Remote Control System

Abstract

[Problem] To provide both safety and responsiveness / workability when remotely operating a moving object such as an overhead crane. [Solution] A display 123 is attached to a hoist 120 of an overhead crane, and a display 150 is also attached to a wall surface in a building. The crane can be operated in a plurality of operating modes. A warning display mode is a safe operating mode in which a direction of movement warning is displayed on a display unit when movement is indicated using a direction button 134 on a controller 130, and movement starts after a prescribed amount of time has elapsed or some type of movement command has been issued. An intermediate movement mode is an operating mode having excellent responsiveness / workability in which movement is started immediately without a warning display. The controller 130 is provided with a mode switching button 135 for switching between operating modes, thereby enabling switching between a plurality of modes. In this way, both safety and responsiveness / workability can be realized.　

Description

[Technical Field]

[0001] The present invention relates to a technique for remotely controlling the movement of a mobile object via wired or wireless communication. [Background technology]

[0002] Overhead cranes are used in factories, warehouses, and other facilities to transport heavy loads. Overhead cranes transport loads by moving lifting devices such as hoists and trolleys horizontally along traveling and traversing rails installed in the building. While some cranes are operated from an operation room, most are operated remotely from the ground by an operator using a controller. As a method for improving safety in overhead cranes, Patent Document 1 discloses a technology for providing a display device that shows the direction of crane movement. Patent Document 2 also discloses a warning display that indicates the direction of movement and then waits a few seconds before the crane begins to move. By applying these technologies, it is possible to prevent accidents such as a crane moving in an unintended direction due to an operating error, resulting in a collision with the operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-254417 [Patent Document 2] International Publication No. 2013 / 114737 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while advance warnings can improve crane safety, they also reduce responsiveness and workability because the crane will not move until a certain time has passed after the direction of movement is displayed. For example, if the load sways when the crane is stopped, the swaying can be absorbed by moving the crane using a following notch or reverse notch, but when advance warnings are displayed, such emergency responses can be hindered. Also, when fine-tuning the position of the crane when stopping it, if advance warnings are displayed every time it is moved, unnecessary time will be required to make the fine adjustments. As described above, with conventional technology, it was difficult to achieve both safety and responsiveness / operability. This issue is not limited to overhead cranes, but is common to various types of remotely controlled cranes. It is also a common issue not only for cranes used to transport heavy objects, but also for cranes used in nursing care, for example. Furthermore, it is a common issue not only for cranes, but also for various remotely controlled mobile objects. In view of the above problems, the present invention aims to achieve both safety and responsiveness and workability when remotely controlling a moving object. [Means for solving the problem]

[0005] The present invention provides A remote control system for remotely controlling a moving object by wire or wirelessly, a controller for remotely controlling the movement of the moving body; a display that is provided so as to be visible to an operator who remotely controls the moving body and that displays information related to the movement of the moving body; a control device that controls the display on the display device and the movement of the moving object in response to an operation of the controller, The control device a plurality of operation modes that differ in whether or not a notice is displayed before the movement and in the start conditions of the movement; The remote control system may be capable of switching between the plurality of operation modes.

[0006] According to the present invention, multiple operation modes can be switched in response to the operation of the controller. The multiple operation modes differ in whether or not a warning is displayed before movement and in the conditions under which movement is started. Conceivable conditions for the warning display include a pattern in which movement is started after a warning is displayed, and a pattern in which movement is started without a warning. Conceivable conditions for the start of movement include a pattern in which movement is started immediately upon instruction of the direction of movement, a pattern in which movement is started after a warning is displayed for a certain period of time, and a pattern in which movement is started by performing some operation after a warning is displayed. The present invention provides two or more arbitrary operation modes determined by combinations of these, and makes it possible to switch between them.

[0007] The requirements for a crane, such as safety, responsiveness, and workability, vary depending on the situation in which the crane is operated and the skill of the operator. For example, safety is emphasized when starting to move a heavy load or when the operator's skill is relatively low. On the other hand, when stopping the crane, if operations such as follow-up notching and reverse notching are required to prevent the load from swaying, high responsiveness is required. Therefore, it is difficult to meet the requirements for safety, responsiveness, workability, and other characteristics in all situations with a single operating mode. In contrast, the present invention makes it possible to switch between these multiple operating modes, making it possible to meet the requirements for safety, responsiveness, workability, and other characteristics depending on the situation.

[0008] In the present invention, Mobile objects include overhead cranes and other cranes, nursing care cranes, automated guided vehicles (AGVs), drones, etc. The display device only needs to be visible to the operator, and can be either a display device installed on the mobile unit itself or a display device installed in the building or other space where the mobile unit is used. The display content may indicate the direction of movement of the mobile unit with an arrow or by a direction such as east, west, south, or north. This display may be displayed only in advance, or may be displayed while the unit is moving. If the display is also displayed while the unit is moving, the display mode, such as color, brightness, or whether or not it flashes, may be different between the advance display and the display while the unit is moving. The switching between the multiple modes may be performed by operating the controller or by setting a switch on the controller, or may be performed automatically in accordance with predetermined conditions related to the movement of the crane.

[0009] In the present invention, The plurality of operating modes may include a first preview display mode in which the direction of movement of the moving body is displayed on the display in response to operation of the controller, and then the moving body is moved after a predetermined time has elapsed.

[0010] By adopting the above-mentioned aspect, the direction of movement is displayed in advance before movement, which prevents the moving body from moving in the wrong direction and improves safety. Also, since there is a grace period between the issuance of a direction instruction and the start of movement of the moving body, the moving body can be stopped even if the operator makes an incorrect operation, ensuring high safety. On the other hand, since no action is required after the direction instruction is given, operation can be said to be simple. In the first advance notice display mode, the predetermined time until the moving object starts moving after the display on the display device can be set arbitrarily, but can be set to about several seconds as the time required to confirm the advance notice display. This predetermined time may be fixed or adjustable. Furthermore, multiple operation modes may be prepared, such as a first short advance notice display mode in which the time until the moving object starts moving is set to a short time, and a first long advance notice display mode in which the time until the moving object starts moving is set to a long time.

[0011] In the present invention, The plurality of operation modes may include a second preview display mode in which the direction of movement of the moving body is displayed on the display in response to operation of the controller, and then the moving body is moved after receiving an operation instruction.

[0012] By adopting the above-mentioned mode, since the advance notice is displayed in response to a direction instruction, a high level of safety can be ensured, similar to the first advance notice display mode. Furthermore, since the moving object can be moved at any timing after the advance notice is displayed, the moving object can be moved quickly, which can improve work efficiency. Conversely, since it is possible to take sufficient time to check for safety after the advance notice is displayed, safety can also be further improved.

[0013] If the second preview display mode is included, The operation instruction may be given by operating an operation unit of the controller.

[0014] By using a controller to issue operational instructions, the operator's operational efficiency can be improved.

[0015] The operation unit may be a button, a stick, etc. The operation instruction may include, but is not limited to, pressing or releasing a button. The operation instruction may be, for example, an operation of pressing the button that indicates the direction again or pressing it deeply. In this way, since the button that indicates the direction is used, it is easy to avoid operational errors. Furthermore, an operation unit for instructing an action may be provided separately from the button for instructing a direction. For example, when a direction is instructed while the button for instructing an action is pressed, a warning display may be displayed, and when the button for instructing an action is subsequently released, movement may begin. Conversely, when a direction is instructed, a warning display may be displayed, and when the button for instructing an action is subsequently pressed, movement may begin. In either case, it is preferable that the operation instruction is valid only when the operation for displaying the advance notice is properly performed, thereby improving safety.

[0016] In the present invention, The plurality of operation modes may include an instantaneous movement mode in which the moving object is moved instantly in response to an operation of the controller.

[0017] According to the present invention, the immediate movement mode does not display a warning, which improves the responsiveness and workability of the moving body. The immediate movement mode is useful when particularly responsiveness is required, such as in follow-up notches and reverse notches.

[0018] In the present invention, The control device may also cause the display device to display the direction of movement of the moving object even in the immediate movement mode.

[0019] Unlike advance notice displays, this displays the direction of movement simultaneously with or after the start of movement. Such displays have the effect of alerting the operator to operational errors and informing people around the load that the load is moving, thereby improving safety in immediate movement mode.

[0020] In the present invention, The control device a preview display mode in which the direction of movement of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved when a start condition for the movement is satisfied; an immediate movement mode in which the moving object is moved immediately in response to an operation of the controller; It may be switchable.

[0021] By doing this, the advance notice display mode can be used when high safety is required, and the immediate movement mode can be used when responsiveness and workability are required, making it possible to achieve a balance between safety, responsiveness, and workability depending on the situation. The above-mentioned preview display mode can be one or both of the first preview display mode and the second preview display mode described above.

[0022] In the present invention, The control device a first advance notice display mode in which the moving direction of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved after a predetermined time has elapsed; a second advance notice display mode in which the direction of movement of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved upon receiving an operation instruction; It may be switchable.

[0023] The first advance notice display mode has the advantage that the moving body moves automatically without any action being taken, making it less likely that an operational error will occur when starting the movement. On the other hand, the second advance notice display mode has the advantage that the moving body can be moved at any timing. In the above aspect, by being able to switch between these two modes, it is possible to utilize the advantages of both while ensuring safety through advance notice display.

[0024] In the present invention, The control device a first short notice display mode in which the moving direction of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved after a first predetermined time has elapsed; a first long notice display mode in which the moving direction of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved after a second predetermined time that is longer than the first predetermined time has elapsed; It may be switchable.

[0025] This allows the time from when the direction of movement of the moving object is displayed until the moving object actually starts moving to be changed depending on the environment and the person operating the moving object, ensuring safety and operability appropriate for the situation. The first and second predetermined times may be fixed in advance or may be set arbitrarily by the operator. Furthermore, in the first advance notice display mode, more operation modes with different times until the moving object starts may be provided.

[0026] In the present invention, The controller may have a switching unit for switching between the plurality of modes, separate from an operation unit for operating the moving body in the controller.

[0027] This allows for a separation between normal operations and mode switching operations or settings, allowing the operator to operate the vehicle without being aware of the need to switch modes, thereby reducing operational errors. The switching unit for switching modes can be provided in various ways. For example, a dedicated switch, button, lever, or other operating unit used for switching can be provided. This allows the operating mode to be switched relatively easily. The switching unit can also be a dip switch, slide switch, jumper pin, jumper wire, or the like provided inside or outside the controller. This can reduce the possibility of the operating mode being switched accidentally during operation. A controller separate from the controller for operating the moving object may be used, for example, a mobile terminal such as a smartphone may be used for either switching modes or operating the moving object. Furthermore, when a mobile terminal capable of switching screens such as a smartphone is used as a controller, the screen for operating the moving object and the screen for switching modes may be separate. When the mobile object is operated with the right hand, the mode may be switched with the hand opposite the hand used to operate the mobile object, for example, by providing an operation unit assuming that the mode will be switched with the left hand. This allows the mode to be switched without interfering with the operation of the mobile object, and also reduces the possibility of the mode being switched by mistake.

[0028] The operation mode may be switched by shaking the controller itself, gripping it tightly, or the like.

[0029] In the present invention, The control device may be configured to switch the operation mode to another operation mode when a predetermined condition is satisfied.

[0030] The predetermined condition means a condition other than the operation of the controller. According to the above aspect, the operation mode is automatically switched without the need for a switching operation, thereby improving work efficiency. Another advantage is that it is possible to avoid forgetting to switch the operation mode.

[0031] When switching the operation mode automatically, The predetermined condition may be that the remote control is not performed for a predetermined period of time after the moving object has stopped moving.

[0032] An example of a case where no operation is performed for a predetermined period of time after a movement is when the crane has finished transporting the load and is in a standby state. Therefore, it is preferable that the operation mode be set to an operation mode suitable for starting the next new operation. This aspect has the advantage that the operation mode can be switched automatically without the operator's operation.

[0033] In the above aspect, When the predetermined conditions are met, the direction of movement of the moving body may be displayed on the display in response to the operation of the controller, and then the display may switch to a preview display mode in which the moving body is moved when the movement start condition is met.

[0034] From a safety standpoint, it is generally desirable to operate in advance notice mode, but if the operation mode is switched manually each time, it is possible that an operator who has been operating in immediate mode may forget to switch back to advance notice mode after finishing the operation in immediate mode. In such a case, if there is no operation for a specified time after the moving object has stopped, the system will automatically switch to advance notice mode, so that the next time the moving object is moved, it will be in advance notice mode, ensuring safety.

[0035] When switching the operation mode automatically, The predetermined condition may be that an operation is performed within a predetermined time period after the moving object has stopped moving.

[0036] Such situations may include a situation immediately after the crane has transported a load to its destination, a situation when the operator realizes that the direction instruction is incorrect when the load has started to move, a situation when the operator has started to move the load and then stops the crane to check the safety of the surrounding area before continuing the movement, etc. The above-described aspect has the advantage that the operation mode can be switched to according to these situations without the operator's operation.

[0037] In the above aspect, When a predetermined condition is satisfied, the mode may be switched to an immediate movement mode in which the moving object is moved immediately in response to an operation of the controller.

[0038] According to the above-mentioned aspect, if the operator stops the operation and starts the operation again within a predetermined time, the operation mode is switched to the immediate movement mode. This is particularly useful when the next operation must be performed quickly, such as a follow-up notch.

[0039] In the present invention, The control device may be capable of switching to another of the plurality of operation modes even while operating in one of the plurality of operation modes.

[0040] By doing so, for example, if the advance notice display mode is switched to the immediate movement mode after the advance notice display is given, the moving body can be moved quickly without waiting for the lapse of a predetermined time, thereby improving responsiveness and workability while ensuring safety. In the above-described embodiment, the conditions under which switching to the immediate movement mode is possible may be limited to ensure a minimum level of safety. For example, a switchable time may be set that is shorter than the predetermined time from display to movement in the advance notice display mode, and switching to the immediate movement mode may not be possible until this switchable time has elapsed after the advance notice display. This ensures a minimum amount of time for checking the advance notice display. In order to ensure this time, the operation for switching from the advance notice display mode to the immediate movement mode may be made a complex operation that takes time.

[0041] In the present invention, The controller may be configured such that the instruction regarding the direction of movement of the moving object also serves as an instruction to start movement of the moving object.

[0042] Controllers used in overhead cranes and the like are provided with buttons corresponding to the four directions of movement: east, west, north, and south, and pressing any of these buttons causes the moving object to start moving. In other words, the instruction for the direction of movement is the instruction to start moving the moving object. With such controllers, there is a high possibility of an accident occurring if the direction of movement is incorrect. Therefore, the usefulness of the present invention is particularly high.

[0043] However, the present invention is not limited to this type of controller, and can also be applied to controllers in which the commands for specifying the direction of movement and the commands for starting the movement of a moving object are separated. For example, this applies to controllers in which you specify the direction of movement by pressing a button corresponding to the north, south, east, or west direction, and then press a separate button to start movement. The direction of movement can be specified in various ways, such as by rotating part of the controller, pointing the controller itself in the direction of movement, or providing a handle or stick for specifying the direction of movement. These controllers may start displaying the direction of movement when the direction of movement is instructed. If this display is done as a preview, the instruction to start moving may be made effective after a predetermined time has elapsed after the display starts.

[0044] In the present invention, The control device In principle, the controller may operate in a first preview display mode in which the direction of movement of the moving body is displayed on the display in response to the operation of the controller, and then the moving body is moved after a predetermined time has elapsed. This is a mode in which the first preview display mode is set as the default operating mode.

[0045] In the present invention, The control device In principle, the display may display the direction of movement of the moving body in response to the operation of the controller, and then operate in a second preview display mode in which the moving body moves after receiving an instruction to operate. This is a mode in which the second preview display mode is set as the default operation mode.

[0046] By doing so, the device operates in the first or second warning display mode during normal operation, thereby improving safety. This configuration is particularly useful in situations where an accident caused by an operational error is likely to be serious, such as in a mobile vehicle that transports heavy objects.

[0047] In the present invention, The control device In principle, the moving object may be operated in an instantaneous movement mode in which the moving object is moved instantly in response to the operation of the controller.

[0048] According to this aspect, the moving body can be moved quickly, improving responsiveness and workability. On the other hand, other operation modes such as a warning display mode can be used in combination as needed, improving safety. This type of configuration is useful in cases where even an operating error is unlikely to lead to a serious accident, such as in mobile bodies that carry light loads, mobile bodies that move slowly, and mobile bodies that are operated in locations where there are no obstacles around that the mobile body may collide with.

[0049] In the present invention, The control device Of the plurality of operation modes, an operation mode that is generally performed may be switchable.

[0050] This allows the default operating mode to be switched each time depending on the operating situation, enabling efficient operation while ensuring safety, responsiveness, and workability.

[0051] In the present invention, The display may be installed so as to be movable together with the moving body.

[0052] Since operators often operate a moving object while visually checking the moving object, the display of the above-described aspect is highly useful.

[0053] In addition, in the present invention, The display may be fixed separately from the moving body at a location within the space in which the moving body moves.

[0054] The display may be installed on a wall of a building or may be supported in space using a support or other means. A display fixed in space in this way has the advantage that it is easily visible to persons other than the operator of the mobile body, thereby improving safety for these persons. In this respect, it is preferable that the display fixed in space is large enough to be easily visible from a distance. The display may be one that is movable together with the moving body, one that is fixed in space, or both.

[0055] When using a display fixed in space like this, a plurality of the display devices are installed corresponding to the directions in which the movable body can move, The control device may cause a display device, which is installed at a position corresponding to the direction of movement instructed by the controller, to react.

[0056] The reaction of the display means that only a specific display is displayed or flashes. For example, if the movement direction is fixed to north, south, east, west, as in the case of an overhead crane, multiple displays can be installed on the walls of the building on all four sides. If the movement direction is fixed to eight directions, displays can be installed in all eight directions. In this way, when indicators corresponding to the direction of travel are installed and the direction of travel is instructed to be "east," the indicator located in the east responds. The same applies when another direction of travel is instructed. By having only some of the multiple indicators respond in this way, it is easier to attract the operator's attention, thereby improving safety. In particular, when operating a mobile object such as one used to transport heavy loads, the operator typically stands behind or diagonally behind the mobile object, i.e., on the opposite side of the direction of travel of the mobile object, and operates the mobile object while visually checking the direction. In this manner, if the direction of travel is correctly instructed, the display on the front of the mobile object, which can be seen ahead of the mobile object, should respond. Conversely, if the display on the front does not respond, it is possible that the direction of travel has been instructed incorrectly. Thus, when considering the usual method of operating a mobile object, the above-described manner has the advantage of making it easy to determine whether the instructed direction of travel is appropriate. Even if the display content cannot be visually confirmed, the determination can be made solely based on the presence or absence of a response, further improving safety.

[0057] However, when using a display fixed in space, it is not intended to exclude other modes than those described above. A display other than the position corresponding to the direction of movement may be made to react. Also, the direction of movement may be displayed on all display devices. The display may be used in various modes.

[0058] The present invention is applicable to various types of moving objects. The mobile body is highly useful when it is an overhead crane.

[0059] The present invention does not necessarily have to have all of the above-mentioned features, and some of them may be omitted or combined as appropriate. The present invention can also be configured in a form other than a remote control system. for example, A remote control method for remotely controlling a moving object by wire or wirelessly, comprising: The steps performed by the computer are: (a) inputting a signal for moving the moving object from the controller for remote control; (b) displaying information relating to the movement of the moving object in response to the input signal on a display provided so as to be visible to the operator performing the remote operation; (c) controlling the display and movement in one of a plurality of operation modes that differ in whether or not a notice is displayed before the movement and in the start conditions of the movement; (d) A step of switching between the plurality of operation modes may be included in the remote control method. Furthermore, the remote control method may be configured as a computer program for causing a computer to perform the method, or as a computer-readable recording medium on which the computer program is recorded. In these various aspects, the various features described in the remote control system can be applied as appropriate. [Brief explanation of the drawings]

[0060] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a crane system. [Figure 2] FIG. 10 is an explanatory diagram showing a display example of a crane system. [Figure 3] 10 is a flowchart of an immediate movement mode control process. [Figure 4] 10 is a flowchart of a modified example of an immediate movement mode control process. [Figure 5] 10 is a flowchart of a preview display mode control process. [Figure 6] 10 is a flowchart of a movement control process. [Figure 7] FIG. 2 is an explanatory diagram showing the flow of operation in each operation mode. [Figure 8] FIG. 10 is an explanatory diagram showing an operation mode switching pattern. [Figure 9] 10 is a flowchart of an immediate movement mode control process. [Figure 10] 10 is a flowchart of a first preview display mode control process. [Figure 11] 10 is a flowchart of a second preview display mode control process. [Figure 12] 4 is a flowchart of an operation control process. [Figure 13] 10 is a flowchart of a mode switching determination process. DETAILED DESCRIPTION OF THE INVENTION

[0061] An embodiment of the present invention will be described in the following order, taking as an example a crane system for remotely controlling an overhead crane that transports heavy loads in a factory or warehouse. First Example: A. System Configuration: B. Examples where instantaneous movement mode is the default: C. Examples where preview mode is the default: D. Example of shifting both modes: Second Example: E. Example of multiple mode shifting F. Example when working in Instant Movement Mode: G. Example of when operating in first preview display mode: H. Example of when operating in Second Preview mode: I. Mode switching control process: J. Effects and Modifications: First Example

[0062] A. System Configuration: FIG. 1 is an explanatory diagram showing the configuration of a crane system 100 according to an embodiment. An overhead crane is a device that moves along a rail installed in a factory in response to the operator's operation to transport heavy objects. The overhead crane is equipped with a hoist 120, which is a mobile body that serves as a lifting device for transporting a suspended load. The hoist 120 can raise and lower the suspended load by winding up and lowering a wire 121 that has a hook 122 attached to the tip for hanging the suspended load.

[0063] Operations such as winding up / lowering the wire 121 in the hoist 120 and moving the hoist 120 can be performed by a controller 130 connected by a cable 131. An enlarged view of the controller 130 is shown in the lower left of the drawing. As shown in the figure, the controller 130 is provided with a push button 132 for turning the power on and off, a push button 133 for winding up / lowering the wire 121, and four direction buttons 134 for moving in four directions: east, west, north, and south.

[0064] In addition, this embodiment has multiple operating modes, including a warning display mode in which a warning display is given before the hoist 120 moves, and an immediate movement mode in which the hoist moves without giving a warning display, and a mode switching button 135 for switching between these modes is provided above the controller 130, separate from the above-mentioned buttons. The mode change button 135 is located slightly to the left of the center of the controller 130. This allows the push buttons 132, 133, and 134 for operating the crane to be operated with the right hand, while the mode change button 135 can be operated with the left hand. This structure, which allows operations with different hands, makes it possible to prevent mistakes such as accidentally switching modes while operating the crane. Another advantage is that providing the mode change button 135 separately from the button for operating the crane allows the operator to operate the crane without having to be aware of switching modes. The operation mode can be switched using a dip switch, slide switch, jumper pin, jumper wire, or the like provided inside or outside the controller, in addition to the mode switching button 135. This reduces the possibility of switching the operation mode by mistake during operation.

[0065] The advance notice display mode in this embodiment can be an operation mode in which an advance notice is displayed before the hoist 120 moves, and then the movement starts after a predetermined time has elapsed. Alternatively, the advance notice display mode may be an operation mode in which the movement starts when a predetermined operation instruction is given after the advance notice is displayed. In this case, an operation instruction button 137 for issuing an operation instruction may be provided. The advance notice may be displayed when the direction button 134 is pressed while pressing the operation instruction button 137, and the movement may start when the operation instruction button 137 is released. The advance notice may be displayed when the direction button 134 is pressed without pressing the operation instruction button 137, and the movement may start when the operation instruction button 137 is pressed. The operation command button 137 is provided on the upper right side of the controller 130. This allows the operator to smoothly move his / her finger to the operation command button 137 after pressing the direction button 134 for indicating a direction, improving operational efficiency. Also, while the push buttons 132, 133, 134 for operating the crane and the mode switching button 135 are provided on the left side, the operation command button 137 is provided on the right side, which has the advantage that the operator can clearly distinguish between the buttons without having to check their position. The positional relationship between the operation instruction button 137 and the mode switching button 135 may be reversed, or they may be attached in other locations.

[0066] The controller 130 is not limited to the system shown in Fig. 1. For example, instead of the four direction buttons 134, the controller itself may be configured to be able to indicate the direction of movement of the hoist 120 by rotating it around the central axis of a cylindrical housing. The controller 130 may be a wireless controller instead of a wired controller connected via a cable 131.

[0067] A display 123 is attached to the hoist 120 facing downward. In this embodiment, a liquid crystal display is used as the display 123, but other displays such as organic EL, LED, etc. can also be used. The display 123 displays to the worker, etc., information useful during operation of the crane, such as the direction of movement of the hoist 120. Although not shown in the figure, the hoist 120 may further be equipped with a camera capable of photographing the display contents of the display 123. By providing a camera that photographs the display 123, it is possible to determine from the image whether there is an abnormality in the display contents or display status of the display 123, thereby making it possible to prevent malfunctions of the display 123 and to respond quickly to malfunctions.

[0068] In this embodiment, a display 150 is also provided on the wall of the building on which the overhead crane is installed. In the drawing, only the display 150 provided on the north face is shown, but a display 150 is provided in each of the four directions, east, west, north, and south. In this embodiment, the controller 130 can indicate four directions, east, west, north, and south, and so the display 150 is provided corresponding to these directions. If eight directions can be indicated as the movement direction, the display 150 may be provided in eight directions. The display device 150 is equipped with a receiver 151, which receives a display instruction wirelessly and performs a predetermined display. The display instruction may be received by wire instead of wirelessly. Either the display 123 or the display 150 may be omitted.

[0069] The mechanism by which the hoist 120 moves will now be described. In the facility where the crane is installed, traveling rails 101 and 102 are laid parallel and horizontally near the ceiling of the building. Saddles 111 and 112 are attached to the traveling rails 101 and 102 so that they can travel as indicated by arrow a using the power of a motor. A crane girder 110 is fixed to the saddles 111 and 112 so as to straddle both of them. The crane girder 110 is installed horizontally and in a direction perpendicular to the traveling rails 101 and 102. When the saddles 111 and 112 move in the direction of arrow a, the crane girder 110 can move as a unit accordingly. The hoist 120 is attached to the crane girder 110 so that it can be moved by a motor along the crane girder 110 in the direction of arrow b. Therefore, by combining the movement of the crane girder 110 in the direction of the arrow a and the movement of the hoist 120 in the direction of the arrow b, the hoist 120 can move freely in the space between the traveling rails 101 and 102.

[0070] In this embodiment, a mechanism for detecting the position of the hoist 120 is provided. As shown in the figure, a marker 103 for detecting the position is drawn on the traveling rail 102. By optically reading the marker 103 using a sensor 113 fixed to the saddle 112, the amount of movement of the saddle 112 and therefore the position of the saddle 112 in the direction a can be detected. Similarly, a marker 114 for position detection is drawn on the crane girder 110. When the hoist 120 moves, by optically reading the marker 114 using a sensor 127 fixed to the hoist 120, the amount of movement of the hoist 120 and therefore the position of the hoist 120 in the direction b can be detected. As a result, it is possible to detect the horizontal position coordinates (x, y) of the hoist 120 based on the results read by the sensors 113 and 127. The detected position coordinates can be saved as a crane operation log and used for various purposes, such as analyzing operational performance and predicting failures.

[0071] The displays on the display 123 and the display 150 are controlled by a control device 140 installed together with the display 123. The control device 140 may be installed at any location, and may be attached to the hoist 120 or may be fixed to a building or an overhead crane. Signals may be exchanged between the control device 140 and the display 123 and the display 150 wirelessly or via a wire.

[0072] The control device 140 is configured as a microcomputer equipped with an internal CPU and memory. In this embodiment, the functions shown in the figure are realized in software by a computer program. Some or all of these functions may also be configured in hardware.

[0073] The transmitter / receiver 141 transmits and receives signals between the control device 140 and the controller 130, and between the displays 123, 150 and the drive mechanism of the hoist 120. When the position coordinates of the crane are saved as a log, the information may be transmitted to a server or the like. The position detection unit 145 calculates the position coordinates of the hoist 120 based on the detection results of the sensors 113 and 127 . The mode switching unit 142 controls switching between the advance notice display mode and the immediate movement mode. The movement control unit 143 controls the movement of the hoist 120 and the operations of hoisting and lowering the hook. The display control unit 144 controls the display contents of the displays 123 and 150. The control device 140 may also have various other functions.

[0074] Figure 2 is an explanatory diagram showing an example of a display of the crane system. The example shows a case where an operator operates the controller 130 to move the crane to the east. The crane can move in the directions of arrows a and b, but when moving to the east, it moves in the direction of arrow b.

[0075] When the operator operates the controller 130, an east-facing arrow indicating the direction of movement is displayed on the display 123 installed on the hoist 120. In addition, the east display 150E corresponding to the direction of movement flashes. The displays 150N and 150W other than those in the east direction do not react. Although not shown, the displays located in the south direction also do not react. The non-responsive displays may be in a state where they show characters such as north, west, south, etc. but do not flash, or may not show anything at all. The characters east, north, west, south, etc. may be drawn on the surface of each of the displays 150E, 150N, 150W, etc., and only the responsive displays may flash. The operator normally operates the crane while standing behind the suspended load. When moving east, the operator stands on the west side of the suspended load and operates the crane while watching the suspended load and the display panel 150E beyond it. In this state, if the east-side display panel 150E responds, the operator can easily confirm that the operation is correct. Furthermore, if an incorrect operation is performed in this state, the display panels other than the east-side panel will respond, but the east-side display panel 150E will not respond, so the operator can easily realize that the operation is incorrect.

[0076] B. Examples where instantaneous movement mode is the default: The display control in this embodiment will be described below. In this embodiment, two operation modes are provided: a preview display mode and an immediate movement mode. The preview display mode is an operation mode in which, after the direction of movement of the crane is instructed, a preview display is given and movement begins after a predetermined time has elapsed. The immediate movement mode is an operation mode in which, when the controller is operated, movement begins without waiting for the above-mentioned preview display or the predetermined time to elapse. These operation modes can be combined and used in various ways. First, an example of control (hereinafter referred to as "immediate movement default mode control process") in which the immediate movement mode is the default and the mode is switched to the advance notice display mode when the mode switching button 135 of the controller 130 is pressed will be described.

[0077] 3 is a flowchart of the immediate movement default mode control process, which is executed by the control device 140 in response to the operation of the controller. The control device 140 waits until a movement instruction is given (step S10). When a movement instruction is given (step S10), for example by pressing the direction button 134 indicating the movement direction, it is determined whether the advance notice display mode is set (step S11). In this embodiment, if the mode switch button 135 of the controller 130 is pressed, it is determined to be the advance notice display mode, and if not, it is determined to be the immediate movement mode. In other words, if normal operation is performed without pressing the mode switch button 135, the device operates in the immediate movement mode, and if the operator wants to display an advance notice, the movement instruction is given with the mode switch button 135 pressed.

[0078] When it is determined that the advance notice display mode is set (step S11), the control device 140 advances the movement direction (step S12). The advance notice display is performed by displaying an arrow on the display 123 as shown in Fig. 2 and by causing the wall display 150 corresponding to the movement direction to respond. Thereafter, the control device 140 waits for a predetermined time to elapse (step S13). This predetermined time can be set arbitrarily as the time for the operator to check the warning display, and can be about 2 to 3 seconds. This predetermined time may also be adjustable.

[0079] After a predetermined time has elapsed, the control device 140 displays the direction of movement on the displays 123, 150 (step S14) and moves the crane (step S15). The movement of the crane is repeated until a stop command is issued by the controller 130 (step S16), that is, until the button for the movement direction is released or an emergency stop command is issued. Here, the display when the crane is being moved (step S14) and the advance notice display (step S12) may be the same display, or the display manner may be different, such as color, display size, whether or not to flash, etc. Changing the display manner has the advantage of calling attention to the fact that the crane is being moved.

[0080] If it is determined that the mode is not the advance notice display mode (step S11), that is, if it is determined that the mode is the immediate movement mode, the display and movement of steps S14 to S16 are carried out without performing the processes of steps S12 and S13.

[0081] According to the above aspect, normal operations can be performed in the immediate movement mode, ensuring responsiveness and workability, and when transporting heavy objects, safety can be ensured by switching to the advance notice display mode as needed.

[0082] FIG. 4 is a flowchart of a modified example of the instantaneous movement default mode control process. The control device 140 waits until a movement instruction is given (step S20), and when a movement instruction is given (step S20), it determines whether the preview display mode is set (step S21). These processes are the same as those described with reference to FIG.

[0083] When it is determined that the advance notice display mode is selected (step S21), the control device 140 advances the movement direction (step S22). Then, it is determined whether a predetermined time has elapsed (step S23). If the predetermined time has not elapsed, the process returns to the determination in step S21. Therefore, even if the mode switching button 135 is pressed to instruct movement in the advance notice display mode, the mode can be switched to the immediate movement mode at any time by releasing the mode switching button 135 before the predetermined time has elapsed.

[0084] If the predetermined time has elapsed or if the advance notice display mode is cancelled before the predetermined time has elapsed, the control device 140 displays the direction of movement and moves the crane until an instruction to stop is given (steps S24 to S26). The same applies when the immediate movement mode is set from the beginning (step S21).

[0085] According to this modification, the advance notice display mode can be cancelled midway, further improving responsiveness and workability. Note that, in order to ensure a minimum level of safety, restrictions may be placed on the cancellation of the advance notice display mode. For example, in step S22 of FIG. 4, a waiting time shorter than the predetermined time in step S23 may be set, and after this time has elapsed, the process may proceed to step S23. In this way, the advance notice display is displayed during the waiting time, thereby ensuring a minimum level of safety.

[0086] C. Examples where preview mode is the default: Next, an example of control (hereinafter referred to as "advance display default mode control process") in which the advance display mode is the default and is switched to the immediate movement mode when the mode switching button 135 of the controller 130 is pressed will be described.

[0087] FIG. 5 is a flowchart of the preview display default mode control process. The control device 140 waits until a movement instruction is given (step S30), and when a movement instruction is given (step S30), it determines whether the advance notice display mode has been cancelled (step S31). In this process, if the mode switch button 135 of the controller 130 is pressed, it is determined that the advance notice display mode has been cancelled; otherwise, it is determined that the advance notice display mode is still active. In other words, if normal operations are performed without pressing the mode switch button 135, the device operates in the advance notice display mode, and if the operator wishes to cancel the advance notice display, he or she issues a movement instruction while pressing the mode switch button 135.

[0088] If it is determined that the advance notice display mode has not been cancelled (step S31), the control device 140 displays the movement direction in advance (step S32). Then, it is determined whether a predetermined time has elapsed (step S33). If the predetermined time has not elapsed, the process returns to the determination in step S31. Therefore, the advance notice display mode can be cancelled at any time by pressing the mode switching button 135 before the predetermined time has elapsed. Instead of this process, step S13 in FIG. 3 may be applied so that the preview display mode cannot be cancelled.

[0089] When a predetermined time has elapsed or the advance notice display mode is cancelled, the control device 140 displays the direction of movement and moves the crane until an instruction to stop is given (steps S34 to S36). These processes are the same as those described in FIG. 3.

[0090] According to the above-described embodiment, normal operation is performed in the advance notice display mode, thereby ensuring the safety of the crane. On the other hand, the advance notice display mode can be canceled and the crane can be set to the immediate movement mode as needed, thereby ensuring responsiveness and workability.

[0091] D. Example of shifting both modes: 3 and 4 show an example in which the immediate movement mode is the default, and Fig. 5 shows an example in which the advance notice display mode is the default. This embodiment may adopt a mode in which either control process is selected and applied, but further, as shown in the following modified example, it may be possible to shift which one is the default.

[0092] Figure 6 is a flowchart of the movement control process. A modified controller 130A is shown in the upper left of the figure. In addition to the buttons described in Figure 1, the controller 130A is provided with a shift switch 136. The shift switch 136 is a switch that can be rotated as shown by arrow r, and by rotating it left or right, it is possible to switch between a state in which the instant movement mode is the default and a state in which the preview display mode is the default.

[0093] In the modified movement control process, the control device 140 waits until a movement instruction is given (step S40), and when a movement instruction is given (step S40), it determines whether the immediate movement mode or the advance display mode should be set as the default depending on the state of the shift switch 136 (step S41). If the immediate movement mode is set as the default, the immediate movement mode control process is executed (step S42). The specific contents of the control process are as described with reference to FIGS. If the preview display mode is set as the default, the preview display mode control process is executed (step S43). The specific contents of the control process are as described with reference to FIG.

[0094] This allows switching between the immediate movement mode control process and the advance notice display mode control process by switching the shift switch 136, thereby improving convenience.

[0095] Next, a crane system according to a second embodiment will be described. The configuration of the crane system according to the second embodiment is the same as that of the first embodiment described with reference to Figures 1 and 2. In the first embodiment, an example was shown in which the system can be switched between two operation modes: a notice display mode and an immediate movement mode. In the second embodiment, an example is shown in which the system can be switched between multiple operation modes, not limited to these two.

[0096] E. Examples of multiple modes that can be shifted: 7 is an explanatory diagram showing the flow of each operation mode. In the second embodiment, three operation modes are used: an immediate movement mode, a first advance notice display mode, and a second advance notice display mode. Some operation modes may be omitted, or more operation modes may be used. As shown in the top row of the figure, in immediate movement mode, once the direction of movement is instructed, the crane moves immediately without any advance notice. As shown in the second row of the figure, in the first advance notice display mode, a warning is displayed when the direction of movement is instructed. Then, after a predetermined time has passed, the crane moves automatically. The predetermined time can be set arbitrarily, and can also be divided into a first short advance notice display mode in which the crane moves after a first predetermined time has passed, and a first long advance notice display mode in which the crane moves after a second predetermined time that is longer than the first predetermined time has passed. As shown in the lower part of the figure, in the second advance notice display mode, an advance notice is displayed when a movement direction is instructed. Then, when the operator issues an operation command, the crane starts moving. Various methods for issuing an operation command may be used. For example, the direction button 134 may be configured to be pressable in two stages, so that a light press issues a direction command, and a deeper press issues an operation command. A direction command may be issued by pressing the direction button 134 while pressing the operation command button 137, and an operation command may be issued by releasing the pressed operation command button 137. A direction command may be issued by pressing the direction button 134 without pressing the operation command button 137, and then an operation command may be issued by pressing the operation command button 137. Various other modes of operation command may also be used. Note that any one of the above-described operation command methods shown in the figure may be used, or multiple operation command methods may be selectable.

[0097] 8 is an explanatory diagram showing a plurality of operation mode switching patterns. There are six possible switching patterns in total. Pattern 1 is a switching between the immediate movement mode and the first short notice display mode. As explained in the first embodiment, switching between the two modes can satisfy the requirements for safety and responsiveness depending on the situation.

[0098] Pattern 2 is a switching mode between a first short warning display mode, in which the time from the warning display to the start of movement is short, and a first long warning display mode, in which the time is long. For example, when transporting heavy objects, it is considered preferable to carefully check safety after the warning display is given before starting the movement, so a longer time until the start of movement is preferable. On the other hand, when transporting relatively light loads or when the load is empty, a shorter time until the start of movement improves workability. Pattern 2 makes it possible to switch the time until the start of movement depending on the situation. The two operating modes can be switched depending on various conditions, such as the type of load being lifted, or the operator's level of proficiency.

[0099] Pattern 3 is a switch between the first long warning display mode and the second warning display mode. The first long warning display mode has the advantage of avoiding complicated operations because movement begins without the need for an operation command. The second warning display mode has the advantage of being able to begin movement at any timing by issuing an operation command. Pattern 3 makes it possible to use these advantages differently depending on the situation. For example, the first long warning display mode may normally be used, and the second warning display mode may be used when moving an empty vehicle or when an experienced operator is operating the vehicle.

[0100] Pattern 4 is a switch between the second advance notice display mode and the immediate movement mode. Switching between the two modes can satisfy the requirements for safety and responsiveness depending on the situation, just like the first embodiment.

[0101] Pattern 5 is a switch between the first short notice display mode and the second short notice display mode. Switching between the two has the same advantages as pattern 3.

[0102] Pattern 6 is a switch between the immediate movement mode and the first long notice display mode. Switching between the two modes can satisfy the requirements for safety and responsiveness depending on the situation, just like the first embodiment.

[0103] The operation mode does not need to be switched between all six patterns described above, and only some of them may be switched. Also, it may be possible to switch between three or more operation modes. Below, the control process in each operation mode will be explained, and then the switching between them will be explained.

[0104] F. Instantaneous Movement Mode Control Processing: The control process when the crane operates in the real-time movement mode (hereinafter referred to as "real-time movement mode control process") will be described. FIG. 9 is a flowchart of the immediate movement mode control process. The control device 140 waits until a movement instruction is given (step S50). When a movement instruction is given (step S50), the control device 140 displays the movement direction on the displays 123, 150 (step S51) and moves the crane (step S52). This display is not a warning display given before the movement, but is given during the movement and can be omitted. The movement of the crane is repeated until a stop instruction is given by the controller 130 (step S53).

[0105] G. First preview display mode control process: The control process when the crane is operating in the first advance notice display mode (hereinafter referred to as "first advance notice display mode control process") will be described. FIG. 10 is a flowchart of the first preview display mode. The control device 140 waits until a movement instruction is given (step S60), and when a movement instruction is given (step S60), the control device 140 displays a preview of the movement direction (step S61). Then, it determines whether a predetermined time has elapsed (step S62). If the predetermined time has not elapsed, the control device 140 continues the preview display by returning to step S61. If the predetermined time has elapsed, the control device 140 displays the direction of movement and moves the crane until an instruction to stop is given (steps S63 to S65). The predetermined time in step S62 is a time that is set in advance. Only one time may be set, or multiple times may be set. If multiple times are set, the operation mode set for the shortest predetermined time becomes the first short advance notice display mode, and the operation mode set for the longest predetermined time becomes the first long advance notice display mode.

[0106] H. Second preview display mode control process: The control process when the crane is operating in the second advance notice display mode (hereinafter referred to as "second advance notice display mode control process") will be described. FIG. 11 is a flowchart of the second preview display mode. The control device 140 waits until a movement instruction is given (step S70), and when a movement instruction is given (step S70), the control device 140 displays a preview of the movement direction (step S71). Then, it is determined whether an operation instruction has been given (step S72). If an operation instruction has not been given, the process returns to step S71 and the preview display continues. When an operation command is issued, the control device 140 displays the direction of movement and moves the crane until an instruction to stop is issued (steps S73 to S75).

[0107] I. Mode switching control process FIG. 12 is a flowchart of the operation control process. This process allows switching between a plurality of operation modes to control the operation of the crane. When processing begins, the control device 140 determines which of multiple operation modes should be executed (step S80). If no particular operation mode is specified by the operator, the operation mode set by default will be executed. If the operator selects an operation mode or instructs switching of the operation mode, the operation mode corresponding to the instruction will be executed.

[0108] The operation mode can be switched by operating the mode switching button 135. For example, each time the mode switching button 135 is pressed, the mode may be switched in sequence among the immediate movement mode, the first advance notice display mode, and the second advance notice display mode. Alternatively, three push buttons corresponding to the immediate movement mode, the first advance notice display mode, and the second advance notice display mode may be provided as the mode switching button, and pressing any one of them directly switches to the corresponding operation mode. Switching may also be possible using the shift switch 136 shown in FIG. 6.

[0109] Next, the control device 140 executes a control process according to the determined mode (step S81). The control process in each operation mode is as described with reference to FIGS. The operation mode may be determined only when the process is started, or may be determined during control in each operation mode. In this case, the presence or absence of an instruction to switch the operation mode may be constantly detected during the control process in each operation mode, and if an instruction to switch the operation mode is received during the process, the process may return to the determination in step S80.

[0110] According to the above operation control process, the operation mode can be switched by an operator's instruction, and the operation of the crane can be controlled in each operation mode.

[0111] The operation mode may be switched automatically or in response to an operator's operation. 13 is a flowchart of the mode switching determination process, in which the control device 140 automatically switches the operation mode when it is determined that a predetermined condition is met. When the process starts, the control device 140 reads the operating status of the crane (step S90). Then, the control device 140 determines whether to automatically switch the operating mode depending on the operating status of the crane (step 91), and issues an instruction to switch to the operating mode determined in step 91 (step 92). The control process in each operation mode is as described with reference to FIGS. 13 may be performed only when the process is started, or may be performed during control in each operation mode. In this case, the mode switching determination process may be executed as appropriate during control processing in each operation mode, and a determination as to whether to switch the operation mode may be made during the process.

[0112] In this embodiment, the operation mode is assumed to be switched in the following two cases. In case 1, the operation mode is switched to the advance notice display mode when a predetermined time has elapsed since the crane stopped. The operation mode may also be switched to another mode. An example of a situation in which no operation is performed for a predetermined time after a movement is when the crane has finished transporting a load and is in a standby state. Therefore, it is preferable that the operation mode be set to the highly safe advance notice display mode, which is an operation mode suitable for starting the next new operation. By switching to Case 1, for example, if an operator who has been operating the crane in immediate movement mode operates the crane again after a predetermined time has passed, it is possible to avoid a situation in which the operator starts moving in immediate movement mode even if he or she forgets to switch the operation mode.

[0113] In case 2, if an operation is performed within a predetermined time after the crane has stopped, the mode is immediately switched to the movement mode. Switching to another operation mode may also be performed. This is useful from the viewpoint of responsiveness, because when performing, for example, follow-up notching or reverse notching, the movement mode can be immediately switched to without having to perform a switching operation of the operation mode.

[0114] Therefore, the operating status in steps S90 and S91 refers to information required to make these determinations. For example, this includes whether the crane is moving or not, and the time elapsed since it stopped moving. In addition, it may be possible to consider whether the crane has been hoisted or lowered. Furthermore, the predetermined time in case 1 and the predetermined time in case 2 do not need to be the same, and may be set to any value suitable for each determination.

[0115] J. Effects and Modifications: According to the crane system of the embodiment described above, by making it possible to switch between a plurality of operation modes as needed, it is possible to achieve both crane safety and responsiveness / operability. It is not necessary to provide all of the various features described in the embodiments, and some of them may be omitted or combined as appropriate. Furthermore, the present invention is not limited to the embodiments, and various modifications can be made. For example, the present invention is not limited to overhead cranes and can be applied to various types of cranes, and can also be applied to moving bodies other than cranes. Furthermore, instead of setting either the advance notice display mode or the immediate movement mode as the default as in the embodiment, these modes may simply be switched each time the mode switching button 135 is pressed. [Industrial Applicability]

[0116] The present invention can be applied to remote control of the movement of a mobile object via wired or wireless communication. [Explanation of symbols]

[0117] 100 Crane System 101, 102 Running rails 103 Marker 110 Crane Girder 111, 112 Saddle 113, 127 Sensor 114 Marker 120 Hoist 121 Wire 122 Hook 123 Display 130, 130A Controller 131 Cable 132, 133, 134 push buttons 135 Mode switch button 136 Shift switch 137 Operation instruction button 140 Control device 141 Transmitter / Receiver 142 Mode switching section 143 Movement control unit 144 Display control unit 145 Position detection unit 150, 150E, 150N, 150W display 151 Receiver

Claims

1. A remote control system for remotely controlling a moving object by wire or wirelessly, a controller for remotely controlling the movement of the moving body; a display that is provided so as to be visible to an operator who remotely controls the moving body and that displays information related to the movement of the moving body; a control device that controls the display on the display device and the movement of the moving object in response to an operation of the controller, The control device a plurality of operation modes determined by whether or not a notice display is displayed before the movement from when the movement direction is instructed until the movement starts, and by a start condition of the movement; A remote control system capable of switching between the plurality of operation modes.

2. 2. The remote control system according to claim 1, The multiple operating modes of the remote control system include a first preview display mode in which the direction of movement of the moving object is displayed on the display in accordance with the operation of the controller, and then the moving object is moved after a predetermined time has elapsed.

3. The remote control system according to claim 1, The multiple operating modes of the remote control system include a second preview display mode in which the direction of movement of the moving object is displayed on the display in response to operation of the controller, and then the moving object is moved after receiving an operating instruction.

4. The remote control system according to claim 3, A remote control system in which the operation instruction is given by operating an operation unit of the controller.

5. 2. The remote control system according to claim 1, A remote control system, wherein the plurality of operation modes include an instantaneous movement mode in which the moving object is moved instantly in response to operation of the controller.

6. 6. The remote control system according to claim 5, The control device is a remote control system that causes the display to display the direction of movement of the moving object even in the immediate movement mode.

7. 2. The remote control system according to claim 1, The control device a preview display mode in which the direction of movement of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved when a start condition for the movement is satisfied; an immediate movement mode in which the moving object is moved immediately in response to an operation of the controller; Switchable remote control system.

8. 2. The remote control system according to claim 1, The control device a first advance notice display mode in which the moving direction of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved after a predetermined time has elapsed; a second advance notice display mode in which the direction of movement of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved upon receiving an operation instruction; Switchable remote control system.

9. 2. The remote control system according to claim 1, The control device a first short notice display mode in which the moving direction of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved after a first predetermined time has elapsed; a first long notice display mode in which the direction of movement of the moving object is displayed on the display in response to an operation of the controller, and then the moving object is moved after a second predetermined time that is longer than the first predetermined time has elapsed; Switchable remote control system.

10. 2. The remote control system according to claim 1, The controller is a remote control system having a switching unit for switching between the plurality of modes, separate from an operation unit for operating the moving body in the controller.

11. 2. The remote control system according to claim 1, A remote control system in which the control device switches the operation mode to another operation mode when a predetermined condition is met.

12. The remote control system according to claim 11, The predetermined condition is that the remote control is not performed for a predetermined period of time from when the moving body has stopped moving.

13. 13. The remote control system according to claim 12, When the predetermined conditions are met, the display unit displays the direction of movement of the moving object in response to the operation of the controller, and then switches to a preview display mode in which the moving object moves when the movement start condition is met.

14. The remote control system according to claim 11, A remote control system, wherein the predetermined condition is that an operation is performed within a predetermined time after the moving body has stopped moving.

15. 15. The remote control system according to claim 14, A remote control system that switches to an immediate movement mode in which the moving object is moved immediately in response to operation of the controller when a predetermined condition is met.

16. 2. The remote control system according to claim 1, A remote control system in which the control device is capable of switching to another of the plurality of operation modes even while operating in one of the plurality of operation modes.

17. 2. The remote control system according to claim 1, A remote control system in which the controller's instruction to the direction of movement of the moving object can also be an instruction to start moving the moving object.

18. 2. The remote control system according to claim 1, The control device In principle, this remote control system operates in a first advance notice display mode in which the direction of movement of the moving object is displayed on the display in accordance with the operation of the controller, and then the moving object is moved after a predetermined time has elapsed.

19. 2. The remote control system according to claim 1, The control device In principle, this remote control system operates in a second preview display mode in which the direction of movement of the moving object is displayed on the display in response to the operation of the controller, and then the moving object is moved after receiving an operation instruction.

20. 2. The remote control system according to claim 1, The control device In principle, this is a remote control system that operates in an instantaneous movement mode, in which the moving object is moved instantly in response to the operation of the controller.

21. 2. The remote control system according to claim 1, The control device A remote control system capable of switching between the plurality of operation modes to be performed as a rule.

22. 2. The remote control system according to claim 1, A remote control system in which the display is installed so as to be movable together with the moving body.

23. 2. The remote control system according to claim 1, A remote control system in which the display is fixed separately from the moving body to a location within the space in which the moving body moves.

24. 24. The remote control system of claim 23, a plurality of the display devices are installed corresponding to the directions in which the movable body can move, The control device is a remote control system that causes a display installed at a position corresponding to the direction of movement instructed by the controller to react.

25. 2. The remote control system according to claim 1, A remote control system in which the moving body is an overhead crane.

26. A remote control method for remotely controlling a moving object by wire or wirelessly, comprising: The steps performed by the computer are: (a) inputting a signal for moving the moving body from the controller for remote control; (b) displaying information relating to the movement of the moving object in response to the input signal on a display provided so as to be visible to the operator performing the remote operation; (c) providing a plurality of operation modes determined by whether or not a notice display is to be displayed before the movement from when the movement direction is instructed until the movement starts and by a start condition of the movement, and controlling the display and movement in one of the plurality of operation modes; (d) switching between the plurality of operation modes.

Images