Remote control terminal, and working vehicle provided with remote control terminal
The purpose of the present invention is to provide: a remote control terminal which can perform a remote control on a working vehicle easily and simply; and a working vehicle provided with a remote control terminal. The present invention is provided with: a vehicle-side azimuth sensor ( 29 ) which detects the azimuth around a crane device ( 6 ); a remote control terminal ( 32 ) having a hung cargo movement control tool which is a first control part that remotely controls the crane device ( 6 ), and a reference change control tool ( 34 ) which is a second control tool that sets a reference for the azimuth in which the crane device ( 6 ) operates according to a control of the hung cargo movement control tool ( 35 ); and a control device ( 31 ) which is configured to be able to communicate with the remote control terminal ( 32 ) and controls the operation of the crane device ( 6 ), wherein the control device ( 31 ) causes the crane device ( 6 ) to operate in the azimuth in which the crane device ( 6 ) operates, when acquiring, from the remote control terminal ( 32 ), a signal of the azimuth in which the crane device ( 6 ) operates according to a control of the hung cargo movement control tool ( 35 ) and which is calculated on the basis of a set value of the reference change control tool ( 34 ).
1. A work vehicle provided with a crane apparatus that is remotely operated, the work vehicle comprising:
an azimuth detection sensor configured to detect an absolute azimuth about the crane apparatus;
a remote operation terminal including a first manipulation tool used to remotely operate the crane apparatus and a second manipulation tool used to set a reference of an absolute azimuth of the crane apparatus as a result of manipulation of the first manipulation tool;
a hardware processor that is configured to be capable of communicating with the remote operation terminal and control movement of the crane apparatus; and
an electronic display that is mounted on the crane apparatus,
wherein when the hardware processor obtains, from the remote operation terminal, a signal of an absolute azimuth in which the crane apparatus moves for manipulation of the first manipulation tool and which is calculated based on a set value of the second manipulation tool, the hardware processor is configured to cause the crane apparatus to move toward an absolute azimuth instructed by the remote operation terminal using, as a reference, the absolute azimuth detected by the azimuth detection sensor,
wherein the set value of the second manipulation tool is a set value for correcting the absolute azimuth corresponding to a reference direction on an operating face of the remote operation terminal,
wherein the absolute azimuth in which the crane apparatus moves is calculated so as to correspond to an angle difference between the reference direction on the operating face of the remote operation terminal and a manipulation direction of manipulation made on the first manipulation tool, and
wherein the hardware processor is configured to cause the electronic display to display the absolute azimuth about the crane apparatus, which is detected by the azimuth detection sensor, and when the hardware processor obtains, from the remote operation terminal, the signal of the absolute azimuth in which the crane apparatus moves, the hardware processor causes the electronic display to display the absolute azimuth in which the crane apparatus moves.
2. The work vehicle according to claim 1 , wherein
the first manipulation tool is a manipulation stick configured to receive tilting manipulation of an operator, and
the second manipulation tool is a rotary knob configured to receive rotating manipulation of an operator.
3. The work vehicle according to claim 1 , wherein
the remote operation terminal includes a terminal electronic display configured to display a video image of a camera that takes from vertically above an image of a load hanged by the crane apparatus, and
the terminal electronic display is configured to rotate the video image such that the video image corresponds to the set value set by the second manipulation tool.
4. The work vehicle according to claim 1 , wherein the remote operation terminal is configured to disable a change of the set value with the second manipulation tool while the first manipulation tool is being manipulated.