JP2020036275A - Industrial vehicle remote operation system - Google Patents

Abstract

To provide an industrial vehicle remote operation system for making it difficult to generate a time difference between an on-vehicle camera image and an infrastructure camera image to be displayed.SOLUTION: An industrial vehicle remote operation system includes: a reach type forklift truck 20; a remote operation device 40; an on-vehicle camera 71; an infrastructure camera 72; a lighting device 55 for adding time information to imaging areas of the cameras; display sections 63, 64 arranged in the remote operation device 40 so as to display an image captured by the on-vehicle camera 71 and an image captured by the infrastructure camera 72; and a microcomputer 61a for obtaining a time difference between an image acquired by the on-vehicle camera 71 and including time information and an image acquired by the infrastructure camera 72 and including time information, and processing one of the images captured by the on-vehicle camera 71 and captured by the infrastructure camera 72 to be displayed by the display sections 63, 64 on the basis of a time difference.SELECTED DRAWING: Figure 1

Description

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

  2. Description of the Related Art A forklift is equipped with a camera to grasp the surrounding environment (for example, Patent Document 1).

JP 2014-11518 A

  By the way, in a remote control system for industrial vehicles, a user mounts a camera on an industrial vehicle and operates while looking at a screen. However, since an in-vehicle camera and an infrastructure camera have different image transmission paths, a time lag occurs between displayed images. .

  An object of the present invention is to provide a remote control system for an industrial vehicle, which can make a time difference between an in-vehicle camera image and an infrastructure camera image to be hardly generated.

  According to the first aspect of the present invention, there is provided an industrial vehicle having a vehicle communication unit, a remote operation device having an operation device communication unit for performing wireless communication with the vehicle communication unit, and used for remotely operating the industrial vehicle. A remote control system for an industrial vehicle, comprising: a vehicle-mounted camera mounted on the industrial vehicle, wherein an image obtained by capturing an image around the industrial vehicle is transmitted to the remote control device by wireless communication; An infrastructure camera installed on the traveling infrastructure side and transmitting an image of the work area of the industrial vehicle to the remote control device; and time information addition for adding time information to the imaging area of the vehicle-mounted camera or the infrastructure camera. A display unit provided on the remote control device for displaying an image captured by the vehicle-mounted camera and an image captured by the infrastructure camera; An image captured by the on-board camera displayed on the display unit based on the time difference between the image containing the time information acquired by the camera and the image containing the time information acquired by the infra camera, based on the time difference. And an image processing unit that processes any of the images captured by the infrastructure camera.

  According to the first aspect of the invention, the time information adding unit adds the time information to the imaging area of the vehicle-mounted camera or the infrastructure camera. The image processing unit calculates a time difference 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. Either the image or the image captured by the infrastructure camera is processed. Therefore, it is possible to reduce a time difference between the vehicle-mounted camera image and the infrastructure camera image to be displayed.

According to a second aspect of the present invention, in the industrial vehicle remote operation system according to the first aspect, it is preferable that an image obtained by the infrastructure camera is transmitted to the remote operation device via a cable.
As described in claim 3, in the remote control system for an industrial vehicle according to claim 1 or 2, the time information adding unit is illumination that irradiates light to an imaging area of the vehicle-mounted camera or the infrastructure camera, The time information may be a change in color of the illumination or a change in luminance of the illumination.

  As set forth in claim 4, in the remote control system for an industrial vehicle according to claim 1 or 2, the time information adding unit projects a number or a pattern on an imaging area of the on-board camera or the infrastructure camera. The time information may be a number representing a time or a pattern corresponding to the time.

  As set forth in claim 5, in the remote control system for an industrial vehicle according to any one of claims 1 to 4, the image processing unit is configured to control the on-vehicle camera stored in accordance with the time difference. It is preferable that, of the image captured by the infra camera and the image captured by the infrastructure camera, the one with a smaller transmission delay to the remote control device is displayed with a delay.

  As set forth in claim 6, in the remote control system for an industrial vehicle according to any one of claims 1 to 5, the image processing unit includes a virtual position of the industrial vehicle according to the time difference and an operation amount. May be superimposed on an image captured by the on-vehicle camera and an image captured by the infrastructure camera, whichever has a longer transmission delay to the remote control device.

  ADVANTAGE OF THE INVENTION According to this invention, it can make it hard to produce a time difference between a vehicle-mounted camera image and an infrastructure camera image to be displayed.

FIG. 1 is a block diagram showing an electrical configuration of a remote control system for an industrial vehicle. The schematic side view of a reach type forklift. The schematic plan view of a reach type forklift. The schematic side view for explaining the reach type forklift and infrastructure in a work place. FIG. 4 is a diagram for explaining display contents on a display unit. FIG. 4 is a diagram for explaining display contents on a display unit. The schematic side view for explaining the reach type forklift and infrastructure in a work place. The schematic side view for explaining the reach type forklift and infrastructure in a work place. FIG. 3 is a diagram for explaining a camera image. The schematic side view for demonstrating the reach type forklift and infrastructure in the workplace of another example. The figure which shows the pattern for demonstrating another example. The figure for demonstrating the display content on the display part of another example.

An embodiment of the present invention will be described below 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 to remotely operate the reach-type forklift 20. The reach type forklift 20 is arranged in a work place. Then, the reach type forklift 20 in the workplace can be remotely controlled from the operation room using the remote control device 40.
As shown in FIG. 4, a shelf T1 is installed in the workplace. On the shelf T1, the pallet 80 and the load W can be arranged in two stages. That is, the load W is arranged on the pallet 80 in the lower stage, and the load W is arranged on the pallet 80 in the upper stage. From this state, the operator remotely operates the reach-type forklift 20 to pick up luggage.

In FIG. 4, fork insertion holes are formed in each pallet 80, and forks are inserted into these fork insertion holes.
As shown in FIG. 2, a cargo handling device 22 is provided on a 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 is provided on the front side of the machine base 21. A rear wheel 25 is provided on the rear side of the machine base 21. In the present embodiment, the rear wheels 25 are steering wheels and drive 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 for fixing 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 an elevating actuator, and a reach cylinder 30 connected to a mast 26 as a reach actuator And the like. The inner mast 28 moves up and down by supplying and discharging hydraulic oil to and from the lift cylinder 29. The mast 26 moves along the reach leg 23 by supplying and discharging hydraulic oil to and from 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 wireless unit 52 as a vehicle communication unit, an image signal processing unit 53, and a wireless device 54 as a vehicle communication unit. It has a vehicle-mounted camera 71.

  The remote operation device 40 includes a controller 61, an operation unit 62, display units (monitors) 63 and 64, and wireless devices 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 wireless device 65 of the remote control device 40 is arranged at the work place. Further, the wireless device 66 of the remote control device 40 is arranged at the work place. The controller 61 arranged in the operation room is connected to the wireless device 65 arranged in the work place by a wire L1. The controller 61 is connected by a wire L2 to a wireless device 66 arranged in the work place.

  At the work place, the wireless device 65 of the remote control device 40 and the wireless unit 52 of the forklift mounted device 50 can perform two-way wireless communication. In the workplace, the wireless device 54 of the forklift-equipped device 50 can wirelessly communicate with the wireless device 66 of the remote control device 40.

  Thus, the reach type forklift 20 has the wireless unit 52 and the wireless device 54, and the remote control device 40 has the wireless devices 65 and 66 that perform wireless communication with the wireless unit 52 and the wireless device 54.

  The controller 61 of the remote operation device 40 is connected to an operation unit 62 and display units (monitors) 63 and 64. The operation unit 62 is for remotely controlling the reach type forklift 20 by an operator, and the operation contents of the reach type forklift 20 (lift, reach, tilt operation command values, speed, acceleration, steering, etc.) Angle 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, and speed, acceleration, and steering angle operation command values to the wireless unit 52 of the forklift-mounted device 50 via the wireless device 65. I do.

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

The wireless unit 52 wirelessly transmits vehicle information such as the vehicle speed of the reach type forklift 20 and abnormal information (obstacle detection information and the like) to the controller 61 via the wireless device 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 wireless device 65, the wireless unit 52, and the controller 51.

  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 wireless device 65. In the reach type forklift 20, the operation content from the remote control device 40 is received by the wireless unit 52, and the controller 51 drives the actuator unit to execute a desired operation.

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

  In the reach-type forklift 20, an image captured by the on-vehicle camera 71 is sent by the controller 51 to the remote control device 40 via the image signal processing unit 53 and the wireless device 54. That is, the image of the vehicle-mounted 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 wireless device 66 and displayed on the display unit 63 by the controller 61. FIG. 5 shows a screen of the display unit 63. In FIG. 5, the display unit 63 is a desktop 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, an infrastructure camera 72 is fixed above the shelf T1. The infrastructure camera 72 is attached so as to face the floor in front of the shelf T1, and can capture an image of a work area of the reach type forklift 20, that is, an area in front of the shelf T1. As shown in FIG. 1, the infrastructure camera 72 is connected to the controller 61 of the remote operation device 40 by a wire L3. The image captured by the infrastructure camera 72 is transmitted to the remote control device 40 via the wired L3, and displayed on the display unit 64 by the controller 61. FIG. 6 shows a screen of the display unit 64. In FIG. 6, the display unit 64 is a desktop display and has a display screen 64a.

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

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

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

  As described above, the illumination 55 as the time information adding unit that adds the time information to the imaging area of the vehicle-mounted camera 71 or the infrastructure camera 72 is provided, and the illumination 55 illuminates the imaging area of the vehicle-mounted camera 71 or the infrastructure camera 72 with light. . The 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 in which image data including time information is stored.
Next, the operation will be described.

Since the amount of delay in transmission to the remote control device 40 changes depending on the situation between the in-vehicle camera image and the infrastructure camera image, it is necessary to synchronize at any time.
While the reach-type forklift 20 is traveling, the wireless unit 52 emits red light and green light from the illumination 55 alternately in the form of 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 vehicle-mounted illumination 55 to the front floor surface. Then, the in-vehicle camera 71 and the infrastructure camera 72 capture the red light RL of the illumination 55 in the captured image. As shown in FIG. 8, green light GL is emitted from a vehicle-mounted illumination 55 to the front floor surface. The in-vehicle camera 71 and the infrastructure camera 72 capture the green light GL of the illumination 55 in the captured image.

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

  In this way, by adjusting the image of the in-vehicle camera 71 and the image of the infrastructure camera 72 so that the image has a small time difference (in detail, synchronized), a time difference is generated between the vehicle-mounted camera image and the infrastructure camera image to be displayed. Can be difficult.

The details will be described below.
In the remote control system, the traveling direction is confirmed by capturing and displaying the traveling direction with the on-board camera 71, and the periphery of the reach type forklift is confirmed by capturing and displaying the periphery of the reach type forklift with the infrastructure camera 72. And ensure operability. Here, the image of the in-vehicle camera 71 is wirelessly transmitted to the wireless device 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 via the cable L3 and displayed on the display unit 64. Since the vehicle-mounted camera 71 and the infrastructure camera 72 have different image transmission paths, a time difference τ occurs in the displayed image. Visibility and operability decrease due to the time difference τ between images. That is, the image of the in-vehicle camera 71 and the image of the infrastructure camera 72 have an image having a time difference τ, and the operation is difficult.

  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 is processed into an image having no time difference. For this purpose, an illumination (light) 55 is installed on the machine frame of the reach type forklift, and the light source of the illumination (light) 55 changes color at regular intervals. For the images of the in-vehicle camera 71 and the infrastructure camera 72, the color of the light source is detected for each, and the image data is stored in the memory 61b. Then, the stored image data is displayed at a timing based on the change in the color information. 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 with a delay compared to the infra camera image, the infra camera image is buffered (saved) in the memory 61b, and the color change of the image is determined. The in-vehicle camera image and the infrastructure camera image are transmitted in a synchronized state and displayed on the display units 63 and 64. In other words, the microcomputer 61a determines which of the image captured by the in-vehicle camera 71 and the image captured by the infrastructure camera 72 stored in accordance with the time difference τ has a smaller transmission delay amount to the remote control device 40 ( In FIG. 9, the infrastructure camera image) is displayed with a delay.

As a result, there is no time difference between the in-vehicle camera image and the infrastructure camera image to be displayed, 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 wireless unit 52 and a wireless device 54 as a vehicle communication unit, and a wireless unit 52 and a wireless device 54 as a vehicle communication unit And a remote control device 40 that has wireless devices 65 and 66 as operating device communication units that perform wireless communication with the device and that is used to remotely control the reach type forklift 20. A vehicle-mounted camera 71 mounted on the reach-type forklift 20 and transmitting an image of the periphery of the reach-type forklift 20 to the remote control device 40 by wireless communication, and an in-vehicle camera 71 installed on the infrastructure side where the reach-type forklift 20 travels, An infra camera 72 for transmitting an image obtained by capturing an image of the work area of the forklift 20 to the remote control device 40; a lighting 55 as a time information adding unit for adding time information to the in-vehicle camera 71 or the imaging area of the infra camera 72; Display units 63 and 64 provided on the operation device 40 for displaying an image captured by the in-vehicle camera 71 and an image captured by the infrastructure camera 72; and an image including time information acquired by the in-vehicle camera 71. The time difference is obtained from the image including the time information acquired by the infrastructure camera 72, and the time difference is calculated. Based on, and a microcomputer 61a as an image processing unit for processing the one of the captured images in the image and infrastructure camera 72 captured by the vehicle-mounted camera 71 to be displayed on the display unit 63 and 64. Therefore, it is possible to reduce a time difference between the vehicle-mounted camera image and the infrastructure camera image to be displayed.

(2) The image obtained by the infrastructure camera 72 is useful when the image is transmitted to the remote control device 40 via the cable L3.
(3) The time information adding unit is the illumination 55 that irradiates light to the imaging area of the vehicle-mounted camera 71 or the infrastructure camera 72. Since the time information is a change in the color of the illumination, a camera image including the time information can be obtained. it can.

  (4) The microcomputer 61a as the image processing unit transmits a delay between the image captured by the in-vehicle camera 71 and the image captured by the infrastructure camera 72 to the remote control device 40, which is stored according to the time difference. Since the display with the smaller amount is delayed, it is possible to make it difficult for a 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.
The camera image including the time information is obtained by changing the color of the illumination. Alternatively, a camera image including the time information may be obtained by turning on / off the illumination using one-color illumination.

  ○ The time information is a change in the color of the lighting. Instead, the time information adding unit is a light that irradiates the imaging area of the vehicle-mounted camera 71 or the infrastructure camera 72 with light, and the time information is a change in the luminance of the lighting. It may be. For example, the luminance may be changed using white light.

  As shown in FIG. 10 instead of FIGS. 7 and 8, a number representing the time is projected on the floor using the projector 56, photographed by the in-vehicle camera 71 and the infrastructure camera 72, and the microcomputer 61a recognizes the time by image recognition. A time difference may be hardly generated between the in-vehicle camera image and the infra camera image that are read and displayed (they may be synchronized). As described above, the time information adding unit is the projector 56 that projects a number on the imaging area of the vehicle-mounted camera 71 or the infrastructure camera 72, and the time information may be a number representing time.

  ○ In addition, a pattern corresponding to the time as shown in FIG. 11 is projected on the floor using a projector, and this is photographed by the in-vehicle camera 71 and the infrastructure camera 72, and the microcomputer 61a recognizes the pattern by image recognition. A time difference may be hardly generated between the in-vehicle camera image and the infrastructure camera image that are read and displayed. More specifically, in FIG. 11, the whole rectangular portion 100 is divided into four rectangular blocks 101, 102, 103, and 104, and at predetermined time intervals (every second in FIG. 11), blocks 101 → blocks 102 → Block 103 → Block 104 → Block 101 →... In this way, the time information adding unit is a projector that projects a pattern on the imaging area of the vehicle-mounted camera 71 or the infrastructure camera 72, and the time information may be a pattern corresponding to time.

  As a display method after the time information is read from the camera image by image recognition, the in-vehicle camera image may be displayed so that the image at the expected fork position is superimposed on the latest image.

  For example, in the microcomputer 61a, a time difference (shift) τ is obtained from an image including the time information acquired by the vehicle-mounted camera 71 and an image including the time information acquired by the infrastructure camera 72, and the latest vehicle-mounted camera image is determined according to the operation amount. Overlay the image of the predicted fork. Then, on the display screen, as shown in FIG. 12, the microcomputer 61a as the image processing unit captures the virtual position of the reach-type forklift 20 (the expected position of the fork) according to the time difference τ and the operation amount with the on-board camera 71. The superimposed display is performed on the image with the larger transmission delay amount to the remote operation device 40, of the image obtained and the image captured by the infrastructure camera 72. More specifically, an expected image of the fork 31b is output with respect to the camera image having the fork 31a captured at the previous timing, and is used as an overlay image. More specifically, the position of the fork is estimated from the time difference, and is overlaid on the camera image. Specifically, in FIG. 12, the forks before and after the reach operation are displayed so as to overlap.

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

The lighting 55 is installed on the vehicle side (although it is mounted on a reach-type forklift), but 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 operation device 40 by wireless communication, and the infra camera 72 transmits the image to the remote operation device 40 by wire, but the present invention is not limited to this. For example, the infrastructure camera 72 may be applied to a system configuration in which an image is wirelessly transmitted to the remote operation device 40. In other words, image transmission is delayed in wireless and wireless as well as wired and wireless, so that the present invention may be applied to wireless transmission of infra camera images. Further, even when the transmission length, the method, and the use environment are different, a delay occurs in the image transmission, so that the present invention may be applied to such a case.

  ○ The industrial vehicle was a reach-type forklift, but 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.

  DESCRIPTION OF SYMBOLS 10 ... Remote control system for industrial vehicles, 20 ... Reach type forklift, 40 ... Remote control device, 52 ... Wireless unit, 54 ... Wireless device, 55 ... Lighting, 61a ... Microcomputer, 63, 64 ... Display part, 65, 66 ... Wireless device, 71: In-vehicle camera, 72: Infrastructure camera, L3: Wired.

Claims (6)

An industrial vehicle having a vehicle communication unit;
An operation device communication unit that performs wireless communication with the vehicle communication unit, a remote operation device used to remotely control the industrial vehicle,
An industrial vehicle remote control system comprising:
An in-vehicle camera mounted on the industrial vehicle and transmitting an image of the periphery of the industrial vehicle to the remote control device by wireless communication,
An infrastructure camera installed on the infrastructure side on which the industrial vehicle travels, and an image obtained by capturing an image of a 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 area 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 vehicle-mounted camera and an image captured by the infrastructure camera,
A time difference is obtained from an image containing the time information acquired by the vehicle-mounted camera and an image containing the time information acquired by the infra-camera, and based on the time difference, the image is captured by the vehicle-mounted camera displayed on the display unit. Image processing unit that processes any of the images captured by the infra camera and
A remote control system for an industrial vehicle, comprising:   The remote control system for an industrial vehicle according to claim 1, wherein the image from the infrastructure camera is transmitted to the remote control device via a wire.   The said time information addition part is illumination which irradiates light to the imaging area of the said in-vehicle camera or the said infra camera, and the said time information is a change of the color of the said illumination, or a change of the brightness of an illumination, The Claims characterized by the above-mentioned. 3. The remote control system for an industrial vehicle according to 1 or 2.   The said time information addition part is a projector which projects a number or a pattern on the imaging area of the said in-vehicle camera or the said infra camera, and the said time information is the number showing a time or the pattern according to the time, The claim characterized by the above-mentioned. Item 3. An industrial vehicle remote control system according to item 1 or 2.   The image processing unit determines which of the images captured by the on-vehicle camera and the images captured by the infrastructure camera, which have been accumulated according to the time difference, has a smaller transmission delay to the remote operation 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 is configured to delay transmission of the virtual position of the industrial vehicle according to the time difference and the operation amount among the image captured by the on-board camera and the image captured by the infrastructure camera to the remote operation device. The remote control system for an industrial vehicle according to any one of claims 1 to 5, wherein the display is superimposed and displayed on a larger amount.