Control system and mobile device

Abstract

To provide a control system, a moving device, and a controller that can enhance the safety of an operator.SOLUTION: A control system is used for a mobile device. The control system comprises a controller and an arithmetic unit. The controller has: a direction operation unit that accepts a first operation to select one movement direction; a drive operation unit that accepts a second operation; a direction signal output unit configured to output a direction signal; and a drive signal output unit configured to output a drive signal. The arithmetic unit starts moving a moving object in the movement direction represented by the direction signal as a necessary condition that the direction signal and the drive signal are input when the moving object is stopped.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control system, a mobile device, and a controller. [Background technology]

[0002] Conventionally, moving devices such as overhead cranes have been known. The moving device is disclosed in Patent Document 1. The moving device includes a hook that can move in a plurality of moving directions. The moving device moves an article by moving the hook from which the article is suspended.

[0003] The moving device includes a control system. The control system includes a controller and a computing unit. The controller includes operation buttons provided corresponding to a plurality of movement directions. An operator can press any one of the operation buttons. When any one of the operation buttons is pressed, the controller outputs a signal indicating the movement direction corresponding to the operated operation button to the computing unit. The computing unit moves the hook in the movement direction indicated by the signal input to the computing unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4815627 Summary of the Invention [Problem to be solved by the invention]

[0005] When using a conventional control system, an operator can move the hook by simply pressing one operation button. Therefore, the operator can easily operate the controller with only one hand. However, the operator may touch the object hanging from the hook with the hand that is not operating the controller. From a safety standpoint, it is desirable that the operator's hand not touch the object.

[0006] In one aspect of the present disclosure, it is preferable to provide a control system, a moving device, and a controller that can increase operator safety. [Means for solving the problem]

[0007] One aspect of the present disclosure is a control system for use in a mobile device having a mobile body that is movable in a plurality of directions. The control system includes a controller and a computing unit. The controller includes a direction operation unit that accepts a first operation by an operator to select one of the plurality of movement directions, a drive operation unit that accepts a second operation by the operator, a direction signal output unit configured to output a direction signal representing the movement direction selected by the first operation to the arithmetic unit when the first operation is being performed, and a drive signal output unit configured to output a drive signal to the arithmetic unit when the second operation is being performed.

[0008] When the moving body is stopped, the calculation unit starts moving the moving body in the direction of movement indicated by the direction signal input to the calculation unit, provided that the direction signal and the drive signal are input to the calculation unit as a necessary condition.

[0009] A control system according to one aspect of the present disclosure starts the movement of a moving object when the moving object is stopped and the operator is operating the controller with both hands. Therefore, when the moving object is moving, both hands of the operator are touching the controller, which prevents the operator's hands from touching an object suspended from the moving object. As a result, the control system according to one aspect of the present disclosure can improve the safety of the operator. [Brief explanation of the drawings]

[0010] [Figure 1] 2 is a block diagram showing the electrical configuration of the moving device 1. FIG. [Figure 2] FIG. 2 is an explanatory diagram showing the configuration of a controller 11. [Figure 3] 1 is an explanatory diagram illustrating the configuration of a moving device 1. FIG. [Figure 4] 10 is a flowchart showing the process executed by the arithmetic unit 13 when the hook 39 is stopped. [Figure 5] 10 is a flowchart showing the processing executed by the arithmetic unit 13 when the hook 39 is moving. [Figure 6] 10 is an explanatory diagram showing a direction signal and a drive signal when a stopped hook 39 starts to move. FIG. [Figure 7] 10 is an explanatory diagram showing a direction signal and a drive signal when the movement of the stopped hook 39 does not start. FIG. [Figure 8] FIG. 10 is an explanatory diagram showing the configuration of a controller 11 in another embodiment. [Figure 9] FIG. 10 is an explanatory diagram showing the configuration of a controller 11 in another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Exemplary embodiments of the present disclosure will now be described with reference to the drawings. First Embodiment 1. Configuration of mobile device 1 The configuration of the moving device 1 will be described with reference to Figs. 1 to 3. The moving device 1 is, for example, an overhead crane. As shown in Fig. 1, the moving device 1 includes a control system 3, an X-axis motor 5, a Y-axis motor 7, and a Z-axis motor 9.

[0012] The control system 3 is a system for controlling the moving device 1 in response to operations by an operator. The control system 3 includes a controller 11, an arithmetic unit 13, a notification unit 15, and a control panel 16. The arithmetic unit 13 is connected to the controller 11, the notification unit 15, and the control panel 16 via cables. In addition, the control panel 16 is connected to the X-axis motor 5, the Y-axis motor 7, and the Z-axis motor 9 via cables.

[0013] The controller 11 is a member that accepts operations by the operator of the mobile device 1. As shown in Fig. 2, the controller 11 includes a housing 17, directional operation buttons 19, 20, 21, 22, 23, and 24, and a drive operation button 25. The directional operation buttons 19, 20, 21, 22, 23, and 24 correspond to first button-type switches. The drive operation button 25 corresponds to a second button-type switch.

[0014] The housing 17 has a cylindrical shape. The directional operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 are aligned in a row along the axial direction of the housing 17. The drive operation button 25 is located closer to one end of the housing 17 in the axial direction than the directional operation buttons 19, 20, 21, 22, 23, and 24.

[0015] The direction operation button 19 has the character "Up" displayed on it. The direction operation button 20 has the character "Down" displayed on it. The direction operation button 21 has the character "East" displayed on it. The direction operation button 22 has the character "West" displayed on it. The direction operation button 23 has the character "South" displayed on it. The direction operation button 24 has the character "North" displayed on it. The drive operation button 25 has the character "Drive" displayed on it.

[0016] The directional operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 each accept an operation by an operator. An operation is performed by continuously pressing one or two of the directional operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 with a finger.

[0017] The direction control buttons 19, 20, 21, 22, 23, and 24 are operated to select the movement direction of the hook 39, which will be described later. Operating the direction control button 19 corresponds to selecting the upward direction as the movement direction of the hook 39. Operating the direction control button 20 corresponds to selecting the downward direction as the movement direction of the hook 39. Operating the direction control button 21 corresponds to selecting the east direction as the movement direction of the hook 39. Operating the direction control button 22 corresponds to selecting the west direction as the movement direction of the hook 39. Operating the direction control button 23 corresponds to selecting the south direction as the movement direction of the hook 39. Operating the direction control button 24 corresponds to selecting the north direction as the movement direction of the hook 39.

[0018] The direction operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 are arranged so that it is difficult to operate any one of the direction operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 simultaneously with one hand.

[0019] Therefore, when the operator operates one of the directional operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 simultaneously, the operator must operate one of the directional operation buttons 19, 20, 21, 22, 23, and 24 with one hand and operate the drive operation button 25 with the other hand.

[0020] The direction operation buttons 19, 20, 21, 22, 23, and 24 correspond to the direction operation unit. The drive operation button 25 corresponds to the drive operation unit. Operating any one of the direction operation buttons 19, 20, 21, 22, 23, and 24 corresponds to a first operation for selecting one of a plurality of movement directions. Operating the drive operation button 25 corresponds to a second operation. The upward, downward, eastward, westward, southward, and northward directions correspond to a plurality of movement directions.

[0021] 1, the controller 11 includes a direction signal output unit 27 and a drive signal output unit 28. When any one of the direction operation buttons 19, 20, 21, 22, 23, and 24 is operated, the direction signal output unit 27 outputs a direction signal to the calculation unit 13. The direction signal is a signal that indicates the movement direction selected by the first operation.

[0022] When directional operation button 19 is operated, the direction of movement indicated by the direction signal is upward. When directional operation button 20 is operated, the direction of movement indicated by the direction signal is downward. When directional operation button 21 is operated, the direction of movement indicated by the direction signal is east. When directional operation button 22 is operated, the direction of movement indicated by the direction signal is west. When directional operation button 23 is operated, the direction of movement indicated by the direction signal is south. When directional operation button 24 is operated, the direction of movement indicated by the direction signal is north.

[0023] The direction signal output unit 27 outputs a direction signal only when any one of the direction operation buttons 19, 20, 21, 22, 23, and 24 is pressed. When the operator's hand is released from the direction operation buttons 19, 20, 21, 22, 23, and 24, the direction signal output unit 27 stops outputting the direction signal.

[0024] When the drive operation button 25 is operated, the drive signal output unit 28 outputs a drive signal to the arithmetic unit 13. The drive signal output unit 28 outputs a drive signal only when the drive operation button 25 is pressed. When the operator's hand is released from the drive operation button 25, the drive signal output unit 28 stops outputting the drive signal.

[0025] The arithmetic unit 13 includes a computer equipped with a CPU, RAM, ROM, etc. Examples of the computer include a microcomputer and a PLC. The notification unit 15 is a member equipped with a display surface 15A that can display an image in response to an instruction from the arithmetic unit 13. The display surface 15A is configured by, for example, a liquid crystal display, an organic EL display, etc. The notification unit 15 is provided in a position where the operator can view the display surface 15A.

[0026] The control panel 16 includes an inverter or a voltage contact. The control panel 16 controls the rotation direction and rotation speed of the X-axis motor 5, the Y-axis motor 7, and the Z-axis motor 9 in response to instructions from the calculation unit 13. There may be one or more control panels 16. When there are multiple control panels 16, each control panel 16 controls some of the X-axis motor 5, the Y-axis motor 7, and the Z-axis motor 9. For example, when there are two control panels 16, one control panel 16 controls the X-axis motor 5 and the Y-axis motor 7. The other control panel 16 controls the Z-axis motor 9.

[0027] The X-axis motor 5, the Y-axis motor 7, and the Z-axis motor 9 each drive the members included in the moving device 1 in response to instructions from a control panel 16. Details will be described later. As shown in FIG. 3, the moving device 1 includes traveling rails 29A and 29B, saddles 31A and 31B, a crane girder 33, a hoisting machine 35, a support wire 37, and a hook 39 in addition to the above-described components.

[0028] The traveling rails 29A and 29B are laid near the ceiling of the building. The longitudinal directions of the traveling rails 29A and 29B are parallel to each other and lie in a horizontal plane. Hereinafter, the longitudinal direction of the traveling rails 29A and 29B will be referred to as the X direction. The X direction is parallel to the east-west direction.

[0029] Saddle 31A is provided on traveling rail 29A. Saddle 31A is movable in the X direction. Saddle 31B is provided on traveling rail 29B. Saddle 31B is movable in the X direction in conjunction with saddle 31A. An X-axis motor 5 is a drive source for moving saddles 31A and 31B.

[0030] One end of crane girder 33 is fixed on saddle 31A. The other end of crane girder 33 is fixed on saddle 31B. The longitudinal direction of crane girder 33 is a direction within a horizontal plane and is a direction perpendicular to the X direction (hereinafter referred to as the Y direction). The Y direction is parallel to the north-south direction. Saddles 31A, 31B and crane girder 33 can move together in the X direction.

[0031] The hoisting machine 35 is attached to the crane girder 33 so as to be movable along the Y direction. The driving source for moving the hoisting machine 35 along the Y direction is the Y-axis motor 7. The hoisting machine 35 is also capable of winding up and unwinding the support wire 37. The driving source for winding up and unwinding the support wire 37 is the Z-axis motor 9.

[0032] The hook 39 is attached to the tip of the support wire 37. When the hoist 35 winds up the support wire 37, the hook 39 moves upward. When the hoist 35 pulls out the support wire 37, the hook 39 moves downward. In other words, the hook 39 can move in the vertical direction (hereinafter sometimes referred to as the Z direction). The hook 39 can hang an article to be moved.

[0033] The hook 39 corresponds to a moving body. When the saddles 31A, 31B and the crane girder 33 move in the X direction, the hook 39 also moves in the X direction. That is, the hook 39 is movable in the X direction. When the hoisting machine 35 moves in the Y direction, the hook 39 also moves in the Y direction. That is, the hook 39 is movable in the Y direction. As described above, the hook 39 is movable in the Z direction. Therefore, the hook 39 is movable in the X direction, Y direction, and Z direction. The X direction, Y direction, and Z direction correspond to a plurality of movement directions.

[0034] 2. Processing performed by the arithmetic unit 13 (2-1) Processing to be performed when hook 39 is stopped The process that the arithmetic unit 13 repeatedly executes at predetermined time intervals while the hook 39 is stopped will be described with reference to FIGS.

[0035] In step 1 of Fig. 4, the arithmetic unit 13 determines whether or not a direction signal has been input to the arithmetic unit 13. As described above, the direction signal is a signal that the controller 11 outputs to the arithmetic unit 13 when any one of the directional operation buttons 19, 20, 21, 22, 23, and 24 is operated. If it is determined that a direction signal has been input to the arithmetic unit 13, the process proceeds to step 2. If it is determined that a direction signal has not been input to the arithmetic unit 13, the process ends.

[0036] In step 2, the arithmetic unit 13 starts advance notification using the notification unit 15. Advance notification is the display of the movement direction indicated by the direction signal input to the arithmetic unit 13 using an image or the like. The image displayed in the advance notification includes, for example, an arrow pointing to the movement direction. The advance notification continues until the main notification described below starts or the direction signal is no longer input to the arithmetic unit 13.

[0037] In step 3, the arithmetic unit 13 determines whether or not a drive signal has been input to the arithmetic unit 13. As described above, the drive signal is a signal that the controller 11 outputs to the arithmetic unit 13 when the drive operation button 25 is operated. If it is determined that a drive signal has been input to the arithmetic unit 13, the process proceeds to step 4. If it is determined that a drive signal has not been input to the arithmetic unit 13, the process ends. The process proceeds to step 4 if a direction signal and a drive signal have been input to the arithmetic unit 13.

[0038] In step 4, the arithmetic unit 13 determines whether time t1 is earlier than time t2 by a preset threshold value ΔT or more. As shown in FIGS. 6 and 7, time t1 is the time when the direction signal currently being input to the arithmetic unit 13 starts to be input. Time t2 is the time when the drive signal currently being input to the arithmetic unit 13 starts to be input. As shown in FIG. 6, if time t1 is earlier than time t2 by the threshold value ΔT or more, the process proceeds to step 5. As shown in FIG. 7, if time t1 is not earlier than time t2 by the threshold value ΔT or more, the process proceeds to step 7.

[0039] In step 5, the calculation unit 13 starts the main notification using the notification unit 15. The main notification is basically the same as the advance notification. However, it differs from the advance notification in the form of the display color, etc. The main notification continues until the direction signal or drive signal is no longer input to the calculation unit 13.

[0040] In step 6, the calculation unit 13 starts moving the hook 39 using any one of the X-axis motor 5, Y-axis motor 7, and Z-axis motor 9. The direction of movement of the hook 39 is the direction of movement indicated by the direction signal input to the calculation unit 13. The movement of the hook 39 continues until a stop process is performed in step 14, which will be described later.

[0041] In step 7, the arithmetic unit 13 uses the notification unit 15 to notify the error. (2-2) Processing to be performed when the hook 39 is moving The process that the arithmetic unit 13 repeatedly executes at predetermined time intervals while the hook 39 is moving will be described with reference to FIG.

[0042] 5, the arithmetic unit 13 determines whether or not a direction signal is input to the arithmetic unit 13. If it is determined that a direction signal is input to the arithmetic unit 13, the process proceeds to step 12. If it is determined that a direction signal is not input to the arithmetic unit 13, the process proceeds to step 14.

[0043] In step 12, the arithmetic unit 13 determines whether or not a drive signal is being input to the arithmetic unit 13. If it is determined that a drive signal is being input to the arithmetic unit 13, the process proceeds to step 13. If it is determined that a drive signal is not being input to the arithmetic unit 13, the process proceeds to step 14. Note that the process proceeds from step 11 or step 12 to step 14 if the input of the direction signal or drive signal is interrupted while the hook 39 is moving.

[0044] In step 13, the arithmetic unit 13 continues the movement of the hook 39 as is. In step 14, the calculation unit 13 stops the movement of the hook 39 by stopping the motor that has been driven up until then, among the X-axis motor 5, the Y-axis motor 7, and the Z-axis motor 9.

[0045] 3. Effects of Control System 3 (1A) When the hook 39 is stopped, the control system 3 starts moving the hook 39, assuming that a direction signal and a drive signal are input to the arithmetic unit 13 as a prerequisite.

[0046] The case where the direction signal and the drive signal are input to the arithmetic unit 13 is when the operator operates one of the direction operation buttons 19, 20, 21, 22, 23, 24 and also operates the drive operation button 25.

[0047] As described above, since it is difficult to operate any one of the directional operation buttons 19, 20, 21, 22, 23, and 24 and the drive operation button 25 simultaneously with one hand, the operator operates any one of the directional operation buttons 19, 20, 21, 22, 23, and 24 with one hand and the drive operation button 25 with the other hand.

[0048] Therefore, when a direction signal and a drive signal are input to the calculation unit 13, the operator operates one of the direction operation buttons 19, 20, 21, 22, 23, and 24 with one hand and the drive operation button 25 with the other hand.

[0049] In summary, when the hook 39 is stopped and the operator is operating the controller 11 with both hands, the control system 3 starts moving the hook 39. Therefore, when the hook 39 is moving, both hands of the operator are in contact with the controller 11, which prevents the operator's hands from touching the object suspended from the hook 39. As a result, the control system 3 can improve the safety of the operator. For example, the control system 3 can prevent an accident in which the operator's hands get caught in an object or the like.

[0050] (1B) When the hook 39 is stopped, the control system 3 starts moving the hook 39 under the necessary conditions that (1) a direction signal and a drive signal are input to the calculation unit 13, and (2) time t1 is earlier than time t2 by more than the threshold value ΔT.

[0051] Therefore, in order to start moving the hook 39, the operator needs to start operating the drive operation button 25 after the threshold value ΔT or more has elapsed from time t1 when the operator started operating one of the directional operation buttons 19, 20, 21, 22, 23, 24. The operator operates the directional operation buttons 19, 20, 21, 22, 23, 24 and the drive operation button 25 more carefully, which reduces the chance of operating the directional operation buttons 19, 20, 21, 22, 23, 24 incorrectly. As a result, the control system 3 can further improve the safety of the operator.

[0052] (1C) When a direction signal is input to the arithmetic unit 13 while the hook 39 is stopped, the control system 3 uses the notification unit 15 to provide a warning. The warning notification notifies the operator of the direction of movement indicated by the direction signal. By viewing the warning notification, the operator can confirm whether or not he or she correctly operated any one of the direction operation buttons 19, 20, 21, 22, 23, and 24 before the movement of the hook 39 begins. As a result, the control system 3 can further enhance the safety of the operator.

[0053] (1D) If the input of the direction signal or drive signal is interrupted while the hook 39 is moving, the control system 3 stops the hook 39. Therefore, if the operator stops operating the direction operation buttons 19, 20, 21, 22, 23, 24 or the drive operation button 25 while the hook 39 is moving, the hook 39 stops. As a result, the safety of the moving device 1 is further improved. <Other embodiments> Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and can be implemented in various modified forms.

[0054] (1) If the determination in step 3 is affirmative, the process may always proceed to step 5. In other words, the processes in steps 4 and 7 may not be performed. Even in this case, the effects of (1A), (1C), and (1D) can be achieved.

[0055] (2) The controller 11 may have a configuration as shown in FIG. 8. The configuration of the controller 11 shown in FIG. 8 will be described. The controller 11 does not have directional operation buttons 21, 22, 23, and 24. The housing 17 of the controller 11 is divided into an upper housing 17A and a lower housing 17B. The upper housing 17A and the lower housing 17B are aligned along the axial direction of the cylindrical housing 17. The directional operation buttons 19 and 20 and the drive operation button 25 are provided on the lower housing 17B.

[0056] Lower housing 17B is rotatable relative to upper housing 17A. The axis of rotation coincides with the axial direction of housing 17. Multiple scales 41 indicating multiple movement directions are provided on the end of upper housing 17A on the side of lower housing 17B. Scales 41 include east, west, south, and north. One marker 43 is provided on the end of lower housing 17B on the side of upper housing 17A.

[0057] The operator selects the horizontal movement direction by rotating lower housing 17B by a predetermined angle relative to upper housing 17A. For example, when the operator rotates lower housing 17B relative to upper housing 17A so that the position of marker 43 coincides with scale 41 for "south" as shown in Fig. 8, this operation selects "south" as the movement direction.

[0058] The upper and lower housings 17A and 17B correspond to a direction operation unit. The operation of rotating the lower housing 17B relative to the upper housing 17A corresponds to a first operation. (3) The controller 11 may have a configuration as shown in FIG. 9. The configuration of the controller 11 shown in FIG. 9 will be described. The controller 11 does not have directional operation buttons 21, 22, 23, and 24. The controller 11 has a gyro sensor or an acceleration sensor, and can detect an axial direction 45 of the controller 11. The controller 11 detects a horizontal component 47 of the axial direction 45. The direction of the horizontal component 47 is the direction of movement of the controller 11 within a horizontal plane.

[0059] When selecting a movement direction, the operator tilts the controller 11 so that the horizontal component 47 is the desired movement direction. The controller 11 transmits a direction signal and a drive signal to the arithmetic unit 13 via wireless communication. The housing 17 corresponds to the direction operation unit. The operation of tilting the housing 17 corresponds to the first operation.

[0060] (4) The movement direction of the hook 39 in a horizontal plane may be one of three directions selected from east, west, south, and north. The movement direction of the hook 39 may also include a direction other than east, west, south, and north. Examples of the movement direction of the hook 39 include mountain side, ocean side, forward, backward, left, right, and the direction indicated by an arrow. The number of hooks 39 may be two or more. The moving device 1 can move each of the two or more hooks 39, for example.

[0061] (5) The moving body of the moving device 1 may have a form other than the hook 39. (6) The moving device 1 may be a crane other than an overhead crane. Examples of cranes other than overhead cranes include tower cranes. The moving device 1 may also be a device other than a crane. Examples of devices other than cranes include unic vehicles, ladder trucks, games, gaming machines, and UFO catchers.

[0062] (7) The notification unit 15 may notify the moving direction of the hook 39 by sound. Alternatively, the notification unit 15 may notify the moving direction of the hook 39 by both an image and sound. The notification unit 15 includes, for example, a speaker that outputs sound.

[0063] (8) The controller 11 may transmit a signal to the arithmetic unit 13 by wireless communication. In this case, for example, the controller 11 includes a transmitter, and the arithmetic unit 13 includes a receiver. (9) The drive operation button 25 may be a multi-stage button. A multi-stage button is a button that has multiple stages of depth to which it can be pressed. When the drive operation button 25 is a multi-stage button, the control system 3 can increase the movement speed of the hook 39 as the drive operation button 25 is pressed deeper. Also, when the drive operation button 25 is a multi-stage button, the control system 3 may not move the hook 39 when the drive operation button 25 is not pressed deep enough, and may instead display a message similar to the advance notice.

[0064] (10) The moving device 1 may set a target position for the hook 39 and automatically move the hook 39 toward the target position. The notification unit 15 displays the current position of the hook 39, the current moving direction of the hook 39, the planned moving route, etc.

[0065] (11) The controller 11 may include a notification unit having the same configuration and function as the notification unit 15. (12) One button on the controller 11 may serve as both the drive operation unit and the direction operation unit. For example, the controller 11 does not include the drive operation button 25. For example, the operator first presses the direction operation button 21 once and then stops pressing it. These operations correspond to a first operation that selects east as the direction of movement. When the first operation is performed, the controller outputs a direction signal representing east to the arithmetic unit 13. The arithmetic unit 13 starts a prior notification using the notification unit 15. The prior notification notifies that the direction of movement is east. Next, the operator presses the directional operation button 21 again and keeps it pressed. Pressing the directional operation button 21 again corresponds to a second operation. When the second operation is performed, the controller 11 outputs a drive signal to the arithmetic unit 13. For example, the calculation unit 13 starts moving the hook 39 in the movement direction indicated by the direction signal input to the calculation unit 13, provided that the time t1 when the direction signal input begins is earlier than the time t2 when the drive signal input begins by a predetermined threshold ΔT or more. When the operator performs the first operation and the second operation on any one of the direction operation buttons 19, 20, 22, 23, and 24, the arithmetic unit 13 performs the same processing except that the movement direction is different. (13) The controller 11 may be configured such that the drive operation button 25 cannot be pressed unless, for example, any of the direction operation buttons 19, 20, 21, 22, 23, and 24 is pressed first. (14) The computing unit 13 and its method described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the computing unit 13 and its method described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the computing unit 13 and its method described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. The method for implementing the functions of each component included in the computing unit 13 does not necessarily need to include software; all of the functions may be implemented using one or more hardware components.

[0066] (15) The function of one component in each of the above embodiments may be shared among multiple components, or the functions of multiple components may be performed by one component. Also, part of the configuration of each of the above embodiments may be omitted. Furthermore, at least part of the configuration of each of the above embodiments may be added to or substituted for the configuration of another of the above embodiments.

[0067] (16) In addition to the control system described above, the present disclosure can also be realized in various forms, such as a higher-level system that includes the control system as a component, a program for causing a computer to function as the arithmetic unit 13, a non-transient physical recording medium such as a semiconductor memory on which the program is recorded, and a method for controlling a mobile device. [Explanation of symbols]

[0068] 1...movement device, 3...control system, 5...X-axis motor, 7...Y-axis motor, 9...Z-axis motor, 11...controller, 13...arithmetic unit, 15...alarm unit, 15A...display surface, 16...control panel, 17...casing, 17A...upper casing, 17B...lower casing, 19, 20, 21, 22, 23, 24...direction operation button, 25...drive operation button, 27...direction signal output unit, 28...drive signal output unit, 29A, 29B...traveling rail, 31A, 31B...saddle, 33...crane girder, 35...hoisting machine, 37...support wire, 39...hook, 41...scale, 43...marker

Claims

1. A control system used in a mobile device having a mobile body that can move in a plurality of moving directions, A controller; a computing unit; The controller a direction operation unit that accepts a first operation by an operator's hand to select one of the plurality of movement directions; a drive operation unit that accepts a second operation by an operator's hand; a direction signal output unit configured to output a direction signal representing the movement direction selected by the first operation to the arithmetic unit when the first operation is being performed, and to stop outputting the direction signal when the operator's hand is released from the direction operation unit; a drive signal output unit configured to output a drive signal to the arithmetic unit when the second operation is being performed, and to stop outputting the drive signal when the operator's hand is removed from the drive operation unit; Equipped with The calculation unit is configured to start moving the moving body in the direction of movement represented by the direction signal input to the calculation unit when the moving body is stopped, under the necessary conditions that (1) the direction signal and the drive signal are input to the calculation unit, and (2) the time t1 when the input of the direction signal begins is earlier than the time t2 when the input of the drive signal begins by at least a predetermined threshold ΔT, and the threshold ΔT is longer than 0 seconds.

2. 2. The control system of claim 1, a notification unit configured to notify the movement direction, A control system in which, when the direction signal is input to the calculation unit while the moving body is stopped, the calculation unit uses the notification unit to notify the moving direction represented by the direction signal.

3. 3. The control system according to claim 1 or 2, The control system is configured such that the arithmetic unit stops the moving body when the input of the direction signal or the drive signal is interrupted while the moving body is moving.

4. The control system according to any one of claims 1 to 3, A control system wherein the moving device is a crane.

5. A mobile device comprising the control system according to any one of claims 1 to 4.

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