Remote operating device and remote operating system

Abstract

A remote operating device (2) for remotely operating a transport vehicle (1) comprises a first operating unit (2a) and a control unit (24). Each time the first operating unit (2a) is operated, the control unit (24) wirelessly transmits a command signal to the transport vehicle (1) to cause the transport vehicle (1) to travel a predetermined distance.

Description

Technical Field

[0001] The invention relates to a remote operation device and a remote operation system.

[0002] This application claims priority based on Japanese Patent Application No. 2019-080394 filed in Japan on April 19, 2019, the contents of which are incorporated herein by reference. Background Art

[0003] Patent Document 1 below discloses a method for controlling an unmanned transport vehicle that automatically transports a container. In this control method, a crane is used to load and unload a container from the unmanned transport vehicle, thereby moving the unmanned transport vehicle to a work position.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-228198 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] However, due to the characteristics of the unmanned guided vehicle, the positioning accuracy of the unmanned guided vehicle relative to the work position may be poor.

[0009] The present disclosure has been made in view of such circumstances, and an object of the present disclosure is to provide a remote operation device and a remote operation system that can improve the positioning accuracy of an unmanned transport vehicle relative to a work position.

[0010] Means for solving problems

[0011] One embodiment of the remote control device disclosed herein is a remote control device for remotely controlling a transport vehicle, comprising: a first operating unit; and a control unit for wirelessly transmitting a command signal to the transport vehicle to cause the transport vehicle to travel a predetermined distance each time the first operating unit is operated.

[0012] In addition, in the above-mentioned one embodiment of the remote operating device disclosed in the present invention, the first operating unit may also have a forward operating unit and a backward operating unit, and each time the forward operating unit is operated, the control unit wirelessly sends a first command signal to the transport vehicle to cause the transport vehicle to move forward a first distance, and each time the backward operating unit is operated, the control unit wirelessly sends a second command signal to the transport vehicle to cause the transport vehicle to move backward a second distance.

[0013] In addition, in the above-mentioned one aspect of the remote control device of the present disclosure, the remote control device may further include a second operating unit capable of adjusting at least one of the first distance and the second distance.

[0014] One embodiment of the remote operation system disclosed herein comprises: a remote operation device that remotely operates a transport vehicle; and a control device that is mounted on the transport vehicle and controls the travel of the transport vehicle through wireless communication with the remote operation device, wherein the remote operation device comprises: a first operation part; and a control part that wirelessly sends a command signal to the transport vehicle to cause the transport vehicle to travel a predetermined distance each time the first operation part is operated, and when the control device receives the command signal from the remote operation device through the wireless communication, the control device operates the brake of the transport vehicle to stop the transport vehicle after a predetermined time has passed after the accelerator of the transport vehicle has been operated by a predetermined amount.

[0015] In addition, in the above-mentioned one mode of the remote operation system disclosed in the present invention, the remote operation device further includes a second operation unit for adjusting the predetermined distance, and the control unit wirelessly sends an operation signal corresponding to the operation of the second operation unit to the control device. When the control device receives the operation signal from the remote operation device through the wireless communication, the control device adjusts at least any one of the predetermined amount and the predetermined time according to the operation signal.

[0016] In addition, in the above-mentioned one embodiment of the remote operation system disclosed in the present invention, the remote operation system may also be provided with a measuring device, which measures the weight of the transport object transported by the transport vehicle, and the control device receives the weight information measured by the measuring device through communication, and adjusts at least any one of the predetermined amount and the predetermined time based on the received weight.

[0017] Effects of the Invention

[0018] As described above, according to the present disclosure, the positioning accuracy of the unmanned guided vehicle with respect to the work position can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 An example of a schematic configuration of a remote operation system A according to this embodiment is shown.

[0020] Figure 2 It is a schematic configuration diagram of the transport vehicle 1 according to the present embodiment.

[0021] Figure 3 It is a front view of the remote control device 2 of this embodiment.

[0022] Figure 4 This is a main control block diagram of the remote operation device 2 according to this embodiment.

[0023] Figure 5 An example of a schematic configuration diagram of the control device 3 according to the present embodiment is shown.

[0024] Figure 6 The positioning process of the transport vehicle 1 according to this embodiment will be described.

[0025] Figure 7 A modified example of the remote control device 2 of this embodiment is shown.

[0026] Figure 8 A modified example of the remote operation system A of the present embodiment is shown. DETAILED DESCRIPTION

[0027] Hereinafter, a remote operation device according to the present embodiment and a remote operation system including the remote operation device will be described using the drawings.

[0028] Figure 1 An example of a schematic configuration of a remote operation system A according to this embodiment is shown.

[0029] The remote operation system A makes the unmanned transport vehicle 1 align with the predetermined target position H M Or it can be regarded as the target position H M In the following description, the following alignment is simply referred to as "alignment of the transport vehicle 1": the transport vehicle 1 is driven autonomously so that the position of the transport vehicle 1 is aligned with the predetermined target position H. M Or it can be regarded as the target position H M location.

[0030] Transport vehicle 1 is a vehicle used to transport an object to a destination. In this embodiment, transport vehicle 1 is described as a semitrailer that transports a container P from a container yard at a port or inland location to a destination. However, the present disclosure is not limited to this embodiment. For example, transport vehicle 1 may be a full trailer or a construction vehicle used to transport materials used in dam construction or earthfill construction.

[0031] like Figure 2 As shown, the transport vehicle 1 includes a trailer head 11 (also called a tractor) and a chassis (also called a trailer) 12 .

[0032] A chassis 12 is connected to the trailer head 11. The trailer head 11 travels in a state in which the chassis 12 is connected.

[0033] The container P is loaded on the chassis 12 . The chassis 12 , with the container P loaded thereon, is towed by the tractor head 11 .

[0034] As described above, in the transport vehicle 1 of the present embodiment, the tractor head 11 is coupled to the chassis 12 , and the tractor head 11 travels with the container P loaded on the chassis 12 , thereby enabling the container P to be transported.

[0035] Here, the target position H in this embodiment M Any position may be used as long as it is a position at which the transport vehicle 1 is stopped. For example, it may be a stopping position of the transport vehicle 1 designated when the crane L loads or unloads the container P on the chassis of the transport vehicle 1 transporting the container P.

[0036] The crane L lifts the container P and loads it to the target location H. M On the chassis 12 of the parked transport vehicle 1 (refer to Figure 1 The crane L of this embodiment is a gantry crane or a transfer crane. For example, a spreader device having a spreader is attached to the lower end of a rope suspended from an overhead crane (not shown) of the crane L. This spreader is used to grasp the container P. The crane L then lifts the container P to load and unload it, while grasping and securing the metal fittings at the four corners of the container P with the spreader.

[0037] return Figure 1 , the remote operation system A of this embodiment is described.

[0038] The remote operation system A includes a remote operation device 2 , a control device 3 , and an indicator light 4 .

[0039] The remote control device 2 is a so-called remote controller that can remotely control the transport vehicle 1 and is operated by a user when aligning the transport vehicle 1. The remote control device 2 is connected to the control device 3 via wireless communication. Here, for example, the user is the operator O of the crane L. The operator O is a person who waits in the cab of the crane L and operates the crane L. However, the user is not limited to the operator O of the crane L; any person responsible for aligning the transport vehicle 1 may be used, and may be someone other than the operator O.

[0040] When the operator O operates the crane L to perform loading and unloading operations of the container P, the operator O adjusts the position of the transport vehicle 1 by operating the remote control device 2 .

[0041] The remote operating device 2 transmits a command signal corresponding to the operation on the remote operating device 2 to the control device 3. Thus, the remote operating device 2 can remotely fine-tune the position of the transport vehicle 1 in the traveling direction.

[0042] The remote control device 2 may be installed in the cab or in a portable information terminal. In addition, the remote control device 2 may be a smart phone or a tablet terminal.

[0043] Figure 3 : is a front view of the remote control device 2 of this embodiment. Figure 3 As shown, a first operating portion 2 a and a completion operating portion 2 b are provided on the front surface of the remote operating device 2 .

[0044] The first operating portion 2 a is an operating portion operated by a user when finely adjusting the position of the transport vehicle 1 .

[0045] The completion operation unit 2b is an operation unit operated by the user when the processing mode (position fine adjustment mode) of positioning the transport vehicle 1 in the control device 3 is ended. For example, the completion operation unit 2b is a push button switch.

[0046] The first operating unit 2 a includes a forward operating unit 21 and a backward operating unit 22 .

[0047] The forward operation unit 21 is an operation unit operated by a user when the transport vehicle 1 is advanced by the first distance D1. For example, the forward operation unit 21 is a push button switch.

[0048] The reverse operation unit 22 is an operation unit operated by the user when the transport vehicle 1 is reversed by the second distance D2. The first distance D1 and the second distance D2 may be the same or different. For example, the reverse operation unit 22 is a push button switch.

[0049] Figure 4 This is a main control block diagram of the remote operation device 2 according to this embodiment.

[0050] like Figure 4 As shown, the remote control device 2 includes a first operation unit 2 a (a forward operation unit 21 and a reverse operation unit 22 ), a completion operation unit 2 b , a wireless communication unit 23 , a control unit 24 , and a storage unit 25 .

[0051] The wireless communication unit 23 transmits a command signal by performing wireless communication with the control device 3 .

[0052] Each time the first operating portion 2 a is operated (eg, pressed), the control portion 24 wirelessly transmits a command signal to the transport vehicle 1 via the wireless communication portion 23 , causing the transport vehicle 1 to travel a predetermined distance.

[0053] Specifically, each time the forward operation unit 21 is operated (e.g., pressed), the control unit 24 wirelessly transmits a first instruction signal to the transport vehicle 1 via the wireless communication unit 23, causing the transport vehicle 1 to advance a first distance D1. Each time the reverse operation unit 22 is operated, the control unit 24 wirelessly transmits a second instruction signal to the transport vehicle 1 via the wireless communication unit 23, causing the transport vehicle 1 to reverse a second distance D2.

[0054] When the completion operation portion 2 b is operated (for example, pressed), the control portion 24 wirelessly transmits a completion signal to the transport vehicle 1 .

[0055] The control unit 24 can be composed of a microprocessor such as a CPU (Central Processing Unit) or an MPU (MicroProcessing Unit), a microcontroller such as an MCU (Micro Control Unit), or the like.

[0056] The storage unit 25 is a nonvolatile memory, and various types of information are stored in the storage unit 25 .

[0057] The control device 3 is mounted on the transport vehicle 1 (tractor head 11 ) and controls the travel of the transport vehicle 1 through wireless communication with the remote control device 2 .

[0058] The control device 3 has a position fine adjustment mode, in which the transport vehicle 1 is aligned according to the command signal from the remote control device 2. In the position fine adjustment mode, when the control device 3 receives a command signal from the control unit 24 of the remote control device 2 via wireless communication, the control device 3 operates the brake BR (Brake) of the transport vehicle 1 to stop the transport vehicle 1 after a predetermined time ΔT has elapsed after the accelerator AC of the transport vehicle 1 has been operated by a predetermined amount ΔP (refer to FIG. Figure 5 The predetermined amount ΔP is greater than or equal to the operation amount (eg, depression amount) of the accelerator AC at which the transport vehicle 1 can start traveling.

[0059] The display of the display lamp 4 is controlled by the control device 3 and is lit in the position fine adjustment mode.

[0060] The following uses Figure 5 An example of a schematic configuration of the control device 3 according to the present embodiment will be described. Figure 5 An example of a schematic configuration diagram of the control device 3 according to the present embodiment is shown.

[0061] The control device 3 includes an actuator 31 and a control unit 32 .

[0062] Upon receiving a control signal from the control unit 32, the actuator 31 operates the accelerator AC of the tractor head 11 by a predetermined amount ΔP. This causes the transport vehicle 1 to start traveling forward or backward. Furthermore, upon receiving a stop signal from the control unit 32, the actuator 31 operates the brake BR of the tractor head 11 to stop the transport vehicle 1 from traveling forward or backward.

[0063] The control unit 32 has the function of wirelessly communicating with the wireless communication unit 23 of the remote operating device 2. When performing the alignment process for the transport vehicle 1, the control unit 32 switches to the fine-position adjustment mode and maintains the fine-position adjustment mode until receiving a completion signal from the remote operating device 2. Specifically, when performing the alignment process for the transport vehicle 1, the control unit 32 switches from the normal mode, which is different from the fine-position adjustment mode, to the fine-position adjustment mode. Upon receiving the completion signal, the control unit 32 switches from the fine-position adjustment mode to the normal mode. Here, the normal mode refers to, for example, a mode in which the transport vehicle 1 is automatically driven (hereinafter referred to as the "automatic driving mode").

[0064] The control unit 32 keeps the indicator light 4 on at all times in the position fine adjustment mode.

[0065] Upon receiving the first command signal from the remote control device 2, the control unit 32 shifts the shift lever to the D position and outputs a control signal to the actuator 31. After a predetermined time ΔT has elapsed since the output of this control signal, the control unit 32 outputs a stop signal to the actuator 31. This causes the transport vehicle 1 to advance a first distance D1. Therefore, when the operator O presses the forward control unit 21 three times, the control unit 32 repeats the alignment process three times while the shift lever is in the D position. During this alignment process, the control unit 32 outputs a control signal to the actuator 31. After a predetermined time ΔT has elapsed since the output of this control signal, the control unit 32 outputs a stop signal to the actuator 31. As a result, the transport vehicle 1 advances a distance equal to the first distance D1 × 3.

[0066] Upon receiving the second command signal from the remote control device 2, the control unit 32 switches the shift lever to the R position and outputs a control signal to the actuator 31. After a predetermined time ΔT has elapsed since the output of this control signal, the control unit 32 outputs a stop signal to the actuator 31. This causes the transport vehicle 1 to reverse a second distance D2. Therefore, when the operator O presses the reverse operation unit 22 three times, the control unit 32 repeats the alignment process three times while the shift lever is in the R position. During this alignment process, the control signal is output to the actuator 31, and after a predetermined time ΔT has elapsed since the output of this control signal, the control unit 32 outputs a stop signal to the actuator 31. As a result, the transport vehicle 1 reverses a distance of the second distance D2 × 3.

[0067] The control unit 32 can be composed of a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.

[0068] The control device 3 of this embodiment has the function of operating the shift lever. For example, the control device 3 may include an actuator for operating the shift lever (hereinafter referred to as the "shift actuator"). In this case, the control unit 32 controls the shift actuator to shift the shift lever to the D or R position. However, the control device 3 is not limited to this embodiment; as long as it has the function of switching the transport vehicle 1 between forward and reverse directions, it may also be electrically switched via CAN communication.

[0069] The storage unit 33 is a nonvolatile memory, and various information is stored in the storage unit 33. For example, the storage unit 33 stores information on a predetermined amount ΔP and a predetermined time ΔT.

[0070] Next, use Figure 6 The positioning process of the transport vehicle 1 in the remote operation system A will be described.

[0071] When crane L is loading or unloading a transport vehicle 1, the control device 3 moves the transport vehicle 1 to a stop position H1 near the crane L in automatic driving mode. The control device 3 then stops the transport vehicle 1 at stop position H1 and switches to fine-position adjustment mode. The control device 3 then illuminates the indicator light 4. For example, stop position H1 is the area between white lines 100 and 101, and is not particularly limited as long as it is near the crane L. However, it is desirable that the transport vehicle 1 be traveling in the same direction as the crane L.

[0072] After the operator O visually confirms that the transport vehicle 1 has stopped by the indicator light 4, in order to align the transport vehicle 1 to the target position H M , pressing the forward operating unit 21 or the reverse operating unit 22. For example, when the operator O presses the forward operating unit 21 once, the remote operating device 2 wirelessly transmits a first command signal to the control device 3. Upon receiving the first command signal, the control device 3 shifts the shift lever to the D position, operates the accelerator AC by a predetermined amount ΔP, and then, after a predetermined time ΔT has elapsed from this operation, operates the brake BR. As a result, the transport vehicle 1 travels forward a first distance D1. On the other hand, when the operator O presses the reverse operating unit 22 once, the remote operating device 2 wirelessly transmits a second command signal to the control device 3. Upon receiving the second command signal, the control device 3 shifts the shift lever to the R position, operates the accelerator AC by a predetermined amount ΔP, and then, after a predetermined time ΔT has elapsed from this operation, operates the brake BR, for example, at the maximum amount of operation that can operate the brake BR. As a result, the transport vehicle 1 travels backward a second distance D2.

[0073] Operator O visually confirms the target position H Mand the position of the transport vehicle 1, and the forward operation unit 21 or the reverse operation unit 22 is operated more than once to move the transport vehicle 1 to the target position H. M The operator O visually confirms that the transport vehicle 1 has arrived at the target location H. M , the loading and unloading operation of the crane L is performed. Furthermore, when the loading and unloading operation is completed, the operator O presses the completion operation unit 2b. Upon pressing the completion operation unit 2b, the remote operating device 2 wirelessly transmits a completion signal to the control device 3. Upon receiving the completion signal, the control device 3 switches from the position fine adjustment mode to the automatic driving mode, turns off the indicator light 4, and resumes autonomous driving along the predetermined driving route.

[0074] The embodiments of the present invention have been described in detail above with reference to the drawings, but the specific configuration is not limited to the embodiments and includes designs within the scope of the present disclosure.

[0075] (Variation 1)

[0076] The control device 3 shifts to the fine position adjustment mode upon stopping the transport vehicle 1 at the stop position H1, but the present invention is not limited to this. Specifically, the timing at which the control device 3 shifts to the fine position adjustment mode is not particularly limited. For example, in normal mode, the control device 3 may shift to the fine position adjustment mode upon first receiving a command signal.

[0077] (Variation 2)

[0078] like Figure 7 As shown, the remote operating device 2 may further include a second operating unit 30 capable of adjusting either the first distance D1 or the second distance D2. For example, when the second operating unit 30 is operated, the remote operating device 2 wirelessly transmits an operation signal corresponding to the operation to the control device 3. For example, the operator O performs a first operation on the second operating unit 30 when shortening the first distance D1. When the remote operating device 2 (control unit 24) detects the first operation on the second operating unit 30, it wirelessly transmits a first operation signal corresponding to the first operation to the control device 3. On the other hand, when the operator O increases the first distance D1, it performs a second operation on the second operating unit 30. When the remote operating device 2 (control unit 24) detects the second operation on the second operating unit 30, it wirelessly transmits a second operation signal corresponding to the second operation to the control device 3.

[0079] When the control device 3 receives an operation signal from the remote control device 2 via wireless communication, it adjusts at least one of the predetermined amount ΔP and the predetermined time ΔT based on the operation signal. For example, when the control device 3 receives a first operation signal from the remote control device 2 via wireless communication, it sets at least one of the predetermined amount ΔP and the predetermined time ΔT to decrease by a predetermined value. For example, when the control device 3 receives a second operation signal from the remote control device 2 via wireless communication, it sets at least one of the predetermined amount ΔP and the predetermined time ΔT to increase by a predetermined value.

[0080] (Variation 3)

[0081] The remote operating device 2 can be a touch panel. In this case, the operation on the first operating portion 2a is a touch operation or a sliding operation. For example, when the remote operating device 2 is a touch panel, the operator O can slide the screen of the remote operating device 2 in a first direction (hereinafter referred to as the "first sliding operation") when moving the transport vehicle 1 forward a first distance D1. This first sliding operation is equivalent to an operation on the forward operating portion 21. Therefore, when the control unit 24 detects the first sliding operation, it wirelessly transmits a first command signal to the control device 3. That is, each time the first sliding operation is performed, the control unit 24 wirelessly transmits the first command signal to the control device 3.

[0082] On the other hand, when the operator O reverses the transport vehicle 1 a second distance D2, he or she can perform a sliding operation on the screen (first operating unit) of the remote operating device 2 in a second direction different from the first direction (hereinafter referred to as the "second sliding operation"). This second sliding operation corresponds to an operation on the reverse operating unit 22. Therefore, when the control unit 24 detects the second sliding operation, it wirelessly transmits a second command signal to the control device 3. In other words, the control unit 24 wirelessly transmits the second command signal to the control device 3 each time the second sliding operation is performed.

[0083] (Variation 4)

[0084] like Figure 8 As shown, the remote operation system A may further include a measuring device 200 for measuring the weight of the container P as a transport object transported by the transport vehicle 1. The measuring device 200 may be installed on the crane L.

[0085] For example, when the crane L lifts the container P and loads the container P onto the chassis 12 of the transport vehicle 1, the measuring device 200 measures the weight Wc of the container P when the crane L lifts the container P (hereinafter referred to as the "container weight") . For example, the measuring device 200 can measure the container weight Wc based on the loads applied to the four corners by the spreader. The measuring device 200 wirelessly transmits the measured container weight Wc to the control device 3.

[0086] The control device 3 (control unit 32) can receive information on the container weight measured by the measurement device 200 directly or via an external device. Furthermore, the control unit 32 can adjust at least one of the predetermined amount ΔP and the predetermined time ΔT based on the received container weight. For example, the control unit 32 can adjust the predetermined amount ΔP to increase as the received container weight increases, or adjust the predetermined time ΔT to increase as the received container weight increases. This allows the first distance D1 and the second distance D2 to be maintained constant for each alignment process, regardless of the container weight.

[0087] The measuring device 200 measures the weight of the container P when it is lifted by the crane L, but the present invention is not limited to this. Specifically, the measuring device 200 can measure the weight of the container P transported by the transport vehicle 1, and the measurement method is not particularly limited. For example, the measuring device 200 may be a large platform scale installed on a predetermined surface in the container yard (e.g., the surface at the starting point). Alternatively, the measuring device 200 may be installed on the chassis 12 and measure the weight of the container P when it is loaded on the chassis 12. In this case, the measuring device 200 may transmit the container weight Wc to the control device 3 via a wired connection.

[0088] (Variant 5)

[0089] In the fourth variation, the remote control system A includes a measuring device 200 for measuring container weight. However, this is not limiting and the system may not include the measuring device 200. For example, the control device 3 (control unit 32) may receive container weight information from an external device (e.g., a container management system at a container transfer station). Typically, cargo owners declare container weights in advance, and the external device stores the container weight information obtained from such declarations. The alignment process using container weights is the same as in the fourth variation.

[0090] (Variation 6)

[0091] In the above embodiment, the operator O performs the loading and unloading operation of the crane L after aligning the transport vehicle 1, but the present invention is not limited to this. For example, when the spreader device of the transport crane L has not been lowered to the predetermined position, the operator O of the transport crane L may not be able to visually confirm from the operator O's position that the position of the transport vehicle 1 has reached the target position H. MTherefore, when the transport vehicle 1 has moved to the stop position H1 near the crane L, the operator O can first lower the spreader of the transport crane L to a predetermined position. Then, after lowering the spreader to the predetermined position, the operator O can press the forward operating unit 21 or the reverse operating unit 22 to align the transport vehicle 1. Therefore, the loading and unloading operations of the crane L in this embodiment only need to include the following operations: using the spreader to grasp the container P and load it onto the chassis 12; and using the spreader to grasp the container P loaded on the chassis 12 and move it to the predetermined position. Therefore, the operation of lowering the spreader to grasp the container P does not need to be included in the loading and unloading operations in this embodiment.

[0092] The process of lowering the spreader device to a predetermined position can be performed manually by the operator O or automatically. For example, when the transport vehicle 1 is aligned, the control device 3 stops the transport vehicle 1 when the transport vehicle 1 moves to the stop position H1, switching to the fine position adjustment mode. Furthermore, the control device 3 can illuminate the indicator light 4 to notify the control device of the crane L (hereinafter referred to as the "crane control device"). Upon receiving this notification, the crane control device can automatically execute the process of lowering the spreader device to the predetermined position.

[0093] The control device 3 can shift to the fine position adjustment mode when the spreader device is lowered to a predetermined position. For example, when the transport vehicle 1 is moved to the stop position H1, the control device 3 notifies the crane control device. Upon receiving this notification, the crane control device executes the lowering process and, upon completion, notifies the control device 3. Upon receiving the notification from the crane control device indicating the completion of the lowering process, the control device 3 shifts to the fine position adjustment mode.

[0094] As described above, the remote control device 2 of this embodiment includes the first operating unit, and wirelessly transmits a command signal for causing the transport vehicle 1 to travel a predetermined distance to the transport vehicle 1 each time the first operating unit is operated.

[0095] According to such a structure, the user (eg, operator O) can fine-tune the position of the transport vehicle 1 by operating the first operating unit. Therefore, the transport vehicle 1 can be improved in terms of the working position (eg, target position H). M ) positioning accuracy. In addition, relative positioning can be performed between the manned crane L and the autonomous transport vehicle 1 during loading and unloading.

[0096] All or part of the control unit 24 and control unit 32 can be implemented by a computer. In this case, the computer can include a processor such as a CPU or GPU and a computer-readable recording medium. Furthermore, a program for implementing all or part of the functions of the control unit 24 and control unit 32 by a computer can be recorded on the computer-readable recording medium, and implemented by the processor reading and executing the program recorded on the recording medium. Here, "computer-readable recording medium" refers to removable media such as floppy disks, optical disks, ROMs, CD-ROMs, and storage devices such as hard disks built into the computer system. Furthermore, "computer-readable recording medium" can also include media that dynamically retain programs for a short period of time, such as communication lines when transmitting programs via networks such as the Internet or communication lines such as telephone lines, and media that retain programs for a certain period of time, such as volatile memory within a computer system that serves as a server or client. Furthermore, the program can be a program for implementing part of the above functions, or a program that implements the above functions by combining with programs already recorded in the computer system, or a program implemented using a programmable logic device such as an FPGA.

[0097] Industrial applicability

[0098] By applying the remote operation device and remote operation system disclosed in the present invention to this field, the positioning accuracy of the unmanned transport vehicle relative to the working position can be improved.

[0099] Description of Reference Numerals

[0100] A Remote Operating System

[0101] 1. Transport vehicle;

[0102] 2. Remote operating device;

[0103] 2a first operating unit;

[0104] 3. Control device;

[0105] 4 display lights;

[0106] 24 Control Department;

[0107] 21 forward operation unit;

[0108] 22 Reverse operation unit;

[0109] 30 second operating unit;

[0110] 200 Measuring device.

Claims

1. A remote operating system, characterized in that: have: A remote operating device for remotely operating the transport vehicle; and A control device is mounted on the transport vehicle and controls the travel of the transport vehicle through wireless communication with the remote operating device. The control device has a position fine-tuning mode. In the position fine-tuning mode, the transport vehicle is aligned with a predetermined target position according to a command signal from the remote operating device. The remote control device comprises: a first operating portion; and a control unit that wirelessly transmits a command signal to the transport vehicle to cause the transport vehicle to travel a predetermined distance each time the first operating unit is operated, The control device includes an actuator and a control unit. In the position fine adjustment mode, when the control device receives the command signal from the remote operation device through the wireless communication and the actuator obtains the control signal output from the control unit of the control device, the actuator operates the brake of the transport vehicle after a predetermined time has passed after the accelerator of the transport vehicle has been operated by a predetermined amount, thereby stopping the transport vehicle and causing the transport vehicle to travel the predetermined distance and ultimately reach the target position. The remote operation system further includes a measuring device for measuring the weight of the transport object transported by the transport vehicle. The control unit of the control device receives information about the weight measured by the measuring device through communication, and adjusts at least one of the predetermined amount and the predetermined time based on the received weight, thereby maintaining the predetermined distance constant. In which, the control unit of the control device shifts from a mode of executing automatic driving of the transport vehicle, i.e., automatic driving mode, to the position fine-tuning mode when the transport vehicle stops at a stop position, maintains the position fine-tuning mode before receiving a completion signal from the remote operation device, and shifts from the position fine-tuning mode to the automatic driving mode when the completion signal is received.

2. The remote operation system according to claim 1, characterized in that: The remote control device further includes a second operating unit for adjusting the predetermined distance. The control unit of the remote operation device wirelessly transmits an operation signal corresponding to an operation on the second operation unit to the control device. When the control device receives the operation signal from the remote operation device through the wireless communication, the control device adjusts at least one of the predetermined amount and the predetermined time according to the operation signal.

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