Industrial vehicle remote operation system, remote operation device, industrial vehicle, remote memory storing industrial vehicle remote operation program, and industrial vehicle remote operation method

An industrial vehicle remote operation system comprising:

• an industrial vehicle comprising:
• a vehicle processor, and
• a vehicle communication interface that performs wireless communication;
• and
• a vehicle operation part for performing the operation of the industrial vehicle,
• wherein the vehicle operation part includes at least a steering wheel and an operation lever;
• and
• a remote operation terminal, configured to be operated by a user, comprising:
• a remote processor, and
• a remote communication interface that performs wireless communication with the vehicle communication interface, the remote operation terminal being configured to remotely operate the industrial vehicle;
• wherein
• the remote processor is programmed to, based upon a remote-operation stop operation being performed on the remote operation terminal by the user in a situation where operation of the industrial vehicle is being performed through a remote operation by the remote operation terminal, perform an operation stop control for stopping the operation of the industrial vehicle, and stop the remote operation by the remote operation terminal after the operation stop control is completed, wherein
• a control mode of the industrial vehicle includes:
• a remote mode in which the operation of the industrial vehicle is performed not through operation of the vehicle operation part but through the remote operation by the remote operation terminal,
• a manned mode in which the operation of the industrial vehicle is performed not through the remote operation by the remote operation terminal but through the operation of the vehicle operation part, and
• a neutral mode in which the operation of the industrial vehicle is not performed through any of the remote operation by the remote operation terminal and the operation of the vehicle operation part,
• the remote processor is programmed to:
• based upon the remote-operation stop operation being performed on the remote operation terminal in a situation where the control mode is the remote mode and the operation of the industrial vehicle is being performed, perform the operation stop control and shift the control mode from the remote mode to the neutral mode after the operation stop control is completed,
• the remote processor is further programmed to:
• based on a fact that the remote control operation, which is a kind of operation on the remote operation terminal and has been performed on the remote operation terminal in a situation where the control mode is the remote mode, perform a control such that the operation of the industrial vehicle corresponding to the remote control operation is performed, and
• preferentially perform the remote-operation stop operation over the control by a normal remote control operation when the remote-operation stop operation and the normal remote control operation have been simultaneously performed on the remote operation terminal.

A remote operation device configured to be operated by a user, comprising:

• a remote communication interface that performs wireless communication with a vehicle communication interface provided in an industrial vehicle;
• and
• a processor programmed to:
• based upon a remote-operation stop operation being performed in a situation where operation of the industrial vehicle is being performed through a remote operation by the remote operation device, perform an operation stop control for stopping the operation of the industrial vehicle, and stop the remote operation after the operation stop control is completed,
• wherein
• a control mode of the industrial vehicle includes:
• a remote mode in which the operation of the industrial vehicle is performed not through operation of a steering wheel or an operation lever of the industrial vehicle but through the remote operation by the remote operation device performed by the user,
• a manned mode in which the operation of the industrial vehicle is performed not through the remote operation by the remote operation device but through the operation of the steering wheel or the operation lever of the industrial vehicle, and
• a neutral mode in which the operation of the industrial vehicle is not performed through any of the remote operation by the remote operation device and the operation of the industrial vehicle through the operation of the steering wheel or the operation lever of the vehicle industrial vehicle, and
• the processor is further programmed to:
• based upon the remote-operation stop operation being performed on the remote operation device in a situation where the control mode is the remote mode and the operation of the industrial vehicle is being performed, perform the operation stop control and shift the control mode from the remote mode to the neutral mode after the operation stop control is completed,
• when the control mode is the neutral mode, shift the control mode from the neutral mode to the manned mode based on satisfaction of a manned mode shift condition including that an occupant has been detected by a man sensor in the industrial vehicle, and
• when the control mode is the manned mode, shift the control mode from the manned mode to the neutral mode based on satisfaction of a neutral mode shift condition including that an occupant has not been detected by the man sensor.

An industrial vehicle comprising:

• a vehicle communication interface that performs wireless communication with a remote communication interface provided in a remote operation terminal,
• a man sensor that detects an occupant in the industrial vehicle;
• and
• a processor programmed to:
• based upon a remote-operation stop operation being performed on the remote operation terminal in a situation where operation of the industrial vehicle is being performed through a remote operation by the remote operation terminal, perform an operation stop control for stopping the operation of the industrial vehicle, and stop the remote operation by the remote operation terminal after the operation stop control is completed,
• wherein
• a control mode of the industrial vehicle includes:
• a remote mode in which the operation of the industrial vehicle is performed not through operation of a steering wheel or an operation lever of the industrial vehicle but through the remote operation by the remote operation terminal performed by a user,
• a manned mode in which the operation of the industrial vehicle is performed not through the remote operation by the remote operation terminal but through the operation of the steering wheel or the operation lever of the industrial vehicle, and
• a neutral mode in which the operation of the industrial vehicle is not performed through any of the remote operation by the remote operation terminal and the operation of the vehicle operation part, and
• the processor is further programmed to:
• based upon the remote-operation stop operation being performed on the remote operation terminal in a situation where the control mode is the remote mode and the operation of the industrial vehicle is being performed, perform the operation stop control and shift the control mode from the remote mode to the neutral mode after the operation stop control is completed,
• when the control mode is the neutral mode, shift the control mode from the neutral mode to the manned mode based on satisfaction of a manned mode shift condition including that an occupant has been detected by the man sensor in the industrial vehicle, and
• when the control mode is the manned mode, shift the control mode from the manned mode to the neutral mode based on satisfaction of a neutral mode shift condition including that an occupant has not been detected by the man sensor.

A non-transitory remote memory storing an industrial vehicle remote operation program for remotely operating an industrial vehicle using a remote operation terminal that comprises a processor and a remote communication interface that performs wireless communication with a vehicle communication interface provided in the industrial vehicle, the industrial vehicle remote operation program causing the processor to:

• based upon a remote-operation stop operation being performed on the remote operation terminal in a situation where operation of the industrial vehicle is being performed through a remote operation by the remote operation terminal, performs an operation stop control for stopping the operation of the industrial vehicle, and stops the remote operation by the remote operation terminal after the operation stop control is completed,
• wherein
• a control mode of the industrial vehicle includes:
• a remote mode in which the operation of the industrial vehicle is performed not through operation of a steering wheel or an operation lever, but through the remote operation by the remote operation terminal performed by a user,
• a manned mode in which the operation of the industrial vehicle is performed not through the remote operation by the remote operation terminal but through the operation of the steering wheel or the operation lever, and
• a neutral mode in which the operation of the industrial vehicle is not performed through any of the remote operation by the remote operation terminal and the operation of the steering wheel or the operation lever, and
• the processor is programmed to:
• based upon the remote-operation stop operation being performed on the remote operation terminal in a situation where the control mode is the remote mode and the operation of the industrial vehicle is being performed, perform the operation stop control and shift the control mode from the remote mode to the neutral mode after the operation stop control is completed,
• when the control mode is the neutral mode, shift the control mode from the neutral mode to the manned mode based on satisfaction of a manned mode shift condition including that an occupant has been detected by the man sensor, and
• when the control mode is the manned mode, shift the control mode from the manned mode to the neutral mode based on satisfaction of a neutral mode shift condition including that an occupant has not been detected by the man sensor.

An industrial vehicle remote operation method for remotely operating an industrial vehicle using a remote operation terminal that comprises a processor and a remote communication interface that performs wireless communication with a vehicle communication interface provided in the industrial vehicle, the industrial vehicle remote operation method comprising:

• an operation stop control step in which the remote operation terminal performs, based on a remote-operation stop operation being performed on the remote operation terminal in a situation where operation of the industrial vehicle is being performed through a remote operation by the remote operation terminal, an operation stop control for stopping the operation of the industrial vehicle, and
• a remote operation stop step in which the remote operation terminal stops the remote operation by the remote operation terminal after the operation stop control is completed,
• wherein
• a control mode of the industrial vehicle includes:
• a remote mode in which the operation of the industrial vehicle is performed not through operation of a steering wheel or an operation lever, but through the remote operation by the remote operation terminal performed by a user,
• a manned mode in which the operation of the industrial vehicle is performed not through the remote operation by the remote operation terminal but through the operation of the steering wheel or the operation lever, and
• a neutral mode in which the operation of the industrial vehicle is not performed through any of the remote operation by the remote operation terminal and the operation of the steering wheel or the operation lever, and
• the method further comprises:
• based upon the remote-operation stop operation being performed on the remote operation terminal in a situation where the control mode is the remote mode and the operation of the industrial vehicle is being performed, performing the operation stop control and shifting the control mode from the remote mode to the neutral mode after the operation stop control is completed,
• when the control mode is the neutral mode, shifting the control mode from the neutral mode to the manned mode based on satisfaction of a manned mode shift condition including that an occupant has been detected by a man sensor of the industrial vehicle, and
• when the control mode is the manned mode, shifting the control mode from the manned mode to the neutral mode based on satisfaction of a neutral mode shift condition including that an occupant has not been detected by the man sensor of the industrial vehicle.