Industrial Remote Controller

Abstract

To provide an industrial remote controller capable of preventing a controlled object from vigorously operating even if an operating speed of the controlled object is changed according to an inclination amount of a joystick and quickly performing a slow operation.SOLUTION: A remote controller 30 changes an operating speed of a controlled object (crane 10) according to a tilt amount of a joystick 40 capable of operating a switch 45 with a finger (thumb F), and includes: a tilt detection unit 51 that detects a tilt and the tilt amount of the joystick 40; a pressure detection unit 52 that detects pressure of the joystick 40; a mode switching unit 64 that switches between a first mode 91 at a normal speed and a second mode 92 at a speed lower than the first mode 91 based on pressure information of the pressure detection unit 52; and an operation control unit 65 that controls operations of the controlled object (crane 10) based on tilt information of the tilt detecting unit 51 and switching information of the mode switching unit 64.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an industrial remote controller that changes the operating speed of a controlled object in accordance with the tilt amount of a joystick that can be operated with a finger to operate a switch. [Background technology]

[0002] In recent years, operators have been remotely controlling work machines, such as cranes and aerial work platforms, that have telescopic booms that can be extended and lowered by using industrial remote controllers from a position away from the work machines. Joystick-type industrial remote controllers are known as such industrial remote controllers (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses an operating device for a work machine that is equipped with a joystick that can be tilted in any direction. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-097607 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, industrial remote controllers are used for large industrial machines such as cranes. The operating speed of the industrial machine to be controlled may be changed according to the tilt amount of a joystick provided in such an industrial remote controller. In such a case, the movable stroke of the joystick is short (poor resolution) compared to the speed adjustment range of each actuator of the industrial machine, so there is a problem that the controlled object moves vigorously.

[0006] Therefore, an object of the present invention is to provide an industrial remote controller that can prevent the controlled object from moving forcefully even if the movement speed of the controlled object is changed according to the amount of tilt of the joystick, and can make it easier to perform fine movement operations. [Means for solving the problem]

[0007] To achieve the object, the industrial remote controller of the present invention has a joystick that allows the operation of a switch to be operated by a finger. The direction of movement of the controlled object is determined according to the tilt direction of the joystick. Depending on the amount of fall Control An industrial remote controller that changes the operating speed of a controlled object, comprising: a tilt detection unit that detects the tilt and amount of tilt of the joystick; a pressure detection unit that detects the pressure of the joystick; and a mode switching unit that switches between a first mode in which the operation of the controlled object is controlled at a normal speed and a second mode in which the operation of the controlled object is controlled at a speed slower than that of the first mode based on pressure information from the pressure detection unit; and an operation control unit that controls the operation of the controlled object based on the tilt information from the tilt detection unit and switching information from the mode switching unit. Effect of the Invention

[0008] The industrial remote controller of the present invention configured in this manner can prevent the controlled object from moving violently even if the movement speed of the controlled object is changed in accordance with the amount of tilt of the joystick, making it easier to perform fine movement operations. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a crane of a first embodiment. [Diagram 2] FIG. 2 is a perspective view showing the remote controller of the first embodiment. [Diagram 3] 2 is a cross-sectional view showing the periphery of a joystick of the remote controller of the first embodiment. [Figure 4] 2 is a block diagram showing a functional configuration of the remote controller according to the first embodiment. FIG. [Diagram 5] 4 is a graph showing the relationship between the operation mode of the remote controller and the flow rate in the first embodiment. [Figure 6] 4 is a flowchart showing a flow of processing by a control unit in the first embodiment. [Figure 7] 7A and 7B are diagrams for explaining a method of operating the joystick of Example 1, in which FIG. 7A is a cross-sectional view showing the initial state and the pressed state, and FIG. 7B is a cross-sectional view showing the pressed state and the tilted state. [Figure 8] 10 is a flowchart showing a flow of processing by a control unit according to a second embodiment. [Figure 9] 9A and 9B are diagrams for explaining a method of operating a joystick in accordance with a second embodiment, in which FIG. 9A is a cross-sectional view showing an initial state and a pressed state, and FIG. 9B is a cross-sectional view showing the initial state and a tilted state. [Figure 10] 11 is a flowchart showing a flow of processing by a control unit according to a third embodiment. [Figure 11] 11A and 11B are diagrams for explaining a method of operating a joystick in Example 3, in which FIG. 11A is a cross-sectional view showing an initial state and a tilted state, and FIG. 11B is a cross-sectional view showing a tilted state and a pressed state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments realizing an industrial remote controller according to the present invention will be described with reference to Examples 1 to 3 shown in the drawings. EXAMPLES

[0011] The industrial remote controller (hereinafter referred to as a remote controller) in the first embodiment is applied to an industrial remote controller for remotely operating a truck crane (hereinafter referred to as a crane).

[0012] [Crane configuration] 1 is a side view showing a crane of Example 1. The following describes the configuration of the crane of Example 1. Note that the front-rear direction of the crane is defined as a front-rear direction D.

[0013] As shown in FIG. 1, the crane 10 comprises a main frame 14 extending in the fore-and-aft direction D and having front wheels 11 and rear wheels 12, 13, a rotating post 15 rotatably mounted on the main frame 14, a telescopic boom 16 mounted on the upper part of the rotating post 15 so as to be able to be raised and lowered, a pair of outrigger devices 17 mounted on both sides of the main frame 14 near the rotating post 15, a cabin 18 mounted on the main frame 14 in front of the rotating post 15, and a cargo bed 20 mounted on the rear side of the cabin 18.

[0014] The rotating post 15 has a pair of opposing holders 21 that hold the telescopic boom 16 so that it can be raised or lowered. The telescopic boom 16 has a base boom 16a, intermediate booms 16b and 16c, and a tip boom 16d.

[0015] A bracket 22 to which a derrick cylinder 23 is attached is attached to the base boom 16a. When the derrick cylinder 23 extends and retracts, the base boom 16a is raised and lowered relative to the swivel post 15. When the swivel post 15 rotates, the telescopic boom 16 rotates.

[0016] The crane 10 is equipped with a number of actuators that drive various parts of the crane 10. The actuators include a hydraulic motor (not shown) that rotates the rotating post 15, a hoisting cylinder 23 that raises and lowers the telescopic boom 16, a telescopic cylinder (not shown) that extends and retracts the telescopic boom 16, and a winch that hoists and retracts the wire (not shown) that suspends the load.

[0017] The crane 10 is provided with an actuator control device 71 that controls the operation of each of the above-mentioned actuators, located near the base end of the rotating post 15. The actuator control device 71 is composed of a computer equipped with a CPU, memory, etc. The actuator control device 71 controls the operation of each actuator by adjusting the flow rate of the hydraulic pump and adjusting the hydraulic valves located in front of the actuators.

[0018] The crane 10 is equipped with a remote controller 30 for giving operation instructions with a finger (e.g., thumb F) to the actuator control device 71. The actuator control device 71 and the remote controller 30 are capable of transmitting and receiving operation instructions and data required for crane work by known wireless communication.

[0019] [Remote controller configuration] Fig. 2 is a perspective view showing the remote controller 30 of the embodiment 1. Fig. 3 is a cross-sectional view showing the periphery of the joystick 40 of the remote controller 30 of the embodiment 1. The configuration of the remote controller 30 of the embodiment 1 will be described below.

[0020] As shown in FIG. 2, the remote controller 30 includes a substantially cylindrical grip portion 31 that is held by an operator, and an operation portion main body 32 provided at one end of the grip portion 31.

[0021] The operation unit main body 32 has a substantially box-shaped housing 33. The housing 33 houses a control unit, various sensors, a battery, etc. (not shown). On the front side of the housing 33, a display unit 34 consisting of a liquid crystal display or the like for displaying images showing the working state of the crane 10, various operation buttons 35 such as a power button and a mode switching button, two joysticks 40 for operating the actuator, etc. are provided. The two joysticks 40 are provided on the front side of the operation unit main body 32, side by side on the left and right at a predetermined interval. The two joysticks 40 are formed to be sized so that the operator can operate them with his or her thumbs (an example of a finger) F.

[0022] The joystick 40 can be moved among a neutral position where the joystick 40 is in a neutral posture, a tilted position where it is tilted from the neutral position, and a pressed position where it is pressed in the axial direction from the neutral position or the tilted position, allowing the thumb F to operate the switch 45.

[0023] 3, a switch 45 is provided inside the housing 33. A lever 45a is provided to protrude upward from the top of the switch 45. A joystick 40 is attached to the lever 45a.

[0024] The lever 45a can be moved from a neutral position to a tilted position in which it can be tilted in all directions. When the tilting force on the lever 45a is released, the lever 45a returns to the neutral position. The lever 45a can be moved from the neutral position or the tilted position to a pressed position in which it is pressed in the axial direction. When the pressing force on the lever 45a is released, the lever 45a returns to the neutral position or the tilted position.

[0025] The switch 45 includes a tilt detection unit 51 and a pressure detection unit 52. The tilt detection unit 51 can be, for example, a tilt sensor. The tilt detection unit 51 detects the tilt and the amount of tilt of the joystick 40 via the lever 45a. The tilt detection unit 51 can detect a position in which the joystick 40 is not tilted via the lever 45a. That is, the tilt detection unit 51 can detect a neutral position of the joystick 40.

[0026] The pressure detection unit 52 may be, for example, a load sensor. The pressure detection unit 52 detects a pressure applied to the joystick 40 in the axial direction via the lever 45a.

[0027] In the remote controller 30 configured as described above, when an operator operates the joystick 40, a signal corresponding to the amount of tilt is input to the control unit. The control unit, which receives this signal, determines the operating speed, operating direction, etc. of each actuator of the crane 10 based on this signal.

[0028] That is, the direction of movement of each actuator of the crane 10 is determined according to the tilt direction of the joystick 40. The speed of movement of each actuator of the crane 10 is determined according to the amount of tilt of the joystick 40.

[0029] [Remote controller function configuration] 4 is a block diagram showing the functional configuration of the remote controller 30 of the embodiment 1. The functional configuration of the remote controller 30 of the embodiment 1 will be described below.

[0030] As shown in FIG. 4, in the remote controller 30, tilt information detected by the tilt detection unit 51 and pressure information detected by the pressure detection unit 52 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the actuator control device 71.

[0031] The tilt detection unit 51 detects the tilt of the joystick 40 via the lever 45a. That is, the tilt detection unit 51 can detect, via the lever 45a, a neutral position in which the joystick 40 is not tilted and a tilted position in which the joystick 40 is tilted from the neutral position. The tilt detection unit 51 also detects the amount of tilt of the joystick 40 via the lever 45a. Tilt information detected by the tilt detection unit 51 is input to the control unit 60.

[0032] The pressure detection unit 52 detects a pressure in the axial direction of the joystick 40 via the lever 45a. Pressing information detected by the pressure detection unit 52 is input to the control unit 60.

[0033] The control unit 60 includes a tilt information acquisition unit 61 , a pressing information acquisition unit 62 , a pressing count calculation unit 63 , a mode switching unit 64 , and an operation control unit 65 .

[0034] The tilt information acquisition unit 61 acquires tilt information detected by the tilt detection unit 51. That is, the tilt information acquisition unit 61 acquires information on the presence or absence of tilt of the joystick 40 and information on the amount of tilt of the joystick 40.

[0035] The pressure information acquisition unit 62 acquires the pressure information detected by the pressure detection unit 52. That is, the pressure information acquisition unit 62 acquires information about the pressure of the joystick 40 in the axial direction.

[0036] The press count calculation unit 63 calculates the number of times the press detection unit 52 has been pressed, based on the press information acquired by the press information acquisition unit 62 .

[0037] The mode switching unit 64 switches between a first mode 91 as an operation mode for controlling the operation of the crane 10 as the control object at a normal speed, and a second mode 92 as an operation mode for controlling the operation of the crane 10 at a speed slower than that of the first mode 91, based on the pressure information of the pressure detection unit 52.

[0038] For example, the mode switching unit 64 can switch between a first mode 91 at a normal speed, a second A mode 92A as a second mode 92 slower than the first mode 91, and a second B mode 92B as a second mode 92 slower than the second A mode 92A, based on the number of presses detected by the press count calculation unit 63. In other words, the mode switching unit 64 can control the motion speed of the control target in the second mode 92 based on the number of presses detected by the press count calculation unit 63.

[0039] When, in the second mode 92, the pressure detection unit 52 detects a release of pressure and the tilt detection unit 51 detects a neutral posture, the mode switching unit 64 switches the driving mode from the second mode 92 to the first mode 91. In other words, when, in the second mode 92, the thumb F that has been operating the joystick 40 is released from the joystick 40, the mode switching unit 64 switches the driving mode from the second mode 92 to the first mode 91.

[0040] The operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 based on the tilt information of the tilt detection unit 51 and the switching information of the mode switching unit 64.

[0041] The actuator control device 71 controls each actuator according to instructions from the operation control section 65 .

[0042] [Relationship between operation mode and flow rate] 5 is a graph showing the relationship between the operation mode and the flow rate of the remote controller 30 of the embodiment 1. Hereinafter, the relationship between the operation mode and the flow rate of the remote controller 30 of the embodiment 1 will be described.

[0043] As shown in FIG. 5, when the pressure detection unit 52 does not detect a pressure (when the number of presses is 0), the mode switching unit 64 sets the operation mode to the first mode 91. In the first mode 91, when the tilt amount of the joystick 40 is 0 [deg] (when the joystick 40 is in a neutral position), the flow rate of the oil driving the actuator is set to 0.0 [L / min]. In the first mode 91, when the tilt amount of the joystick 40 is 6 [deg], the flow rate of the oil driving the actuator is set to 22.5 [L / min]. In the first mode 91, when the tilt amount of the joystick 40 is 11 [deg], the flow rate of the oil driving the actuator is set to 41.3 [L / min]. In the first mode 91, when the tilt amount of the joystick 40 is 16 [deg] (when the joystick 40 is in a full operation position with a maximum stroke), the flow rate of the oil driving the actuator is set to 60.0 [L / min].

[0044] When the pressure detection unit 52 detects one pressure (when the number of pressures is one), the mode switching unit 64 sets the operation mode to the 2A mode 92A. In the 2A mode 92A, when the tilt amount of the joystick 40 is 0 [deg] (when the joystick 40 is in a neutral position), the flow rate of the oil driving the actuator is set to 0.0 [L / min]. In the 2A mode 92A, when the tilt amount of the joystick 40 is 9 [deg], the flow rate of the oil driving the actuator is set to 22.5 [L / min]. In the 2A mode 92A, when the tilt amount of the joystick 40 is 16 [deg] (when the joystick 40 is in a full operation position with a maximum stroke), the flow rate of the oil driving the actuator is set to 40.0 [L / min].

[0045] When the pressure detection unit 52 detects two pressures (when the number of pressures is two), the mode switching unit 64 sets the operation mode to the 2B mode 92B. In the 2B mode 92B, when the tilt amount of the joystick 40 is 0 [deg] (when the joystick 40 is in a neutral position), the flow rate of the oil driving the actuator is set to 0.0 [L / min]. In the 2B mode 92B, when the tilt amount of the joystick 40 is 16 [deg] (when the joystick 40 is in a full operation position with a maximum stroke), the flow rate of the oil driving the actuator is set to 23.0 [L / min].

[0046] When the pressure detection unit 52 detects three or more pressures (when the number of pressures is three or more), the mode switching unit 64 sets the operation mode to the second mode 92B. Note that a reset button for resetting the operation mode to the first mode 91 may be provided.

[0047] With this configuration, when the joystick 40 is pressed once to tilt it to its maximum stroke, the flow rate of oil driving the actuator can be equivalent to that of a tilt operation of about 2 / 3 of the stroke without pressing the joystick 40. When the joystick 40 is pressed twice to tilt it to its maximum stroke, the flow rate of oil driving the actuator can be equivalent to that of a tilt operation of about 1 / 3 of the stroke without pressing the joystick 40.

[0048] That is, the upper limit of the flow rate of oil that drives the actuator can be adjusted by the number of times the joystick 40 is pressed. Therefore, the operating speed of the actuator when the joystick 40 is tilted can be changed by the number of times the joystick 40 is pressed.

[0049] [Processing by the control unit] Fig. 6 is a flowchart showing the flow of processing by the control unit 60 of the first embodiment. Fig. 7 is a diagram for explaining the operation method of the joystick 40 of the first embodiment, Fig. 7(a) is a cross-sectional view showing the initial state and the pressed state, and Fig. 7(b) is a cross-sectional view showing the pressed state and the tilted state. The flow of processing by the control unit 60 of the first embodiment will be described below.

[0050] As shown in FIG. 6, first, the pressure information acquisition unit 62 acquires pressure information in the axial direction of the joystick 40 detected by the pressure detection unit 52 (step S101).

[0051] Next, the tilt information acquisition unit 61 acquires tilt information of the joystick 40 detected by the tilt detection unit 51 (step S102).

[0052] Next, the mode switching unit 64 determines whether or not tilting of the joystick 40 has been detected while detecting the pressing of the joystick 40 (step S103).

[0053] Specifically, as shown in Fig. 7(a), the joystick 40 is operated with the thumb F to move the joystick 40 from an initial position P1 to a pressed position P2 where the joystick 40 is pressed in the axial direction. Next, as shown in Fig. 7(b), when the joystick 40 is moved from the pressed position P2 to a tilted position P3 where the joystick 40 is tilted, the mode switching unit 64 determines that it has detected the tilt of the joystick 40 while detecting the pressing of the joystick 40. In other words, when a tilt operation is performed while pressing the joystick 40, the mode switching unit 64 determines that it has detected the tilt of the joystick 40 while detecting the pressing of the joystick 40.

[0054] When it is determined that tilting of the joystick 40 has been detected while pressing the joystick 40 (YES in step S103), the press count calculation unit 63 calculates the number of times the press detection unit 52 has been pressed (step S104). For example, a case where three presses have been detected is a case where a tilt operation is performed during the third press of the joystick 40.

[0055] Next, the press count calculation unit 63 determines whether the press count is one (step S105). If it is determined that the press count is one (YES in step S105), the mode switching unit 64 switches the operation mode to the 2A mode 92A (step S106) and proceeds to step S107.

[0056] On the other hand, if it is determined that the number of presses is not one (NO in step S105), the press count calculation unit 63 determines whether the number of presses is two (step S112). If it is determined that the number of presses is two (YES in step S112), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S113) and proceeds to step S107.

[0057] On the other hand, if it is determined that the pressing count is not two (NO in step S112), the mode switching unit 64 switches the operation mode to the second mode B 92B (step S114), and proceeds to step S115.

[0058] Proceeding to step S107, the operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 in the operating mode switched by the mode switching unit 64 based on the tilt information of the tilt detection unit 51, thereby controlling the operation of the actuator (step S107).

[0059] Next, the tilt information acquisition unit 61 acquires tilt information of the joystick 40 detected by the tilt detection unit 51 (step S108).

[0060] Next, the tilt information acquisition unit 61 judges whether or not information on detection of the neutral position of the joystick 40 has been acquired (step S109). If it is judged that information on detection of the neutral position of the joystick 40 has been acquired (YES in step S109), the process proceeds to step S110. On the other hand, if it is judged that information on detection of the neutral position of the joystick 40 has not been acquired (NO in step S109), the process proceeds to step S107.

[0061] When the process proceeds to step S110, the mode switching unit 64 resets the operation mode (step S110). That is, the mode switching unit 64 switches the operation mode to the first mode 91.

[0062] Next, the control unit 60 judges whether or not to continue the operation control of the actuator (step S111). If it is judged that the operation control of the actuator should be continued (YES in step S111), the process returns to step S101. On the other hand, if it is judged that the operation control of the actuator should not be continued (NO in step S111), the process ends.

[0063] On the other hand, when proceeding to step S115, the operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 in the first mode 91 based on the tilt information from the tilt detection unit 51, thereby controlling the operation of the actuator (step S115), and proceeds to step S111.

[0064] On the other hand, in step S103, if it is determined that tilting of the joystick 40 is not detected while pressing of the joystick 40 is being detected (NO in step S103), the process proceeds to step S116.

[0065] Next, the mode switching unit 64 determines whether or not it has detected a tilt of the joystick 40 without detecting a press of the joystick 40 (step S116). If it has detected a tilt of the joystick 40 without detecting a press of the joystick 40 (YES in step S116), the mode switching unit 64 switches the driving mode to the first mode 91 (step S117).

[0066] Next, the operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 in the first mode 91 based on the tilt information of the tilt detection unit 51, thereby controlling the operation of the actuator (step S118), and proceeds to step S111.

[0067] On the other hand, if the pressing of the joystick 40 is not detected and the tilting of the joystick 40 is not detected (NO in step S116), the operation control unit 65 terminates the processing without outputting an instruction to control the operation of the crane 10 to the actuator control device 71 (step S119).

[0068] [Remote controller operation] The operation of the remote controller 30 of the first embodiment will be described below.

[0069] The remote controller 30 of the first embodiment changes the motion speed of the controlled object (crane 10) according to the tilt amount of the joystick 40 that can be operated with the thumb F to operate the switch 45. The remote controller 30 includes a tilt detection unit 51 that detects the tilt and tilt amount of the joystick 40, a pressure detection unit 52 that detects the pressure of the joystick 40, and a mode switching unit 64 that switches between a first mode 91 in which the motion of the controlled object (crane 10) is controlled at a normal speed and a second mode 92 in which the motion of the controlled object (crane 10) is controlled at a slower speed than the first mode 91, based on the pressure information of the pressure detection unit 52, and an operation control unit 65 that controls the motion of the controlled object (crane 10) based on the tilt information of the tilt detection unit 51 and the switching information of the mode switching unit 64 (FIG. 4).

[0070] As a result, when the joystick 40 is tilted in the first mode 91, the movement of the controlled object (crane 10) can be controlled at a normal speed. On the other hand, when the joystick 40 is tilted in the second mode 92, the movement of the controlled object (crane 10) can be controlled at a slower speed than normal. Therefore, for example, when it is desired to move a load suspended by the crane 10 by a few centimeters, the operation mode can be quickly switched from the first mode 91 to the second mode 92 with a simple operation, thereby preventing the crane 10 from moving vigorously and moving the load to an appropriate position. As a result, depending on the situation in which the controlled object (crane 10) is used, the operation mode can be switched from the first mode 91 to the second mode 92 with a simple operation, preventing the controlled object (crane 10) from moving vigorously and making it easier to perform fine movement operations.

[0071] In addition, even when the joystick 40 is tilted the entire stroke, the upper limit of the operation speed can be changed between the first mode 91 and the second mode 92. Therefore, it is not necessary to maintain the joystick 40 at a small stroke amount in order to reduce the operation speed. As a result, the remote controller 30 can be operated with less fatigue.

[0072] In the remote controller 30 of Example 1, when the tilt detection unit 51 detects a tilt of the joystick 40 while the pressure detection unit 52 detects a press of the joystick 40, the mode switching unit 64 switches the operating mode from the first mode 91 to the second mode 92 (Figure 7).

[0073] This allows the controlled object (crane 10) to be operated at a low speed when the joystick 40 is tilted while being pressed. This makes it possible to prevent the controlled object (crane 10) from moving too violently due to the joystick 40 being tilted by mistake. As a result, the operation mode can be switched from the first mode 91 to the second mode 92 with a simple operation depending on the situation in which the controlled object (crane 10) is used, preventing the controlled object (crane 10) from moving violently and making it easier to perform fine movement operations.

[0074] The remote controller 30 of Example 1 is provided with a press count calculation unit 63 that calculates the number of times the press detection unit 52 is pressed, and the mode switching unit 64 changes the operating speed of the control object (crane 10) in the second mode 92 based on the number of times detected by the press count calculation unit 63 (Figure 4).

[0075] This makes it possible to change the movement speed of the controlled object (crane 10) according to the number of times the joystick 40 is pressed. Therefore, the movement speed of the controlled object (crane 10) can be changed in several stages with a simple operation. As a result, the movement speed of the controlled object (crane 10) can be adjusted to an appropriate speed with a simple operation according to the situation in which the controlled object (crane 10) is used.

[0076] In the remote controller 30 of Example 1, when the pressure detection unit 52 detects a release of pressure and the tilt detection unit 51 detects a neutral position in the second mode 92, the mode switching unit 64 switches the operating mode from the second mode 92 to the first mode 91.

[0077] This allows the driving mode to be switched from the second mode 92 to the first mode 91 when the pressing operation of the joystick 40 by the thumb F is released and the tilting operation by the thumb F is released. That is, when the thumb F is released from the joystick 40, the driving mode can be switched from the second mode 92 to the first mode 91. Therefore, for example, even if the pressing operation is released during a tilting operation in the second mode 92, the operation in the second mode 92 can be maintained. As a result, it is possible to prevent the driving mode from being unintentionally changed during operation. EXAMPLES

[0078] The remote controller of the second embodiment differs from the remote controller of the first embodiment in that the method of switching between operation modes is different.

[0079] [Processing by the control unit] Fig. 8 is a flowchart showing the flow of processing by the control unit of Example 2. Fig. 9 is a diagram for explaining a method of operating a joystick of Example 2, Fig. 9(a) is a cross-sectional view showing the initial state and the pressed state, and Fig. 9(b) is a cross-sectional view showing the initial state and the tilted state. The flow of processing by the control unit of Example 2 will be described below.

[0080] In addition, the same terms or the same reference numerals are used for the explanation of the same or equivalent parts as those described in the above embodiments. In addition, the flowchart of the second embodiment differs from the flowchart of the first embodiment only in step S203, and the other steps are the same as those of the first embodiment, so step S203 will be explained.

[0081] After detecting the pressing of the joystick 40, the mode switching unit 64 determines whether or not the tilt of the joystick 40 has been detected (step S203).

[0082] Specifically, as shown in Fig. 9(a), the joystick 40 is operated with the thumb F to move the joystick 40 from the initial position P1 to a pressed position P2 where the joystick 40 is pressed in the axial direction, and then returned to the initial position P1. Next, as shown in Fig. 9(b), when the joystick 40 is moved from the initial position P1 to a tilted position P4 where the joystick 40 is tilted, the mode switching unit 64 determines that it has detected the tilt of the joystick 40 after detecting the pressing of the joystick 40. In other words, when the joystick 40 is pressed and then tilted, the mode switching unit 64 determines that it has detected the tilt of the joystick 40 while detecting the pressing of the joystick 40.

[0083] [Remote controller operation] The operation of the remote controller 30 of the second embodiment will be described below.

[0084] In the remote controller 30 of Example 2, when the pressure detection unit 52 detects a pressure on the joystick 40 and the tilt detection unit 51 detects a tilt on the joystick 40, the mode switching unit 64 switches the operating mode from the first mode 91 to the second mode 92 (Figure 9).

[0085] This allows the controlled object (crane 10) to be operated at a slow speed when the joystick 40 is tilted after being pressed. This makes it possible to prevent the controlled object (crane 10) from moving too forcefully due to accidentally tilting the joystick 40 too far. As a result, it is possible to switch from the first mode 91 to the second mode 92 with a simple operation depending on the situation in which the controlled object (crane 10) is used, thereby preventing the controlled object (crane 10) from moving too forcefully.

[0086] Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted. EXAMPLES

[0087] The remote controller of the third embodiment differs from the remote controller of the first embodiment in that the method of switching between operation modes is different.

[0088] [Processing by the control unit] Fig. 10 is a flow chart showing the flow of processing by the control unit of the third embodiment. Fig. 11 is a diagram for explaining the operation method of the joystick of the third embodiment, Fig. 11(a) is a cross-sectional view showing the initial state and the tilted state, and Fig. 11(b) is a cross-sectional view showing the tilted state and the pressed state. The flow of processing by the control unit of the third embodiment will be explained below. Note that the same terms or the same symbols will be used to explain the same or equivalent parts as those explained in the above embodiments.

[0089] As shown in FIG. 10, first, the tilt information acquisition unit 61 acquires tilt information of the joystick 40 detected by the tilt detection unit 51 (step S301).

[0090] Next, the pressure information acquisition unit 62 acquires pressure information about the axial direction of the joystick 40 detected by the pressure detection unit 52 (step S302).

[0091] Next, the mode switching unit 64 determines whether or not a press on the joystick 40 has been detected while a tilt of the joystick 40 has been detected (step S303).

[0092] Specifically, as shown in Fig. 11(a), the joystick 40 is operated with the thumb F to move the joystick 40 from the initial position P1 to a tilted position P5. Next, as shown in Fig. 11(b), when the joystick 40 is moved from the tilted position P5 to a pressed position P6 where the joystick 40 is pressed in the axial direction, the mode switching unit 64 determines that it has detected a press of the joystick 40 while detecting the tilt of the joystick 40. In other words, when a pressing operation is performed while tilting the joystick 40, the mode switching unit 64 determines that it has detected a press of the joystick 40 while detecting the tilt of the joystick 40.

[0093] When it is determined that the joystick 40 has been pressed while the joystick 40 is being tilted (YES in step S303), the press count calculation unit 63 calculates the number of times the press detection unit 52 has been pressed (step S304). For example, a case where three presses have been detected is a case where the joystick 40 is pressed three times while tilted.

[0094] Next, the press count calculation unit 63 determines whether the press count is one (step S305). If it is determined that the press count is one (YES in step S305), the mode switching unit 64 sets the operation mode to the 2A mode 92A (step S306) and proceeds to step S307.

[0095] On the other hand, if it is determined that the number of presses is not one (NO in step S305), the press count calculation unit 63 determines whether the number of presses is two (step S312). If it is determined that the number of presses is two (YES in step S312), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S313) and proceeds to step S307.

[0096] On the other hand, if it is determined that the pressing count is not two (NO in step S312), the mode switching unit 64 switches the operation mode to the second B mode 92B (step S314), and proceeds to step S315.

[0097] When proceeding to step S307, the operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 in the operating mode switched by the mode switching unit 64 based on the tilt information of the tilt detection unit 51, thereby controlling the operation of the actuator (step S307).

[0098] Next, the tilt information acquisition unit 61 acquires tilt information of the joystick 40 detected by the tilt detection unit 51 (step S308).

[0099] Next, the tilt information acquisition unit 61 judges whether or not information on detection of the neutral position of the joystick 40 has been acquired (step S309). If it is judged that information on detection of the neutral position of the joystick 40 has been acquired (YES in step S309), the process proceeds to step S310. On the other hand, if it is judged that information on detection of the neutral position of the joystick 40 has not been acquired (NO in step S309), the process proceeds to step S307.

[0100] When the process proceeds to step S310, the mode switching unit 64 resets the operation mode (step S310). That is, the mode switching unit 64 switches the operation mode to the first mode 91.

[0101] Next, the control unit 60 judges whether or not to continue the operation control of the actuator (step S311). If it is judged that the operation control of the actuator should be continued (YES in step S311), the process returns to step S301. On the other hand, if it is judged that the operation control of the actuator should not be continued (NO in step S311), the process ends.

[0102] On the other hand, when proceeding to step S315, the operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 in the first mode 91 based on the tilt information from the tilt detection unit 51, thereby controlling the operation of the actuator (step S315), and proceeds to step S311.

[0103] On the other hand, in step S303, when it is determined that a press on the joystick 40 is not detected while a tilt of the joystick 40 is being detected (NO in step S303), the process proceeds to step S316.

[0104] Next, the mode switching unit 64 determines whether or not tilting of the joystick 40 is detected (step S316). If tilting of the joystick 40 is detected (YES in step S316), the mode switching unit 64 switches the driving mode to the first mode 91 (step S317).

[0105] Next, the operation control unit 65 outputs an instruction to the actuator control device 71 to control the operation of the crane 10 in the first mode 91 based on the tilt information of the tilt detection unit 51, thereby controlling the operation of the actuator (step S318), and proceeds to step S311.

[0106] On the other hand, if tilting of the joystick 40 is not detected (NO in step S316), the operation control unit 65 does not output an instruction to control the operation of the crane 10 to the actuator control device 71 (step S319), and ends the process.

[0107] [Remote controller operation] The operation of the remote controller 30 of the third embodiment will be described below.

[0108] In the remote controller 30 of Example 3, when the pressure detection unit 52 detects a pressure on the joystick 40 while the tilt detection unit 51 detects a tilt of the joystick 40, the mode switching unit 64 switches the operating mode from the first mode 91 to the second mode 92 (Figure 11).

[0109] As a result, when it is desired to reduce the operating speed of the controlled object (crane 10) during a tilting operation in the first mode 91, it is possible to switch the operation mode to the second mode 92, which is slower than the first mode 91, by performing a pressing operation. Therefore, when it is desired to make the control speed (crane 10) slower than normal during a tilting operation in the first mode 91, the operating speed can be reduced by a simple operation.

[0110] Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted.

[0111] The industrial remote controller of the present invention has been described above based on Examples 1 to 3. However, the specific configuration is not limited to these Examples, and design changes and combinations of the Examples are permitted as long as they do not deviate from the gist of the invention according to each claim in the claims.

[0112] In Examples 1 to 3, examples have been shown in which the operating speed of the crane 10 in the second mode 92 is changed depending on whether the number of presses is one or two. However, the operating speed of the crane 10 in the second mode 92 may be changed in three or more stages depending on the number of presses being three or more. Also, the operating speed of the crane 10 in the second mode 92 does not have to be changed.

[0113] In the first to third embodiments, an example has been shown in which two joysticks 40 are provided on the remote controller 30. However, the remote controller may be provided with one joystick, or three or more joysticks.

[0114] In the first to third embodiments, the industrial remote controller of the present invention is applied to a device that does not have an accelerator lever. However, the industrial remote controller of the present invention can be applied to a device that has an accelerator lever that is provided behind the grip 31 and adjusts the operating speed of each actuator.

[0115] In the first to third embodiments, the present invention is applied to an industrial remote controller having a joystick 40 that can be operated with the thumb F. However, the present invention is not limited to being applied to a thumb, and can be applied to an industrial remote controller having a joystick that can be operated with a finger.

[0116] In the first to third embodiments, the present invention is applied to an industrial remote controller that operates a crane 10. However, the present invention can also be applied to construction machinery and industrial machinery such as aerial work vehicles and hydraulic excavators. [Explanation of symbols]

[0117] 10 Crane (an example of a controlled object) 30 Remote Controller (Industrial Remote Controller) 40 Joystick 45 Switch 51 Tilt detection unit 52 Pressure detection unit 63 Press count calculation unit 64 Mode switching section 65 Motion control section 91 First Mode 92 Second Mode F. Thumb (an example of a finger)

Claims

1. An industrial remote controller in which a direction of movement of a controlled object is determined according to a tilt direction of a joystick that can be operated with a finger to operate a switch, and a speed of movement of the controlled object is changed according to a tilt amount of the joystick, a tilt detection unit that detects the tilt and tilt amount of the joystick; a pressure detection unit that detects a pressure applied to the joystick; a mode switching unit that switches between a first mode in which the operation of the control object is controlled at a normal speed and a second mode in which the operation of the control object is controlled at a speed slower than that of the first mode, based on pressure information from the pressure detection unit; an operation control unit that controls the operation of the control target based on tilt information from the tilt detection unit and switching information from the mode switching unit. An industrial remote controller comprising:

2. When the tilt detection unit detects tilt of the joystick while the pressure detection unit detects pressing of the joystick, the mode switching unit switches the driving mode from the first mode to the second mode.

2. The industrial remote controller according to claim 1, wherein:

3. When the tilt detection unit detects tilt of the joystick after the pressure detection unit detects pressing of the joystick, the mode switching unit switches the driving mode from the first mode to the second mode.

2. The industrial remote controller according to claim 1, wherein:

4. When the pressure detection unit detects a pressure on the joystick while the tilt detection unit detects a tilt of the joystick, the mode switching unit switches the driving mode from the first mode to the second mode.

2. The industrial remote controller according to claim 1, wherein:

5. a press count calculation unit that calculates the number of times the press detection unit is pressed, The mode switching unit changes the motion speed of the control target in the second mode based on the number of times detected by the pressing number calculation unit.

5. The industrial remote controller according to claim 1, wherein the remote controller is a remote control for industrial use.

6. In the second mode, when the pressure detection unit detects a release of the pressure and the tilt detection unit detects a neutral position, the mode switching unit switches the driving mode from the second mode to the first mode.

6. The industrial remote controller according to claim 1, wherein the remote controller is a remote control for industrial use.

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