Remote control system for mobile objects

Abstract

A technology is provided that can prevent erroneous operation of the movement direction of a moving object during remote control. [Solution] The remote control system for a moving body comprises an imaging device that photographs the moving body, a display device that displays the image photographed by the imaging device, a direction input device that accepts input in advance of the intended direction of movement in which the moving body is desired to move, an operation input device that accepts remote operation instructions that are instructions for remotely controlling the moving body, a notification device that visually notifies the operation of the operation input device to move the moving body in the intended direction of movement, and a remote control device that remotely controls the moving body in accordance with the remote operation instructions.

Description

[Technical Field]

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

[0002] For example, Patent Document 1 discloses a technique for remotely controlling a moving object by operating an operating device while watching an image captured by a camera. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-005574 Summary of the Invention [Problem to be solved by the invention]

[0004] There was a need for technology that could prevent incorrect operation of the direction of movement of a moving object when remotely controlling it. [Means for solving the problem]

[0005] The present disclosure has been made to solve the above-mentioned problems, and can be realized in the following forms.

[0006] According to an embodiment of the present disclosure, there is provided a remote control system for a moving object, the remote control system including: an imaging device that captures an image of the moving object; a display device that displays an image captured by the imaging device; a direction input device that accepts input of a planned movement direction in advance, which is a direction in which the moving object is desired to move; an operation input device that accepts a remote operation instruction that is an instruction to remotely control the moving object; a notification device that visually notifies an operation of the operation input device to move the moving object in the planned movement direction; and a remote control device that remotely controls the moving object in accordance with the remote operation instruction. According to the remote control system of this aspect, the notification device visually notifies the operator of the operation of the operation input device, thereby preventing the operator from operating the remote input device erroneously.

[0007] The present disclosure can be realized in various forms, for example, as a method for remotely controlling a moving object, a method for notifying an operation of an operation input device, or the like. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a remote control system. [Figure 2] 10 is a flowchart illustrating an example of a remote control process. [Figure 3] 10 is a flowchart showing an example of a remote control process in the second embodiment. [Figure 4] FIG. 10 is an explanatory diagram showing the configuration of a remote control system according to a third embodiment. [Figure 5] 11 is a flowchart showing an example of a remote control process in the third embodiment. [Figure 6] FIG. 10 is an explanatory diagram showing the configuration of a remote control system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A. First embodiment: 1 is an explanatory diagram showing the configuration of a remote control system 10 in this embodiment. The remote control system 10 remotely controls a vehicle 100 as a moving object. The remote control system 10 includes the vehicle 100, an imaging device 200, a display device 300, a direction input device 400, an operation input device 500, a notification device 600, and a remote control device 700.

[0010] In this disclosure, a "mobile body" refers to an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). A vehicle may be a vehicle that runs on wheels or a vehicle that runs on caterpillar tracks, such as a passenger car, truck, bus, motorcycle, automobile, tank, or construction vehicle. When the mobile body is something other than a vehicle, the expressions "vehicle" and "car" in this disclosure can be appropriately replaced with "mobile body," and the expression "running" can be appropriately replaced with "moving." Furthermore, in this disclosure, vehicle 100 is a work vehicle that does not carry a person.

[0011] The imaging device 200 captures an image of the vehicle 100. In this embodiment, the imaging device 200 monitors the vehicle 100 from the side.

[0012] The display device 300 displays the image captured by the imaging device 200. In this embodiment, the display device 300 displays the moving direction D1 of the vehicle 100 indicated by a remote operation instruction input by the operation input device 500 (described later) by superimposing it on the image. For example, the display device 300 displays the moving direction D1 by superimposing it with a black arrow.

[0013] The direction input device 400 receives in advance an input of a planned movement direction, which is the direction in which the operator wants to move the vehicle 100. In this embodiment, the direction input device 400 is a touch panel provided on the display device 300. For example, before operating the operation input device 500 described below, the operator touches the touch panel to input a start point where the vehicle 100 is located and an end point, which is a target position to which the operator wants to move the vehicle 100 by remote control. The direction input device 400 receives the input direction from the start point toward the end point as the planned movement direction.

[0014] The operation input device 500 receives a remote operation instruction, which is an instruction to remotely operate the vehicle 100. In this embodiment, the operation input device 500 has an operation unit 510 that can be operated in a first direction D2 or a second direction D3. The first direction D2 is the same direction as the movement direction D1. The first direction D2 and the second direction D3 are opposite directions to each other. When the operation unit 510 is operated in the first direction D2, the operation input device 500 receives a remote operation instruction to operate the vehicle 100 in the movement direction D1.

[0015] The notification device 600 visually notifies the user of the operation of the operation input device 500 to move the vehicle 100 in the planned direction of travel. In this embodiment, the notification device 600 is a discharge lamp. The notification device 600 includes a first notification device 600a arranged on the first direction D2 side of the operation input device 500 and a second notification device 600b arranged on the second direction D3 side of the operation input device 500. The notification device 600 arranged in the direction in which the operation unit 510 is operated to move the vehicle 100 in the planned direction of travel lights up to notify the user of the operation. When the planned direction of travel is the travel direction D1, the first notification device 600a lights up.

[0016] The remote control device 700 is a device that remotely controls the vehicle 100 in accordance with remote control instructions. The remote control device 700 is made up of a computer configured with a central processing unit (CPU 720), RAM, ROM, etc., and the functions of a control unit 721 are realized by the CPU 720 executing a program pre-installed in the memory 710 of the remote control device 700. The remote control device 700 is equipped with an input / output interface 730 to which a communication device (not shown) is connected for communicating with the outside via wireless communication. However, some or all of the functions of these units may be realized by hardware circuits.

[0017] The control unit 721 outputs a control signal to the vehicle 100 to perform remote operation in accordance with the remote operation instruction output from the operation input device 500. The control unit 721 also outputs the image acquired from the imaging device 200 to the display device 300. The control unit 721 also outputs the planned moving direction output from the direction input device 400 to the notification device 600.

[0018] 2 is a flowchart showing an example of a remote control process. This process is a process for remotely controlling the vehicle 100. In step S100, the direction input device 400 receives a planned movement direction. More specifically, the direction input device 400 outputs the planned movement direction input by the operator to the remote control device 700.

[0019] In step S110, the notification device 600 notifies the user of the operation input device 500 for moving the vehicle 100 in the planned movement direction input in step S100. More specifically, the notification device 600 lights up the notification device 600 arranged on the operation direction side of the operation unit 510 for moving the vehicle 100 in the planned movement direction.

[0020] In step S120, the operation input device 500 accepts a remote operation instruction. More specifically, the operation input device 500 accepts the operation content of the operation unit 510 by the operator as a remote operation instruction, and outputs the remote operation instruction to the remote operation device 700.

[0021] In step S130, remote control device 700 remotely controls vehicle 100 in accordance with the remote control instruction input in step S120.

[0022] According to the remote operation system 10 of the present embodiment described above, the operation of the operation input device 500 is visually notified by the notification device 600, so that the operator can be prevented from operating the remote input device erroneously.

[0023] Furthermore, the display device 300 displays the moving direction D1 of the vehicle 100 indicated by the remote operation instruction, so the operator can confirm the operation content.

[0024] B. Second embodiment: 3 is a flowchart showing an example of remote control processing in the second embodiment. The remote control processing in the second embodiment differs from the first embodiment in that step S130 is executed when the operation amount of the operation input device 500 is greater than a predetermined threshold operation amount, but the other steps are the same. The configuration of the remote control system 10 in the second embodiment is the same as the configuration of the remote control system 10 in the first embodiment, so a description of the configuration of the remote control system 10 will be omitted.

[0025] In step S125, the remote control device 700 determines whether the operation amount of the operation input device 500 in step S120 is equal to or less than a threshold operation amount. The threshold operation amount is a value determined in advance experimentally or empirically. If the operation amount is greater than the threshold operation amount, the remote control device 700 proceeds to the process of step S130 and performs remote operation. On the other hand, if the operation amount is equal to or less than the threshold operation amount, the remote operation process ends.

[0026] According to the remote control system 10 of the second embodiment described above, remote control is not performed when the operation amount of the operation input device 500 is equal to or less than the threshold operation amount, so that it is possible to prevent remote control from being performed by mistake, for example, when the operation unit 510 is not operated intentionally but is simply touched.

[0027] C. Third embodiment: FIG. 4 is an explanatory diagram showing the configuration of a remote control system 10C of the third embodiment. The remote control system 10C of the third embodiment differs from the first embodiment in that it includes a permission input device 800, but the other configurations are the same. FIG. 5 is a flowchart showing an example of remote control processing in the third embodiment. The remote control processing of the third embodiment differs from the first embodiment in that step S130 is executed when permission to execute a remote control instruction is input to the permission input device 800, but the other steps are the same.

[0028] The permission input device 800 receives permission to execute a remote operation instruction. For example, the permission input device 800 has a button section, and receives a push operation of the button section by an operator as permission to execute a remote operation instruction.

[0029] In step S127, the remote operation device 700 determines whether permission to execute the remote operation instruction accepted by the operation input device 500 in step S120 has been input to the permission input device 800. If permission has been input to the permission input device 800, i.e., if the button section of the permission input device 800 has been pressed, the remote operation device 700 proceeds to the process of step S130 and performs remote operation. On the other hand, if permission has not been input to the permission input device 800, i.e., if the button section of the permission input device 800 has not been pressed, the remote operation device 700 returns to the process of step S127. That is, the process of step S127 is repeated until permission is input to the permission input device 800. Note that the remote operation process may be terminated when a predetermined time has elapsed or when the process of step S127 has been repeated a predetermined number of times.

[0030] According to the remote control system 10C of the third embodiment described above, remote control is performed when permission is input to the permission input device 800, so that remote control due to erroneous operation of the operation input device 500 can be suppressed.

[0031] D. Fourth embodiment: 6 is an explanatory diagram showing the configuration of a remote control system 10D according to the fourth embodiment. The remote control system 10D according to the fourth embodiment differs from the first embodiment in that an operation input device 500D has a locking mechanism 520, but the other configurations are the same.

[0032] The locking mechanism 520 restricts an operation of issuing a remote control instruction to move the vehicle 100 in a direction different from the intended movement direction. For example, when the intended movement direction is movement direction D1, the locking mechanism 520 restricts operation of the operating unit 510 in the second direction D3. More specifically, the locking mechanism 520 operates under the control of the control unit 721 to restrict operation of the operating unit 510 in the second direction D3.

[0033] According to the remote control system 10D of the fourth embodiment described above, the lock mechanism 520 restricts the operation of issuing a remote control instruction to move the vehicle 100 in a direction different from the intended movement direction, thereby making it possible to suppress erroneous operations.

[0034] E. Other Embodiments: (E1) In the above-described embodiment, the notification device 600 is a discharge lamp. However, the notification device 600 is not limited to this, and any device that can provide a visual notification can be used. Furthermore, the notification device 600 does not have to be a device that directly provides a visual notification itself, and may be a device that displays a notification on the display device 300, for example.

[0035] (E2) In the above-described embodiment, the display device 300 displays the traveling direction of the vehicle 100 by a black arrow. However, the present invention is not limited to this, and the display device 300 may omit displaying the traveling direction of the vehicle 100.

[0036] (E3) In the above-described embodiment, the imaging device 200 captures an image of the vehicle 100 from the side, and the operation direction of the operation unit 510 and the traveling direction of the vehicle 100 on the display device 300 indicated by the remote operation instruction are the same direction. In other words, the display device 300 displays the image captured by the imaging device 200 so that the vehicle 100 travels in the same direction as the operation direction of the operation unit 510. This is not limiting, and the imaging device 200 may capture the vehicle 100 from any direction. Furthermore, the display device 300 does not have to display the image so that the operation direction of the operation unit 510 and the traveling direction of the vehicle 100 are the same direction.

[0037] (E4) In the first and second embodiments described above, when a remote operation instruction to move the vehicle 100 in a direction different from the planned movement direction is received, the remote operation device 700 may not perform remote operation. In other words, the remote operation device 700 may remotely operate the vehicle 100 only in accordance with a remote operation instruction to move the vehicle 100 in the same direction as the planned movement direction.

[0038] (E5) In the second embodiment described above, the remote operation device 700 may display the operation instruction content on the display device 300 when the operation amount of the operation input device 500 is equal to or less than the threshold operation amount.

[0039] (E6) In the third embodiment described above, when an operation is performed to move the vehicle 100 in a direction different from the intended direction of movement, the remote control device 700 may perform remote control depending on whether permission has been input to the permission input device 800.

[0040] (E7) In the third embodiment described above, the notification device 600 may be operated by a person different from the operator who operates the operation input device 500. For example, the notification device 600 may be operated by a supervisor.

[0041] (E8) In the fourth embodiment described above, the remote operation system 10D may include a restriction release input device. The restriction release input device accepts a release of the operation restriction on the locking mechanism 520. The locking mechanism 520 releases the operation restriction when a release is input to the restriction release input device.

[0042] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0043] 10, 10C, 10D... Remote control system, 100... Vehicle, 200... Imaging device, 300... Display device, 400... Direction input device, 500, 500D... Operation input device, 510... Operation unit, 520... Lock mechanism, 600... Notification device, 600a... First notification device, 600b... Second notification device, 700... Remote control device, 710... Memory, 720... CPU, 721... Control unit, 730... Input / output interface, 800... Permission input device

Claims

1. A remote control system for a moving object, an imaging device that captures an image of the moving object; a display device that displays the image captured by the imaging device; a direction input device that receives in advance an input of a planned movement direction, which is a direction in which the moving body is desired to move; an operation input device that receives a remote operation instruction that is an instruction to remotely operate the moving object; a notification device that visually notifies the user of an operation of the operation input device for moving the moving object in the planned movement direction; a remote control device that remotely controls the moving object in accordance with the remote control instruction.

2. The remote control system according to claim 1, The display device further displays the direction of movement of the moving object indicated by the remote operation instruction.

3. 3. The remote control system according to claim 1, A remote control system in which the remote control device does not remotely control the moving object when the operation amount of the operation input device is equal to or less than a predetermined threshold operation amount.

4. The remote control system according to claim 1 or 2, further comprising: a permission input device for receiving permission to execute the remote operation instruction; The remote control device is remotely operating the moving object in accordance with the remote operation instruction when the permission is input to the permission input device; A remote control system that does not remotely control the moving object according to the remote control instruction until the permission is input to the permission input device.

5. 3. The remote control system according to claim 1, The operation input device has a locking mechanism that restricts the operation of giving the remote operation instruction to move the moving object in a direction different from the intended movement direction.

Images