JP6965852B2 - Remote control system for industrial vehicles - Google Patents

Description

The present invention relates to a remote control system for an industrial vehicle.

A camera is mounted on a forklift to grasp the surrounding environment (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-11518

By the way, in a remote control system for an industrial vehicle, a camera is mounted on the industrial vehicle and operated by looking at the screen. However, since the in-vehicle camera and the infrastructure camera have different image transmission paths, there is a time lag between the displayed images. ..

An object of the present invention is to provide a remote control system for an industrial vehicle capable of reducing a time difference between an in-vehicle camera image and an infrastructure camera image to be displayed.

In the invention according to claim 1, an industrial vehicle having a vehicle communication unit and a remote control device having an operation device communication unit that performs wireless communication with the vehicle communication unit and used to remotely control the industrial vehicle. An in-vehicle camera mounted on the industrial vehicle and an image of the surroundings of the industrial vehicle being transmitted to the remote control device by wireless communication, and the industrial vehicle. An infrastructure camera that is installed on the traveling infrastructure side and captures an image of the work area of the industrial vehicle is transmitted to the remote control device, and time information is added to the image pickup area of the in-vehicle camera or the infrastructure camera. A unit, a display unit provided in the remote control device for displaying an image captured by the vehicle-mounted camera and an image captured by the infrastructure camera, and the time information acquired by the vehicle-mounted camera are included. The time difference was obtained from the image and the image including the time information acquired by the infrastructure camera, and based on the time difference, the image captured by the in-vehicle camera displayed on the display unit and the image captured by the infrastructure camera were captured. The gist is to provide an image processing unit for processing any of the images.

According to the first aspect of the present invention, the time information addition unit adds time information to the imaging region of the vehicle-mounted camera or the infrastructure camera. The image processing unit calculates the time difference between the image including the time information acquired by the in-vehicle camera and the image including the time information acquired by the infrastructure camera, and based on the time difference, the image is captured by the in-vehicle camera displayed on the display unit. Either the image or the image captured by the infrastructure camera is processed. Therefore, it is possible to prevent a time difference between the in-vehicle camera image and the infrastructure camera image to be displayed.

As described in claim 2, in the remote control system for industrial vehicles according to claim 1, the image taken by the infrastructure camera may be transmitted to the remote control device by wire.
As described in claim 3, in the remote control system for industrial vehicles according to claim 1 or 2, the time information addition unit is an illumination that irradiates an imaging region of the vehicle-mounted camera or the infrastructure camera with light. The time information may be a change in the color of the illumination or a change in the brightness of the illumination.

As described in claim 4, in the remote control system for industrial vehicles according to claim 1 or 2, the time information addition unit is a projector that projects a number or a pattern onto the imaging region of the in-vehicle camera or the infrastructure camera. The time information may be a number representing the time or a pattern corresponding to the time.

As described in claim 5, in the remote control system for industrial vehicles according to any one of claims 1 to 4, the image processing unit is stored in the in-vehicle camera accumulated according to the time difference. It is preferable to delay and display the image captured by the remote control device and the image captured by the infrastructure camera, whichever has the smaller transmission delay amount to the remote control device.

As described in claim 6, in the remote control system for industrial vehicles according to any one of claims 1 to 5, the image processing unit is a virtual position of the industrial vehicle according to the time difference and the amount of operation. Is superimposed and displayed on the image captured by the in-vehicle camera and the image captured by the infrastructure camera, whichever has the larger transmission delay amount to the remote control device.

According to the present invention, it is possible to reduce a time difference between the in-vehicle camera image and the infrastructure camera image to be displayed.

A block diagram showing an electrical configuration of a remote control system for an industrial vehicle. Schematic side view of a reach forklift. Schematic plan view of a reach forklift. Schematic side view to illustrate reach-type forklifts and infrastructure in the workplace. The figure for demonstrating the display content on the display part. The figure for demonstrating the display content on the display part. Schematic side view to illustrate reach-type forklifts and infrastructure in the workplace. Schematic side view to illustrate reach-type forklifts and infrastructure in the workplace. The figure for demonstrating the camera image. Schematic side view to illustrate a reach forklift and infrastructure in another example workplace. The figure which shows the pattern for demonstrating another example. The figure for demonstrating the display content in the display part of another example.

Hereinafter, an embodiment embodying the present invention will be described with reference to the drawings.
As shown in FIG. 1, the remote control system 10 for an industrial vehicle includes a reach type forklift 20 as an industrial vehicle and a remote control device 40 used for remotely controlling the reach type forklift 20. The reach type forklift 20 is arranged in the workplace. Then, the reach type forklift 20 in the workplace can be remotely controlled from the operation room by using the remote control device 40.
As shown in FIG. 4, a shelf T1 is installed in the workplace. The pallet 80 and the luggage W can be arranged on the shelf T1 in two stages. That is, the luggage W is arranged on the pallet 80 in the lower stage, and the luggage W is arranged on the pallet 80 in the upper stage. From this state, the operator remotely controls the reach type forklift 20 to pick up the luggage.

In FIG. 4, each pallet 80 is formed with a fork insertion hole, and the fork is inserted into the fork insertion hole.
As shown in FIG. 2, a cargo handling device 22 is provided on the machine base 21 of the reach type forklift 20. The cargo handling device 22 includes a pair of reach legs 23 extending forward. Each reach leg 23 is provided with a front wheel 24. That is, a pair of left and right front wheels 24 are provided on the front side of the machine base 21. Further, a rear wheel 25 is provided on the rear side of the machine base 21. In the present embodiment, the rear wheels 25 are the steering wheels and the driving wheels.

The cargo handling device 22 includes a two-stage mast 26. The mast 26 includes an outer mast 27 and an inner mast 28.
The cargo handling device 22 includes a pair of forks 31 and a lift bracket 32 that fixes the forks 31 to the mast 26. The fork 31 and the lift bracket 32 move up and down as the inner mast 28 moves up and down.

The reach type forklift 20 is provided with various actuators. Specifically, for example, a traveling motor 33 for driving the rear wheel 25 as a traveling actuator, a lift cylinder 29 connected to an inner mast 28 as a lifting actuator, and a reach cylinder 30 connected to a mast 26 as a reach actuator. And so on. The inner mast 28 moves up and down by supplying and discharging hydraulic oil to the lift cylinder 29. The mast 26 moves along the reach leg 23 by supplying and discharging hydraulic oil to the reach cylinder 30.

As shown in FIG. 1, the reach type forklift 20 includes a controller 51 as a forklift-mounted device 50, a radio unit 52 as a vehicle communication unit, an image signal processing unit 53, and a radio 54 as a vehicle communication unit. It has an in-vehicle camera 71.

The remote control device 40 includes a controller 61, an operation unit 62, display units (monitors) 63 and 64, and radios 65 and 66 as operation device communication units. The remote control device 40 includes a controller 61, an operation unit 62, and display units (monitors) 63 and 64 as operation room side devices 60.

The radio 65 of the remote control device 40 is arranged in the work place. Further, the radio 66 of the remote control device 40 is arranged in the work place. The controller 61 arranged in the operation room is connected to the radio 65 arranged in the work place by the wired L1. The controller 61 is connected to the radio 66 arranged in the work place by a wired L2.

In the workplace, the wireless device 65 of the remote control device 40 and the wireless unit 52 of the forklift-mounted device 50 can perform wireless communication in both directions. Further, in the workplace, the radio 54 of the forklift-mounted device 50 can wirelessly communicate with the radio 66 of the remote control device 40.

In this way, the reach type forklift 20 has a radio unit 52 and a radio 54, and the remote control device 40 has radios 65 and 66 that perform wireless communication with the radio unit 52 and the radio 54.

The controller 61 of the remote control device 40 is connected to the operation unit 62 and the display units (monitors) 63 and 64. The operation unit 62 is for remotely controlling the reach type forklift 20 by the operator, and the operation content of the reach type forklift 20 by the operator (operation command values of lift, reach, tilt, speed, acceleration, steering). The corner operation command value, etc.) is sent to the controller 61. The controller 61 wirelessly transmits vehicle control signals such as lift, reach, and tilt operation command values, speed, acceleration, and steering angle operation command values to the radio unit 52 of the forklift-mounted device 50 via the radio 65. do.

In the forklift-mounted device 50, the controller 51, the wireless unit 52, and the image signal processing unit 53 are connected to each other so as to be able to communicate with each other (for example, CAN communication). The controller 51 can drive a traveling system actuator (traveling motor 33, steering motor (not shown), etc.) and a cargo handling system actuator (lift cylinder 29, reach cylinder 30, tilt cylinder (not shown, etc.)) according to an instruction from the remote control device 40 side. can.

The wireless unit 52 wirelessly transmits vehicle information such as the vehicle speed of the reach type forklift 20 and abnormality information (obstacle detection information and the like) to the controller 61 via the radio 65.
In FIG. 1, the controller 61 can remotely control the traveling of the reach type forklift 20 and the cargo handling by the cargo handling device 22 via the radio 65, the radio unit 52, and the controller 51.

Then, in the remote control device 40, when the operator performs a desired operation using the operation unit 62, the operation content is sent to the reach type forklift 20 side by the controller 61 via the radio 65. In the reach type forklift 20, the wireless unit 52 receives the operation content from the remote control device 40, and the controller 51 drives the actuator unit to execute a desired operation.

As shown in FIGS. 2 and 3, in the reach type forklift 20, the vehicle-mounted camera 71 is attached to the machine base 21 so as to face forward, and the vehicle-mounted camera 71 images the surroundings of the reach type forklift 20. Specifically, the vehicle-mounted camera 71 images the front of the reach-type forklift 20 in the traveling direction.

In the reach type forklift 20, the image captured by the in-vehicle camera 71 is sent by the controller 51 to the remote control device 40 side via the image signal processing unit 53 and the radio 54. That is, the image of the in-vehicle camera 71 mounted on the reach type forklift 20 is transmitted to the remote control device 40 by wireless communication. In the remote control device 40, the in-vehicle camera image from the reach type forklift 20 is received by the radio 66 and displayed on the display unit 63 by the controller 61. FIG. 5 shows the screen of the display unit 63. In FIG. 5, the display unit 63 is a desktop type display and has a display screen 63a.

As shown in FIG. 4, an infrastructure camera 72 is installed on the infrastructure side on which the reach type forklift 20 travels. Specifically, the infrastructure camera 72 is fixed to the upper part of the shelf T1. The infrastructure camera 72 is attached so as to face the floor surface in front of the shelf T1, and the infrastructure camera 72 can image the work area of the reach type forklift 20, that is, the front area of the shelf T1. As shown in FIG. 1, the infrastructure camera 72 is connected to the controller 61 of the remote control device 40 by a wired L3. The image captured by the infrastructure camera 72 is transmitted to the remote control device 40 by the wired L3, and is displayed on the display unit 64 by the controller 61. FIG. 6 shows the screen of the display unit 64. In FIG. 6, the display unit 64 is a desktop type display and has a display screen 64a.

By entering the reach type forklift 20 into the field of view of the infrastructure camera 72, different cameras (vehicle-mounted camera 71, infrastructure camera 72) are imaging the same image target, and a display unit 63 provided in the remote control device 40. In, the image captured by the in-vehicle camera 71 is displayed. Further, the image captured by the infrastructure camera 72 is displayed on the display unit 64 provided in the remote control device 40. The operator operates while viewing the in-vehicle camera image and the infrastructure camera image on the display units 63 and 64.

As shown in FIG. 2, a light 55 is attached to the machine base 21 of the reach type forklift 20. The illumination 55 can irradiate light forward in the traveling direction of the reach type forklift 20. The irradiation range includes the imaging region of the vehicle-mounted camera 71 and the imaging region of the infrastructure camera 72. As shown in FIG. 1, the illumination 55 includes a red light source 55a and a green light source 55b, and can emit red light or green light from the illumination 55. Specifically, the wireless unit 52 alternately emits red light and green light from the illumination 55, such as red light, green light, red light, green light, and so on.

As a result, the image taken by the vehicle-mounted camera 71 includes time information which is a change in the color of the illumination. Further, the image taken by the infrastructure camera 72 includes time information which is a change in the color of the illumination. That is, the time information is included in the camera image by using the red light / green light that are alternately output as a trigger for synchronizing the in-vehicle camera image and the infrastructure camera image.

As described above, the illumination 55 is provided as a time information addition unit that adds time information to the imaging region of the vehicle-mounted camera 71 or the infrastructure camera 72, and the illumination 55 irradiates the imaging region of the vehicle-mounted camera 71 or the infrastructure camera 72 with light. .. Time information is a change in the color of the lighting.

The controller 61 has a microcomputer 61a as an image processing unit and a memory 61b for storing image data including time information.
Next, the action will be described.

Since the amount of transmission delay to the remote control device 40 varies depending on the situation between the in-vehicle camera image and the infrastructure camera image, it is necessary to synchronize them at any time.
While the reach type forklift 20 is traveling, the wireless unit 52 alternately emits red light and green light from the illumination 55, such as red light, green light, red light, green light, and so on.

That is, as shown in FIG. 7, red light RL is emitted from the in-vehicle lighting 55 to the front floor surface. Then, the red light RL of the illumination 55 is captured in the images captured by the in-vehicle camera 71 and the infrastructure camera 72. Further, as shown in FIG. 8, green light GL is emitted from the in-vehicle lighting 55 to the front floor surface. Then, the green light GL of the illumination 55 is captured in the images captured by the in-vehicle camera 71 and the infrastructure camera 72.

The image taken by the in-vehicle camera 71 is wirelessly transmitted to the remote control device 40. The image taken by the infrastructure camera 72 is transmitted to the remote control device 40 by the wired L3.
As shown in FIG. 9, the microcomputer 61a of the controller 61 inputs an image by the in-vehicle camera 71 including time information (change in lighting color) and an image by the infrastructure camera 72 including time information (change in lighting color). do. Then, the microcomputer 61a of the controller 61 as the image processing unit obtains a time difference from the image including the time information acquired by the in-vehicle camera 71 and the image including the time information acquired by the infrastructure camera 72, and the display unit is based on the time difference. Either the image captured by the in-vehicle camera 71 displayed by 63 or 64 or the image captured by the infrastructure camera 72 is processed.

By adjusting the image of the in-vehicle camera 71 and the image of the in-vehicle camera 72 so as to be an image with a small time difference (detailed so as to be synchronized), a time difference is generated between the in-vehicle camera image and the infra-camera image to be displayed. It can be made difficult.

The details will be described below.
In the remote control system, the direction of travel is confirmed by imaging and displaying the direction of travel with the in-vehicle camera 71, and the safety around the reach-type forklift is confirmed by imaging and displaying the area around the reach-type forklift with the infrastructure camera 72. To ensure operability. Here, the image of the vehicle-mounted camera 71 is wirelessly transmitted to the radio 66 and displayed on the display unit 63. On the other hand, the image of the infrastructure camera 72 is transmitted to the remote control device 40 by the wired L3 and displayed on the display unit 64. Since the in-vehicle camera 71 and the infrastructure camera 72 have different image transmission paths, a time difference τ occurs in the displayed images. Visibility and operability are reduced due to the time difference τ of the images. That is, the image of the vehicle-mounted camera 71 and the image of the infrastructure camera 72 are images with a time difference τ, which makes it difficult to operate.

In the present embodiment, an image including time information is acquired from the in-vehicle camera 71, and an image including time information is acquired from the infrastructure camera 72, and the image is processed into an image having no time difference. Therefore, a light 55 is installed on the machine base of the reach type forklift, and the light source of the light 55 changes its color at regular intervals. The color of the light source is detected for each of the images of the vehicle-mounted camera 71 and the infrastructure camera 72, and the image data is stored in the memory 61b. Then, the image data stored at the same timing based on the change in the color information is displayed. That is, based on the change in the color information, the image is displayed at the same timing so as to eliminate the time difference τ of the color information in FIG.

That is, in FIG. 9, since the in-vehicle camera image is transmitted to the remote control device 40 later than the infrastructure camera image, the infrastructure camera image is buffered (saved) in the memory 61b, and the change in the color of the image is determined. The in-vehicle camera image and the infrastructure camera image are sent out in a synchronized state and displayed on the display units 63 and 64. That is, the microcomputer 61a has the smaller transmission delay amount to the remote control device 40 among the images captured by the in-vehicle camera 71 and the images captured by the infrastructure camera 72 accumulated according to the time difference τ ( In FIG. 9, the infrastructure camera image) is displayed with a delay.

As a result, the time difference between the in-vehicle camera image to be displayed and the infrastructure camera image is eliminated, and the operability is improved.
According to the above embodiment, the following effects can be obtained.

(1) As a configuration of the remote control system 10 for an industrial vehicle, a reach type forklift 20 as an industrial vehicle having a radio unit 52 and a radio 54 as a vehicle communication unit, and a radio unit 52 and a radio 54 as a vehicle communication unit The remote control device 40 is used to remotely control the reach type forklift 20 and has radios 65 and 66 as an operation device communication unit that performs wireless communication with the user. The in-vehicle camera 71, which is mounted on the reach-type forklift 20 and images the surroundings of the reach-type forklift 20 and is transmitted to the remote control device 40 by wireless communication, and the reach-type forklift 20 are installed on the infrastructure side where the reach-type forklift 20 runs. An infrastructure camera 72 in which an image of the work area of the forklift 20 is transmitted to the remote control device 40, an illumination 55 as a time information addition unit that adds time information to the image capture area of the in-vehicle camera 71 or the infrastructure camera 72, and a remote camera. Display units 63 and 64 provided in the operation device 40 for displaying the image captured by the vehicle-mounted camera 71 and the image captured by the infrastructure camera 72, and an image including time information acquired by the vehicle-mounted camera 71. The time difference is obtained from the image including the time information acquired by the infrastructure camera 72, and the image captured by the in-vehicle camera 71 and the image captured by the infrastructure camera 72 displayed on the display units 63 and 64 based on the time difference. A microcomputer 61a as an image processing unit for processing either of them is provided. Therefore, it is possible to prevent a time difference between the in-vehicle camera image and the infrastructure camera image to be displayed.

(2) The image taken by the infrastructure camera 72 is useful when it is transmitted to the remote control device 40 by the wired L3.
(3) The time information addition unit is an illumination 55 that irradiates the imaging region of the in-vehicle camera 71 or the infrastructure camera 72 with light, and since the time information is a change in the color of the illumination, it is possible to obtain a camera image including the time information. can.

(4) The microcomputer 61a as an image processing unit delays transmission of the images captured by the in-vehicle camera 71 and the images captured by the infrastructure camera 72 accumulated according to the time difference to the remote control device 40. Since the smaller amount is displayed with a delay, it is possible to reduce the time difference between the in-vehicle camera image and the infrastructure camera image to be displayed.

The embodiment is not limited to the above, and may be embodied as follows, for example.
○ A camera image including time information is obtained by changing the color of the lighting, but instead, a camera image including time information may be obtained by turning on / off the lighting using a single color lighting.

○ The time information was a change in the color of the lighting, but instead, the time information addition part is the lighting that irradiates the imaging area of the in-vehicle camera 71 or the infrastructure camera 72, and the time information is the change in the brightness of the lighting. It may be. For example, white light may be used to change the brightness.

○ As shown in FIG. 10 instead of FIGS. 7 and 8, the projector 56 is used to project a number representing the time on the floor surface, the vehicle-mounted camera 71 and the infrastructure camera 72 are used to take a picture, and the microcomputer 61a recognizes the time by image recognition. The time difference between the in-vehicle camera image and the infrastructure camera image that are read and displayed may be reduced (may be synchronized). As described above, the time information addition unit is the projector 56 that projects a number onto the imaging region of the in-vehicle camera 71 or the infrastructure camera 72, and the time information may be a number representing the time.

○ In addition, a projector is used to project a pattern according to the time as shown in FIG. 11, which is photographed by the in-vehicle camera 71 and the infrastructure camera 72, and the pattern is reproduced by image recognition in the microcomputer 61a. The time difference between the in-vehicle camera image and the infrastructure camera image that are read and displayed may be reduced. Specifically, in FIG. 11, the entire portion 100 of the rectangle is divided into four rectangular blocks 101, 102, 103, 104 and every predetermined time (every second in FIG. 11), block 101 → block 102 → Block 103 → block 104 → block 101 → ... Are projected in order. In this way, the time information addition unit is a projector that projects a pattern onto the imaging region of the in-vehicle camera 71 or the infrastructure camera 72, and the time information may be a pattern according to the time.

○ As a method of displaying after reading the time information from the camera image by image recognition, the in-vehicle camera image may be displayed by superimposing the image at the expected fork position on the latest image.

For example, in the microcomputer 61a, the time difference (deviation) τ is obtained from the image including the time information acquired by the in-vehicle camera 71 and the image including the time information acquired by the infrastructure camera 72, and the latest in-vehicle camera image is subjected to the operation amount. Overlay the predicted fork image. Then, on the display screen, as shown in FIG. 12, the microcomputer 61a as the image processing unit captures the virtual position (estimated position of the fork) of the reach type forklift 20 according to the time difference τ and the operation amount with the in-vehicle camera 71. Of the images captured and the images captured by the infrastructure camera 72, the one with the larger transmission delay to the remote control device 40 is superimposed and displayed. Specifically, the expected image of the fork 31b is output from the camera image having the fork 31a captured at the previous timing to make an overlay image. More specifically, the position of the fork is estimated from the time difference and displayed as an overlay on the camera image. Specifically, in FIG. 12, the front and rear forks in the reach operation are displayed so as to overlap each other.

In this way, using the overlay method, the position of the fork is predicted and superimposed on the in-vehicle camera, and after synchronization is achieved as a processing method for that purpose, the delay (τ) from the time information and the amount of operation are used. The predicted fork may also be displayed in an overlapping manner.

○ Although the lighting 55 was installed on the vehicle side (although it was installed on the reach type forklift), it may be installed on the infrastructure side.
○ The number of in-vehicle cameras does not matter.

○ The number of infrastructure cameras does not matter.
○ The in-vehicle camera 71 transmits the image to the remote control device 40 by wireless communication, and the infrastructure camera 72 transmits the image to the remote control device 40 by wire, but the present invention is not limited to this. For example, the infrastructure camera 72 may be applied when the system configuration is such that an image is wirelessly transmitted to the remote control device 40. That is, since the image transmission is delayed not only by wire and wireless but also by wireless and wireless, it may be applied to the case where the infrastructure camera image is also transmitted wirelessly. Further, even if the transmission length, method, or usage environment is different, a delay occurs in image transmission, and this may be applied in that case.

○ The industrial vehicle was a reach type forklift, but it is not limited to this, and may be an industrial vehicle other than the reach type forklift. For example, a towing vehicle may be used.

10 ... Remote control system for industrial vehicles, 20 ... Reach type forklift, 40 ... Remote control device, 52 ... Radio unit, 54 ... Radio, 55 ... Lighting, 61a ... Microcomputer, 63, 64 ... Display, 65, 66 ... Radio, 71 ... in-vehicle camera, 72 ... infrastructure camera, L3 ... wired.

Claims (6)

Industrial vehicles with a vehicle communication department and
An operation device that has an operation device communication unit that performs wireless communication with the vehicle communication unit, and a remote control device that is used to remotely control the industrial vehicle.
It is a remote control system for industrial vehicles equipped with
An in-vehicle camera mounted on the industrial vehicle and an image of the surroundings of the industrial vehicle being transmitted to the remote control device by wireless communication.
An infrastructure camera that is installed on the infrastructure side on which the industrial vehicle travels and that captures an image of the work area of the industrial vehicle is transmitted to the remote control device.
A time information addition unit that adds time information to the imaging region of the vehicle-mounted camera or the infrastructure camera,
A display unit provided in the remote control device for displaying an image captured by the in-vehicle camera and an image captured by the infrastructure camera.
The time difference is obtained from the image including the time information acquired by the vehicle-mounted camera and the image including the time information acquired by the infrastructure camera, and based on the time difference, the image is captured by the vehicle-mounted camera displayed on the display unit. An image processing unit that processes either the image or the image captured by the infrastructure camera,
A remote control system for industrial vehicles characterized by being equipped with. The remote control system for an industrial vehicle according to claim 1, wherein the image taken by the infrastructure camera is transmitted to the remote control device by wire. The time information addition unit is an illumination that irradiates an imaging region of the vehicle-mounted camera or the infrastructure camera with light, and the time information is a change in the color of the illumination or a change in the brightness of the illumination. The remote control system for industrial vehicles according to 1 or 2. The time information addition unit is a projector that projects a number or a pattern onto the imaging region of the vehicle-mounted camera or the infrastructure camera, and the time information is a number representing a time or a pattern corresponding to the time. Item 2. The remote control system for industrial vehicles according to Item 1 or 2. The image processing unit selects the image captured by the in-vehicle camera and the image captured by the infrastructure camera accumulated according to the time difference, whichever has the smaller transmission delay amount to the remote control device. The remote control system for an industrial vehicle according to any one of claims 1 to 4, wherein the display is delayed. The image processing unit delays transmission of the virtual position of the industrial vehicle according to the time difference and the amount of operation from the image captured by the in-vehicle camera and the image captured by the infrastructure camera to the remote control device. The remote control system for an industrial vehicle according to any one of claims 1 to 5, wherein the image is superimposed on the larger amount.

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