WO2019082761A1 - Système de commande à distance pour véhicule industriel, dispositif de commande à distance, programme de commande à distance pour véhicule industriel, procédé de commande à distance pour véhicule industriel et véhicule industriel - Google Patents

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

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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
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WO
WIPO (PCT)
Prior art keywords
remote control
mode
industrial vehicle
remote
control device
Prior art date
Application number
PCT/JP2018/038635
Other languages
English (en)
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/fr

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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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de commande à distance pour un véhicule industriel comprenant : un chariot élévateur à fourche ayant une unité de communication de véhicule; un dispositif de commande à distance ayant une unité de communication à distance pour effectuer une communication radio avec l'unité de communication de véhicule; et une unité centrale distante qui commande le fonctionnement à distance d'un chariot élévateur à fourche à l'aide du dispositif de commande à distance. L'unité centrale distante commence la commande à distance du chariot élévateur à fourche sur la base du fait qu'à la fois une première opération de démarrage et une seconde opération de démarrage ont été effectuées. Ensuite, l'unité centrale distante règle la position de référence de la commande du dispositif de commande à distance sur la base du fait que les deux opérations de démarrage ont été effectuées et détermine le mode de commande à distance du chariot élévateur à fourche sur la base du degré de changement par rapport à la position de référence.
PCT/JP2018/038635 2017-10-23 2018-10-17 Système de commande à distance pour véhicule industriel, dispositif de commande à distance, programme de commande à distance pour véhicule industriel, procédé de commande à distance pour véhicule industriel et véhicule industriel WO2019082761A1 (fr)

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JP2017-204623 2017-10-23
JP2017204623A JP6791094B2 (ja) 2017-10-23 2017-10-23 産業車両用遠隔操作システム、遠隔操作装置、産業車両用遠隔操作プログラム、産業車両用遠隔操作方法及び産業車両

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WO2014128784A1 (fr) * 2013-02-20 2014-08-28 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ Programme et procédé pour commander un terminal d'informations portatif
JP2014213956A (ja) * 2013-04-22 2014-11-17 ニチユ三菱フォークリフト株式会社 荷役車両及び荷役車両制御システム
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JP2017123148A (ja) * 2015-10-19 2017-07-13 パロット ドローンズ 操縦コマンドを保持するようになっているドローン操縦装置及び関連する制御方法
JP2017157195A (ja) * 2016-12-19 2017-09-07 望月 玲於奈 ユーザーインターフェースプログラム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012198883A (ja) * 2011-03-08 2012-10-18 Parrot 曲線ターンを辿るように複数のローターを有する回転翼無人機を操縦する方法
JP2012236700A (ja) * 2011-05-13 2012-12-06 Nippon Yusoki Co Ltd フォークリフト
JP2012254839A (ja) * 2011-06-08 2012-12-27 Nippon Yusoki Co Ltd フォークリフト
JP2013097519A (ja) * 2011-10-31 2013-05-20 Denso Corp 車両用タッチ式操作入力装置
WO2014128784A1 (fr) * 2013-02-20 2014-08-28 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ Programme et procédé pour commander un terminal d'informations portatif
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JP2017123148A (ja) * 2015-10-19 2017-07-13 パロット ドローンズ 操縦コマンドを保持するようになっているドローン操縦装置及び関連する制御方法
JP2017157195A (ja) * 2016-12-19 2017-09-07 望月 玲於奈 ユーザーインターフェースプログラム

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