして操作角度を採用したが、これに限られず、変化するパラメータであれば任意であり、例えば角加速度を採用してもよい。この場合、リモートＣＰＵ３３は、例えば遠隔操作中に第１回転操作が行われた場合、第１回転操作方向における角加速度が大きいほどフォークリフト２０の操舵角を大きくなるように遠隔操作してもよい。 In the first embodiment, the remote CPU 33 adopts the operation angle as the degree of change from the reference posture. However, the present invention is not limited thereto, and any parameter that changes can be used. For example, angular acceleration may be adopted. . In this case, for example, when the first rotation operation is performed during remote control, the remote CPU 33 may remotely control the steering angle of the forklift 20 to be larger as the angular acceleration in the first rotation operation direction is larger.
　○　第１実施形態において、リモートＣＰＵ３３は、第２回転操作に基づいて、走行速度等を決定してもよい。この場合、リモートＣＰＵ３３は、第１開始位置Ｐ１０と第１継続操作位置との相対位置に対応させて遠隔操作態様を決定しなくてもよい。つまり、リモートＣＰＵ３３は、タッチパネル３１に対する入力操作を用いることなく、遠隔操作装置３０の姿勢変化のみに基づいてフォークリフト２０の遠隔操作態様を決定してもよい。また、この場合、遠隔操作の開始条件から第１開始操作又は第２開始操作を省略してもよいし、遠隔操作の継続条件から第１継続操作又は第２継続操作を省略してもよい。 In the first embodiment, the remote CPU 33 may determine the traveling speed and the like based on the second rotation operation. In this case, the remote CPU 33 may not determine the remote control mode in accordance with the relative position between the first start position P10 and the first continuous operation position. That is, the remote CPU 33 may determine the remote control mode of the forklift 20 based on only the posture change of the remote control device 30 without using the input operation on the touch panel 31. In this case, the first start operation or the second start operation may be omitted from the remote operation start condition, or the first continuation operation or the second continuation operation may be omitted from the remote operation continuation condition.
　○　第１実施形態において、第１開始位置Ｐ１０からの第１継続操作位置の変化の度合いとして、第１開始位置Ｐ１０と第１継続操作位置との相対位置が採用されていたが、これに限られない。例えば、リモートＣＰＵ３３は、第１開始位置Ｐ１０から第１継続操作位置までのスライド移動速度に基づいてフォークリフト２０の遠隔操作態様を決定してもよい。例えば、リモートＣＰＵ３３は、走行モード時において、スライド移動速度が大きいほど加速度を大きく設定してもよい。荷役モードや第２実施形態についても同様である。 In the first embodiment, the relative position between the first start position P10 and the first continuation operation position is adopted as the degree of change of the first continuation operation position from the first start position P10. I can not. For example, the remote CPU 33 may determine the remote control mode of the forklift 20 based on the slide movement speed from the first start position P10 to the first continuous operation position. For example, in the traveling mode, the remote CPU 33 may set the acceleration to be larger as the slide movement speed is higher. The same applies to the cargo handling mode and the second embodiment.
　○　第１開始操作及び第２開始操作の少なくとも一方は、タッチパネル３１に対する入力操作以外の操作であってもよい。
　例えば、遠隔操作装置３０に操作ボタンが設けられている場合には第２開始操作は、操作ボタンを操作することでもよい。この場合、遠隔操作装置３０は、操作把握部として、操作ボタンの操作の有無を検知する検知部を有しているとよい。遠隔操作が開始されたときの第２開始操作から継続される第２継続操作とは、遠隔操作が開始されたときから引き続き上記操作ボタンを操作し続けることである。また、遠隔操作装置３０の裏面に指を検知する指検知センサが設けられている構成においては、第２開始操作は、当該指検知センサを触ることでもよい。なお、操作ボタンは、開始操作及び継続操作のために用いられる専用ボタンでもよいし、他の用途にも用いられるボタンでもよい。 ○ At least one of the first start operation and the second start operation may be an operation other than the input operation on the touch panel 31.
For example, when the remote control device 30 is provided with an operation button, the second start operation may be to operate the operation button. In this case, 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. In the configuration in which 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.
　○　上記のように、第２開始操作としてタッチパネル３１に対する入力操作以外の操作が採用されている場合には、第１開始操作は、タッチパネル３１全体のうちいずれかに対する入力操作であってもよい。すなわち、「特定領域」とは、タッチパネル３１の全体を含む。また、かかる別例においては、第１継続操作は、（Ａ）及び（Ｃ）の条件を満たす操作であってもよい。 (Circle) as above-mentioned, when operation other than input operation with respect to the touch panel 31 is employ | adopted as 2nd start operation, 1st start operation may be input operation with respect to either of the touch panels 31 whole. That is, the “specific region” includes the entire touch panel 31. Further, in such another example, the first continuation operation may be an operation satisfying the conditions of (A) and (C).
　○　第１継続操作は、第１領域Ａ１，Ａ１１内に対する入力操作に限定してもよい。詳細には、リモートＣＰＵ３３は、第１継続操作位置が第１領域Ａ１，Ａ１１外である場合に第１継続操作が行われていないと判定してもよい。 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.
　○　操作画像Ｇ１０の具体的なレイアウトについては任意であり、必要に応じて適宜変更してもよい。
　例えば、第１領域Ａ１，Ａ１１と第２領域Ａ２，Ａ１２とを入れ替えてもよい。この場合、第１実施形態においては、右手の操作によってフォークリフト２０に所望の動作を行わせることができる。 The specific layout of the operation image G10 is arbitrary, and may be changed as appropriate.
For example, the first areas A1 and A11 and the second areas A2 and A12 may be interchanged. In this case, in the first embodiment, the forklift 20 can perform a desired operation by the operation of the right hand.
　また、第１領域Ａ１，Ａ１１と第２領域Ａ２，Ａ１２とは短手方向に離間して配置されていてもよいし、両者が離間することなく連続していてもよい。但し、両手で操作させることを促す観点に着目すれば、両者は離間していた方が好ましい。 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.
　また、第１領域Ａ１，Ａ１１内に表示される画像は、操作モードに関わらず同一であってもよい。
　○　第１実施形態において、第２継続操作は、第２領域Ａ２の内外に関わらず、遠隔操作が開始されたときの第２開始操作（第２領域Ａ２内に対する入力操作）から継続されるタッチパネル３１に対する入力操作でもよい。換言すれば、第２操作は、遠隔操作が開始されるまでは第２領域Ａ２内に制限され、遠隔操作が開始されてからは第２領域Ａ２内に制限されないタッチパネル３１に対する一連の入力操作でもよい。 Further, the images displayed in the first areas A1 and A11 may be the same regardless of the operation mode.
In the first embodiment, the second 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. In other words, 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.
　○　リモートＣＰＵ３３は、操作モードとして走行モードと荷役モードとを有し、フォークリフト２０の走行制御とフォーク２２の制御とを同時に行うことができないように構成されていたが、これに限られない。例えば、リモートＣＰＵ３３は、フォークリフト２０の走行制御とフォーク２２の制御とを同時に行うことができるように構成されていてもよい。すなわち、両モードは必須ではない。 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. For example, 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.
　具体的には、リモートＣＰＵ３３は、操作画像Ｇ１０に、走行に関する操作アイコンとフォーク２２の制御に関する操作アイコンとを表示させ、これらの操作アイコンに対する入力操作に対応する遠隔操作信号ＳＧ１を送信してもよい。 Specifically, 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.
　但し、操作の複雑化に伴う誤操作などを抑制する点に着目すれば、リモートＣＰＵ３３は、フォークリフト２０の走行制御とフォーク２２の制御とを同時に行うことができないように構成されていた方が好ましい。 However, it is preferable that 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.
　○　また、遠隔操作装置３０は、フォークリフト２０の走行とフォーク２２の各動作とのうち所望の動作を１つ又は複数選択し、選択された動作が同時に実行可能に構成されていてもよい。 In addition, 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.
　具体的には、リモートＣＰＵ３３は、走行、リフト動作、リーチ動作及びチルト動作のうち１つ又は複数を選択させる選択画像を表示させる。そして、走行とリフト動作とが選択された場合には、リモートＣＰＵ３３は、第１開始位置Ｐ１０からの第１継続操作位置の変化の度合いに基づいて走行に関する遠隔操作を行い、第２開始位置Ｐ２０からの前記第２継続操作位置の変化の度合いとに基づいて、リフト動作の遠隔操作を行う構成でもよい。 Specifically, 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 on traveling based on the degree of change of the first continuous operation position from the first start position P10, and the second start position P20. The remote control of the lift operation may be performed based on the degree of change of the second continuous operation position from the above.
　○　各実施形態では、タッチパネル３１の短手方向における第１開始位置Ｐ１０と第１継続操作位置との距離が大きくなるほど、走行速度、ストローク量又は傾斜角度が大きくなる構成であったが、これに限られない。フォークリフト２０の遠隔操作態様は、第１開始位置Ｐ１０と第１継続操作位置との相対位置に応じて制御されればよく、その具体的な設定態様については任意である。 In each embodiment, as the distance between the first start position P10 and the first continuous operation position in the lateral direction of the touch panel 31 increases, the travel speed, the stroke amount, or the inclination angle increases. It is not limited. The remote control mode of the forklift 20 may be controlled according to the relative position between the first start position P10 and the first continuous operation position, and the specific setting mode is arbitrary.
　○　第１実施形態において、リモートＣＰＵ３３は、タッチパネル３１の長手方向における第１開始位置Ｐ１０からのスライド操作方向及び当該長手方向における第１開始位置Ｐ１０と第１継続操作位置との距離に基づいて操舵角を決定してもよい。この場合、リモートＣＰＵ３３は、第１回転操作に基づいて操舵角を決定しなくてもよい。 In the first embodiment, the remote CPU 33 steers based on the slide operation direction from the first start position P10 in the longitudinal direction of the touch panel 31 and the distance between the first start position P10 and the first continuous operation position in the longitudinal direction. The corners may be determined. In this case, the remote CPU 33 may not determine the steering angle based on the first rotation operation.
　○　操作モード切替条件は、停止中モードである状況において切替操作が行われることであったが、これに限られない。例えば、操作モード切替条件は、制御モードに関わらず切替操作が行われることでもよい。 The operation mode switching condition is that the switching operation is performed in the stop mode, but is not limited thereto. For example, the operation mode switching condition may be that the switching operation is performed regardless of the control mode.
　○　また、切替操作は、各モード設定領域Ａ３，Ａ４，Ａ２１，Ａ２２に対する入力操作に限られず任意であり、例えば遠隔操作装置３０に操作モードの切替用ボタンが設けられている場合には当該切替用ボタンを操作することでもよいし、第２回転操作でもよい。 In addition, the switching operation is not limited to the input operation to each mode setting area A3, A4, A21, A22, and is arbitrary. For example, when the remote control device 30 is provided with a switching button for the operation mode, the switching Alternatively, the second rotation operation may be performed.
　○　リモートＣＰＵ３３は、両開始操作と切替操作との双方が行われたと把握した場合には、誤操作が行われていると判断して、操作モードの切り替え、及び、停止中モードから操作モードへの制御モードの移行の双方を禁止してもよい。 If 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.
　○　遠隔操作信号ＳＧ１では、操作対象以外の情報については「０」が設定される構成であったが、これに限られず、例えば「ｎｕｌｌ」であってもよい。
　○　第１実施形態において、リモートＣＰＵ３３は、強制停止モード中に両開始操作が行われることに基づいて、制御モードを強制停止モードから操作モードに移行させてもよい。これにより、強制停止に係る制御が中止して、遠隔操作が再開される。 In the remote control signal SG1, "0" is set for information other than the operation target. However, the present invention is not limited to this. For example, "null" may be used.
In the first embodiment, 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.
　○　産業車両用遠隔操作システム１０において遠隔操作装置３０による遠隔操作を停止するための具体的な処理構成は任意である。例えば、第１及び第２実施形態のように、遠隔操作装置３０が当該遠隔操作装置３０に対する操作に関わらず停止に係る遠隔操作信号ＳＧ１を送信する構成でもよいし、フォークリフト２０が遠隔操作信号ＳＧ１に基づく動作を行わないように構成されていてもよいし、それ以外でもよい。 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. For example, as in the first and second embodiments, the remote control device 30 may transmit the remote control signal SG1 related to stop regardless of the operation to the remote control device 30, or the forklift 20 may transmit the remote control signal SG1. It may be configured not to perform an operation based on or other than that.
　○　産業車両は、フォークリフト２０に限られず任意であり、例えば無人搬送車などであってもよい。また、走行以外の駆動対象物を有しない産業車両であってもよい。すなわち、走行とは異なる動作に用いられる動作駆動部は必須ではない。 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.
　○　両通信部２８，３６間の通信方式は、無線通信に限られず有線通信であってもよい。
　○　姿勢検知部３５は、遠隔操作装置３０の厚さ方向が鉛直方向と交差又は直交している状態において第１回転操作を検知する一方、遠隔操作装置３０の厚さ方向が鉛直方向と
一致している状態では第１回転操作を検知しないものであってもよい。通常、タッチパネル３１を視認するべく両手で遠隔操作装置３０を把持した場合には、自ずと遠隔操作装置３０の厚さ方向が鉛直方向と交差又は直交している状態となり易い。このため、遠隔操作装置３０の厚さ方向が鉛直方向と一致している状態において第１回転操作が検知されなくても、問題が生じにくい。 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. In general, when the remote control device 30 is gripped with both hands so as to visually recognize the touch panel 31, 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.
　○　リモートＣＰＵ３３が、タッチパネル３１の表示制御と、フォークリフト２０の遠隔操作制御との双方を実行する構成であったが、これに限られず、リモートＣＰＵ３３とは別に、タッチパネル３１の表示制御を行う別の制御部（ＣＰＵ）が設けられていてもよい。要は、遠隔操作装置３０が全体として表示制御と遠隔操作制御とを実行するように構成されていればよい。 ○ Although 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.
　○　産業車両用遠隔操作システム１０は、遠隔操作プログラム４０の起動中、常時遠隔操作が可能な状態となっていてもよいし、両継続操作の少なくとも一方が行われなくなったことに基づいて強制停止制御を実行しなくてもよい。すなわち、停止中モード及び強制停止モードを省略してもよい。要は、「遠隔操作制御部」は必須ではない。 ○ 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. The point is that the "remote control unit" is not essential.
　○　遠隔操作プログラム４０は、車両メモリ２６に記憶されていてもよい。この場合、リモートＣＰＵ３３は、遠隔操作装置３０に対する各種操作に関する情報（例えば遠隔操作装置３０の姿勢やタッチパネル３１に対する入力操作位置に関する情報）が設定された操作信号を車両通信部２８に向けて定期的に送信する。車両ＣＰＵ２５は、上記操作信号に基づいて遠隔操作制御処理を実行することにより、遠隔操作態様及び制御モードを決定し、各アクチュエータ２３，２４を制御したり、決定された制御モード情報が設定された信号を遠隔操作装置３０に向けて送信することにより遠隔操作装置３０を制御したりしてもよい。かかる構成においては、車両ＣＰＵ２５が「設定部」、「決定部」及び「実行部」に対応する。なお、上記操作信号に基づいて遠隔操作態様及び制御モードを決定する具体的な構成は、第１実施形態等で説明したとおりである。 The remote control program 40 may be stored in the vehicle memory 26. In this case, 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. In such a configuration, the vehicle CPU 25 corresponds to the “setting unit”, the “determining unit”, and the “execution unit”. The specific configuration for determining the remote control mode and the control mode based on the operation signal is as described in the first embodiment and the like.
　○　各実施形態と各別例とを適宜組み合わせてもよい。 The embodiments and other examples may be combined as appropriate.
　１０　　産業車両用遠隔操作システム
　２０　　フォークリフト（産業車両）
　２２　　フォーク
　２３　　走行アクチュエータ
　２４　　荷役アクチュエータ
　２５　　車両ＣＰＵ
　２８　　車両通信部
　２９　　信号変換部
　３０　　遠隔操作装置
　３１　　タッチパネル
　３２　　タッチセンサ
　３３　　リモートＣＰＵ
　３５　　姿勢検知部
　３６　　リモート通信部
　４０　　遠隔操作プログラム（産業車両用遠隔操作プログラム）
　４１　　遠隔操作制御処理実行プログラム
　Ｐ１０　　第１開始位置（遠隔操作が開始されたときの第１開始操作の位置）
　Ｐ２０　　第２開始位置（遠隔操作が開始されたときの第２開始操作の位置）
　Ｇ１０　　操作画像
　Ａ１，Ａ１１　　第１領域（特定領域）
　Ａ２，Ａ１２　　第２領域
　Ａ３，Ａ２１　　走行モード設定領域
　Ａ４，Ａ２２　　荷役モード設定領域
　ＳＧ１　　遠隔操作信号

  10 Industrial Vehicle Remote Control System 20 Forklift (Industrial Vehicle)
22 fork 23 traveling actuator 24 cargo handling actuator 25 vehicle CPU
28 Vehicle communication unit 29 Signal conversion unit 30 Remote control device 31 Touch panel 32 Touch sensor 33 Remote CPU
35 posture detection unit 36 remote communication unit 40 remote control program (remote control program for industrial vehicle)
41 Remote operation control processing execution program P10 First start position (position of the first start operation when remote control is started)
P20 2nd start position (position of 2nd start operation when remote control is started)
G10 Operation image A1, A11 First area (specified area)
A2, A12 Second area A3, A21 Travel mode setting area A4, A22 Cargo handling mode setting area SG1 Remote control signal

Claims (20)

  1. 　車両通信部を有する産業車両と、
    　前記車両通信部と無線通信を行うリモート通信部を有し、前記産業車両を遠隔操作するのに用いられる遠隔操作装置と、
    　前記遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、
    　前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部と、
    　前記決定部によって決定された遠隔操作態様で前記産業車両を遠隔操作する実行部と、
    を備えていることを特徴とする産業車両用遠隔操作システム。     An industrial vehicle having a vehicle communication unit;
    A remote control device that has a remote communication unit that performs wireless communication with the vehicle communication unit, and is used to remotely control the industrial vehicle;
    A setting unit configured to set a reference position of the operation of the remote control device based on the reference setting operation being performed on the remote control device;
    A determination unit that determines a remote control mode of the industrial vehicle based on the degree of change from the reference position;
    An execution unit for remotely operating the industrial vehicle in the remote control mode determined by the determination unit;
    A remote control system for industrial vehicles, comprising:
  2. 　前記遠隔操作装置は、当該遠隔操作装置の姿勢を検知する姿勢検知部を有し、
    　前記設定部は、前記遠隔操作装置に対して前記基準設定操作が行われた場合に、前記姿勢検知部の検知結果に基づいて、前記基準位置の一種である基準姿勢として、前記基準設定操作が行われたときの前記遠隔操作装置の姿勢を設定する基準姿勢設定部を備え、
    　前記決定部は、前記基準姿勢からの前記遠隔操作装置の姿勢の変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する姿勢対応決定部を備えている請求項１に記載の産業車両用遠隔操作システム。     The remote control device has a posture detection unit that detects the posture of the remote control device.
    When the reference setting operation is performed on the remote control device, the setting unit sets the reference setting operation as a reference posture, which is a type of the reference position, based on the detection result of the posture detection unit. A reference attitude setting unit configured to set an attitude of the remote control when being performed;
    The industrial vehicle according to claim 1, wherein the determination unit includes a posture correspondence determination unit that determines a remote control mode of the industrial vehicle based on a degree of change of the posture of the remote control from the reference posture. Remote control system.
  3. 　前記姿勢検知部は、特定回転方向における前記遠隔操作装置の回転位置を検知するものであり、
    　前記基準姿勢設定部は、前記基準姿勢の一種である基準回転位置として、前記基準設定操作が行われたときの前記特定回転方向における前記遠隔操作装置の回転位置を設定し、
    　前記姿勢対応決定部は、前記特定回転方向における前記基準回転位置からの前記遠隔操作装置の回転位置の変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する請求項２に記載の産業車両用遠隔操作システム。     The attitude detection unit detects a rotational position of the remote control device in a specific rotational direction,
    The reference posture setting unit sets a rotational position of the remote control device in the specific rotation direction when the reference setting operation is performed, as a reference rotational position which is a kind of the reference posture.
    The industry according to claim 2, wherein the posture correspondence determination unit determines the remote control mode of the industrial vehicle based on the degree of change of the rotational position of the remote control from the reference rotational position in the specific rotation direction. Remote control system for vehicles.
  4. 　前記姿勢対応決定部は、前記特定回転方向における前記基準回転位置からの前記遠隔操作装置の回転位置の変化の度合いに基づいて、前記産業車両の遠隔操作態様として前記産業車両の操舵角を決定する請求項３に記載の産業車両用遠隔操作システム。 The posture correspondence determination unit determines a steering angle of the industrial vehicle as a remote control mode of the industrial vehicle based on the degree of change of the rotational position of the remote control from the reference rotational position in the specific rotation direction. The industrial vehicle remote control system according to claim 3.
  5. 　前記遠隔操作装置は板状であり、
    　前記特定回転方向は、前記遠隔操作装置の厚さ方向を回転軸とする回転方向である請求項４に記載の産業車両用遠隔操作システム。     The remote control device is plate-shaped,
    The industrial vehicle remote control system according to claim 4, wherein the specific rotation direction is a rotation direction whose rotation axis is the thickness direction of the remote control device.
  6. 　前記遠隔操作装置は、
    　タッチパネルと、
    　前記タッチパネルに対する入力操作を検知するタッチセンサと、
    を備え、
    　前記基準設定操作は、前記タッチパネルに対して入力操作が行われることである請求項１～５のうちいずれか一項に記載の産業車両用遠隔操作システム。     The remote control device is
    Touch panel,
    A touch sensor that detects an input operation on the touch panel;
    Equipped with
    The industrial vehicle remote control system according to any one of claims 1 to 5, wherein the reference setting operation is that an input operation is performed on the touch panel.
  7. 　前記タッチパネルに対して入力操作が行われている位置を入力操作位置とすると、
    　前記設定部は、前記遠隔操作装置に対して前記基準設定操作が行われた場合に、前記タッチセンサの検知結果に基づいて、前記基準位置の一種である基準入力位置として、前記基準設定操作が行われたときにおける前記入力操作位置を設定する基準入力位置設定部を備え、
    　前記決定部は、前記基準入力位置からの前記入力操作位置の変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定するパネル対応決定部を備えている請求項６に記載の産業車両用遠隔操作システム。     Assuming that the position where the input operation is performed on the touch panel is the input operation position:
    When the reference setting operation is performed on the remote control device, the setting unit sets the reference setting operation as a reference input position, which is a type of the reference position, based on a detection result of the touch sensor. And a reference input position setting unit configured to set the input operation position at the time of being performed,
    The industrial vehicle according to claim 6, wherein the determination unit includes a panel correspondence determination unit that determines a remote control mode of the industrial vehicle based on a degree of change of the input operation position from the reference input position. Remote control system.
  8. 　前記パネル対応決定部は、前記基準入力位置からの前記入力操作位置の変化の度合いとして、前記基準入力位置と前記入力操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様を決定する請求項７に記載の産業車両用遠隔操作システム。 The panel correspondence determining unit determines the remote control mode of the industrial vehicle based on the relative position of the reference input position and the input operation position as the degree of change of the input operation position from the reference input position. The industrial vehicle remote control system according to claim 7.
  9. 　前記パネル対応決定部は、前記基準入力位置と前記入力操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様として前記産業車両の走行速度を決定する請求項８に記載の産業車両用遠隔操作システム。 9. The industrial vehicle according to claim 8, wherein the panel correspondence determining unit determines a traveling speed of the industrial vehicle as a remote control mode of the industrial vehicle based on a relative position between the reference input position and the input operation position. Remote control system.
  10. 　前記産業車両は、フォークを有するフォークリフトであり、
    　前記パネル対応決定部は、前記基準入力位置と前記入力操作位置との相対位置に基づいて、前記フォークリフトの遠隔操作態様として前記フォークの動作態様を決定する請求項８に記載の産業車両用遠隔操作システム。     The industrial vehicle is a forklift having a fork,
    The remote control according to claim 8, wherein the panel correspondence determining unit determines an operation mode of the fork as a remote control mode of the forklift based on a relative position between the reference input position and the input operation position. system.
  11. 　前記タッチパネルに対して、遠隔操作が開始される開始操作と当該開始操作から継続される継続操作とによって構成される一連の入力操作が行われた場合には、前記基準入力位置設定部は、前記基準設定操作としての前記開始操作が行われたことに基づいて、前記基準入力位置として、前記開始操作が行われた位置である開始位置を設定し、前記パネル対応決定部は、前記開始位置と前記継続操作が行われている位置である継続操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様を決定する請求項７～１０のうちいずれか一項に記載の産業車両用遠隔操作システム。 When a series of input operations including a start operation for starting a remote operation and a continuation operation continued from the start operation are performed on the touch panel, the reference input position setting unit is configured to: The start position, which is the position at which the start operation has been performed, is set as the reference input position based on the start operation being performed as the reference setting operation, and the panel correspondence determination unit The remote control mode for the industrial vehicle according to any one of claims 7 to 10, wherein the remote control mode of the industrial vehicle is determined based on a relative position to the continuous operation position which is the position where the continuous operation is performed. Operation system.
  12. 　前記タッチパネルに対する入力操作である第１開始操作及び第２開始操作の双方が前記遠隔操作装置に対して行われることに基づいて前記産業車両の遠隔操作を開始し、前記産業車両の遠隔操作の開始後は、遠隔操作が開始されたときの前記第１開始操作から継続される第１継続操作、及び、遠隔操作が開始されたときの前記第２開始操作から継続される第２継続操作の双方が行われている場合に前記産業車両の遠隔操作を継続する遠隔操作制御部を備え、
    　前記基準入力位置設定部は、前記基準設定操作としての前記第１開始操作及び前記第２開始操作の双方が行われたことを契機として、前記第１開始操作及び前記第２開始操作の双方が行われた時点において前記第１開始操作が行われている位置である第１開始位置を前記基準入力位置として設定し、
    　前記パネル対応決定部は、前記第１開始位置と前記第１継続操作が行われている位置である第１継続操作位置との相対位置に基づいて、前記産業車両の遠隔操作態様を決定する請求項７～１０のうちいずれか一項に記載の産業車両用遠隔操作システム。     The remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation which are input operations on the touch panel are performed on the remote control device, and the remote control of the industrial vehicle is started. After that, both the first continuation operation continued from the first start operation when the remote control is started and the second continuation operation continued from the second start operation when the remote control is started A remote control unit for continuing remote control of the industrial vehicle when
    The reference input position setting unit is triggered by both of the first start operation and the second start operation as the reference setting operation, and both the first start operation and the second start operation are performed. A first start position, which is a position at which the first start operation is performed at the time when the operation is performed, is set as the reference input position.
    The panel correspondence determination unit determines the remote control mode of the industrial vehicle based on a relative position between the first start position and a first continuous operation position which is a position at which the first continuous operation is performed. The remote control system for industrial vehicles according to any one of Items 7 to 10.
  13. 　前記第１開始操作は、前記タッチパネルの特定領域内に対する入力操作であり、
    　前記第１継続操作は、前記特定領域の内外に関わらず、遠隔操作が開始されたときの前記第１開始操作から継続される前記タッチパネルへの入力操作である請求項１２に記載の産業車両用遠隔操作システム。     The first start operation is an input operation to a specific area of the touch panel,
    The industrial vehicle according to claim 12, wherein 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 specific area. Remote control system.
  14. 　前記タッチパネルに対する入力操作である第１開始操作及び第２開始操作の双方が前記遠隔操作装置に対して行われることに基づいて前記産業車両の遠隔操作を開始し、前記産業車両の遠隔操作の開始後は、遠隔操作が開始されたときの前記第１開始操作から継続される第１継続操作、及び、遠隔操作が開始されたときの前記第２開始操作から継続される第２継続操作の双方が行われている場合に前記産業車両の遠隔操作を継続する遠隔操作制御部を備え、
    　前記基準入力位置設定部は、前記基準設定操作としての前記第１開始操作及び前記第２開始操作の双方が行われたことを契機として、前記第１開始操作及び前記第２開始操作の双方が行われた時点において前記第１開始操作及び前記第２開始操作が行われている位置である第１開始位置及び第２開始位置を前記基準入力位置として設定し、
    　前記パネル対応決定部は、前記第１開始位置と前記第１継続操作が行われている位置である第１継続操作位置との相対位置、及び、前記第２開始位置と前記第２継続操作が行われている位置である第２継続操作位置との相対位置の双方に基づいて、前記産業車両の遠隔操作態様を決定する請求項７～１０のうちいずれか一項に記載の産業車両用遠隔操作システム。     The remote control of the industrial vehicle is started based on the fact that both the first start operation and the second start operation which are input operations on the touch panel are performed on the remote control device, and the remote control of the industrial vehicle is started. After that, both the first continuation operation continued from the first start operation when the remote control is started and the second continuation operation continued from the second start operation when the remote control is started A remote control unit for continuing remote control of the industrial vehicle when
    The reference input position setting unit is triggered by both of the first start operation and the second start operation as the reference setting operation, and both the first start operation and the second start operation are performed. A first start position and a second start position, which are positions at which the first start operation and the second start operation are performed at the time when the operation is performed, are set as the reference input position.
    The panel correspondence determining unit includes a relative position between the first start position and a first continuous operation position at which the first continuous operation is performed, and the second start position and the second continuous operation. The remote control mode for an industrial vehicle according to any one of claims 7 to 10, wherein the remote control mode of the industrial vehicle is determined based on both of the relative position to the second continuous operation position which is a position being performed. Operation system.
  15. 　前記第１開始操作は、前記タッチパネルの第１領域内に対する入力操作であり、
    　前記第１継続操作は、前記第１領域の内外に関わらず、遠隔操作が開始されたときの前記第１開始操作から継続される前記タッチパネルへの入力操作であり、
    　前記第２開始操作は、前記タッチパネルのうち前記第１領域とは異なる第２領域内に対する入力操作であり、
    　前記第２継続操作は、前記第２領域の内外に関わらず、遠隔操作が開始されたときの前記第２開始操作から継続される前記タッチパネルへの入力操作である請求項１４に記載の産業車両用遠隔操作システム。     The first start operation is an input operation to a first area of the touch panel,
    The first continuous operation is an input operation to the touch panel continued from the first start operation when remote control is started, regardless of whether inside or outside the first area,
    The second start operation is an input operation to a second area of the touch panel which is different from the first area,
    The industrial vehicle according to claim 14, wherein the second continuous operation is an input operation to the touch panel continued from the second start operation when remote control is started regardless of inside or outside of the second region. Remote control system.
  16. 　前記遠隔操作装置は、スマートフォン又はタブレット端末である請求項１～１５のうちいずれか一項に記載の産業車両用遠隔操作システム。 The industrial vehicle remote control system according to any one of claims 1 to 15, wherein the remote control device is a smartphone or a tablet terminal.
  17. 　車両通信部を有する産業車両を遠隔操作するのに用いられる遠隔操作装置であって、
    　前記車両通信部と無線通信を行うリモート通信部と、
    　基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、
    　前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部と、
    を備えていることを特徴とする遠隔操作装置。     A remote control device used to remotely control an industrial vehicle having a vehicle communication unit, comprising:
    A remote communication unit that performs wireless communication with the vehicle communication unit;
    A setting unit configured to set a reference position of the operation of the remote control device based on the reference setting operation being performed;
    A determination unit that determines a remote control mode of the industrial vehicle based on the degree of change from the reference position;
    The remote control device characterized by having.
  18. 　産業車両に設けられた車両通信部と無線通信を行うリモート通信部を備えた遠隔操作装置を用いて前記産業車両を遠隔操作するための産業車両用遠隔操作プログラムであって、
    　前記遠隔操作装置を、
    　当該遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、
    　前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部として機能させることを特徴とする産業車両用遠隔操作プログラム。     An industrial vehicle remote control program for remotely operating the industrial vehicle using a remote control device provided with a remote communication unit configured to wirelessly communicate with a vehicle communication unit provided in the industrial vehicle.
    The remote control device
    A setting unit configured to set a reference position of the operation of the remote control device based on the reference setting operation being performed on the remote control device;
    A remote control program for an industrial vehicle, which functions as a determination unit that determines a remote control mode of the industrial vehicle based on the degree of change from the reference position.
  19. 　産業車両に設けられた車両通信部と無線通信を行うリモート通信部を備えた遠隔操作装置を用いて前記産業車両を遠隔操作する産業車両用遠隔操作方法であって、
    　前記遠隔操作装置又は前記産業車両が、前記遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定ステップと、
    　前記遠隔操作装置又は前記産業車両が、前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定ステップと、
    　前記遠隔操作装置又は前記産業車両が、前記決定ステップによって決定された遠隔操作態様で前記産業車両を遠隔操作する実行ステップと、
    を備えていることを特徴とする産業車両用遠隔操作方法。     An industrial vehicle remote control method for remotely operating the industrial vehicle using a remote control device including a remote communication unit configured to wirelessly communicate with a vehicle communication unit provided in the industrial vehicle.
    A setting step of setting the reference position of the operation of the remote control device based on the reference setting operation performed on the remote control device by the remote control device or the industrial vehicle;
    A determination step of determining the remote control mode of the industrial vehicle based on the degree of change from the reference position by the remote control device or the industrial vehicle;
    An execution step of the remote control device or the industrial vehicle remotely operating the industrial vehicle in the remote control mode determined by the determining step;
    An industrial vehicle remote control method comprising:
  20. 　遠隔操作装置に設けられたリモート通信部と無線通信を行う車両通信部を備え、前記遠隔操作装置によって遠隔操作される産業車両であって、
    　前記遠隔操作装置に対して基準設定操作が行われたことに基づいて、前記遠隔操作装置の操作の基準位置を設定する設定部と、
    　前記基準位置からの変化の度合いに基づいて、前記産業車両の遠隔操作態様を決定する決定部と、
    　前記決定部によって決定された遠隔操作態様で前記産業車両を遠隔操作する実行部と、
    を備えていることを特徴とする産業車両。     An industrial vehicle that includes a vehicle communication unit that performs wireless communication with a remote communication unit provided in a remote control device, and is remotely controlled by the remote control device,
    A setting unit configured to set a reference position of the operation of the remote control device based on the reference setting operation being performed on the remote control device;
    A determination unit that determines a remote control mode of the industrial vehicle based on the degree of change from the reference position;
    An execution unit for remotely operating the industrial vehicle in the remote control mode determined by the determination unit;
    An industrial vehicle characterized by comprising:
PCT/JP2018/038635 2017-10-23 2018-10-17 Remote operation system for industrial vehicle, remote operation device, remote operation program for industrial vehicle, remote operation method for industrial vehicle and industrial vehicle WO2019082761A1 (en)

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