Remote controller for heavy machine

Abstract

A remote controller 100 includes: a grapple operation part 20 that can operate a heavy machine 700 including a grapple 701 and a boom 702 from the outside, is located in a range where operation is possible by a user using one hand, and operates the grapple 701 according to an operation; and a boom operation part 30 that is located outside the range and operates the boom 702 according to an operation.

Description

Remote control devices for heavy machinery

[0001] The present disclosure relates to a remote controller used to remotely operate heavy machinery.

[0002] 2. Description of the Related Art Conventionally, when performing work using heavy machinery, remote controllers that can operate each part of the operating heavy machinery from a remote location have been known for safety reasons.

[0003] For example, Non-Patent Document 1 discloses a heavy machine in which a worker enters the control room of the heavy machine and operates a controller installed in the control room from outside the working range, thereby operating each part of the heavy machine.

[0004] Home page, PALFINGER, Internet, <https: / / www.palfinger.com / ja-jp>

[0005] In Non-Patent Document 1, large levers corresponding to the operation of each part of the heavy equipment are provided in the control room, and the user who enters the control room operates each part of the heavy equipment by moving the various levers. However, when moving a lever, the user must move their body in a large manner, which may cause the user's body to hit another lever, resulting in an erroneous operation.

[0006] In addition, because the various levers are spaced apart, it is difficult to see them all at once, and the operator has to change his or her viewpoint every time he or she switches tasks, which reduces work efficiency and takes time to become proficient in operating them, potentially leading to incorrect operation.

[0007] Therefore, an object of the present disclosure is to provide a control device that can suppress the occurrence of erroneous operations and improve work efficiency.

[0008] In order to achieve the above-mentioned objective, the control device of the present disclosure, for a heavy machinery having multiple drive units, adopts a technique in which a first operating unit that operates a first drive unit is positioned within a range that can be operated with one hand.

[0009] Specifically, the control device is capable of externally operating a heavy machine having a first drive unit and a second drive unit, and is equipped with a first operating unit located within a range operable with one hand and operating the first drive unit in response to operation, and a second operating unit located outside the range and operating the second drive unit in response to operation.

[0010] This allows the user to operate the first operating unit with one hand, improving work efficiency. Furthermore, the user can select a specific operation after understanding all the operations required to operate the first drive unit at once, which increases proficiency and reduces operational errors. Furthermore, since the first operating unit and the second operating unit are arranged separately, the user can clearly identify the operation target (the first drive unit or the second drive unit). This makes it easier for the user to become familiar with the operation and prevents operational errors.

[0011] In addition, the first operating unit has a release unit that allows the first driving unit to perform a predetermined operation in response to an operation, and the first driving unit performs the predetermined operation in response to an operation corresponding to the predetermined operation being performed after the release unit is operated.

[0012] In this way, by requiring a two-stage operation to operate the first drive unit, it is possible to prevent erroneous operation.

[0013] Furthermore, the first drive unit is configured to be able to grasp an object, the predetermined operation is an operation in which the first drive unit grasps or releases the object, and the operation key corresponding to the predetermined operation and the release unit are located farther from the hand grasping the control device than operation keys corresponding to operations other than the predetermined operation of the first drive unit.

[0014] This reduces the risk of erroneous operation, such as unintentionally touching an operation key or release section corresponding to a predetermined operation.

[0015] The system disclosed herein is a system comprising the above-mentioned control device, a first drive unit, a second drive unit, and a heavy machine having a base, wherein the second drive unit is configured to be rotatable or pivotable around the base, the first drive unit is configured to be rotatable or pivotable around the tip of the second drive unit, the first operation unit has a plurality of operation keys arranged to correspond to the rotational direction or rotational direction of the first drive unit, or an operation key that can be operated in a direction that corresponds to the rotational direction or rotational direction of the first drive unit, and the second operation unit has a plurality of operation keys arranged to correspond to the rotational direction or rotational direction of the second drive unit, or an operation key that can be operated in a direction that corresponds to the rotational direction or rotational direction of the second drive unit.

[0016] This allows the operation keys to be arranged to correspond to the operating directions of the first drive unit and the second drive unit, allowing the user to operate them intuitively, improving work efficiency and preventing erroneous operation.

[0017] The above disclosures can be combined as much as possible.

[0018] According to the control device and system of the present disclosure, it is possible to improve work efficiency while suppressing the occurrence of operational errors.

[0019] FIG. 1 is a diagram illustrating an overview of a heavy machine according to an embodiment of the present disclosure; FIG. 2 is a diagram illustrating the operation of a boom of the heavy machine; FIG. 3 is a front view of a remote controller according to an embodiment of the present disclosure, illustrating a button arrangement; FIG. 4 is a top view of a remote controller according to an embodiment of the present disclosure, illustrating a button arrangement; FIG. 5 is a front view of a remote controller according to an embodiment of the present disclosure, illustrating a function of each button in a grapple operation unit; FIG. 6 is a top view of a remote controller according to an embodiment of the present disclosure, illustrating a function of each component of a boom operation unit; FIG. 7 is a front view of a remote controller according to an embodiment of the present disclosure, illustrating a correspondence between each button in the grapple operation unit and each cylinder; FIG. 8 is a top view of a remote controller according to an embodiment of the present disclosure, illustrating a correspondence between each component of a boom operation unit and each cylinder.

[0020] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to the embodiments shown below. These implementation examples are merely illustrative, and the present disclosure can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Note that components with the same reference numerals in this specification and drawings indicate the same components.

[0021] A remote controller 100 according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 8 . The remote controller 100 is used when remotely operating equipment to perform work. When a user presses each component, such as a button, on the remote controller 100, an instruction from the remote controller 100 is transmitted to the equipment, and each part of the equipment performs a predetermined operation. Each component, such as a button, on the remote controller 100 is arranged so that work using the remotely operated equipment can be carried out smoothly and so that the user can easily become familiar with the operation. Specifically, in this embodiment, the buttons on the remote controller 100 are arranged so that utility pole construction using remotely operated heavy equipment can be carried out smoothly and so that the user can easily become familiar with remotely operating the heavy equipment using the remote controller 100. A detailed description will be given below. The remote controller 100 functions as a "control device."

[0022] [Overview of Heavy Machinery] First, as a premise, an overview of a heavy machine 700 that can be remotely controlled wirelessly or via a wired connection using a remote controller 100 will be described with reference to FIGS. 1 and 2. The present disclosure provides a system including the remote controller 100 and the heavy machine 700. FIG. 1 is a diagram illustrating an overview of the heavy machine 700. The heavy machine 700 includes a grapple 701, a boom 702, and a vehicle unit 703. The heavy machine 700 is, for example, a crane truck. The heavy machine 700 includes a hydraulic cylinder, and is configured so that the grapple 701 and the boom 702 perform various operations by adjusting the amount of oil in the cylinder. A remote controller having an operation key layout similar to that of the remote controller 100 may be used to operate a wide variety of heavy machines other than heavy machines equipped with a grapple and a boom. The grapple 701 functions as a "first drive unit." The boom 702 functions as a "second drive unit." The vehicle unit 703 functions as a "base."

[0023] The grapple 701 is configured to be rotatable about an axis extending in the vertical direction in Fig. 1. In addition, in this embodiment, the grapple 701 is configured to be capable of performing a tilt operation to rotate the grapple 701 forward or backward about the axis extending in the vertical direction.

[0024] As shown in FIG. 2 , the boom 702 includes a first joint 702A and a second joint 702B. The second joint 702B has an extension / retraction section 702C. The extension / retraction section 702C is configured to be extendable and retractable in accordance with instructions from the remote controller 100. The boom 702 is also configured to be rotatable relative to the vehicle section 703, centering on the base of the first joint 702A. Each of the joints 702A and 702B is configured to be able to vertically rise and fall around its base end, and to tilt in the opposite direction. Note that, in this embodiment, only the second joint 702B is configured to be extendable and retractable, but this is not necessarily limited thereto. For example, the first joint 702A may be configured to be extendable and retractable, or both the first joint 702A and the second joint 702B may be configured to be extendable and retractable.

[0025] [Button Layout] Next, the button layout on the remote controller 100 will be described in detail with reference to Fig. 3 and Fig. 4. Fig. 3 is a diagram for explaining the button layout when the remote controller 100 is viewed from the front. Fig. 4 is a diagram for explaining the button layout when the remote controller 100 is viewed from above.

[0026] Specifically, the remote controller 100 can externally operate a heavy machine 700 equipped with a grapple 701 and a boom 702, and is equipped with a grapple operation unit 20 that is located within a range that can be operated by a user with one hand and operates the grapple 701 in response to operation, and a boom operation unit 30 that is located outside the range and operates the boom 702 in response to operation.

[0027] As shown in Fig. 3, a grapple operation unit 20 for remotely operating a grapple 701 of a heavy machine 700 is provided in the upper right portion of the remote controller 100. The grapple operation unit 20 has a pair of tilt buttons 21A, 21B, a pair of grapple wrist rotation buttons 22A, 22B, a pair of grapple buttons 23A, 23B, and an unlock button 24. Each button is positioned within a range that can be operated by the user with the thumb of the right hand. The function of each button will be described later. The grapple operation unit 20 functions as a "first operation unit."

[0028] 4, boom operation units 30 for remotely operating a boom 702 of a heavy machine 700 are provided on the top, left, and bottom of the remote controller 100. The boom operation unit 30 has a pair of joysticks 31A, 31B, a cross key 32, a pair of boom rotation buttons 33A, 33B, and a pair of boom extension / retraction buttons 34A, 34B. The functions of each component of the boom operation unit 30 will be described later. The boom operation unit 30 functions as a "second operation unit."

[0029] As described above, in this embodiment, the grapple operation unit 20 for remotely operating the grapple 701 and the boom operation unit 30 for remotely operating the boom 702 are arranged separately so as not to be mixed on the remote controller 100. Specifically, the buttons that make up the grapple operation unit 20 are arranged close together in the upper right part of the remote controller 100 within reach of the thumb of the user's right hand, and the components of the boom operation unit 30 are arranged so as to surround them.

[0030] By disposing the grapple operation unit 20 and the boom operation unit 30 separately as in this embodiment, the user can clearly recognize the object to be operated (the grapple 701 or the boom 702). This makes it easier for the user to become familiar with the operation and prevents erroneous operations. Furthermore, since the user can operate the grapple operation unit 20 with one hand, work efficiency is improved. Furthermore, since the user can select a predetermined operation after understanding all the operations required to operate the grapple 701 at once, proficiency is increased and erroneous operations are prevented.

[0031] Note that the scope of the present disclosure is not limited to arranging the buttons of the grapple operation unit 20 together in the upper right part of the remote controller 100 and arranging the components of the boom operation unit 30 around them. The present disclosure includes various arrangements in which the grapple operation unit 20 and the boom operation unit 30 are not mixed on the remote controller 100. For example, the buttons of the grapple operation unit 20 may be arranged together in the upper left part of the remote controller 100 and the components of the boom operation unit 30 may be arranged around them. Conversely, the components of the boom operation unit 30 may be arranged together in the upper right part or upper left part of the remote controller 100 and the buttons of the grapple operation unit 20 may be arranged around them.

[0032] [Function and Arrangement of Each Component of Each Operation Unit] Next, the function and more detailed arrangement of each component of the grapple operation unit 20 and the boom operation unit 30 will be described with reference to Figures 5 and 6. The user performs a predetermined operation, such as pressing, on each component of the grapple operation unit 20 and the boom operation unit 30. As a result, an instruction is wirelessly transmitted from the remote controller 100 to the heavy equipment 700, and the grapple 701 and the boom 702 of the heavy equipment 700 perform the corresponding operation. First, the function and more detailed arrangement of each button on the grapple operation unit 20 will be described with reference to Figure 5.

[0033] Specifically, the system of the present disclosure comprises a remote controller 100, and a heavy machine 700 having a grapple 701, a boom 702, and a vehicle unit 703, wherein the boom 702 is configured to be rotatable or pivotable around the vehicle unit 703, the grapple 701 is configured to be rotatable or pivotable around the tip of the boom 702, the grapple operating unit 20 has a plurality of operation keys arranged to correspond to the rotation direction or rotation direction of the grapple 701, or an operation key that can be operated in a direction corresponding to the rotation direction or rotation direction of the grapple 701, and the boom operating unit 30 has a plurality of operation keys arranged to correspond to the rotation direction or rotation direction of the boom 702, or an operation key that can be operated in a direction corresponding to the rotation direction or rotation direction of the boom 702.

[0034] The pair of tilt buttons 21A, 21B and the pair of grapple wrist rotation buttons 22A, 22B function as "multiple operation keys arranged to correspond to the rotation direction or pivot direction of the first drive unit." The pair of joysticks 31A, 31B and the pair of boom rotation buttons 33A, 33B function as "multiple operation keys arranged to correspond to the rotation direction or pivot direction of the second drive unit."

[0035] The pair of tilt buttons 21A, 21B are arranged vertically (front and back) on the right side of the grapple operation unit 20. The pair of tilt buttons 21A, 21B are buttons for performing a tilt operation on the grapple 701. Specifically, when a user presses the upper (front) tilt button 21A, the grapple 701 rotates clockwise in FIG. 1 about an axis extending in the vertical direction. In other words, when the user presses the front tilt button 21A, the grapple 701 rotates forward. Furthermore, when a user presses the lower (rear) tilt button 21B, the grapple 701 rotates counterclockwise about the axis extending in the vertical direction in FIG. 1. In other words, when the user presses the rear tilt button 21B, the grapple 701 rotates rearward.

[0036] In this manner, in this embodiment, the direction in which the grapple 701 rotates corresponds to the arrangement of the pair of tilt buttons 21A, 21B on the remote controller 100 held by the user, allowing the user to intuitively operate the grapple 701 and preventing erroneous operation.

[0037] Note that a joystick for tilt operation may be provided instead of the pair of tilt buttons 21A, 21B. Even in this case, by linking the direction in which the grapple 701 rotates with the direction in which the joystick is tilted, the user can intuitively operate the grapple 701, and erroneous operation is prevented.

[0038] The pair of grapple wrist rotation buttons 22A, 22B are arranged side by side on the right side of the grapple operation unit 20. The pair of grapple wrist rotation buttons 22A, 22B are buttons for performing a rotation operation to rotate the grapple 701. Specifically, when the user presses the grapple wrist rotation button 22A located on the right, the grapple 701 rotates clockwise in a top view around an axis extending in the vertical direction of FIG. 1 . In other words, when the user presses the grapple wrist rotation button 22A located on the right, the grapple 701 rotates rightward. When the user presses the grapple wrist rotation button 22B located on the left, the grapple 701 rotates counterclockwise in a top view around an axis extending in the vertical direction of FIG. 1 . In other words, when the user presses the grapple wrist rotation button 22B located on the left, the grapple 701 rotates leftward.

[0039] In this manner, in this embodiment, the direction in which grapple 701 rotates corresponds to the arrangement of the pair of grapple wrist rotation buttons 22A, 22B on remote controller 100 held by the user, allowing the user to intuitively operate grapple 701 and preventing erroneous operation.

[0040] Note that a joystick for rotation operation may be provided instead of the pair of grapple wrist rotation buttons 22A, 22B. Even in this case, by linking the direction in which the grapple 701 rotates with the direction in which the joystick is tilted, the user can intuitively operate the grapple 701 and erroneous operation is prevented.

[0041] 5, in this embodiment, buttons for a series of operations for preparing for a gripping operation (grabbing operation) using the grapple 701, that is, buttons for tilting and rotating operations, are arranged together on the right side of the grapple operating unit 20. This allows the user to complete the preparation operations for the gripping operation with one finger, allowing the work to proceed smoothly.

[0042] The pair of grapple buttons 23A, 23B are provided at the bottom left of the grapple operation unit 20. In other words, the pair of grapple buttons 23A, 23B are provided approximately in the center of the remote controller 100. The pair of grapple buttons 23A, 23B are buttons for performing a series of operations (grasping operation and release operation) that cause the grapple 701 to grip and release an object. Specifically, when the user presses the grapple button 23A located on the left, the grapple 701 performs an operation to grip the object. On the other hand, when the user presses the grapple button 23B located on the right, the grapple 701 performs an operation to release the object.

[0043] Furthermore, the pair of grapple buttons 23A, 23B are arranged at a position farther away from the user's hand when the user is holding remote controller 100 than the pair of tilt buttons 21A, 21B and the pair of grapple wrist rotation buttons 22A, 22B. This prevents erroneous operation caused by the user's hand accidentally touching the pair of grapple buttons 23A, 23B.

[0044] The positional relationship between the grapple button 23A and the grapple button 23B is arbitrary, and the grapple button 23A for grabbing an object may be positioned on the right side, and the grapple button 23B for releasing the object may be positioned on the left side, opposite to the positional relationship in this embodiment.

[0045] The unlock button 24 is provided on the upper left portion of the grapple operation unit 20. In other words, the unlock button 24 is provided approximately in the center of the top of the remote controller 100. The unlock button 24 has the function of unlocking the lock against the gripping operation and the release operation. In other words, when performing the gripping operation and the release operation, it is necessary to operate the unlock button 24 to unlock. This prevents erroneous operation and, ultimately, prevents accidents such as dropping the object due to erroneous operation. The unlock button 24 functions as a "release unit." The operation of the grapple 701 to grip or release an object is an example of a "predetermined operation." The pair of grapple buttons 23A, 23B function as "operation keys corresponding to the predetermined operation." The pair of tilt buttons 21A, 21B and the pair of grapple wrist rotation buttons 22A, 22B function as "operation keys corresponding to operations other than the predetermined operation."

[0046] Furthermore, unlock button 24 is located at a position farther from the user's hand when the user is holding remote controller 100 than the pair of tilt buttons 21A, 21B and the pair of grapple wrist rotation buttons 22A, 22B. This prevents an erroneous operation caused by the user's hand accidentally touching unlock button 24.

[0047] In this embodiment, the unlock button 24 is located in a conspicuous position approximately in the center of the front of the remote controller 100. This allows the user to accurately recognize the position of the unlock button 24.

[0048] Note that various methods are included for locking and unlocking the gripping operation and the release operation. For example, the grapple buttons 23A, 23B may be configured to be mechanically locked so that they cannot be pressed before the unlock button 24 is pressed. Conversely, the grapple buttons 23A, 23B can be pressed before the unlock button 24 is pressed, but a corresponding signal is not sent from the remote controller 100 to the heavy equipment 700 even if the grapple buttons 23A, 23B are pressed before the unlock button 24 is pressed. Alternatively, the grapple buttons 23A, 23B may be pressed before the unlock button 24 is pressed, but a corresponding signal is sent from the remote controller 100 to the heavy equipment 700 even if the grapple buttons 23A, 23B are pressed before the unlock button is pressed, but the grapple 701 may not start the gripping operation or the release operation until the heavy equipment 700 receives a signal corresponding to pressing the unlock button 24.

[0049] As described above, the grapple operating unit 20 has an unlock button 24 that allows the grapple 701 to perform an operation to grasp or release an object depending on the operation, and after the unlock button 24 is operated, the grapple 701 performs an operation to grasp or release an object depending on whether a grasping operation or a releasing operation is performed.

[0050] Furthermore, the pair of grapple buttons 23A, 23B and the unlock button 24 are located farther away from the hand holding the remote controller 100 than the other buttons on the grapple operation unit 20 .

[0051] This prevents the occurrence of erroneous operations such as unintentionally touching the pair of grapple buttons 23A, 23B or the unlock button 24 with the hands.

[0052] Next, the function and detailed layout of each component of the boom operation unit 30 will be described with reference to FIG. 6 .

[0053] The pair of joysticks 31A, 31B are provided at the bottom of the remote controller 100. The pair of joysticks 31A, 31B are buttons for operating the respective joints 702A, 702B of the boom 702 to vertically raise and lower around their base ends, or to tilt in the opposite direction. In the following description, the operation of raising and lowering the respective joints 702A, 702B is referred to as a raising and lowering operation, and the operation of tilting the respective joints 702A, 702B is referred to as a tilting operation.

[0054] Specifically, when the user tilts the joystick 31A located on the left upward in Fig. 6, the first joint 702A rotates clockwise in Fig. 2 around the junction point with the vehicle part 703. On the other hand, when the user tilts the joystick 31A downward in Fig. 6, the first joint 702A rotates counterclockwise in Fig. 2 around the junction point with the vehicle part 703.

[0055] When the user tilts the joystick 31B located on the right upward in Fig. 6, the second joint 702B rotates clockwise in Fig. 2 around the junction with the first joint 702A. On the other hand, when the user tilts the joystick 31B downward in Fig. 6, the second joint 702B rotates counterclockwise in Fig. 2 around the junction with the first joint 702A.

[0056] The positional relationship between the joystick 31A and the joystick 31B is arbitrary, and opposite to the positional relationship in this embodiment, the joystick 31A for rotating the first joint 702A may be positioned on the right side, and the joystick 31B for rotating the second joint 702B may be positioned on the left side.

[0057] In addition, instead of the pair of joysticks 31A, 31B, buttons for raising and lowering operations may be provided. Even in this case, by linking the direction in which the boom 702 raises and lowers with the arrangement of the buttons, the user can intuitively operate the boom 702 and erroneous operation is prevented.

[0058] The pair of boom rotation buttons 33A, 33B are provided on the front upper portion of the remote controller 100. The pair of boom rotation buttons 33A, 33B are buttons for operating to rotate the boom 702. Specifically, when a user presses the boom rotation button 33A located on the right, the boom 702 rotates clockwise in a top view of FIG. 1 around the junction point between the first joint 702A and the vehicle unit 703. In other words, pressing the boom rotation button 33A located on the right rotates the boom 702 to the right. On the other hand, when a user presses the boom rotation button 33B located on the left, the boom 702 rotates counterclockwise in a top view of FIG. 1 around the junction point between the first joint 702A and the vehicle unit 703. In other words, pressing the boom rotation button 33B located on the left rotates the boom 702 to the left. In the following description, the operation of rotating the boom 702 is referred to as a rotation operation.

[0059] In this manner, in this embodiment, the direction in which the boom 702 rotates corresponds to the arrangement of the pair of boom rotation buttons 33A, 33B on the remote controller 100 held by the user, allowing the user to intuitively operate the boom 702 and preventing erroneous operation.

[0060] It should be noted that a joystick for the rotation operation may be provided instead of the pair of boom rotation buttons 33A, 33B. Even in this case, by linking the direction in which the boom 702 rotates with the direction in which the joystick is tilted, the user can intuitively operate the boom 702 and erroneous operation is prevented.

[0061] The pair of boom extension / retraction buttons 34A, 34B are provided on the upper rear portion of the remote controller 100. The pair of boom extension / retraction buttons 34A, 34B are buttons for operating to extend or retract the boom 702. Specifically, when the user presses the boom extension / retraction button 34A located on the right, the boom 702 extends the extension / retraction portion 702C of the second joint 702B. On the other hand, when the user presses the boom extension / retraction button 34B located on the left, the boom 702 retracts the extension / retraction portion 702C of the second joint 702B. In the following description, the operation of extending or retracting the boom 702 is referred to as the extension / retraction operation.

[0062] The positional relationship between the boom extension / retraction button 34A and the boom extension / retraction button 34B is arbitrary, and contrary to the positional relationship in this embodiment, the boom extension / retraction button 34B for extending the boom 702 may be positioned on the right side, and the boom extension / retraction button 34A for retracting the boom 702 may be positioned on the left side.

[0063] Note that a joystick for extension and retraction operation may be provided instead of the pair of boom extension and retraction buttons 34A, 34B. In this case, by linking the direction in which the boom 702 extends and retracts with the direction in which the joystick is tilted, the user can intuitively operate the boom 702 and erroneous operation is prevented.

[0064] 6, in this embodiment, a pair of boom rotation buttons 33A, 33B for rotating the boom 702, which is often performed as a prerequisite for construction work, and a pair of boom extension / retraction buttons 34A, 34B for extending / retracting the boom 702 are arranged together on the top of the remote controller 100. This improves user visibility and allows a series of operations to proceed smoothly.

[0065] The cross key 32 is provided on the left side of the remote controller 100. The cross key 32 is provided for performing vertical and horizontal operations on the boom 702. Here, vertical operation refers to moving the boom 702 vertically. Normally, when operating the boom 702 vertically, it is necessary to achieve this by combining the raising and lowering operations of the boom 702. In other words, vertical operation refers to the operation of extending and lowering the second joint 702B of the boom 702 while raising and lowering the boom 702.

[0066] When the user tilts the cross key 32 upward (forward) in FIG. 6 , the boom 702 rises and falls in the clockwise direction in FIG. 1 around the joint with the vehicle section 703, while extending the telescopic section 702C of the second joint 702B. In other words, when the cross key 32 is tilted upward, the boom 702 acts to stand up. On the other hand, when the user tilts the cross key 32 downward (rearward) in FIG. 6 , the boom 702 falls in the counterclockwise direction in FIG. 1 around the joint with the vehicle section 703, while retracting the telescopic section 702C of the second joint 702B. In other words, when the cross key 32 is tilted downward, the boom 702 acts to fall downward. In this way, by operating the cross key 32 vertically, the same state can be obtained as when the joystick 31A and the boom extension / retraction buttons 34A and 34B are operated simultaneously or at different times.

[0067] In this embodiment, the direction in which the boom 702 moves corresponds to the direction in which the cross key 32 on the remote controller 100 is operated while being held by the user. This allows the user to intuitively operate the boom 702 and prevents erroneous operation.

[0068] Furthermore, horizontal operation refers to horizontally moving the boom 702. Normally, when operating the boom 702 horizontally, it is necessary to achieve this by combining the operations of rotating and extending the boom 702. In other words, horizontal operation refers to the operation of extending the second joint 702B of the boom 702 while rotating the boom 702.

[0069] When the user tilts the cross key 32 to the right in Figure 6, the boom 702 rotates clockwise around the joint with the vehicle unit 703 as viewed from above in Figure 1 while extending the telescopic portion 702C of the second joint 702B. In other words, when the cross key 32 is tilted to the right, the boom 702 rotates to the right while extending the telescopic portion 702C. On the other hand, when the user tilts the cross key 32 to the left in Figure 6, the boom 702 rotates counterclockwise around the joint with the vehicle unit 703 as viewed from above in Figure 1 while extending the telescopic portion 702C of the second joint 702B. In other words, when the cross key 32 is tilted to the left, the boom 702 rotates to the left while retracting the telescopic portion 702C. In this way, horizontal operation using the cross key 32 can achieve the same state as when the boom extension / retraction button 34B and the boom rotation buttons 33A and 33B are operated simultaneously or at different times.

[0070] In this embodiment, the direction in which the boom 702 moves corresponds to the direction in which the remote controller 100 is operated while being held by the user, allowing the user to intuitively operate the boom 702 and preventing erroneous operation.

[0071] 7 and 8, the relationship between the components of the grapple operation unit 20 and the boom operation unit 30 and the cylinders of the heavy machine 700 will be described. As described above, the heavy machine 700 is equipped with hydraulic cylinders, and is configured so that the grapple 701 and the boom 702 perform various operations by adjusting the amount of oil in the cylinders. In other words, in response to a user's operation of each component of the remote controller 100, the amount of oil in the corresponding cylinder is adjusted, and the grapple 701 and the boom 702 perform various operations.

[0072] 7 shows the correspondence between each button on the grapple operating unit 20 and each cylinder of the heavy equipment 700. The heavy equipment 700 is provided with cylinders 701A, 701B, and 701C as cylinders for operating the grapple 701.

[0073] In response to a tilt operation by the user, the cylinder 701A rotates the grapple 701. That is, the cylinder 701A corresponds to the pair of tilt buttons 21A and 21B, and is actuated in response to the user pressing down the tilt buttons 21A and 21B to rotate the grapple 701.

[0074] In response to a rotation operation by the user, the cylinder 701B rotates the grapple 701. The cylinder 701B corresponds to a pair of grapple wrist rotation buttons 22A and 22B, and is actuated in response to the user pressing down the grapple wrist rotation buttons 22A and 22B to rotate the grapple 701.

[0075] The cylinder 701C operates the grapple 701 in response to a gripping operation and a release operation by the user. The cylinder 701C corresponds to the pair of grapple buttons 23A, 23B, and is driven in response to the user pressing down the grapple buttons 23A, 23B, thereby operating the grapple 701.

[0076] 8 shows the correspondence between each component of the boom operating unit 30 and each cylinder of the heavy machine 700. The heavy machine 700 is equipped with cylinders 702D, 702E, 702F, and 702G as cylinders for operating the boom 702.

[0077] The cylinder 702D raises or lowers the first joint 702A in response to a user's raising or lowering operation on the joint 702A of the boom 702. The cylinder 702D corresponds to the joystick 31A and is actuated in response to the user tilting the joystick 31A. Specifically, the cylinder 702D raises or lowers the first joint 702A when the user tilts the joystick 31A forward (upward in the figure). The cylinder 702D also tilts the first joint 702A when the user tilts the joystick 31A backward (downward in the figure).

[0078] The cylinder 702E raises or lowers the second joint 702B in response to a user's raising or lowering operation on the joint 702B of the boom 702. The cylinder 702E corresponds to the joystick 31B and is actuated in response to the user tilting the joystick 31B. Specifically, the cylinder 702E raises or lowers the second joint 702B when the user tilts the joystick 31B forward (upward in the figure). The cylinder 702E also tilts the second joint 702B when the user tilts the joystick 31B backward (downward in the figure).

[0079] The cylinder 702F extends or retracts the boom 702 in response to a user's telescoping operation on the boom 702. The cylinder 702F corresponds to the pair of boom telescoping buttons 34A, 34B, and is actuated in response to the user pressing down the pair of boom telescoping buttons 34A, 34B. Specifically, the cylinder 702F extends the telescoping portion 702C of the second joint 702B when the user presses down the boom telescoping button 34A located on the right. The cylinder 702F also retracts the telescoping portion 702C of the second joint 702B when the user presses down the boom telescoping button 34B located on the left.

[0080] The cylinder 702G rotates the boom 702 in response to a user's rotation operation on the boom 702. The cylinder 702G corresponds to the pair of boom rotation buttons 33A, 33B, and is actuated in response to the user pressing down the pair of boom rotation buttons 33A, 33B. Specifically, when the user presses down the boom rotation button 33A located on the right, the cylinder 702G rotates the boom 702 in the clockwise direction as viewed from above in FIG. 1 around the junction point between the first joint 702A and the vehicle portion 703. When the user presses down the boom rotation button 33B located on the left, the cylinder 702G rotates the boom 702 in the counterclockwise direction as viewed from above in FIG. 1 around the junction point between the first joint 702A and the vehicle portion.

[0081] In this embodiment, vertical operation using the cross key 32 corresponds to the cylinders 702D and 702F. Specifically, when the user tilts the cross key 32 forward (upward in the figure), the cylinder 702D raises and lowers the first joint 702A, and the cylinder 702F extends the telescopic portion 702C of the second joint 702B. When the user tilts the cross key 32 backward (downward in the figure), the cylinder 702D tilts the first joint 702A, and the cylinder 702F retracts the telescopic portion 702C of the second joint 702B.

[0082] In this embodiment, horizontal operations using the cross key 32 correspond to the cylinders 702F and 702G. Specifically, when the user tilts the cross key 32 to the right, the cylinder 702G rotates the boom 702 clockwise in the top view of FIG. 1 around the joint with the vehicle part 703, and the cylinder 702F extends the telescopic part 702C of the second joint 702B. When the user tilts the cross key 32 to the left, the cylinder 702G rotates the boom 702 counterclockwise in the top view of FIG. 1 around the joint with the vehicle part 703, and the cylinder 702F retracts the telescopic part 702C of the second joint 702B.

[0083] The device of the present invention can also be realized by a computer and a program, and the program can be recorded on a recording medium or provided via a network. The program of the present disclosure is a program for causing a computer to realize each function of the device according to the present disclosure, and a program for causing a computer to execute each procedure of the method executed by the device according to the present disclosure.

[0084] 20: Grapple operation unit 21A, 21B: Tilt button 22A, 22B: Grapple wrist rotation button 23A, 23B: Grapple button 24: Unlock button 30: Boom operation unit 31A, 31B: Joystick 32: D-pad 33A, 33B: Boom rotation button 34A, 34B: Boom extension / retraction button 100: Remote controller 700: Heavy equipment 701: Grapple 702: Boom 702A: First joint 702B: Second joint 702C: Extension section 701A, 701B, 701C, 702D, 702E, 702F, 702G: Cylinder 703: Vehicle section

Claims

1. A control device is operable from the outside for a heavy machine including a first drive unit and a second drive unit, and is located within an operable range with one hand. The control device includes a first operation unit that operates the first drive unit in response to an operation, and a second operation unit that is located outside the range and operates the second drive unit in response to an operation.

2. The first operation unit has a release unit that allows the first drive unit to perform a predetermined operation in response to an operation. The first drive unit performs the predetermined operation in response to an operation corresponding to the predetermined operation after the release unit is operated. The control device according to claim 1.

3. The first drive unit is configured to be able to grip an object. The predetermined operation is an operation in which the first drive unit grips or releases the object. The operation key corresponding to the predetermined operation and the release unit are located farther from the hand gripping the control device than the operation keys corresponding to operations other than the predetermined operation of the first drive unit. The control device according to claim 2.

4. A system including the control device according to any one of claims 1 to 3, a heavy machine including the first drive unit, the second drive unit, and a base. The second drive unit is configured to be rotatable or pivotable about the base. The first drive unit is configured to be rotatable or pivotable about the tip of the second drive unit. The first operation unit has a plurality of operation keys arranged to correspond to the rotational direction or pivoting direction of the first drive unit, or an operation key operable in a direction corresponding to the rotational direction or pivoting direction of the first drive unit. The second operation unit has a plurality of operation keys arranged to correspond to the rotational direction or pivoting direction of the second drive unit, or an operation key operable in a direction corresponding to the rotational direction or pivoting direction of the second drive unit. System.

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