Remote device

Abstract

To assist remote operators in remote control by displaying a path object that shows the predicted travel path of the remote work machine and the slope of the ground. [Solution] The remote device 30 includes a remote control device 35 for remotely controlling the remote work machine 1, and a display device 34 that superimposes a path object 90 indicating the expected travel path of the remote work machine 1 onto an image captured of the direction of travel of the remote work machine 1. The display device 34 displays the path object 90 in a display mode that corresponds to the slope of the ground.

Claims

1. A remote control device for remotely operating a remote work machine, The system includes a display device that superimposes a path object indicating the expected travel path of the remote work machine onto an image captured of the direction of travel of the remote work machine, The display device is a remote device that displays the path object in a display manner corresponding to the slope of the ground.

2. The remote device according to claim 1, wherein the display device displays the path object in a manner that shows the slope of the ground along the predicted travel path from the location where the remote work machine is located.

3. The remote device according to claim 2, wherein the display device changes the display mode of the path object based on the slope angle of the ground and a predetermined threshold angle.

4. The remote device according to claim 3, wherein when the angle of inclination of the ground becomes greater than or equal to the threshold angle, the display device changes the display mode of the path object and outputs a predetermined warning display and / or a warning sound.

5. The remote device according to claim 3, wherein the display device changes the threshold angle depending on whether the road is paved or unpaved.

6. The remote control device according to claim 5, wherein the display device sets the threshold angle to a first threshold angle when the road is paved, and sets the threshold angle to a second threshold angle smaller than the first threshold angle when the road is unpaved.

7. The remote device according to claim 6, wherein, when the display device is on a paved road, the threshold angle is set to the second threshold angle when the work device is attached to the remote work machine or when the work device is in operation.

8. The remote control device according to claim 6, wherein, when the display device is on a paved road, if the work device is attached to the remote work machine or the work device is in operation, the display device sets the threshold angle to a third threshold angle which is smaller than the second threshold angle.

9. The path object includes a travel object that shows the expected movement path of the travel device of the remote work machine, and a work object that shows the expected movement path of the work device attached to the remote work machine. The remote device according to claim 1, wherein the display device is capable of selectively displaying at least one of the traveling object and the work object.

10. The remote device according to claim 9, wherein the display device displays the traveling object when the work device is not attached, and displays the work object when the work device is attached.

11. The first threshold angle includes a first angle and a second angle that is greater than the first angle. The remote control device according to claim 3, wherein, in the case of a paved road, the display mode of the path object is set to a first display mode when the angle of inclination of the ground is equal to or greater than the first angle, and the display mode of the path object is set to a second display mode when the angle of inclination of the ground is equal to or greater than the second angle.

12. The remote device according to claim 11, wherein when the angle of inclination of the ground becomes greater than or equal to the second angle, the display device changes the display mode of the path object to the second display mode and outputs a predetermined warning display and / or warning sound.

13. The remote control device includes a remote steering member for remotely steering the remote work machine, The remote control device according to any one of claims 1 to 12, wherein the display device displays a steering object as the path object, indicating the steering direction remotely by the remote steering member, and displays the steering object in a display manner corresponding to the tolerance of the steering direction.

14. The remote device according to claim 13, wherein the display device displays a recommended steering object indicating a recommended steering direction, together with the steering object, when there is a steering direction that is more recommended than the steering direction of the steering object.

15. The remote device according to claim 13, wherein the display device displays the steering object in a display manner in which the degree of agreement between the steering angle obtained based on the slope tipping speed characteristics, which show the relationship between the vehicle speed and the steering angle when traveling on an inclined ground in a direction intersecting the direction of the slope, and the steering angle remotely controlled by the remote steering member increases, decreases as the degree of agreement between the steering angle and the steering angle remotely controlled by the remote steering member increases.

16. The remote control device comprises a remote speed control member for remotely controlling the speed of the remote work machine, and a remote braking control member for remotely controlling the braking of the remote work machine. The remote device according to claim 15, wherein the display device changes the display mode of the steering object in a direction that approaches a display mode that increases the tolerance of the steering direction, based on the amount of operation of the remote speed control member being reduced and / or the amount of operation of the remote braking control member being increased.

17. The remote control device transmits a remote command to the remote work machine to decelerate and / or brake the remote work machine when the degree of agreement between the steering angle obtained based on the slope tipping speed characteristics and the steering angle remotely controlled by the remote steering member is high. The remote device according to claim 15, wherein the display device changes the display mode of the steering object in a direction that approaches a display mode in which the tolerance of the steering direction increases as the remote work machine is decelerated.

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