JP2018128847A - Stop position determination method of remote maneuvering vehicle and maneuvering system of remote maneuvering vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stop position determination method of a remote maneuvering vehicle and a maneuvering system of the remote maneuvering vehicle which can stop the remote maneuvering vehicle in a position which is easy to start work as a manipulation quickly and exactly.SOLUTION: Image processing means 40 equipped on a remote control device 30 records a selection image SP1 of a side part of a work object W imaged by an on-vehicle camera 5 and positional and directional data of the on-vehicle camera 5 at imaging in a state where the remote maneuvering vehicle 1 is stopped in the neighborhood of the work object w, creates a CG image CGP by calculating the work posture of a prerecorded manipulator 10 on the basis of positional and directional data of the remote maneuvering vehicle 1, shape data of the manipulator and each posture data at selection position and vehicle stop position of the manipulator 10 as work posture of the manipulator 10 in the vehicle stop position on the selection image and displays on a monitor 31 of the remote control device 30 by creating a composite image MP which compounds the selection image SP1 and CG image CGP.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a remote control vehicle stop position determination method and a remote control vehicle control system used when a remote control vehicle equipped with a manipulator and a camera is stopped at a desired position, for example, a position where work by a manipulator is started. Is.

  Conventionally, as a remote control vehicle equipped with the above-described manipulator and camera, there is one described in Patent Document 1, for example. The manipulator of this remote control vehicle includes an articulated arm part and an end part located at the tip of the articulated arm part, and a camera is disposed at a site where the end part of the articulated arm part can be visually recognized.

  A remote control vehicle equipped with such a manipulator is equipped with a remote control device with a display unit operated by an operator and an in-vehicle controller that performs data communication wirelessly. While confirming with the display part of an apparatus, the control of a remotely controlled vehicle and the operation of a manipulator are performed remotely.

Japanese Unexamined Patent Publication No. 64-071691

  However, in the above-described remote control vehicle, the perspective of only one camera attached to the manipulator is poor, so in the case of gripping the work object at the end of the manipulator, Therefore, it is difficult to grasp how close the remote control vehicle is to start the gripping operation by the manipulator, and it is necessary to change the stop position of the remote control vehicle several times at the start of the operation.

  At this time, in order to ensure a sense of perspective, the use of two cameras is also being considered, but this is undesirable because it complicates the apparatus and control, and thus the above-described without increasing the number of cameras. Solving the problem has been a conventional problem.

  The present invention has been made by paying attention to the above-described conventional problems. For example, when starting a gripping operation of a work object by a manipulator mounted on a remote control vehicle, the manipulator can remotely control the gripping operation at a position where the gripping operation can be easily started. It is an object of the present invention to provide a remote control vehicle stop position determination method and a remote control vehicle control system capable of stopping a vehicle quickly and accurately.

  According to a first aspect of the present invention, there is provided a method for determining a stop position of a remotely operated vehicle including a manipulator and a camera disposed on the manipulator, wherein the remotely operated vehicle is located near a front portion set as a work object. And then moving the camera to a selected position where the side of the work object is captured by the operation of the manipulator to pick up a selection image of the work object, and the camera at the time of picking up the selection image The position and direction data of the remotely operated vehicle as the work posture of the manipulator at the vehicle stop position on the selected image where the position and direction data of the camera at the time of imaging are recorded, Shape data of the manipulator, and posture data at the selected position and the vehicle stop position of the manipulator Based on the above, a pre-recorded CG image of the manipulator working posture is created, a composite image of the selected image and a CG image of the manipulator working posture is created, and the work object on the composite image is The stop position of the remotely controlled vehicle is determined from the positional relationship with the manipulator.

  According to a second aspect of the present invention, the selection image is captured at a plurality of selection positions, and a selection image selected from the plurality of selection images captured at the plurality of selection positions and a CG image of the working posture of the manipulator. A composition image is produced.

  According to a third aspect of the present invention, a CG image of at least one working posture among the working postures of the manipulator recorded in advance is created, and the selected image and a CG image of the working posture of the manipulator are combined. An image is produced.

  According to a fourth aspect of the present invention, the camera is attached to the manipulator in a variable direction, and according to a fifth aspect of the invention, the camera is an omnidirectional camera.

  On the other hand, a sixth aspect of the present invention is a control system for a remote control vehicle including a manipulator and a camera disposed on the manipulator, and is for operator operation provided with a display unit that displays an image captured by the camera. And a vehicle-mounted control device that is mounted on the remote-controlled vehicle and performs data communication with the remote-controlled device, and at least one of the remote-controlled device and the vehicle-mounted control device has an image processing means. The image processing means records a selection image of a side portion of the work object captured by the camera in a state where the remote control vehicle is stopped in the vicinity of the front face set as the work object; The function of recording the camera position and direction data at the time of capturing the selected image, and the selection of the camera position and direction data recorded at the time of image capturing. As the work posture of the manipulator at the vehicle stop position on the image, the position and direction data of the remote control vehicle, the shape data of the manipulator, and the posture data of the manipulator at the selected position and the vehicle stop position Based on this, the function of creating a CG image by calculating the pre-recorded working posture of the manipulator, and creating a composite image by combining the selected image and a CG image of the working posture of the manipulator, the remote control device It is set as the structure which has a function displayed on the display part.

  In the remote control vehicle stop position determination method and the remote control vehicle control system according to the present invention, for example, when starting a work of gripping a work object with a manipulator mounted on the remote control vehicle, a position where the gripping work can be easily started. Therefore, it is possible to bring about an excellent effect that the remotely operated vehicle can be stopped quickly and accurately.

It is side surface explanatory drawing (a) and plane explanatory drawing (b) of the remote control vehicle which has stopped in the vicinity of the work target which shows one Embodiment of the control system of the remote control vehicle which concerns on this invention. It is a block diagram explaining the image processing means of the control system of the remote control vehicle which concerns on one Embodiment of this invention. It is plane explanatory drawing (a) which shows the condition which image | photographs the side part of a work target object with the vehicle-mounted camera of the remote control vehicle of FIG. 1, and image explanatory drawing (b) of the work target object image | photographed with the vehicle-mounted camera. It is side surface explanatory drawing (a)-(c) which shows three kinds of pre-recorded working postures of the manipulator in the remote control vehicle of FIG. CG image explanatory drawing (a) produced by combining two working postures of the working postures of the manipulator of FIG. 4 (a) and the CG images of FIG. It is explanatory drawing (b) of the synthesized image produced by superimposing on.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 5 show a control system for a remotely controlled vehicle according to an embodiment of the present invention.
As shown in FIG. 1, the remote control vehicle 1 includes a vehicle body 2, wheels 3 disposed on the front, rear, left, and right sides of the vehicle body 2, and a manipulator 10 mounted on the vehicle body 2. It is used for work performed remotely, such as work on the ground and work for handling dangerous goods.

  The front / rear and left / right wheels (or front / rear left / right wheels) 3 of the remote control vehicle 1 are driven by an in-hole motor or a motor mounted on the vehicle. Steering mechanism is equipped according to. It should be noted that crawlers may be arranged in place of the front and rear left and right wheels (or either front and rear left and right wheels) 3, and the number of wheels 3 is not limited to four.

  The manipulator 10 includes a base 11 disposed in the center of the upper surface of the vehicle body 2, a swivel column 12 rotatably installed on the base 11, and three connecting rods, a first connecting rod 13a to a third connecting rod 13c. And a hand portion 14 having a pair of fingers 14a and 14a.

  The base end of the first connecting rod 13a of the arm portion 13 is connected to the upper end of the swivel column 12 via the first joint 16, and the base end of the second connecting rod 13b is connected to the distal end of the first connecting rod 13a at the second joint 17. The base end of the third connecting rod 13c is connected to the tip of the second connecting rod 13b via the third joint 18, and the hand portion 14 is connected to the tip of the third connecting rod 13c.

In this manipulator 10, servo motors having a rotation detection function are used as driving sources for the revolving column 12, the first connecting rod 13 a to the third connecting rod 13 c of the arm portion 13, and the fingers 14 a and 14 a of the hand portion 14. The swivel column 12 is rotatable about the vertical axis, and the first connecting rod 13a to the third connecting rod 13c of the arm portion 13 are connected to each other at the first joint 16 to the third joint 18. It can be rotated around the pitch axis. Further, the pair of fingers 14a, 14a of the hand portion 14 rotate with respect to each other about a yaw axis perpendicular to the axis (roll axis) of the third connecting rod 13c to perform a grip release operation.
In addition to the connection rods other than the connection rods of the first connection rod 13a to the third connection rod 13c being added to the arm portion 13, operations other than those described above, for example, the hand portion 14 may be connected to the third connection rod. It may be rotated around the roll axis 13c.

In this manipulator 10, the in-vehicle camera 5 is mounted via the swivel 4 near the base end of the third connecting rod 13 c of the arm portion 13. The swivel 4 has a built-in servo motor having a rotation detection function, and the in-vehicle camera 5 is rotated around the yaw axis perpendicular to the axis of the third connecting rod 13c by the output of the servo motor, thereby horizontally framing. It can be moved in the direction.
The in-vehicle camera 5 can be added with a zoom function and a tilt function (function of moving the framing in the vertical direction). For example, a CCD camera can be adopted, and a horizontal omnidirectional camera can be adopted. .

  The control system of the remote control vehicle 1 equipped with such a manipulator 10 and the in-vehicle camera 5 includes an in-vehicle control device 20 mounted in the remote control vehicle 1 and an operator operation for performing data communication with the in-vehicle control device 20. Remote control device 30 is provided.

  The in-vehicle control device 20 is mainly composed of a position sensor that detects the self-position of the remote control vehicle 1, a direction sensor that detects the direction of the remote control vehicle 1, a main computer, a transceiver, and a battery. For example, GPS is adopted as the position sensor, and for example, an accelerometer or a magnetic sensor is adopted as the direction sensor.

  Various data such as position and direction data of the remote control vehicle 1, attitude data of the manipulator 10, position and direction data of the in-vehicle camera 5, and image data captured by the in-vehicle camera 5 are input to the main computer. The posture data of the manipulator 10 can be obtained by detecting the rotations of the servo motors of the fingers 14a and 14a in the swivel column 12, the first connecting rod 13a to the third connecting rod 13c of the arm portion 13, and the hand portion 14. The position and direction data of 5 can be obtained by attitude data of the manipulator 10 and rotation detection of the swivel 4.

  Then, the main computer outputs a command signal received from the remote control device 30 operated by the operator to the traveling system function unit of the remote control vehicle 1 and each servo motor of the manipulator 10.

  On the other hand, the remote control device 30 is portable and includes a computer in this embodiment, and includes a transceiver, a monitor (display unit) 31, a controller 32 for running the remote control vehicle 1, and a manipulator. 10 is mainly composed of a controller 33 for operating 10 and a battery. The remote control device 30 is not limited to a portable device.

  The computer built in the remote control device 30 receives various data from the main computer of the in-vehicle control device 20 and displays on the monitor 31 images taken by the in-vehicle camera 5 of the remote control vehicle 1 and images after image processing. The command signal by each operation of the traveling system controller 32 and the manipulator controller 33 is output to the main computer of the in-vehicle control device 20.

  In this remote control vehicle control system, at least one of the in-vehicle control device 20 and the remote control device 30 includes an image processing means 40, and the image processing means 40 is provided on the remote control device 30 side. For example, the main computer of the in-vehicle control device 20 can be simplified and the amount of data communication can be reduced.

  As shown in FIG. 2, the image processing unit 40 includes a memory unit 41 and a calculation unit 42. In the memory unit 41, the position and direction data D1 of the remote control vehicle 1, the shape data D2 of the manipulator 10, the attitude data D3 of the manipulator 10, the characteristic data D4 of the in-vehicle camera 5, and the in-vehicle camera 5 at the time of imaging. Various data such as position and direction data D5, image data D6, and work posture data D7 of the manipulator are recorded.

  At this time, the position and direction data D1 of the remote control vehicle 1 are data detected by the position sensor and the direction sensor as described above. The shape data D2 of the manipulator 10 is data set in advance, and includes an arm portion 13 (first connecting rod 13a to third connecting rod) including the height dimension of the swiveling column 12 disposed in the center of the upper surface of the vehicle body 2. 13c, the first joint 16 to the third joint 18), and the dimensions of the hand portion 14.

  Further, as described above, the posture data D3 of the manipulator 10 is the rotation angle of each servo motor of the fingers 14a and 14a in the swivel column 12, the first connecting rod 13a to the third connecting rod 13c of the arm portion 13, and the hand portion 14. In other words, the inclination angles of the first connecting rod 13a to the third connecting rod 13c of the arm portion 13 can be obtained.

  Further, the characteristic data D4 of the in-vehicle camera 5 is data set in advance such as an angle of view and a resolution of the in-vehicle camera 5. The position and direction data D5 at the time of imaging by the in-vehicle camera 5 is data obtained by detecting the attitude data D3 of the manipulator 10 and the rotation of the swivel 4 as described above. The manipulator work posture data D7 is data of work postures of a plurality of manipulators 10 recorded in advance, as will be described later.

  Then, when determining the stop position of the remote control vehicle 1, the memory unit 41 of the image processing means 40, as shown in FIG. 3A, places the remote control vehicle at a work start planned position near the work target W. 1 is recorded, and a selection image (image of FIG. 3B) SP1 of the side of the work target W imaged by the in-vehicle camera 5 is recorded, and then the in-vehicle camera 5 at the time of imaging the selection image SP1. Record position and direction data.

  On the other hand, the calculation unit 42 of the image processing means 40 has a plurality of work postures of the manipulator 10 recorded in advance in the memory unit 41 as the work posture of the manipulator 10 at the work start scheduled position (vehicle stop position) on the selected image SP1. For example, at least one working posture is calculated from the hand portion obliquely downward posture, the hand portion horizontal posture, and the hand portion obliquely upward posture shown in FIGS. As shown, it has a CG image creation function for creating a CG (Computer Graphics) image CGP.

  The calculation unit 42 of the image processing means 40 is based on the position and direction data D1 of the remote control vehicle 1, the shape data D2 of the manipulator 10, and the posture data D3 at the selected position and the scheduled work start position of the manipulator 10. The working posture of the manipulator 10 is calculated. Specifically, a posture close to the posture of the manipulator 10 in the posture data D3 is calculated, and in this embodiment, the hand portion 14dw of the manipulator 10 in the obliquely downward posture close to the obliquely downward posture of the manipulator 10 in FIG. A CG image CGP on which the hand portion 14 in two working postures of the hand portion 14ho in a horizontal posture is mounted is produced.

  Further, as shown in FIG. 5B, the calculation unit 42 of the image processing means 40 creates a composite image MP (= SP1 + CGP) obtained by combining the selected image SP1 and the CG image CGP of the working posture of the manipulator 10. And an image composition function to be displayed on the monitor 31 of the remote control device 30.

  The working postures of the plurality of manipulators 10 recorded in advance in the memory unit 41 are limited to the hand portion obliquely downward posture, the hand portion horizontal posture, and the hand portion obliquely upward posture shown in FIGS. 4A to 4C described above. The hand unit 14 may be in a downward posture in which the hand unit 14 is directed downward, or in an upward direction in the hand unit in which the hand unit 14 is directly upward, and the number of work postures of the manipulator 10 on the CG image CGP. The hand part is not limited to an obliquely downward attitude and a hand part horizontal attitude.

  Next, a method for determining the stop position of the remote control vehicle by the above-described remote control vehicle control system will be described.

  First, as shown in FIGS. 1A and 1B, the remote control device 30 is operated to operate the remote control device 30 so that the remote control vehicle 1 approaches the work object W from the direction in which the work should be performed, and the work object W is set. The remote control vehicle 1 is stopped at the scheduled work start position near the front portion. At this time, the front part of the work object W is arbitrarily set at the time of work, and normally, the part of the work object W facing the front surface of the approaching remote control vehicle 1 is set as the front part, and both left and right sides thereof. Is set as the side.

  Thereafter, the manipulator 10 is rotated to move the in-vehicle camera 5 to a selected position where the side of the work object W is captured as shown in FIG. 3A, and as shown in FIG. The selected image SP1 of the work object W is imaged, and the position and direction data (D5) of the in-vehicle camera 5 at the time of imaging is recorded in the memory unit 41 of the image processing means 40 together with the characteristic data (D4).

  The selected image SP1 may be picked up at one selected position as in this embodiment, but may be taken at a plurality of selected positions that can capture the side portion of the work object W. This can be done selectively according to the shape and orientation of W.

  Next, by the CG image creation function of the calculation unit 42 of the image processing unit 40, the memory unit 41 of the image processing unit 40 is previously set as the work posture of the manipulator 10 at the planned work start position (vehicle stop position) on the selected image SP1. From the work posture data (D7) of the plurality of manipulators 10 recorded in (2), two types of work postures of the hand portion obliquely downward posture and the hand portion horizontal posture of the manipulator 10 are calculated.

  The calculation of the hand portion diagonally downward posture and the hand portion horizontal posture of the manipulator 10 includes the position and direction data (D1) of the remote control vehicle 1, the shape data (D2) of the manipulator 10, and the selected position and start of work of the manipulator 10. It is made based on each posture data (D3) at the planned position. Specifically, a posture close to the posture of the manipulator 10 in the posture data D3 (in this embodiment, the hand portion obliquely downward posture and the hand portion horizontal posture close to the obliquely downward posture of the manipulator 10 in FIG. 1A) is calculated. As shown in FIG. 5A, a CG image CGP on which the hand portion 14 in two working postures, that is, the hand portion 14dw in the obliquely downward posture and the hand portion 14ho in the horizontal posture of the calculated manipulator 10 is prepared. The

  Subsequently, as shown in FIG. 5B, the composite image MP (=) of the selected image SP1 and the CG image CGP of the working posture of the manipulator 10 by the image composition function of the calculation unit 42 of the image processing means 40. SP1 + CGP) is produced, and this composite image MP is displayed on the monitor 31 of the remote control device 30 via the in-vehicle control device 20. The composite image MP may be produced on the remote control device 30 side. At that time, the composite image MP is produced by the remote control device 30 and displayed on the monitor 31.

  Based on the positional relationship between the work object W on the composite image MP displayed on the monitor 31 and the hand unit 14 of the manipulator 10, the validity of the scheduled work start position of the remote control vehicle 1 is determined, and the remote control is performed. The stop position of the vehicle 1 is determined.

  In this embodiment, when the hand portion 14dw having the obliquely downward posture is adopted as the working posture of the manipulator 10, the position of the hand portion 14dw having the obliquely downward posture is appropriate with respect to the work target W, and thus it is easy to start work. The work is started without changing the stop position of the remote control vehicle 1.

  On the other hand, when the horizontal posture hand portion 14ho is adopted as the work posture of the manipulator 10, the remote control vehicle 1 is once moved backward by the amount corresponding to the horizontal posture hand portion 14ho overlapping the work target W, and the work is started.

  At this time, the calculation unit 42 of the image processing unit 40 calculates the work posture of the manipulator 10 using each posture data (D3) at the selected position of the manipulator 10 and the planned work start position, and creates a CG image CGP. Therefore, the synthesized image MP that is synthesized and displayed on the monitor 31 by synthesizing the CG image CGP is displayed as a moving image synchronized with the movements of the remote control vehicle 1 and the manipulator 10, and accordingly, the remote control vehicle 1 can be accurately identified. It can be easily retracted by the distance.

  Here, for example, when the work object W located above the travel route of the remote control vehicle 1 is gripped, the work of the manipulator 10 at the work start scheduled position (vehicle stop position) on the selected image SP1. As the posture, the hand portion obliquely upward posture and the hand portion upward posture of the manipulator 10 are calculated from the plurality of work posture data (D7) of the manipulator 10 recorded in advance in the memory portion 41 of the image processing means 40, and at least one of the operations is performed. A CG image CGP on which the posture hand unit 14 is placed is produced.

  As described above, in the remote control vehicle stop position determination method and the remote control vehicle control system according to this embodiment, the operation of the manipulator 10 recorded in advance on the selection image SP1 that captures the side portion of the work target W. By superimposing the posture, the positional relationship between the work object W and the hand unit 14 of the manipulator 10 is grasped, so that the work of gripping the work object W with the manipulator 10 mounted on the remote control vehicle 1 is performed. In the case of starting, the remote control vehicle 1 can be quickly and accurately stopped at a position where the gripping operation can be easily started.

  In addition, in the remote control vehicle stop position determination method and the remote control vehicle control system according to this embodiment, at least two pre-recorded work postures of the manipulator 10 are superimposed on the selected image SP1. By selecting the work posture of the manipulator 10 suitable for the work, the remote control vehicle 1 can be stopped more quickly at a position where the gripping work can be easily started.

  Further, in the remote control vehicle stop position determination method and remote control vehicle control system according to this embodiment, a plurality of manipulators 10 are stored in the memory unit 41 of the image processing means 40 as work posture data (D7) of the manipulator 10. Since the work posture is recorded in advance, it is possible to cope with work of various contents such as work of pulling out the work object W buried in the ground and work of removing the work object W hanging from above. It becomes.

  In the above-described remote control vehicle stop position determination method and remote control vehicle control system, the selection image SP1 is picked up at only one selection position, but a plurality of selection positions at which the side portion of the work target W can be captured. The selected image SP1 may be picked up, and in this case, the difference in the shape and orientation of the work object W can be dealt with.

  In the remote control vehicle stop position determination method and the remote control vehicle control system described above, the in-vehicle camera 5 attached to the manipulator 10 via the swivel 4 is used, but an omnidirectional camera is used instead of the in-vehicle camera 5. In this case, the weight can be reduced to the extent that the swivel 4 is not required, and the amount of processing data can be reduced.

  The configuration of the remote control vehicle stop position determination method and the remote control vehicle control system according to the present invention is not limited to the configuration of the above-described embodiment, and the details of the configuration are within the scope of the present invention. Can be changed as appropriate.

1 Remote control vehicle 5 On-board camera (camera)
DESCRIPTION OF SYMBOLS 10 Manipulator 20 Vehicle-mounted control apparatus 30 Remote control apparatus 31 Monitor (display part)
40 Image processing means CGP CG image MP Composite image SP1 Selected image W Work object

Claims (6)

A method for determining a stop position of a remotely operated vehicle including a manipulator and a camera disposed on the manipulator,
After stopping the remote control vehicle in the vicinity of the front set as the work object,
The camera is moved to a selected position for capturing the side portion of the work object by the operation of the manipulator to pick up a selection image of the work object, and the position and direction data of the camera at the time of picking up the selection image is obtained. Record,
As the working posture of the manipulator at the vehicle stop position on the selected image in which the camera position and direction data at the time of imaging is recorded, the position and direction data of the remotely operated vehicle, the shape data of the manipulator, and the Based on each posture data at the selected position and the vehicle stop position of the manipulator, a CG image of a work posture selected from a plurality of pre-recorded work postures of the manipulator is created,
A remote image is generated by creating a composite image of the selected image and a CG image of the working posture of the manipulator and determining a stop position of the remotely operated vehicle from a positional relationship between the work object and the manipulator on the composite image. A method for determining the stop position of a control vehicle   The selection image is picked up at a plurality of selection positions, and a composite image of a selection image selected from the plurality of selection images picked up at the plurality of selection positions and a CG image of the working posture of the manipulator is created. A method for determining a stop position of a remote control vehicle as described.   A CG image on which at least two work postures selected from a plurality of work postures of the manipulator recorded in advance are created, and a composite image of the selected image and a CG image of the work posture of the manipulator is created. The stop position determination method of the remote control vehicle according to 1 or 2.   The stop position determination method of the remote control vehicle according to any one of claims 1 to 3, wherein the camera is attached to the manipulator in a variable direction.   The remote control vehicle stop position determination method according to any one of claims 1 to 3, wherein the camera is an omnidirectional camera. A control system for a remotely controlled vehicle including a manipulator and a camera disposed on the manipulator,
A remote control device for operator operation provided with a display unit for displaying an image captured by the camera, and an in-vehicle control device mounted on the remote control vehicle and performing data communication with the remote control device;
At least one of the remote control device and the in-vehicle control device includes an image processing unit,
The image processing means records a selection image of the side portion of the work object captured by the camera in a state where the remote control vehicle is stopped in the vicinity of the front face set as the work object, The function of recording the position and direction data of the camera at the time of imaging, and the working posture of the manipulator at the vehicle stop position on the selected image where the position and direction data of the camera at the time of imaging are recorded, Based on the position and direction data, the shape data of the manipulator, and the posture data of the manipulator at the selected position and the vehicle stop position, the pre-recorded working posture of the manipulator is calculated to produce a CG image And a composite image obtained by combining the selected image and a CG image of the working posture of the manipulator And manufacturing, steering system remotely piloted vehicle having a function of displaying on the display unit of the remote control device.

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