JP6471030B2 - Remote control system for cargo handling equipment - Google Patents

Description

  The present invention relates to a remote operation system for a cargo handling machine.

  In general, for example, an unloader, a container crane, a tower crane, or the like exists as a cargo handling and transporting machine.

  In the case of the cargo handling machine as described above, a driver's cab is provided at a high place, and an operator gets into the driver's cab and operates by operating driving operation devices such as operation levers and various switches. .

  However, in recent years, especially in the case of unloaders and container cranes, with the increase in size and speed of the cargo handling equipment, the installation position of the operator's cab is higher and the operator's cab is moving at a higher speed. It has become larger and the working conditions have become severe, and it has been necessary to install a safety device for preventing the fall of the operator.

  For this reason, it is possible to eliminate a severe driving operation at a high place, reduce the burden on the operator, and eliminate the need to install a safety device for preventing the operator's cab and the operator from falling, etc. Development of remote control system is in progress.

  In addition, there exist patent document 1, 2, 3 as what shows the general technical level of the remote control system of the said material handling machine.

JP-A-6-206618 JP 2003-212475 A JP 2013-116773 A

  However, all of the remote control systems for cargo handling machines disclosed in Patent Documents 1, 2, and 3 simply display the captured image of the camera as it is, and therefore, compared with the actual operation in the cab. Therefore, it is difficult to grasp the sense of distance, and improvement in operability has been desired.

  The present invention has been made in view of the above-described conventional problems, and provides a remote operation system for a cargo handling machine that can improve operability by displaying information such as distance and state quantity in an actual image. It is something to be offered.

The present invention provides a machine-side remote operation control device in a cargo handling machine, a remote operation room installed on the ground, and the operation of the cargo handling machine by an operation by an operator in the remote operation room. A system,
The machine side remote operation control device is,
A surveillance camera that captures an operation status image of the material handling and handling machine;
A sensor for detecting a state quantity of the cargo handling machine;
A main body controller for inputting a state quantity of the cargo handling machine detected by the sensor and controlling a driving device of the cargo handling machine;
A loading / unloading machine-side transmission device that captures video data from the monitoring camera and exchanges control data with the main body controller;
With
In the remote control room,
An operating device for operating the cargo handling machine;
An operation device signal aggregation controller for collecting signals from the operation device;
A remote operation room side transmission device that exchanges control data with the operation equipment signal aggregation controller and transmits / receives signals to / from the cargo handling machine side transmission device;
An image processing device for determining, by image processing, a distance to an object that should avoid contact with the cargo handling machine based on the video data received by the remote control room side transmission device;
And a mounting display device that displays an actual driving situation image overlaying the distance determined by the image processing apparatus and the state quantity of the cargo handling machine detected by the sensor, and that can be mounted by an operator. This is related to the remote control system for the cargo handling machine.

  In the remote operation system for the cargo handling machine, an emergency stop switch for inputting contact data to the remote operation room side transmission device is provided in the remote operation room, and contact data is transmitted by the emergency stop switch to the remote operation room side. The machine-side remote operation control device is provided with a hard-wired device that cuts off the magnetic contactor and cuts off the power supply to the drive device by contact data output from the cargo handling machine side transmission device when input to the device. Is preferred.

  In the remote operation system for the cargo handling machine, the monitoring camera is preferably a stereo camera or a stereo camera configured by arranging a plurality of monocular cameras.

  In the remote operation system for the cargo handling machine, a microphone for inputting an operator's voice as audio data to the remote operation room side transmission device and audio data output from the remote operation room side transmission device are input to the remote operation room. And a speaker for outputting the actual sound based on the voice, and a microphone for inputting the voice of the on-site supervisor as voice data to the cargo handling machine side transmission device and the voice data output from the cargo handling machine side transmission device. It is preferable that the machine side remote operation control device is provided with a speaker that outputs the sound of

  In the remote handling system for the cargo handling machine, it is preferable that the cargo handling machine side transmission device and the remote control room side transmission device are connected by an optical fiber cable.

  According to the remote operation system for a cargo handling machine of the present invention, it is possible to obtain an excellent effect that operability can be improved by displaying information such as distance and state quantity in an actual image.

It is a block diagram which shows the Example of the remote control system of the material handling machine of this invention. It is an electric circuit diagram which shows the motive power system of the drive device in the Example of the remote control system of the material handling machine of this invention. It is a flowchart which shows the operation procedure at the time of using a wearable glass as a mounting | wearing display apparatus and using a large screen monitor as a fixed display apparatus in the Example of the remote operation system of the material handling machine of this invention. It is a flowchart which shows the operation procedure at the time of using a wearable glass as a mounting | wearing display apparatus and using a large screen monitor as a fixed display apparatus in the Example of the remote operation system of the material handling machine of this invention. It is a schematic block diagram which shows a continuous unloader as an example of the cargo handling machine to which the remote control system of this invention is applied. FIG. 6 is a detailed view of a VI part in FIG. 5.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  1 to 6 show an embodiment of a remote control system for a cargo handling machine according to the present invention.

  First, an outline of a continuous unloader will be described as an example of a cargo handling machine to which the remote control system of the present invention is applied.

  As shown in FIG. 5, the continuous unloader as the cargo handling machine is provided with a revolving frame 5 having a tiltable boom 4 on a traveling frame 3 capable of traveling on a rail 2 laid on the quay 1, At the tip of the boom 4, a bucket elevator 8 that scrapes off a loose object 7 such as iron ore inside the hold 6 and can be carried out of the hold 6 is suspended. Inside the boom 4 is disposed a boom conveyor 9 capable of conveying the loose article 7 scraped by the bucket elevator 8 to the base end side of the boom 4. The traveling frame 3 is provided with a carry-out conveyor 10 that can carry the loose article 7 fed from the boom conveyor 9 through the chute 11 to the outside of the traveling frame 3.

  In the continuous unloader, the bulk material 7 inside the hold 6 is scraped off by the bucket 19 of the bucket elevator 8 and loaded out of the hold 6, and the boom 4 moves from the front end side to the base end side of the boom 4. And is dropped onto the carry-out conveyor 10 via the chute 11 and is carried out of the traveling frame 3 by the carry-out conveyor 10.

  As shown in FIGS. 5 and 6, the bucket elevator 8 is configured by pivotally attaching a main body frame 12 extending in the vertical direction at the tip of the boom 4. At the lower end of the main body frame 12, a scraper frame 15, which has an inner frame frame 14 that is telescopically disposed so as to be nested with respect to the outer frame frame 13 with an open end face, is provided via a lifting frame 23. It is mounted almost horizontally. Sprockets 16 and 17 are provided at the proximal end of the outer frame 13 and the distal end of the inner frame 14 of the scraping part frame 15, and the sprockets 16 and 17 and the sprocket 18 provided on the upper part of the main body frame 12 are provided. An endless chain 20 to which a large number of buckets 19 for scraping off loose articles 7 are attached is hung around.

  The expansion and contraction of the inner frame 14 with respect to the outer frame 13 is performed by the expansion and contraction operation of the cylinder 21. The outer frame frame 13 is connected to an elevating frame 23 that can be moved up and down by the expansion and contraction operation of the cylinder 22 with respect to the main body frame 12 in order to prevent the tension of the chain 20 from changing due to the expansion and contraction of the inner frame frame 14. Has been. As shown by the solid line in FIG. 6, when the cylinder 21 extends and the inner frame 14 extends relative to the outer frame 13, the cylinder 22 expands in conjunction with the operation of the cylinder 21 and passes through the lifting frame 23. The outer frame 13 is raised so as to be drawn toward the main body frame 12 side. On the other hand, when the cylinder 21 contracts and the inner frame frame 14 contracts with respect to the outer frame frame 13 as shown by the phantom line in FIG. As a result, the outer frame 13 is lowered away from the main body frame 12 side, so that the tension of the chain 20 is always kept constant.

  In this embodiment, as shown in FIG. 1, the continuous unloader is provided with a machine-side remote operation control device 50 and a remote operation room 80 on the ground, and an operation by the operator in the remote operation room 80 is performed. Thus, the continuous unloader is operated.

  The machine-side remote operation control device 50 includes a monitoring camera 51, a sensor 52, a microphone 53 and a speaker 54, a main body controller 55, a hard wired 56, and a cargo handling machine side transmission device 57.

  The monitoring camera 51 is a stereo camera that captures an operation status image of the continuous unloader. The monitoring camera 51 may be a stereo camera configured by arranging a plurality of monocular cameras. The monitoring cameras 51 are provided at, for example, a plurality of locations above the main body frame 12 and a plurality of locations below the main body frame 12 in FIG.

  The sensor 52 detects a state quantity of the continuous unloader. Examples of the state quantity of the continuous unloader include a bucket elevator driving torque, a payout amount, a boom hoisting cylinder pressure, and a wind speed.

  The main body controller 55 receives the state quantity of the continuous unloader detected by the sensor 52 and controls a driving device 58 such as an inverter motor of the continuous unloader.

  The cargo handling and transporting machine side transmission device 57 takes video data from the monitoring camera 51 and exchanges control data with the main body controller 55.

  On the other hand, the remote operation room 80 includes an operation device 81, an operation device signal aggregation controller 82, a remote operation room side transmission device 83, an image processing device 84, a mounting display device 85, a microphone 86 and a speaker 87. An emergency stop switch 88 and a fixed display device 89 are provided.

  The operating device 81 is a device that operates the continuous unloader.

  The operation device signal aggregation controller 82 is configured to collect signals from the operation device 81.

  The remote operation room side transmission device 83 exchanges control data with the operation equipment signal aggregation controller 82 and transmits / receives signals to / from the cargo handling machine side transmission device 57.

  The image processing device 84 is connected to an object (for example, an opening edge or inner wall of the hold 6 or the like) that should avoid contact with the continuous unloader based on the video data received by the remote control room side transmission device 83. The distance is determined by image processing.

  The wearing display device 85 displays an actual driving situation image that overlays the distance determined by the image processing device 84 and the state quantity of the continuous unloader detected by the sensor 52. As the wearing display device 85, for example, wearable glasses that can be worn by an operator can be adopted. Incidentally, regarding the information display on the wearable glass as the wearing display device 85, augmented reality (AR) technology in which a real environment perceived by a person is expanded by a computer can be applied.

  In the present embodiment, a fixed display device 89 such as a large screen monitor is provided in addition to the mounting display device 85 so as to display an actual driving situation image. The fixed display device 89 such as the large screen monitor has a perspective process (three-dimensional distance image display process), a water vapor transmission process, a night vision process, a backlight correction, an all-around overhead view video process (surround view ( (Registered trademark) processing) and the like. All the images of the monitoring camera 51 are always divided and displayed in order to eliminate the trouble of screen switching in an emergency. It should be noted that the operation direction of the continuous unloader is a video display that does not disturb the operator.

  The wearing display device 85 and the fixed display device 89 are also connected to the operation device signal aggregation controller 82.

  The emergency stop switch 88 inputs contact data to the remote operation room side transmission device 83. When contact data is input to the remote operation room side transmission device 83 by the emergency stop switch 88, the emergency stop switch 88 receives the contact data. The hard wired 56 is activated by the contact data output from the cargo handling machine side transmission device 57 to cut off the magnetic contactors 68, 69, 71 (see FIG. 2) and cut off the power supply to the drive device 58. It is supposed to be.

  The microphone 86 provided in the remote operation room 80 inputs the operator's voice as voice data to the remote operation room side transmission device 83, and the microphone 53 provided in the machine side remote operation control device 50 includes The voice of the supervisor is input to the cargo handling machine side transmission device 57 as voice data. The speaker 87 provided in the remote operation room 80 outputs an actual sound based on the sound data output from the remote operation room side transmission device 83, and is provided in the machine side remote operation control device 50. The speaker 54 outputs an actual voice based on the voice data output from the cargo handling machine side transmission device 57. In the case of the continuous unloader, an on-site supervisor is arranged around the hatch mouth of the hold 6, and the loose object 7 is exchanged between the on-site supervisor and the operator through the microphone 53, microphone 86, speaker 54, and speaker 87. Instructions and communications regarding scraping of each other are made mutually.

  The cargo handling machine side transmission device 57 and the remote control room side transmission device 83 are connected by an optical fiber cable OFC. Note that it is possible to be wireless depending on the situation.

  In the case of the continuous unloader as the cargo handling machine, the drive device 58 includes, for example, a bucket elevator drive motor 59, a bucket elevator turning motor 60, a boom turning motor 61, a traveling motor 62, and a boom as shown in FIG. An undulating hydraulic pump 63 and a boom conveyor motor 64 can be exemplified. The bucket elevator drive motor 59, the bucket elevator turning motor 60, the boom turning motor 61, and the traveling motor 62 are connected in parallel to the power source AC via a disconnector 65, a transformer 66, a circuit breaker 67, and an electromagnetic contactor 68. Yes. The boom hoisting hydraulic pump 63 is connected to the power supply AC through a disconnector 65, a transformer 66, an electromagnetic contactor 69, and a circuit breaker 70. The boom conveyor motor 64 is connected to the power source AC through a disconnector 65, a transformer 66, an electromagnetic contactor 71, and a circuit breaker 72. When the contact data (see FIG. 1) is input to the remote control room side transmission device 83 by the emergency stop switch 88, the electromagnetic contactors 68, 69, 71 are output from the cargo handling machine side transmission device 57. The drive device 58 (bucket elevator drive motor 59, bucket elevator swing motor 60, boom swing motor 61, travel motor 62, boom hoisting hydraulic pump 63, The power supply to the boom conveyor motor 64) is cut off. As a result, even if the main body controller 55 (see FIG. 1) breaks down, only an emergency stop operates normally.

  The wearable glass as the wearing display device 85 has four functions of an operation start / end mode function, a normal operation mode function, an abnormality occurrence mode function, and a guidance function, and additional information for supporting the operation of the operator. In addition to being displayed, voice guidance is played.

  The operation start / end mode function includes an operation preparation status display of the continuous unloader (displaying whether or not operation preparation is completed) and an operation start / end for completing the operation preparation of the continuous unloader. This is a function to display the procedure.

  The normal operation mode function is a function for displaying a driving state display, a distance / state amount display, and a camera image. The operation status display indicates a status of the continuous unloader being operated (driving) / stopped. The distance / state quantity display displays the distance / state quantity of the continuous unloader that the operator always wants to monitor and displays a warning by monitoring the distance / state quantity. In the distance / state quantity display, when a continuous unloader is taken as an example, for example, the distance between the bucket elevator 8 and the opening edge or inner wall of the hold 6, the bucket elevator driving torque, the discharge amount, the boom hoisting cylinder pressure, the wind speed Etc. are displayed. At the same time, the setting state can be displayed and switched. And by the distance / state quantity monitoring, the distance between the bucket elevator 8 and the opening edge or inner wall of the hold 6 becomes less than the allowable value, the bucket elevator driving torque, the amount of delivery, the boom hoisting cylinder pressure, the wind speed, etc. When each exceeds an allowable value, a warning is displayed and a warning avoidance operation instruction is also given. In the camera image display, one image selected by the operator from the images of a plurality of monitoring cameras 51 is displayed.

  The abnormality occurrence mode function is a function for displaying a failure state (heavy / light failure), a failure content (error number, error item), and a failure recovery procedure.

  The guidance function is a voice guidance function corresponding to the above three functions (operation start / end mode function, normal operation mode function, and abnormality occurrence mode function).

  As an operation input of the wearable glass as the wearing display device 85, voice recognition, line-of-sight tracking, gesture, joystick, trackball, mouse, touch pad, or the like can be selected. The mounting display device 85 may be a head mounted display.

  In the large screen monitor as the fixed display device 89, a perspective process (3D distance image display process), a water vapor transmission process, a night vision process, a backlight correction, an all-around overhead view video process (surround view (registered) The image of the surveillance camera 51 subjected to image processing such as (trademark) processing) is always displayed.

  The operation procedure when the wearable glass as the wearing display device 85 and the large screen monitor as the fixed display device 89 are used is as shown in the flowcharts of FIGS.

  First, the operator wears wearable glasses and activates the wearable glasses and the large screen monitor (see step S1).

  After starting the wearable glass and the large screen monitor in the step S1, the operation power of the continuous unloader as the cargo handling machine is turned on (see step S2). After the operation power is turned on in step S2, the preparation for operation of the cargo handling machine is determined (see step S3). When it is determined in step S3 that the driving preparation is not completed, the wearable glass enters the operation start mode, the driving preparation procedure for starting the operation is displayed on the wearable glass, and voice guidance is played. The operator prepares for operation of the cargo handling machine according to the display of wearable glass and voice guidance (see step S4). After the operation preparation is completed, the operator starts the operation of the cargo handling machine according to the voice guidance of the wearable glass (see step S5).

  Since the operation method of the operator differs depending on the state (normal or abnormal) of the cargo handling machine, the status determination of the cargo handling machine is performed following the start of the operation in step S5 (see step S6).

  If it is determined in step S6 that a fault abnormality such as a motor overload has occurred as the state of the material handling machine, the wearable glass enters the abnormal mode, and the fault state (heavy / light fault), fault content (Error number, error item), failure recovery procedure is displayed, and voice guidance is played. The operator operates according to the abnormal state display and voice guidance to cancel the abnormality (see step S7).

  When it is determined in step S6 that the state of the cargo handling machine is normal, the wearable glass enters the normal operation mode, and the operator selects a camera video display function of the wearable glass as necessary (step S8). reference). When the operator does not select the camera image display which is a wearable glass function in step S8, the operating state, distance, and state quantity of the cargo handling machine being stopped / operating are displayed on the wearable glass. The operator performs a remote operation while viewing on the large screen monitor the display of the wearable glass and the images taken by the plurality of monitoring cameras 51 disposed on the cargo handling machine (see step S9).

  When the operator selects camera image display, which is a wearable glass function, in step S8, the operator further wants to constantly monitor the images of the plurality of monitoring cameras 51 (images to watch carefully without taking his eyes off). ) Is selected (see step S10). At this time, the wearable glass displays the operation state, distance and state quantity of the cargo handling machine, and the operator displays the operation state, distance and state quantity of the cargo handling machine displayed on the wearable glass, the camera image and the large screen monitor. Remote operation is performed while viewing the camera image (see step 11).

  While the remote operation is being performed in step S9 or step S11, the wearable glass is monitored for distance and state quantity (see step S12). When the continuous unloader is taken as an example by monitoring the distance and state quantity in step S12, the distance between the bucket elevator 8 and the opening edge or inner wall of the hold 6 is less than the allowable value, or the bucket elevator is driven. When torque, payout amount, boom hoisting cylinder pressure, wind speed, etc. exceed allowable values, a warning is displayed on the wearable glass, a warning avoidance operation instruction is also given, and voice guidance for avoiding the warning is also provided. The operator performs remote operation while viewing the camera image of the large screen monitor according to the warning display of the wearable glass, the warning avoidance operation instruction, and the voice guidance (see step S13). Note that the process returns from the step S13 to the step S6, and the above-described operation is repeated.

  According to the distance / state quantity monitoring in step S12, the distance between the bucket elevator 8 and the opening edge or inner wall of the hold 6 is not less than an allowable value, and the bucket elevator driving torque, the amount of discharge, the boom hoisting cylinder pressure, the wind speed, etc. When each is below the allowable value, it is determined whether or not the operator has selected the operation end mode as a function of the wearable glass (see step S14). If the operation end mode is not selected in step S14, the process returns to step S6 and the above-described operation is repeated.

  When the operation end mode is selected in the step S14, as shown in FIG. 4, an operation procedure for ending the remote operation is displayed on the wearable glass, and voice guidance is played. Remote operation of the material handling machine is terminated according to the display and voice guidance (see step S15). After the operation in step S15 is completed, the operator turns off the operation power of the cargo handling machine (see step S16).

  After turning off the operation power of the cargo handling machine in step S16, the operator removes the wearable glass, turns off the wearable glass and the large screen monitor, and ends the remote operation of the cargo handling machine (see step S17).

  As described above, in the present embodiment, not only the captured image of the camera is displayed as it is as in the remote control system of the cargo handling machine disclosed in Patent Documents 1, 2, and 3, but the image processing device 84 calculates the image. Since the actual driving situation image is displayed by overlaying the measured distance and the state quantity of the continuous unloader detected by the sensor 52, it is possible to greatly improve the operability.

  In this way, operability can be improved by displaying information such as the distance and the state quantity together with the actual video.

  The remote operation room 80 is provided with an emergency stop switch 88 for inputting contact data to the remote operation room side transmission device 83, and the contact data is input to the remote operation room side transmission device 83 by the emergency stop switch 88. When this is done, the machine-side remote operation of the hard-wired 56 that cuts off the magnetic contactors 68, 69, and 71 and cuts off the power supply to the drive device 58 based on the contact data output from the cargo handling machine-side transmission device 57. Since the control device 50 is provided, even if the main body controller 55 (see FIG. 1) breaks down, only an emergency stop can be operated normally, and it is effective as a dual configuration to cope with the failure. It becomes.

  Further, since the monitoring camera 51 is a stereo camera or a stereo camera configured by arranging a plurality of monocular cameras, it is possible to display a three-dimensional image having a depth on the wearable glass as the wearing display device 85. This makes it possible to realize a sense of reality close to the operation in the driver's cab, which is effective in improving operability.

  Furthermore, the remote operation room 80 has a microphone 86 for inputting the operator's voice as audio data to the remote operation room side transmission device 83, and actual audio data output from the remote operation room side transmission device 83. A speaker 87 for outputting sound is provided, and the microphone 53 for inputting the voice of the on-site supervisor as sound data to the cargo handling machine side transmission device 57 and the voice data output from the cargo handling machine side transmission device 57. By providing the machine-side remote operation control device 50 with the speaker 54 that outputs the actual voice, communication between the operator and the field supervisor can be facilitated, and the work can be performed efficiently. it can.

  Further, since the cargo handling machine side transmission device 57 and the remote control room side transmission device 83 are connected by an optical fiber cable OFC, the image can be transmitted without delay, and the remote operation can be performed accurately. .

  The remote operation system for the cargo handling machine of the present invention is not limited to the above-described embodiment, and can be applied to container cranes, tower cranes, etc. other than the continuous unloader. Of course, various changes can be made without departing from the scope of the present invention.

50 Machine-side remote operation control device 51 Surveillance camera 52 Sensor 53 Microphone 54 Speaker 55 Main body controller 56 Hard wired 57 Cargo handling machine-side transmission device 58 Drive device 68 Electromagnetic contactor 69 Electromagnetic contactor 71 Electromagnetic contactor 80 Remote operation room 81 Operation device 82 Operation device signal aggregation controller 83 Remote operation room side transmission device 84 Image processing device 85 Wearing display device 86 Microphone 87 Speaker 88 Emergency stop switch 89 Fixed display device OFC Optical fiber cable

Claims (5)

A remote operation system for a cargo handling machine having a machine-side remote operation control device installed in the cargo handling machine, a remote operation room installed on the ground, and the operation of the cargo handling machine by an operation by an operator in the remote operation room. ,
The machine side remote operation control device is,
A surveillance camera that captures an operation status image of the material handling and handling machine;
A sensor for detecting a state quantity of the cargo handling machine;
A main body controller for inputting a state quantity of the cargo handling machine detected by the sensor and controlling a driving device of the cargo handling machine;
A loading / unloading machine-side transmission device that captures video data from the monitoring camera and exchanges control data with the main body controller;
With
In the remote control room,
An operating device for operating the cargo handling machine;
An operation device signal aggregation controller for collecting signals from the operation device;
A remote operation room side transmission device that exchanges control data with the operation equipment signal aggregation controller and transmits / receives signals to / from the cargo handling machine side transmission device;
An image processing device for determining, by image processing, a distance to an object that should avoid contact with the cargo handling machine based on the video data received by the remote control room side transmission device;
And a mounting display device that displays an actual driving situation image overlaying the distance determined by the image processing apparatus and the state quantity of the cargo handling machine detected by the sensor, and that can be mounted by an operator. Remote control system for cargo handling and transporting machines.   The remote control room is provided with an emergency stop switch for inputting contact data to the remote control room side transmission device, and when the contact data is input to the remote control room side transmission device by the emergency stop switch, the cargo handling machine The remote operation of the cargo handling machine according to claim 1, wherein the machine side remote operation control device is provided with a hard wired device that cuts off the magnetic contactor by the contact data output from the side transmission device and cuts off the power supply to the drive device. system.   The remote operation system for a cargo handling machine according to claim 1 or 2, wherein the monitoring camera is a stereo camera or a stereo camera configured by arranging a plurality of monocular cameras.   The remote operation room is provided with a microphone for inputting an operator's voice as audio data to the remote operation room side transmission device, and a speaker for outputting actual sound based on the audio data output from the remote operation room side transmission device. And a microphone for inputting the voice of the field supervisor as voice data to the cargo handling machine side transmission device and a speaker for outputting actual voice based on the voice data output from the cargo handling machine side transmission device. The remote operation system for a cargo handling machine according to any one of claims 1 to 3, provided in a remote operation control device.   The remote operation system of the cargo handling machine according to any one of claims 1 to 4, wherein the cargo handling machine side transmission device and the remote control room side transmission device are connected by an optical fiber cable.

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