Vehicle remote control device

Abstract

A remote control device for a vehicle capable of turning on the spot is provided, which can suppress erroneous operation of the turning direction of a vehicle. [Solution] A remote control device 4 for remotely operating a forklift 2 as an example of a vehicle capable of turning on the spot, comprising a first operation button 46 and a second operation button 47 as an example of a first operation unit corresponding to turning on the spot of the forklift 2 in a clockwise direction in a plan view, and a third operation button 48 and a fourth operation button 49 as an example of a second operation unit corresponding to turning on the spot of the forklift 2 in a counterclockwise direction in a plan view.

Description

[Technical Field]

[0001] The present disclosure relates to a remote control device for a vehicle. [Background technology]

[0002] BACKGROUND ART A remote control device for remotely controlling a forklift is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-077527 Summary of the Invention [Problem to be solved by the invention]

[0004] When remotely operating a forklift from a remote location using a surveillance camera or other device, the surveillance camera may only capture a portion of the forklift being operated. In such situations, operators unfamiliar with remote operation have difficulty intuitively determining which direction to operate the forklift. In particular, with conventional technology, the control unit that commands the forklift to turn only focuses on the front of the forklift, which can lead to an incorrect operation of the turning direction, potentially resulting in unexpected contact with other objects. This issue is not limited to forklifts; it is common to remotely operating various vehicles, such as transport vehicles.

[0005] The present disclosure aims to provide a remote control device for a vehicle that can suppress erroneous operation of the turning direction in a vehicle that is capable of turning on the spot. [Means for solving the problem]

[0006] A vehicle remote control device according to one aspect of an embodiment of the present invention is a remote control device for remotely operating a vehicle capable of turning on the spot, and is equipped with a first operating unit that corresponds to turning on the spot of the vehicle in a clockwise direction when viewed from above, and a second operating unit that corresponds to turning on the spot of the vehicle in a counterclockwise direction when viewed from above. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a remote control device for a vehicle that can suppress erroneous operation of the turning direction in a vehicle that is capable of turning on the spot. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the overall configuration of a remote control system according to an embodiment; [Figure 2] FIG. 10 is a diagram showing an example of the configuration of an operation command input unit. [Figure 3] FIG. 3 is a diagram illustrating the operation restriction of the operating lever by the guide groove shown in FIG. 2. [Figure 4] A diagram showing an example of a situation in which a camera captures an image in front of a forklift [Figure 5] A diagram showing an example of a situation in which a camera captures an image of the rear of a forklift [Figure 6] FIG. 10 is a diagram showing a modified example of the operation command input unit; [Figure 7] FIG. 10 shows a modified example of the remote control system. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components in the drawings will be denoted by the same reference numerals as much as possible, and duplicated descriptions will be omitted.

[0010] Figure 1 is a diagram showing the overall configuration of a remote control system according to an embodiment. Remote control system 1 is a system for remotely controlling a "vehicle capable of turning on the spot." Here, "turning on the spot" refers to rotating the vehicle body around an arbitrary turning axis that is arranged on the vehicle body and extends perpendicular to the traveling surface, without changing the position of this turning axis.

[0011] In this embodiment, a forklift 2 will be described as an example of such a vehicle. The forklift 2 is an industrial vehicle that has forks 22 (claws) at the front of a vehicle body 21 (upper part in FIG. 1 ) and can insert the forks 22 into the bottom of a load or a pallet to lift and transport it.

[0012] 1, the forklift 2 is provided with front wheels 23 at the front of the vehicle body 21 and rear wheels 24 at the rear of the vehicle body 21. In the example of FIG. 1, a pair of front wheels 23 are arranged on both sides in the width direction of the vehicle body 21 (left and right direction in FIG. 1), and each front wheel 23 is rotatably connected to a rotation shaft S1 extending parallel to the width direction, thereby allowing the vehicle body 21 to rotate in the fore-and-aft direction.

[0013] Meanwhile, one rear wheel 24 is disposed in the center of the vehicle body 21 in the width direction, extends parallel to the turning axis, and is rotatably connected to a steering axis S3 that intersects with the drive axis S2 of the rear wheel 24. The rear wheel 24 functions as a drive wheel that is driven to rotate about the drive axis S2, and also functions as a steered wheel that changes the traveling direction of the drive wheel by rotating the drive axis S2 about the steering axis S3.

[0014] In the forklift 2 illustrated in FIG. 1, the drive shaft S2 of the rear wheels 24 is parallel to the rotation shaft S1 of the front wheels 23 as shown in FIG. 1, and the rear wheels 24 are oriented in the fore-and-aft direction of the vehicle body 21. By driving the rear wheels 24 to rotate forward or backward, the forklift 2 can be moved forward or backward as indicated by arrows A and B in FIG. 1.

[0015] 1, by rotating the rear wheels 24 90 degrees around the steering axis S3 and driving the rear wheels 24 to face the width direction of the vehicle body 21, the forklift 2 can be turned on the spot in a clockwise or counterclockwise direction about the turning axis O as shown by arrows C and D in FIG. 1. In the case of the forklift 2 illustrated in FIG. 1, the turning axis O for the turning on the spot is located at the midpoint between the pair of front wheels 23 and on the rotation axis S1 of the front wheels 23. Therefore, in the case of the forklift 2 illustrated in FIG. 1, "turning on the spot" refers to rotating the vehicle body 21 in the direction of arrow C or D about the turning axis O without changing the position of the turning axis O.

[0016] The forklift 2 may have other configurations, such as a configuration in which the front wheels 23 function as drive wheels and the rear wheels 24 function as steered wheels.

[0017] The remote control system 1 includes a forklift 2 as an example of a vehicle, a moving body 3, and a remote control device 4.

[0018] The mobile unit 3 is an autonomously mobile device, for example, a mobile unit that has wheels and can travel on the same floor surface as the forklift 2. In Fig. 1, the mobile unit 3 is shown together with the forklift 2 in a plan view viewed from above.

[0019] The mobile object 3 has a camera 31. The camera 31 is an example of an imaging device that is installed on the mobile object 3 and captures an image of at least a portion of the forklift 2 to provide the image to the user of the remote control device 4. The mobile object 3 moves to any position and direction in accordance with the movement of the forklift 2 so that at least a portion of the forklift 2, preferably a portion including the forks 22 or a portion including the rear end of the vehicle body 21, falls within the angle of view θ of the camera 31. This allows the camera 31 to capture an image including the forklift 2. The mobile object 3 outputs image information of the forklift 2 captured by the camera 31 to the remote control device 4.

[0020] The remote control device 4 is a device for remotely operating the forklift 2 by a user who is not on board the forklift 2. The remote control device 4 includes a captured image display unit 41 and an operation command input unit 42, as shown in FIG.

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

[0022] The operation command input unit 42 is an input device into which a user inputs an operation command for the forklift 2. In the example of Fig. 1, the operation command includes forward movement indicated by arrow A, reverse movement indicated by arrow B, turning on the spot in a clockwise direction indicated by arrow C, and turning on the spot in a counterclockwise direction indicated by arrow D. The operation command may also include a turning operation during forward or reverse movement.

[0023] Fig. 2 is a diagram showing an example of the configuration of the operation command input unit 42. As shown in Fig. 2, the operation command input unit 42 has a housing 43, an operation 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 to open on the surface of the housing 43. In the example of Fig. 2, the guide groove 45 is formed to extend in the vertical direction in the figure.

[0025] The control lever 44 is an operating member for instructing remote operation (movement direction, movement amount, etc.) of the forklift 2. The control lever 44 is installed so that a portion of it is exposed to the outside from the inside of the housing 43 through a guide groove 45. A user can input operation commands such as the movement direction by grasping and operating the exposed portion of the control lever 44. The control lever 44 is installed so as to be movable along the guide groove 45. That is, in the example of FIG. 2, the control lever 44 is movable in the up and down directions in the drawing along the extension direction of the guide groove 45.

[0026] The center position in the vertical direction of the guide groove 45 is set as the original position P0 of the operating lever 44. When the operating lever 44 is in the original position P0, no operation command is sent to the forklift 2, or an operation command to stop the forklift 2 is sent, which stops the forklift 2 on the spot.

[0027] When the operating lever 44 is located above the original position P0 of the guide groove 45 in the drawing, a forward operation command is transmitted to the forklift 2. Furthermore, the further the operating lever 44 is moved upward from the original position P0, the more an operation command to increase the forward speed is transmitted. Similarly, when the operating lever 44 is located below the original position P0 of the guide groove 45 in the drawing, a reverse operation command is transmitted to the forklift 2. Furthermore, the further the operating lever 44 is moved downward from the original position P0, the more an operation command to increase the reverse speed is transmitted.

[0028] When a user remotely controls the forklift 2 using the control lever 44, the user simply tilts the control lever 44 in the desired direction, i.e., upward or downward from the original position P0 in the figure. This operation causes the forklift 2 to move forward or backward at a speed that corresponds to the direction and amount of operation of the control lever 44.

[0029] Additionally, while driving the forklift 2 using the control lever 44, the user can simultaneously steer the rear wheels 24 by tilting the control lever 44 sideways (left and right in the drawing). However, because steering when traveling at extremely low or high speeds is risky, in this embodiment, the guide groove 45 limits the amount of left and right tilt of the control lever 44 to prevent operation under such conditions.

[0030] Fig. 3 is a diagram for explaining the operation restriction of the operating lever 44 by the guide groove 45 shown in Fig. 2. Fig. 3 shows only the operating lever 44 and the guide groove 45 of the operation command input unit 42 in Fig. 2. Furthermore, Fig. 3 illustrates the guide groove 45 above the original position P0 (forward region), but the same applies to the guide groove 45 below the original position P0 (reverse region).

[0031] As shown in Fig. 3, the guide groove 45 has a first groove 45A formed in the forward movement region above the original position P0, with a width dimension in the vertical direction substantially equal to the diameter of the operating lever 44. The first groove 45A extends longitudinally in one predetermined direction (the vertical direction in Fig. 3), and has a width dimension in the short side direction that is substantially uniform along the vertical direction. The operating lever 44 can adjust its forward movement speed by moving along this first groove 45A.

[0032] The first groove 45A is divided into a low speed region P1, a medium speed region P2, and a high speed region P3, starting from the region closest to the original position P0. The high speed region P3 is a region in which the movement speed is equal to or greater than a predetermined first threshold. On the other hand, the low speed region P1 is a region in which the movement speed is less than a predetermined second threshold. The medium speed region P2 is a region in which the movement speed is less than the first threshold and equal to or greater than the second threshold.

[0033] In this embodiment, of the three portions of the guide groove 45 corresponding to the low speed range P1, the medium speed range P2, and the high speed range P3, a pair of second grooves 45B extending outward (on both the left and right sides in FIG. 3 ) from the widthwise edges of the first groove 45A is provided only in the portion of the medium speed range P2. As illustrated in FIG. 3 , the second grooves 45B are formed so that the amount of recess is greatest in the center portion of the medium speed range P2 and the amount of recess continuously decreases toward the upper and lower low speed ranges P1 and P3. In other words, the guide groove 45 is formed so that the range of movement (the range of movement in the left-right direction in FIG. 3 ) related to the steering amount in the high speed range P3 and the low speed range P1 is narrower than the range of movement related to the steering amount in the medium speed range P2.

[0034] By forming the guide groove 45 in this manner, the operating lever 44 can limit the amount of steering in the high speed range P3 and the low speed range P1 compared to the amount of steering in the medium speed range P2. This configuration makes it possible to limit the amount of steering in the high speed range P3 and the low speed range P1, where steering tends to become unstable, thereby preventing the remotely controlled forklift 2 from becoming unstable while traveling. Note that even if the rear wheels 24 are steered significantly when the forklift 2 is stopped, it is difficult to visually observe and recognize the amount of steering of the rear wheels 24, which are steerable wheels, from the outside. Starting the forklift 2 in such a state may result in an unexpected sharp turn, so it is effective to limit steering in the low speed range, especially when the forklift 2 is stopped.

[0035] In this embodiment, the control lever 44 and the guide groove 45 function as a "third operation unit that instructs the travel speed of the forward and backward movements of the forklift 2 and the amount of steering of the forklift 2 in the left and right direction." Therefore, in this embodiment, by forming the guide groove 45 as described in FIG. 3, it is possible to easily restrict the left and right direction of the control lever 44, and therefore it is possible to easily limit the range of movement related to the amount of steering by the third operation unit. In addition, the guide groove 45 can restrict operations that are inappropriate for the operation command of the control lever 44 (for example, a turning operation that does not match the traveling speed).

[0036] Returning to Fig. 2, the 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 in four directions centered on the original position P0 of the guide groove 45 on the surface of the housing 43. In the example of Fig. 2, the first operation button 46 and the third operation button 48 are arranged above the original position P0 and are respectively arranged on the right and left sides of the guide groove 45 in the figure. In addition, the second operation button 47 and the fourth operation button 49 are arranged below the original position P0 and are respectively arranged on the left and right sides of the guide groove 45 in the figure.

[0037] The user can input operation commands corresponding to the first operation button 46, the second operation button 47, the third operation button 48, and the fourth operation button 49 by pressing each of them. The operation commands for each button are all operations related to "turn on the spot," but the turning direction is different.

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

[0039] The second operation button 47 is an input element for instructing the rear portion of the forklift 2 (particularly the rear end portion of the vehicle body 21) to turn clockwise (move left).

[0040] The third operation button 48 is an input element that commands the front portion of the forklift 2 (particularly the forks 22 at the front of the vehicle body 21) to turn counterclockwise (move left).

[0041] The fourth operation button 49 is an input element for instructing the rear portion of the forklift 2 (particularly the rear end portion of the vehicle body 21) to turn counterclockwise (move to the right).

[0042] In other words, the first operation button 46 and the second operation button 47 function as a "first operation unit corresponding to turning on the spot of the forklift 2 in the clockwise direction in a plan view," and the operation of the forklift 2 performed by both buttons 46 and 47 is the same as turning on the spot in the clockwise direction indicated by arrow C in Fig. 1. For this reason, in Fig. 2, both the first operation button 46 and the second operation button 47 are shown in gray to indicate that they have a common function.

[0043] Additionally, the third operation button 48 and the fourth operation button 49 function as a "second operation unit corresponding to turning on the spot of the forklift 2 in the counterclockwise direction in a plan view," and the operation of the forklift 2 performed by both buttons 48 and 49 is the same as turning on the spot in the counterclockwise direction indicated by arrow D in Fig. 1. For this reason, in Fig. 2, both the third operation button 48 and the fourth operation button 49 are shown with a dotted pattern to indicate that they have a common function.

[0044] Here, the effects of the remote control device 4 being provided with a first operation section (first operation button 46, second operation button 47) and a second operation section (third operation button 48, fourth operation button 49) will be described.

[0045] As described above, the forklift 2 of this embodiment is configured so that the rear wheels 24 function as both drive wheels and steerable wheels. In this configuration, there are two types of operations for turning the forklift 2 on the spot in the clockwise direction, for example: (1) Turn the rear wheel 24 90 degrees to the left (counterclockwise around the steering axis S3 in FIG. 1) and rotate the rear wheel 24 forward (in FIG. 1, rotate in the direction in which the rear wheel 24 moves to the left). (2) The rear wheels 24 are turned 90 degrees to the right (clockwise around the steering axis S3 in FIG. 1) and rotated in the reverse direction (in FIG. 1, rotated in the direction that moves the rear wheels 24 to the left).

[0046] Here, unlike the present embodiment, consider a case in which the drive direction of the drive wheels and the steering direction of the steered wheels are input using separate operating means. In this case, the drive direction must be reversed depending on whether the 90-degree steering direction is clockwise or counterclockwise in the operations (1) and (2) above. Furthermore, the orientation of the rear wheels 24 after steering appears to face the width direction of the vehicle body 21 regardless of the steering direction, making it difficult to visually confirm the steering direction. Therefore, if the drive direction is incorrectly controlled relative to the steering direction, an erroneous operation may occur in which the turning direction is opposite to the desired direction. This problem is particularly noticeable when the forklift 2 is operated remotely.

[0047] To address this problem, in this embodiment, the remote control device 4 is configured to include a first operation unit (first operation button 46, second operation button 47) that corresponds to turning on the spot in a clockwise direction, and a second operation unit (third operation button 48, fourth operation button 49) that corresponds to turning on the spot in a counterclockwise direction. With this configuration, the user of the remote control device 4 can easily and reliably cause the forklift 2 to turn on the spot in a desired turning direction simply by operating the first operation unit or the second operation unit. As a result, the remote control device 4 according to this embodiment can prevent erroneous operation of the turning direction in a vehicle capable of turning on the spot.

[0048] Furthermore, in the remote control device 4 of this embodiment, the user inputs operation commands while viewing an image of the forklift 2 captured by the camera 31 of the moving object 3 and displayed on the captured image display unit 41. Since the moving object 3 is a device that can move independently of the forklift 2, the appearance of the forklift 2 in the image displayed on the captured image display unit 41 may differ depending on the relative positional relationship between the forklift 2 and the moving object 3.

[0049] Fig. 4 is a diagram showing an example of a situation in which the camera 31 captures an image of the area in front of the forklift 2. As shown in Fig. 4, when the moving object 3 is moving forward of the forklift 2, at least the forks 22 in front of the forklift 2 are included within the angle of view θ of the camera 31 of the moving object 3. In this case, the image displayed on the captured image display unit 41 shows the front portion of the forklift 2, including the forks 22.

[0050] 4, if the user of the remote control device 4 attempts to turn the forklift 2 on the spot based on the image displayed on the captured image display unit 41, the fork 22 visible in the image must be moved to the right in the case of a clockwise turn on the spot. On the other hand, if the user attempts to turn the forklift 2 on the spot in the counterclockwise direction, the fork 22 visible in the image must be moved to the left. In this case, by operating the first operation button 46 or the third operation button 48 depending on the desired turn direction, the fork 22 visible in the image becomes the main object of operation, allowing for more intuitive remote control.

[0051] Fig. 5 is a diagram showing an example of a situation in which the camera 31 captures an image of the area behind the forklift 2. As shown in Fig. 5, when the moving object 3 is moving rearward of the forklift 2, at least the rear end portion of the body 21 behind the forklift 2 is included within the angle of view θ of the camera 31 of the moving object 3. In this case, the image displayed on the captured image display unit 41 shows the rear portion of the forklift 2, including the rear end of the body 21.

[0052] 5, if the user of the remote control device 4 attempts to turn the forklift 2 on the spot based on the image displayed on the captured image display unit 41, the rear end portion of the vehicle body 21 visible in the image must be moved to the left in the case of a clockwise turn on the spot. On the other hand, if the user attempts to turn the forklift 2 on the spot in the counterclockwise direction, the rear end portion of the vehicle body 21 visible in the image must 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 turning direction, the rear end portion of the vehicle body 21 visible in the image can be set as the main object of operation, allowing for more intuitive remote control.

[0053] As described above, in the remote control device 4 of this embodiment, the first operation unit corresponding to turning on the spot of the forklift 2 in the clockwise direction in a plan view has a first operation button 46 that instructs turning the front part of the forklift 2 in the clockwise direction, and a second operation button 47 that instructs turning the rear part of the forklift 2 in the clockwise direction. In addition, the second operation unit corresponding to turning on the spot of the forklift 2 in the counterclockwise direction in a plan view has a third operation button 48 that instructs turning the front part of the forklift 2 in the counterclockwise direction, and a fourth operation button 49 that instructs turning the rear part of the forklift 2 in the counterclockwise direction.

[0054] With this configuration, the forklift 2 (vehicle) has operation buttons for rotating clockwise and counterclockwise on both the front and rear sides, so all that is required is to determine which way the visible part should be rotated, allowing even inexperienced workers to intuitively and easily operate it remotely.

[0055] The remote control device 4 can be physically configured as a computer system including a CPU (Central Processing Unit), RAM (Random Access Memory) and ROM (Read Only Memory) as main storage devices, an input device, an output device, a communication module, an auxiliary storage device such as a hard disk, etc. Each function of the remote control device 4 described above is realized by loading predetermined computer software onto hardware such as the CPU and RAM, operating the communication module, input device, and output device under the control of the CPU, and reading and writing data from and to the RAM and auxiliary storage device.

[0056] Next, a modified example will be described with reference to FIGS.

[0057] Fig. 6 is a diagram showing a modified example of the operation command input unit. As shown in Fig. 6, the "third operation unit for instructing the moving speed of the forklift 2 in forward and backward movements and the steering amount in the left and right directions of the forklift 2" may be configured to include a steering amount control knob 51 and a rotation control knob 52.

[0058] The steering amount control knob 51 is an input element for controlling the steering angle of the rear wheels 24, which are steerable wheels of the forklift 2. In the example of Fig. 6, when the steering amount control knob 51 is rotated to the right, the steering amount operation command also moves to the right (clockwise around the steering axis S3 in Fig. 1), and the steering angle can be increased as the amount of rotation of the steering amount control knob 51 increases. On the other hand, when the steering amount control knob 51 is rotated to the left, the steering amount operation command also moves to the left (counterclockwise around the steering axis S3 in Fig. 1), and the steering angle can be increased as the amount of rotation of the steering amount control knob 51 increases.

[0059] The rotation control knob 52 is an input element for controlling the rotation speed and rotation direction of the rear wheels 24, which are the drive wheels of the forklift 2. In the example of Fig. 6, when the rotation control knob 52 is rotated to the right, the operation command for the rotation direction becomes forward rotation (rotation in the direction that moves the vehicle body 21 forward in the state of Fig. 1), and the rotation speed of the drive wheels can be increased as the amount of rotation of the rotation control knob 52 increases. On the other hand, when the rotation control knob 52 is rotated to the left, the operation command for the rotation direction becomes reverse rotation (rotation in the direction that moves the vehicle body 21 backward in the state of Fig. 1), and the rotation speed of the drive wheels can be increased as the amount of rotation of the rotation control knob 52 increases.

[0060] Fig. 7 is a diagram showing a modified example of a remote control system. In the remote control system 1A shown in Fig. 7, a camera 31A that captures an image of a forklift 2, which is a vehicle to be operated, captures an image of the forklift 2 from above and provides the image to a user of the remote control device 4. In this case, the camera 31A is installed, for example, on the ceiling of the working space of the forklift 2, so that the angle of view θ faces downward.

[0061] In the remote control system 1A shown in Fig. 7, the image captured by the camera 31A and displayed on the captured image display unit 41 is configured as a plan view of the forklift 2 viewed from above. In this case, the orientation of the forklift 2 displayed in the image changes depending on the orientation of the forklift 2 within the work space. While viewing this image, the user of the remote control device 4 can appropriately select and use the first to fourth operation buttons 46 to 49 of the operation command input unit 42, as in the above embodiment.

[0062] The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art as appropriate are also included within the scope of the present disclosure as long as they comprise the features of the present disclosure. The elements of the above-described specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and can be modified as appropriate. The elements of the above-described specific examples can be combined in various ways as appropriate, as long as no technical contradictions arise. [Explanation of symbols]

[0063] 1. 1A Remote Control System 2 Forklift (vehicle) 3. Mobile 31, 31A Camera (imaging device) 4 Remote control device 44 Operating lever (third operating part) 45 Guide groove (third operating part) 46 First operation button (first operation unit) 47 Second operation button (first operation part) 48 Third operation button (second operation part) 49 Fourth operation button (second operation part)

Claims

1. A remote control device for remotely operating a vehicle capable of turning on the spot, a first operating unit corresponding to turning the vehicle on the spot in a clockwise direction in a plan view; a second operating unit corresponding to turning the vehicle on the spot in a counterclockwise direction in a plan view; Equipped with Remote vehicle control device.

2. The first operation unit is a first operation button for instructing the front portion of the vehicle to turn clockwise; a second operation button for instructing the rear portion of the vehicle to turn clockwise; The second operation unit is a third operation button for instructing the front portion of the vehicle to turn counterclockwise; a fourth operation button for instructing the rear portion of the vehicle to turn counterclockwise. The vehicle remote control device according to claim 1 .

3. a mobile body capable of autonomous movement; an imaging device installed on the moving body, which captures an image of at least a part of the vehicle and provides the image to a user of the remote control device; Equipped with The vehicle remote control device according to claim 2.

4. an imaging device that takes a bird's-eye view of the vehicle from above and provides the image to a user of the remote control device; The vehicle remote control device according to claim 2.

5. a third operation unit for instructing a moving speed of the vehicle in a forward movement and a backward movement and an amount of steering of the vehicle in a left-right direction; the third operation unit limits the steering amount in a high speed range where the movement speed is equal to or greater than a predetermined first threshold and the steering amount in a low speed range where the movement speed is less than a predetermined second threshold, by comparing them with the steering amount in a medium speed range where the movement speed is less than the first threshold and equal to or greater than the second threshold. The remote control device according to claim 1 .

6. the third operating portion has an operating lever and a guide groove that defines an operating range of the operating lever, the guide groove is formed so that a movement range related to the steering amount in the high speed range and the low speed range is narrower than a movement range related to the steering amount in the medium speed range. The remote control device according to claim 5.

Images