Mobile body, remote control system, and method for remote control

Abstract

To provide a technique of making a remote control function of a mobile body effective easily.SOLUTION: A mobile body which can be operated by remote control includes: a detection unit for detecting a signal sent when a controller for remotely controlling a mobile body is operating; and a control signal reception unit for being switched between a valid state for receiving a control signal for remotely controlling the mobile body sent from the controller and in an invalid state for not receiving the control signal, the control signal reception unit being switched to the valid state when the detection unit detects a signal.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a moving object, a remote control system, and a remote control method. [Background technology]

[0002] 2. Description of the Related Art In a vehicle manufacturing process, a technique is known for running a vehicle by remote control (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-538619 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to improve the convenience of a user who wants to remotely control a vehicle when the vehicle is shipped with the remote control disabled, it is preferable that the remote control of the vehicle can be enabled without much effort. Therefore, a technology that can enable the remote control without much effort is desired. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to a first aspect of the present disclosure, there is provided a moving body operable by remote control, the moving body including: a detection unit that detects a signal transmitted when a control device that remotely controls the moving body is in operation; and a control signal reception unit that switches to either an effective state in which a control signal for remotely controlling the moving body transmitted from the control device is received, or an ineffective state in which the control signal is not received, the control signal reception unit switching to the effective state when the detection unit detects the signal. With this form of mobile body, when the detection unit detects a signal transmitted while the control device is in operation, the control signal receiving unit automatically switches to an enabled state, so that the mobile body can be operated by remote control without any hassle. (2) In the moving body of the above aspect, the detection unit may detect, as the signal, a control signal for remotely controlling another moving body different from the moving body, transmitted from the control device. With this form of mobile body, when the detection unit detects a control signal for remotely controlling another mobile body transmitted from the control device, the control signal receiving unit automatically switches to an enabled state, so that the mobile body can be operated by remote control without any hassle. (3) The moving body of the above aspect may further include a notification unit that transmits a notification signal to notify the control device that the control signal receiving unit has switched to the valid state. According to this aspect of the mobile body, it is possible to notify the control device that the mobile body is ready to operate by remote control. (4) According to a second aspect of the present disclosure, there is provided a remote control system comprising: a moving object according to the above aspect; and a control device that remotely controls the moving object and prepares or starts remote control of the moving object when the notification signal is received. According to this form of remote control system, when the moving object becomes operable by remote control, the control device can prepare or start remote control of the moving object. (5) According to a third aspect of the present disclosure, there is provided a moving body operable by remote control, the moving body including: a detection unit that detects a signal transmitted when a control device that remotely controls the moving body is in operation; a notification unit that transmits a notification signal to notify the control device of the presence of the moving body when the detection unit detects the signal; and a control signal reception unit that switches to either an enabled state in which a control signal for remotely controlling the moving body transmitted from the control device is received or an disabled state in which the control signal is not received, the control signal reception unit switching to the enabled state when an enable signal transmitted from the control device in response to the notification signal is received. According to this form of mobile body, the control signal receiving section automatically switches to an enabled state in response to an enable signal sent from the control device, so that the mobile body can be made to operate by remote control without much effort. (6) According to a fourth aspect of the present disclosure, there is provided a remote control system comprising: a moving object according to the above aspect; and a control device that remotely controls the moving object and transmits the enabling signal to the moving object when the notification signal is received. According to this form of remote control system, an enabling signal can be transmitted from the control device to the mobile object. (7) According to a fifth aspect of the present disclosure, there is provided a remote control method, comprising: a detection step of detecting a signal transmitted when a control device that remotely controls a moving object operable by remote control is in operation; and a switching step of switching from an effective state in which the moving object accepts a control signal transmitted from the control device for remotely controlling the moving object to an ineffective state in which the moving object does not accept the control signal, the switching step being for switching to the effective state when the signal is detected. According to the remote control method of this aspect, it is possible to operate the moving body by remote control in a simple manner without much effort. (8) According to a sixth aspect of the present disclosure, there is provided a remote control method, comprising: a detection step of detecting a signal transmitted when a control device that remotely controls a moving object operable by remote control is in operation, a notification step of transmitting a notification signal to notify the control device of the presence of the moving object when the signal is detected, and a switching step of switching from an effective state in which the moving object accepts a control signal for remotely controlling the moving object transmitted from the control device to an ineffective state in which the moving object does not accept the control signal, the switching step being performed when an enabling signal transmitted from the control device in response to the notification signal is received from the control device. According to the remote control method of this aspect, it is possible to operate the moving body by remote control in a simple manner without much effort. The present disclosure may be realized in various forms other than the moving object, the remote control system, and the remote control method, for example, in the form of a vehicle, a computer program, and a recording medium on which the computer program is recorded. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a configuration of a remote control system. [Diagram 2] FIG. 1 is an explanatory diagram showing a configuration of a vehicle. [Diagram 3] FIG. 2 is an explanatory diagram showing a state in which a vehicle moves by remote control in a factory. [Figure 4] 5 is a flowchart showing the contents of an activation process according to the first embodiment. [Diagram 5] 6 is a flowchart showing the contents of a target addition process according to the first embodiment. [Figure 6] FIG. 4 is an explanatory diagram showing a state in which a remote control function of a vehicle is enabled. [Figure 7] 10 is a flowchart showing the contents of an activation process according to the second embodiment. [Figure 8] 10 is a flowchart showing the contents of a target addition process according to the second embodiment. [Figure 9] FIG. 4 is an explanatory diagram showing a state in which a remote control function of a vehicle is enabled. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: FIG. 1 is an explanatory diagram showing the configuration of a remote control system 10 in the first embodiment. FIG. 2 is an explanatory diagram showing the configuration of a vehicle 100 in the first embodiment. The remote control system 10 is used to operate a moving body by remote control. In this embodiment, the moving body is the vehicle 100. More specifically, the moving body is an electric vehicle (BEV: Battery Electric Vehicle). Note that the moving body is not limited to an electric vehicle, and may be, for example, a gasoline vehicle, a hybrid vehicle, or a fuel cell vehicle. The moving body is not limited to the vehicle 100, and may be, for example, an electric vertical take-off and landing aircraft (a so-called flying car).

[0009] 1, in this embodiment, a remote control system 10 includes a vehicle 100 that can be operated by remote control, a remote control device 200 for remotely controlling the vehicle 100, and an external sensor group 300 located outside the vehicle 100. Note that the remote control device 200 may also be simply referred to as a control device.

[0010] 2, the vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 that operates under the control of the vehicle control device 110, and a communication device 130 for communicating with a remote control device 200 by wireless communication. In this embodiment, the actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The drive device includes a battery, a running motor driven by the power of the battery, and drive wheels rotated by the running motor. The actuator of the drive device includes the running motor.

[0011] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 so as to be able to communicate in both directions. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The memory 112 stores a computer program PG1 and vehicle identification information SJ for identifying the vehicle 100. For example, a vehicle identification number (ISO 3833:1977) expressed by a 17-digit number can be used as the vehicle identification information SJ. A serial number determined by the manufacturer of the vehicle 100 may be used as the vehicle identification information SJ.

[0012] The processor 111 executes the computer program PG1 to function as a vehicle control unit 115, a detection unit 116, a control signal receiving unit 117, and a notification unit 118. The vehicle control unit 115 controls the actuator group 120. In this embodiment, when a driver is on board the vehicle 100, the vehicle control unit 115 controls the actuator group 120 in response to the driver's operation, thereby allowing the vehicle 100 to travel. Regardless of whether a driver is on board the vehicle 100 or not, the vehicle control unit 115 controls the actuator group 120 in response to a control signal received by the control signal receiving unit 117, thereby allowing the vehicle 100 to travel. In the following description, the vehicle 100 itself, as viewed from the vehicle 100, may be referred to as the subject vehicle, and another vehicle 100 different from the vehicle 100 itself may be referred to as the other vehicle.

[0013] The detection unit 116 detects a signal transmitted when the remote control device 200 is in operation. The signal transmitted when the remote control device 200 is in operation includes a control signal transmitted from the remote control device 200 for remotely controlling the vehicle 100. The control signal includes, for example, a target value of the speed and steering angle of the vehicle 100. In this embodiment, the control signal further includes vehicle identification information SJ. In this embodiment, the detection unit 116 detects a control signal transmitted by the remote control device 200 for remotely controlling another vehicle as a signal transmitted when the remote control device 200 is in operation.

[0014] The control signal receiving unit 117 receives a control signal transmitted from the remote control device 200 to the vehicle. The control signal receiving unit 117 can determine whether the control signal is transmitted to the vehicle or to another vehicle by the vehicle identification information SJ included in the control signal. The control signal receiving unit 117 switches its operation state between an active state in which the control signal is received and an inactive state in which the control signal is not received. In this embodiment, the control signal receiving unit 117 switches from an inactive state to an active state when the detection unit 116 detects a control signal transmitted by the remote control device 200 to remotely control another vehicle. When the control signal receiving unit 117 is in an active state, the control signal receiving unit 117 receives a control signal transmitted to the vehicle. When the control signal receiving unit 117 is in an inactive state, the control signal receiving unit 117 does not receive a control signal regardless of whether the control signal is transmitted to the vehicle or to another vehicle. In the following description, when the control signal receiving unit 117 is in an enabled state, the remote control function of the vehicle 100 is referred to as being in an enabled state, and when the control signal receiving unit 117 is in an disabled state, the remote control function of the vehicle 100 is referred to as being in an disabled state. Switching the remote control function of the vehicle 100 to the disabled state is referred to as disabling the remote control function of the vehicle 100, and switching the remote control function of the vehicle 100 to the enabled state is referred to as enabling the remote control function of the vehicle 100.

[0015] When the remote control function of the vehicle is enabled, the notification unit 118 transmits a notification signal to notify the remote control device 200 that the remote control function of the vehicle is enabled. In this embodiment, the notification signal includes information indicating that the remote control function of the vehicle is enabled and the vehicle identification information SJ of the vehicle.

[0016] As shown in FIG. 1, the remote control device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to be able to communicate bidirectionally. The input / output interface 203 is connected to a communication device 205 for communicating with the vehicle 100 by wireless communication. In this embodiment, the communication device 205 can communicate with the external sensor group 300 by wired communication or wireless communication. The memory 202 stores a computer program PG2 and a target list LS. The target list LS records vehicle identification information SJ of the vehicle 100 to be remotely controlled.

[0017] The processor 201 executes the computer program PG2 to function as the remote control unit 210. The remote control unit 210 remotely controls the vehicle 100 recorded in the target list LS. The remote control unit 210 acquires the position and orientation of the vehicle 100 using the external sensor group 300, generates a control signal for remotely controlling the vehicle 100, and transmits the control signal to the vehicle 100.

[0018] The external sensor group 300 is composed of at least one external sensor. The external sensor is a sensor installed outside the vehicle 100. In this embodiment, the external sensor group 300 is composed of multiple cameras. Each camera is equipped with a communication device (not shown) and can communicate with the remote control device 200 by wired communication or wireless communication.

[0019] FIG. 3 is an explanatory diagram showing a state in which the vehicle 100 moves by remote control in a factory KJ. Five vehicles 100A to 100E are illustrated in FIG. 3. In the following description, when the five vehicles 100A to 100E are not particularly distinguished from one another, they are simply referred to as vehicles 100. In this embodiment, a remote control device 200 is installed in a factory KJ where the vehicle 100 is manufactured. The vehicle 100 travels in the factory KJ by being remotely controlled by the remote control device 200. The factory KJ includes a first location PL1 for assembling the vehicle 100, a second location PL2 for inspecting the vehicle 100, and a third location PL3 for storing the vehicle 100 that has passed the inspection. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel path SR on which the vehicle 100 can travel. The vehicle 100 assembled in the first location PL1 is equipped with a vehicle control device 110, an actuator group 120, and a communication device 130. The vehicle 100 assembled at the first location PL1 runs from the first location PL1 to the second location PL2 by being remotely controlled by the remote control device 200. The vehicle 100 that passes the inspection at the second location PL2 runs from the second location PL2 to the third location PL3 by being remotely controlled by the remote control device 200.

[0020] A method of moving the vehicle 100 by remote control using the remote control device 200 will be described. The remote control unit 210 included in the remote control device 200 determines a target route for the vehicle 100 to travel along the travel path SR to a destination. In the factory KJ, a plurality of cameras CM for photographing the travel path SR are installed, and the remote control unit 210 can obtain the relative position and orientation of the vehicle 100 with respect to the target route in real time by analyzing the images photographed by each camera CM. Each camera CM is included in the above-mentioned external sensor group 300. The remote control unit 210 generates a control signal for causing the vehicle 100 to travel along the target route, and transmits the control signal to the vehicle 100. The vehicle control device 110 included in the vehicle 100 controls the actuator group 120 according to the received control signal to cause the vehicle 100 to travel. Therefore, the vehicle 100 can be moved without using a conveying device such as a crane or a conveyor.

[0021] In this embodiment, the remote control unit 210 remotely controls the multiple vehicles 100A-100E to run one by one. For example, the remote control unit 210 remotely controls the vehicle 100B to move from the second location PL2 to the third location PL3, and then switches the remote control target from the vehicle 100B to the vehicle 100A and remotely controls the vehicle 100A to move from the first location PL1 to the second location PL2. In this embodiment, the remote control unit 210 can also remotely control the multiple vehicles 100A-100E to run simultaneously in parallel. For example, the remote control unit 210 can remotely control the vehicle 100B to move from the second location PL2 to the third location PL3, while remotely controlling the vehicle 100A to move from the first location PL1 to the second location PL2.

[0022] Each of the vehicles 100A-100E moved to the third location PL3 is then shipped from the factory KJ. Each of the vehicles 100A-100E is shipped with the remote control function reversibly or irreversibly disabled. Reversibly disabled means disabled so that it can be enabled again, and irreversibly disabled means disabled so that it cannot be enabled again. The vehicle 100 shipped with the remote control function reversibly disabled can run by remote control, with the remote control function reenabled at a place outside the factory KJ where the remote control device 200 and the external sensor group 300 are installed. The place where the remote control device 200 and the external sensor group 300 are installed outside the factory KJ is, for example, a park, a commercial facility, a university, etc.

[0023] Fig. 4 is a flowchart showing the contents of an activation process executed in the vehicle 100 whose remote control function has been reversibly disabled. Fig. 5 is a flowchart showing the contents of a target addition process executed in the remote control device 200. Fig. 6 is an explanatory diagram showing a state in which the remote control function of the vehicle 100 is activated. A remote control method for the vehicle 100 will be described with reference to Figs. 4 to 6.

[0024] The activation process shown in FIG. 4 is repeatedly executed by the vehicle control device 110 mounted on the vehicle 100. When the activation process is started, in step S110, the detection unit 116 judges whether or not the control signal transmitted by the remote control device 200 to remotely control another vehicle is detected. When it is not judged in step S110 that the control signal transmitted by the remote control device 200 to remotely control another vehicle is detected, the vehicle control device 110 skips the process after step S110 and ends the activation process. When it is judged in step S110 that the control signal transmitted by the remote control device 200 to remotely control another vehicle is detected, the control signal receiving unit 117 switches from an invalid state to an active state in step S120. In other words, in step S120, the remote control function of the host vehicle switches to an active state. In step S130, the notification unit 118 transmits a notification signal to notify that the remote control function of the host vehicle is in an active state. In this embodiment, the notification signal includes the vehicle identification information SJ of the vehicle, information indicating that the remote control function of the vehicle is in an enabled state, and a target addition request for requesting that the vehicle be added to the target list LS of the remote control device 200. After that, the vehicle control device 110 ends the activation process. Note that step S110 may be referred to as a detection process, step S120 as a switching process, and step S130 as a notification process.

[0025] The target addition process shown in Fig. 5 is repeatedly executed by the remote control device 200. When the target addition process is started, in step S210, the remote control unit 210 determines whether or not a notification signal has been received. If it is determined in step S210 that a notification signal has not been received, the remote control unit 210 skips the process after step S210 and ends the target addition process. If it is determined in step S210 that a notification signal has been received, the remote control unit 210 adds the vehicle 100 that transmitted the notification signal to the target list LS in step S220. In this embodiment, the remote control unit 210 adds the vehicle identification information SJ of the vehicle 100 included in the notification signal to the target list LS. After that, the remote control device 200 ends the target addition process.

[0026] As shown in FIG. 6, when the vehicle 100A shipped from the factory KJ with the remote control function reversibly disabled moves to a location AR outside the factory KJ where the remote control device 200 is installed, and the vehicle 100A receives a control signal SS for the remote control device 200 to remotely control another vehicle 100F, the remote control function of the vehicle 100A is automatically enabled by the enablement process. The vehicle 100A with the enabled remote control function transmits a notification signal HS including a target addition request. The remote control device 200 that receives the notification signal HS adds the vehicle 100A to the target list LS by the target addition process. The remote control device 200 prepares the movement of the vehicle 100A by remote control by determining a target route of the vehicle 100A added to the target list LS. Thereafter, the remote control device 200 generates a control signal for remotely controlling the vehicle 100A and transmits the control signal to the vehicle 100A. The remote control device 200 transmits the control signal to the vehicle 100A, and the movement of the vehicle 100A by remote control is started.

[0027] According to the remote control system 10 in the present embodiment described above, when the vehicle 100, whose remote control function is reversibly disabled, detects a control signal SS for remotely controlling another vehicle transmitted from the remote control device 200, the remote control function of the vehicle 100 is automatically enabled. Therefore, the vehicle 100 can be made to operate by remote control without any effort on the part of the user.

[0028] B. Second embodiment: Fig. 7 is a flowchart showing the contents of the activation process executed in the remote control system 10b of the second embodiment. Fig. 8 is a flowchart showing the contents of the target addition process executed in the remote control system 10b of the second embodiment. Fig. 9 is an explanatory diagram showing the state in which the remote control function of the vehicle 100 is activated in the remote control system 10b of the second embodiment. The remote control system 10b of the second embodiment differs from the first embodiment in that when the vehicle 100 receives an activation signal from the remote control device 200, the remote control function of the vehicle 100 is activated. The other configurations are the same as those of the first embodiment unless otherwise described.

[0029] When the activation process shown in FIG. 7 is started, in step S310, the detection unit 116 judges whether or not the control signal transmitted by the remote control device 200 to remotely control another vehicle is detected. When it is not judged in step S310 that the control signal transmitted by the remote control device 200 to remotely control another vehicle is detected, the vehicle control device 110 skips the process after step S310 and ends the activation process. When it is judged in step S310 that the control signal transmitted by the remote control device 200 to remotely control another vehicle is detected, the notification unit 118 transmits a notification signal to notify the remote control device 200 of the presence of the host vehicle in step S320. In this embodiment, the notification signal includes the vehicle identification information SJ of the host vehicle. In step S330, the control signal receiving unit 117 acquires the activation signal transmitted from the remote control device 200 in response to the notification signal. In step S340, the control signal receiving unit 117 switches from the disabled state to the enabled state in response to the activation signal. After that, the vehicle control device 110 ends the activation process. Note that step S310 may be referred to as a detection step, step S320 as a notification step, and steps S330 to S340 as a switching step.

[0030] When the target addition process shown in Fig. 8 is started, in step S410, the remote control unit 210 determines whether or not a notification signal has been received. If it is determined in step S410 that a notification signal has not been received, the remote control unit 210 skips the process after step S410 and ends the target addition process. If it is determined in step S410 that a notification signal has been received, the remote control unit 210 adds the vehicle 100 that transmitted the notification signal to the target list LS in step S420. In step S430, the remote control unit 210 transmits an enable signal to enable the remote control function of the vehicle 100 that transmitted the notification signal. Thereafter, the remote control device 200 ends the target addition process.

[0031] As shown in FIG. 9, when the vehicle 100A shipped from the factory KJ with the remote control function reversibly disabled moves to a location AR outside the factory KJ where the remote control device 200 is installed, and the vehicle 100A receives a control signal SS for the remote control device 200 to remotely control another vehicle 100F, the vehicle 100A transmits a notification signal HS to notify the remote control device 200 of its presence by an activation process. The remote control device 200 that has received the notification signal HS adds the vehicle 100A to the target list LS by a target addition process, and transmits an activation signal YS to activate the remote control function of the vehicle 100A. When the vehicle 100A receives the activation signal YS, the remote control function of the vehicle 100A is automatically activated. The remote control device 200 prepares or starts moving the vehicle 100A added to the target list LS by remote control.

[0032] According to the remote control system 10b in the present embodiment described above, when the vehicle 100, whose remote control function is reversibly disabled, detects the enabling signal YS transmitted from the remote control device 200, the remote control function of the vehicle 100 is automatically enabled. Therefore, the vehicle 100 can be made operable by remote control without any effort on the part of the user.

[0033] C. Other embodiments: (C1) In the remote control systems 10 to 10b of the above-described embodiments, when the detection unit 116 detects a control signal transmitted by the remote control device 200 to remotely control another vehicle, the remote control function of the vehicle 100 may be enabled. In contrast, when the detection unit 116 detects a control signal transmitted by the remote control device 200 to remotely control its own vehicle, the remote control function of the vehicle may be enabled. When the detection unit 116 detects a signal indicating that the remote control device 200 is in operation, rather than a control signal, the remote control function of the vehicle may be enabled. The signal indicating that the remote control device 200 is in operation may be transmitted from a device other than the remote control device 200.

[0034] (C2) In the remote control system 10 of the first embodiment described above, the vehicle control device 110 may not include the notification unit 118. In this case, for example, the vehicle identification information SJ of the vehicle 100 may be added to the target list LS by a user operating an input device connected to the remote control device 200.

[0035] (C3) In the remote control systems 10 to 10b of the above-described embodiments, the vehicle 100 is in a state in which it can be moved by remote control when the assembly work at the first location PL1 is completed. The state in which the vehicle 100 can be moved by remote control means that the vehicle 100 is equipped with the vehicle control device 110, the actuator group 120, and the communication device 130, and can perform three functions of "running," "turning," and "stopping" by remote control. Therefore, the vehicle 100 moving by remote control may not have at least some of the interior parts such as the driver's seat and dashboard attached, may not have at least some of the exterior parts such as the bumper and fender attached, and may not have a body shell attached. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory KJ, or may be attached to the vehicle 100 after it is shipped from the factory KJ.

[0036] (C4) In the remote control systems 10 to 10b of the above-described embodiments, the remote control unit 210 automatically generates a control signal to be transmitted to the vehicle 100. In contrast, the remote control unit 210 may generate a control signal to be transmitted to the vehicle 100 in accordance with the operation of an operator located outside the vehicle 100. For example, the operator may operate a driving device including a display that displays the position and orientation of the vehicle 100, a steering wheel for operating the vehicle 100, an accelerator pedal, and a brake pedal, and the remote control unit 210 may generate a control signal in accordance with the operation applied to the driving device.

[0037] (C5) In the remote control systems 10 to 10b of the above-described embodiments, the external sensor group 300 may include a LiDAR (Light Detection and Ranging) instead of a camera, or may include a camera and a LiDAR.

[0038] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0039] 10-10b... remote control system, 100... vehicle, 110... vehicle control device, 111... processor, 112... memory, 113... input / output interface, 114... internal bus, 115... vehicle control unit, 116... detection unit, 117... control signal reception unit, 118... notification unit, 120... actuator group, 130... communication device, 200... remote control device, 201... processor, 202... memory, 203... input / output interface, 204... internal bus, 205... communication device, 210... remote control unit, 300... external sensor group

Claims

1. A mobile object operable by remote control, a detection unit that detects a signal transmitted when a control device that remotely controls the moving object is in operation; a control signal receiving unit that switches between an effective state in which a control signal for remotely controlling the moving object transmitted from the control device is received and an ineffective state in which the control signal is not received, the control signal receiving unit switching to the effective state when the detection unit detects the signal; A mobile body comprising:

2. The moving body according to claim 1 , The detection unit detects, as the signal, a control signal for remotely controlling another moving body different from the moving body transmitted from the control device.

3. The moving body according to claim 1 , The moving body further includes a notification unit that transmits a notification signal to notify the control device that the control signal receiving unit has switched to the valid state.

4. 1. A remote control system comprising: A moving body according to claim 3; a control device that remotely controls the moving object, the control device preparing or starting the remote control of the moving object when the notification signal is received; A remote control system comprising:

5. A mobile object operable by remote control, a detection unit that detects a signal transmitted when a control device that remotely controls the moving object is in operation; a notification unit that transmits a notification signal to notify the control device of the presence of the moving object when the detection unit detects the signal; a control signal receiving unit that switches between an enabled state in which a control signal for remotely controlling the moving object transmitted from the control device is received and an disabled state in which the control signal is not received, the control signal receiving unit switching to the enabled state when an enable signal transmitted from the control device in response to the notification signal is received; A mobile body comprising:

6. 1. A remote control system comprising: A moving body according to claim 5 ; a control device that remotely controls the moving body and transmits the enabling signal to the moving body when the control device receives the notification signal; A remote control system comprising:

7. A remote control method, comprising: a detection step of detecting a signal transmitted when a control device that remotely controls a mobile object operable by remote control is in operation; a switching step of switching from an effective state in which the mobile unit receives a control signal for remotely controlling the mobile unit, the control signal being transmitted from the control device, to an ineffective state in which the mobile unit does not receive the control signal, the switching step being performed when the control signal is detected; A remote control method comprising:

8. A remote control method, comprising: a detection step of detecting a signal transmitted when a control device that remotely controls a mobile object operable by remote control is in operation; a notification step of transmitting a notification signal to notify the control device of the presence of the moving object when the signal is detected; a switching step of switching from an effective state in which the moving body accepts a control signal for remotely controlling the moving body transmitted from the control device to an ineffective state in which the moving body does not accept the control signal, the switching step being performed when an enabling signal transmitted from the control device in response to the notification signal is received; A remote control method comprising:

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