Remote operating device for vehicle

Abstract

Provided is a remote operation device for a vehicle, which can suppress misoperation in a turning direction in a vehicle capable of turning in situ. A remote operation device (4) for remotely operating a forklift (2), which is an example of a vehicle capable of rotating in situ, is provided with: a first operation button (46) and a second operation button (47), which are an example of a first operation unit and correspond to the in-situ rotation of the forklift (2) in the clockwise direction in plan view; and a third operation button (48) and a fourth operation button (49), which are one example of the second operation part, corresponding to the in-situ rotation of the forklift (2) in the counterclockwise direction in plan view.

Description

Technical Field

[0001] This disclosure relates to a remote control device for vehicles. Background Technology

[0002] Remote operating devices for remotely operating forklifts are known (e.g., Patent Document 1). Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-077527 Summary of the Invention The problem that the invention aims to solve

[0004] When remotely operating forklifts using surveillance cameras, sometimes only a portion of the forklift is captured in the camera footage. In such cases, operators unfamiliar with remote operation may find it difficult to intuitively determine the direction to move the forklift. In particular, in existing technology, the control unit indicating rotation can only respond to rotations focused on the front of the forklift, potentially leading to unintended contact with other objects due to incorrect rotation direction. Furthermore, this issue is not limited to forklifts but is common to the remote operation of various vehicles such as pallet trolleys.

[0005] The purpose of this disclosure is to provide a remote operating device for a vehicle that can suppress erroneous operation of the rotation direction in a vehicle capable of rotating in place. Technical solutions for solving the problem

[0006] One aspect of the present invention relates to a remote operating device for a vehicle capable of rotating in place, comprising: a first operating unit corresponding to clockwise rotation of the vehicle when viewed from above; and a second operating unit corresponding to counterclockwise rotation of the vehicle when viewed from above. Invention Effects

[0007] According to this disclosure, a remote operating device for a vehicle can be provided, which can suppress misoperation of the rotation direction in a vehicle capable of rotating in place. Attached Figure Description

[0008] Figure 1 This is a diagram showing the overall structure of the remote operating system involved in the implementation method. Figure 2 This is a diagram showing an example of the configuration of the operation instruction input section. Figure 3 It is used for explanation Figure 2 The diagram shows the restriction of the operating lever's operation by the guide groove. Figure 4 This is an example of a camera capturing images of the front of a forklift. Figure 5 This is an example of a camera capturing images from behind a forklift. Figure 6 This is a diagram showing a modified example of the operation command input section. Figure 7 This is a diagram representing a variation of a remote operating system. Detailed Implementation

[0009] The embodiments are described below with reference to the accompanying drawings. For ease of understanding, the same reference numerals are used as much as possible to refer to the same constituent elements in each drawing, and repeated descriptions are omitted.

[0010] Figure 1 This diagram illustrates the overall configuration of the remote operating system involved in the implementation. The remote operating system 1 is a system for remotely operating a "vehicle capable of rotating in place". Here, "rotating in place" means that the position of any rotation axis located on the vehicle body and extending in a direction perpendicular to the driving plane remains unchanged, and the vehicle body rotates around this rotation axis.

[0011] In this embodiment, forklift 2 will be used as an example of such a vehicle. Forklift 2 is an industrial vehicle that has a forklift 2 at the front of the body 21 (in front of the forklift 21). Figure 1 The upper part of the figure has forks 22 (claws) and is able to insert the forks 22 into the lower part of the goods or the pallet to lift and move them.

[0012] In addition, forklift 2, for example, Figure 1 As shown, a front wheel 23 is located at the front of the vehicle body 21, and a rear wheel 24 is located at the rear of the vehicle body 21. Figure 1 In the example, the front wheel 23 is in the width direction of the vehicle body 21 (in Figure 1 A pair of front wheels 23 are arranged on both sides of the vehicle body 21 (in the left-right direction in the figure), and each front wheel 23 is rotatably connected to a rotating shaft S1 that extends parallel to the width direction, thereby enabling rotation in the front-rear direction of the vehicle body 21.

[0013] On the other hand, one rear wheel 24 is disposed at the center of the width direction of the vehicle body 21 and is rotatably connected to a steering axis S3 that extends parallel to the aforementioned rotation axis and intersects the drive axis S2 of the rear wheel 24. The rear wheel 24 functions as a drive wheel that rotates around the drive axis S2 and also functions as a steering wheel that rotates the drive axis S2 around the steering axis S3 to change the direction of travel of the drive wheel.

[0014] exist Figure 1 In the illustrated forklift 2, the drive shaft S2 of the rear wheel 24 is as follows: Figure 1 As shown, with the rear wheel 24 positioned parallel to the rotation axis S1 of the front wheel 23 and facing the front-rear direction of the vehicle body 21, the rear wheel 24 is driven to rotate forward or backward, thereby enabling... Figure 1 As shown by the middle arrows A and B, make forklift 2 move forward or backward.

[0015] In addition, such as Figure 1 As shown by the dashed line, with the rear wheel 24 rotated 90 degrees around the steering axis S3 and the rear wheel 24 facing the width direction of the vehicle body 21, the rear wheel 24 is rotated for driving, thereby enabling... Figure 1 As indicated by arrows C and D, forklift 2 rotates in place around axis O in either a clockwise or counterclockwise direction. Figure 1 In the case of the forklift 2 illustrated, the rotating shaft O, which rotates in place, becomes the middle position of the pair of front wheels 23 and the position on the rotating shaft S1 of the front wheels 23. Therefore, in Figure 1 In the case of the forklift 2 shown, "rotating in place" means that the position of the rotation axis O does not change, and the vehicle body 21 rotates in the direction of arrow C or D with the rotation axis O as the center.

[0016] Alternatively, the forklift 2 can also be configured in other ways, such as having the front wheel 23 function as the drive wheel and the rear wheel 24 function as the steering wheel.

[0017] In addition to the forklift 2, which is an example of a vehicle, the remote operating system 1 also includes a mobile body 3 and a remote operating device 4.

[0018] The mobile body 3 is a device capable of autonomous movement, such as a vehicle with wheels that can travel on the same ground as the forklift 2. Additionally, in Figure 1 In the top view, the moving body 3 is shown together with the forklift 2.

[0019] The mobile body 3 has a camera 31. The camera 31, mounted on the mobile body 3, is an example of a camera device that captures images of at least a portion of the forklift 2 and provides the images to the user of the remote operating device 4. The mobile body 3 moves to any position and direction in conjunction with the movement of the forklift 2, so that at least a portion of the forklift 2, preferably the portion including the forks 22 or the rear end of the body 21, is brought within the field of view θ of the camera 31. Thus, the camera 3 can capture images including the forklift 2. The mobile body 3 outputs the image information of the forklift 2 captured by the camera 31 to the remote operating device 4.

[0020] Remote control device 4 is a device that allows a user not riding in forklift 2 to remotely operate forklift 2. Remote control device 4 is, for example, as... Figure 1As shown, it has an image display unit 41 and an operation command input unit 42.

[0021] The image display unit 41 is a display device that displays images captured by the camera 31 of the moving body 3. By viewing the images displayed on the image display unit 41, the user can grasp the current status of the forklift 2.

[0022] The operation command input unit 42 is an input device for the user to input operation commands for the forklift 2. Figure 1 In the example case, the operation instructions include: forward (indicated by arrow A), backward (indicated by arrow B), clockwise rotation in place (indicated by arrow C), and counterclockwise rotation in place (indicated by arrow D). Furthermore, the operation instructions may also include rotation operations during forward or backward movement.

[0023] Figure 2 This diagram illustrates an example of the configuration of the operation instruction input unit 42. For example... Figure 2 As shown, the operation command input unit 42 includes: a housing 43, an operating lever 44, a guide groove 45, a first operation button 46, a second operation button 47, a third operation button 48, and a fourth operation button 49.

[0024] The guide groove 45 is formed by opening on the surface of the housing 43. Figure 2 In the example, the guide groove 45 is formed by extending along the vertical direction shown in the figure.

[0025] The operating lever 44 is an operating component used to indicate remote operation (movement direction, movement amount, etc.) of the forklift 2. The operating lever 44 is configured to extend from the inside of the housing 43 through the guide groove 45, with a portion protruding to the outside. The user can input operation commands such as the movement direction by holding and operating the protruding portion of the operating lever 44. The operating lever 44 is configured to move along the guide groove 45. That is, in Figure 2 In the example, the operating lever 44 can move in the vertical direction shown in the figure along the extension direction of the guide groove 45.

[0026] The center position of the guide groove 45 in the vertical direction is set as the home position P0 of the operating lever 44. When the operating lever 44 is in the home position P0, no operating command is sent to the forklift 2, or a stop operating command is sent. Thus, the forklift 2 is in a stationary state.

[0027] When the operating lever 44 is positioned higher than the original position P0 of the guide groove 45 in the diagram, a forward operating command is sent to the forklift 2. Furthermore, the further the operating lever 44 moves upward from its original position P0, the greater the forward speed is increased by the operating command. Similarly, when the operating lever 44 is positioned lower than the original position P0 of the guide groove 45 in the diagram, a reverse operating command is sent to the forklift 2. Furthermore, the further the operating lever 44 moves downward from its original position P0, the greater the reverse speed is increased by the operating command.

[0028] When the user operates the lever 44 remotely, the user simply tilts the lever 44 in the desired direction, i.e., from its original position P0 towards the upper or lower side shown in the diagram. Through this operation, the forklift 2 moves forward or backward at a speed corresponding to the amount of movement, depending on the direction and amount of movement of the lever 44.

[0029] Furthermore, the user can simultaneously drive the forklift 2 by operating the lever 44 and tilt the lever 44 laterally (in the left-right direction in the figure), thereby simultaneously steering the rear wheels 24. However, since steering at extremely low and high speeds carries risks, in order to prevent operation under such conditions, in this embodiment, the left-right tilting amount of the lever 44 is limited by the guide groove 45.

[0030] Figure 3 It is used for explanation Figure 2 The diagram shows the operational limitations of the guide groove 45 on the operating lever 44. Figure 3 The image only shows... Figure 2 The operating lever 44 and guide groove 45 are located in the operation command input section 42. Furthermore, in Figure 3 In the example, the guide slot 45 is illustrated as being higher than the original position P0 (forward domain), but the same applies to being lower than the original position P0 (backward domain).

[0031] like Figure 3 As shown, the guide groove 45 has a first groove 45A in the forward movement area above the original position P0, with a width approximately equal to the diameter of the operating lever 44 along the vertical direction. The long side of the first groove 45A is along a predetermined direction ( Figure 3 The first groove 45A extends vertically, and its width along the shorter side is approximately equal in the vertical direction. The operating lever 44 can adjust the forward speed by moving along the first groove 45A.

[0032] The first slot 45A is divided into three speed zones according to their distance from the original position P0, from near to far: low-speed zone P1, medium-speed zone P2, and high-speed zone P3. High-speed zone P3 is the speed region where the movement speed is above a predetermined first threshold. Conversely, low-speed zone P1 is the speed region where the movement speed is below a predetermined second threshold. Medium-speed zone P2 is the speed region where the movement speed is below the first threshold but above the second threshold.

[0033] Furthermore, in this embodiment, only the portion of the medium-speed domain P2 among the three portions of the guide groove 45 corresponding to the low-speed domain P1, medium-speed domain P2, and high-speed domain P3 is provided with a portion extending outward from the width edge of the first groove 45A (in... Figure 3 The middle section consists of a pair of second grooves 45B extending from the left and right sides. The second grooves 45B are formed, for example, as follows: Figure 3 As shown, the central portion of the medium-speed domain P2 has the largest indentation, which decreases continuously as it approaches the lower-speed domain P1 and the higher-speed domain P3. That is, the guide groove 45 is formed such that the range of movement involved in the steering input in the high-speed domain P3 and the low-speed domain P1 (within...) Figure 3 The range of movement in the left and right directions (in the middle speed range) is narrower than the range of movement involved by the steering input in the middle speed range P2.

[0034] By forming the guide groove 45 as described above, the steering input of the operating lever 44 in the high-speed range P3 and low-speed range P1 is more restricted compared to the steering input in the medium-speed range P2. According to this configuration, the steering input in the high-speed range P3 and low-speed range P1, where steering is prone to instability, can be limited, thus suppressing situations where the remotely operated forklift 2 becomes unstable. Furthermore, when the forklift 2 is stationary, even if the rear wheels 24 are heavily steered, it is sometimes difficult to visually determine the steering input of the rear wheels 24, which are steering wheels, and therefore cannot be identified. In this state, unexpected sudden rotation may occur when starting the forklift 2, so suppressing steering input in the low-speed range, especially when stationary, is effective.

[0035] Furthermore, in this embodiment, the control lever 44 and guide groove 45 function as a "third operating unit that indicates the moving speed of the forklift 2 in its forward and backward movements, as well as the steering amount of the forklift 2 in the left and right directions." Therefore, in this embodiment, if... Figure 3 As explained above, by forming the guide groove 45, the left and right directions of the control lever 44 can be easily restricted, thus easily limiting the range of movement related to the steering input based on the third control unit. Furthermore, the guide groove 45 can restrict inappropriate operations (e.g., rotational operations unsuitable for the travel speed) from the operation commands of the control lever 44.

[0036] Back Figure 2The first operation button 46, the second operation button 47, the third operation button 48, and the fourth operation button 49 of the operation command input unit 42 are respectively arranged on the surface of the housing 43 in four directions centered on the original position P0 of the guide groove 45. Figure 2 In the example, the first operation button 46 and the third operation button 48 are positioned higher than their original position P0, and are respectively positioned on the right and left sides of the guide groove 45 in the figure. Furthermore, the second operation button 47 and the fourth operation button 49 are positioned lower than their original position P0, and are respectively positioned on the left and right sides of the guide groove 45 in the figure.

[0037] By pressing the first operation button 46, the second operation button 47, the third operation button 48, and the fourth operation button 49 respectively, the user can input operation commands corresponding to each button. The operation commands for each button all involve "rotation in place," but the direction of rotation is different.

[0038] The first operation button 46 is an input element that instructs the front part of the forklift 2 (specifically the forks 22 at the front of the body 21) to rotate clockwise (move to the right).

[0039] The second operation button 47 is an input element that instructs the rear part of the forklift 2 (particularly the rear end of the body 21) to rotate clockwise (move to the left).

[0040] The third operation button 48 is an input element that instructs the front part of the forklift 2 (specifically the forks 22 at the front of the body 21) to rotate counterclockwise (move to the left).

[0041] The fourth operation button 49 is an input element that instructs the rear part of the forklift 2 (particularly the rear end of the body 21) to rotate counterclockwise (move to the right).

[0042] That is, the first operation button 46 and the second operation button 47 function as a "first operating part corresponding to the clockwise rotation of the forklift 2 when viewed from above," and the operation of the forklift 2 is performed through the two buttons 46 and 47. Figure 1 The clockwise rotation in place, indicated by the middle arrow C, is common. Therefore, in Figure 2 In the diagram, both buttons 46 and 47 are shown in gray to indicate that the first operation button 46 and the second operation button 47 have a common function.

[0043] Furthermore, the third operation button 48 and the fourth operation button 49 function as a "second operation unit corresponding to the counterclockwise rotation of the forklift 2 when viewed from above," and the operation of the forklift 2 is performed through the two buttons 48 and 49. Figure 1 The counter-clockwise rotation in place, indicated by the middle arrow D, is common. Therefore, in Figure 2 In the diagram, both buttons 48 and 49 are illustrated with dots to indicate that the third operation button 48 and the fourth operation button 49 have a common function.

[0044] Here, it is explained that the remote operation device 4 has the effect of having a first operation unit (first operation button 46, second operation button 47) and a second operation unit (third operation button 48, fourth operation button 49).

[0045] As described above, the forklift 2 in this embodiment is configured such that the rear wheel 24 serves as the drive wheel and the steering wheel functions as the steering wheel. In this configuration, for example, the following two operations can be used to rotate the forklift 2 clockwise in place. (1) Turn the rear wheel 24 to the left (in) Figure 1 In the middle, with the steering axis S3 as the center, rotate counterclockwise by 90 degrees, so that the rear wheels 24 rotate clockwise (in Figure 1 In the middle, the rear wheel 24 rotates in the direction of moving to the left. (2) Turn the rear wheel 24 to the right (in) Figure 1 In the middle, with the steering axis S3 as the center, in a clockwise direction of 90 degrees, the rear wheels 24 are reversed (in Figure 1 In the middle, the rear wheel 24 rotates in the direction of moving to the left.

[0046] Here, unlike this embodiment, we consider the case where other operating methods are used to input the driving direction of the drive wheels and the steering direction of the steering wheels. In this case, in the operations described in (1) and (2) above, the driving direction needs to be reversed depending on whether the 90-degree steering direction is clockwise or counterclockwise. Furthermore, visually, regardless of the steering direction, the rear wheels 24 are always facing the width direction of the vehicle body 21 after the steering operation, making it difficult to see the steering direction. Therefore, if the operation of the driving direction for the steering direction is incorrect, an erroneous operation may occur where the turning direction is opposite to the desired direction. This problem is particularly significant when the forklift 2 is operated remotely.

[0047] To address this issue, in this embodiment, the remote control device 4 is configured to include a first operating unit (first operating button 46, second operating button 47) corresponding to clockwise rotation in place and a second operating unit (third operating button 48, fourth operating button 49) corresponding to counterclockwise rotation in place. With this configuration, the user of the remote control device 4 can easily and reliably rotate the forklift 2 in the desired direction in place by operating only the first or second operating unit. As a result, the remote control device 4 according to this embodiment can suppress erroneous operation of the rotation direction in vehicles capable of in-place rotation.

[0048] Furthermore, in the remote operation device 4 of this embodiment, the user inputs operation commands while observing the image of the forklift 2 captured by the camera 31 of the moving body 3 and displayed on the image display unit 41. Since the moving body 3 is a device capable of moving independently relative to the forklift 2, the forklift 2 may appear differently in the image displayed on the image display unit 41 depending on the relative position of the forklift 2 and the moving body 3.

[0049] Figure 4 This diagram illustrates an example of a situation where camera 31 is capturing images of the front of forklift 2. For example... Figure 4 As shown, when the moving body 3 moves to the front side of the forklift 2, the forks 22 in front of the forklift 2 are included within the field of view θ of the camera 31 of the moving body 3. In this case, the image displayed on the image display unit 41 will show the front part of the forklift 2 including the forks 22.

[0050] exist Figure 4 In the illustrated scenario, when the user of the remote control device 4 wants to rotate the forklift 2 in place based on the image displayed on the image display unit 41, in the case of clockwise rotation, the forks 22 visible in the image need to be moved to the right. On the other hand, in the case of counterclockwise rotation, the forks 22 visible in the image need to be moved to the left. In this case, by operating the first operation button 46 or the third operation button 48 according to the desired rotation direction, the forks 22 visible in the image can be used as the main object of operation, allowing for more intuitive remote operation.

[0051] Figure 5 This diagram illustrates an example of camera 31 capturing images of the rear of forklift 2. For example... Figure 5 As shown, when the moving body 3 moves to the rear side of the forklift 2, the rear end portion of the forklift 2 body 21 is included within the field of view θ of the camera 31 of the moving body 3. In this case, the image displayed on the image display unit 41 will show the rear portion of the forklift 2 including the rear end of the body 21.

[0052] exist Figure 5 In the illustrated scenario, when the user of the remote control device 4 wants to rotate the forklift 2 in place based on the image displayed on the image display unit 41, in the case of clockwise rotation, the rear end of the forklift 21 visible in the image needs to be moved to the left. On the other hand, in the case of counterclockwise rotation, the rear end of the forklift 21 visible in the image needs to be moved to the right. In this case, by operating the second operation button 47 or the fourth operation button 49 according to the desired rotation direction, the rear end of the forklift 21 visible in the image can be used as the main object of operation, allowing for more intuitive remote operation.

[0053] In this embodiment, the remote control device 4 includes a first operating unit corresponding to the clockwise rotation of the forklift 2 when viewed from above, comprising a first operating button 46 indicating clockwise rotation of the front portion of the forklift 2 and a second operating button 47 indicating clockwise rotation of the rear portion of the forklift 2. Furthermore, the second operating unit corresponding to the counter-clockwise rotation of the forklift 2 when viewed from above includes a third operating button 48 indicating counter-clockwise rotation of the front portion of the forklift 2 and a fourth operating button 49 indicating counter-clockwise rotation of the rear portion of the forklift 2.

[0054] With this configuration, there are operation buttons for rotating the forklift 2 (vehicle) clockwise and counterclockwise at the front and rear, respectively. Therefore, as long as the operator can determine which side to rotate the visible part, even less experienced operators can perform remote operation intuitively and easily.

[0055] The remote operation device 4 can physically be configured as a computer system including a CPU (Central Processing Unit), RAM (Random Access Memory) and ROM (Read Only Memory) as main storage devices, input devices, output devices, a communication module, and auxiliary storage devices such as a hard disk. The functions of the remote operation device 4 are implemented as follows: by loading specified computer software onto the CPU, RAM, and other hardware, the communication module, input devices, and output devices are activated under the control of the CPU, and data is read from and written to the RAM and auxiliary storage devices.

[0056] Next, refer to Figure 6 , Figure 7 Explain the variations.

[0057] Figure 6 This is a diagram showing a modified example of the operation command input section. For example... Figure 6 As shown, it can also be configured as a "third operating unit that indicates the speed of the forklift 2's forward and backward movements, as well as the steering amount of the forklift 2 in the left and right directions," having a steering amount control knob 51 and a rotation control knob 52.

[0058] The steering angle control knob 51 is an input element used to control the steering angle of the rear wheels 24, which serve as the steering wheels of the forklift 2. Figure 6 In the example, when the steering control knob 51 is rotated to the right, the steering input command also becomes right-hand (in...). Figure 1In the clockwise direction centered on the steering axis S3, as the rotation of the steering control knob 51 increases, the steering angle also increases. On the other hand, when the steering control knob 51 is rotated to the left, the steering input command also becomes left-handed (in...). Figure 1 In the counterclockwise direction centered on the steering axis S3, as the rotation of the steering control knob 51 increases, the steering angle can also increase.

[0059] The rotary control knob 52 is an input element used to control the rotational speed and direction of the rear wheels 24, which serve as the drive wheels of the forklift 2. Figure 6 In the example, when the rotary control knob 52 is rotated to the right, the operation command for the rotation direction becomes forward (in...). Figure 1 In this state, the rotation of the vehicle body 21 in the forward direction is controlled by the rotation of the rotation control knob 52. As the rotation amount increases, the rotation speed of the drive wheels also increases. On the other hand, when the rotation control knob 52 is rotated to the left, the operation command for the rotation direction is reversed (in...). Figure 1 In this state, the vehicle body 21 rotates in the direction of reversal. As the rotation amount of the rotation control knob 52 increases, the rotation speed of the drive wheel can also increase.

[0060] Figure 7 This is a diagram illustrating a variation of a remote operating system. In Figure 7 In the remote operating system 1A shown, a camera 31A that captures images of the forklift 2, the vehicle being operated, from above and provides the images to the user of the remote operating device 4. In this case, the camera 31A is installed, for example, on the ceiling of the forklift 2's workspace, with its field of view θ pointing downwards.

[0061] exist Figure 7 In the remote operating system 1A shown, the image captured by the camera 31A and displayed on the image display unit 41 is configured as a top view of the forklift 2 viewed from above. In this case, the orientation of the forklift 2 displayed on the image changes depending on the orientation of the forklift 2 within the workspace. The user of the remote operating device 4 can observe such an image and, in the same manner as in the above embodiment, appropriately select and use the first to fourth operation buttons 46 to 49 of the operation command input unit 42.

[0062] The embodiments described above are based on specific examples. However, this disclosure is not limited to these specific examples. Any solution that is appropriately designed and modified by those skilled in the art, as long as it possesses the features of this disclosure, is also included within the scope of this disclosure. The elements, their configurations, conditions, shapes, etc., of the aforementioned specific examples are not limited to the examples and can be appropriately modified. The elements of the aforementioned specific examples can be appropriately combined, as long as they do not create technical contradictions. Explanation of reference numerals in the attached figures

[0063] 1.1A Remote Operating System 2 forklifts (vehicles) 3 moving bodies 31. 31A Camera (Shooting Device) 4. Remote operation device 44. Operating lever (third operating unit) 45 Guide Slot (Third Operating Section) 46 First Operation Button (First Operation Section) 47 Second Operation Button (First Operation Section) 48. Third Operation Button (Second Operation Section) 49. Fourth Operation Button (Second Operation Section)

Claims

1. A remote operation device of a vehicle, which is a remote operation device for remotely operating a vehicle capable of turning in place, comprising: a first operation section corresponding to turning in place of the vehicle in a clockwise direction when viewed from above; and a second operation section corresponding to turning in place of the vehicle in a counterclockwise direction when viewed from above.

2. The remote operation device of a vehicle according to claim 1, wherein the first operation section has: a first operation button instructing turning of a front portion of the vehicle in a clockwise direction; and a second operation button instructing turning of a rear portion of the vehicle in a clockwise direction, and the second operation section has: a third operation button instructing turning of the front portion of the vehicle in a counterclockwise direction; and a fourth operation button instructing turning of the rear portion of the vehicle in a counterclockwise direction.

3. The remote operation device of a vehicle according to claim 2, wherein the remote operation device comprises: a mobile body capable of autonomous movement; and an imaging device provided to the mobile body, which images at least a portion of the vehicle and provides an image to a user of the remote operation device.

4. The remote operation device of a vehicle according to claim 2, wherein the remote operation device comprises an imaging device which images the vehicle in a manner of looking down from above and provides an image to a user of the remote operation device.

5. The remote operation device of a vehicle according to claim 1, wherein the remote operation device further comprises a third operation section which instructs a moving speed of a forward movement and a backward movement of the vehicle and a steering amount of the vehicle in left and right directions, and the third operation section restricts the steering amount in a high speed range in which the moving speed is equal to or higher than a first threshold value, and the steering amount in a low speed range in which the moving speed is lower than a second threshold value, as compared to the steering amount in a medium speed range in which the moving speed is lower than the first threshold value and equal to or higher than the second threshold value.

6. The remote operation device of a vehicle according to claim 5, wherein the third operation section has an operation lever and a guide groove which defines an operation range of the operation lever, and the guide groove is formed so that a moving range involved in the steering amount in the high speed range and the low speed range is narrower than a moving range involved in the steering amount in the medium speed range. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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