JPH0730969A - Moving method for mobile object by remote control - Google Patents

Abstract

PURPOSE:To obtain a moving method for a mobile object by a remote control by which the mobile object can be surely moved from a long distance place by the remote control from a fixed remote control point. CONSTITUTION:Two camera robots 3 for which remote controls are performed from a remote control point 1 are provided with a millimeter wave communications equipment 3303 which is capable of performing a long distance communication in spite of its strong directivity and a radio modem 3707 which has no directivity instead of its defective capability of only short distance wave communications equipment 1303 corresponding to the millimeter wave communications equipment 3303 of each camera robot 3. The one camera robot 3 is made stationary in a state that the communication with the remote control point 1 is possible through the millimeter wave communications equipment 1303 and 3303, and the signal for performing a remote control of the other camera robot 3 is transmitted to the other camera robot 3 from the remote control point 1 through the millimeter wave communications equipment 1303 and 3303 and the radio modem 3707 via the camera robot 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of moving a moving body by remote control, which is suitable for moving a moving body that is relatively long distance away by remote control.

[0002]

2. Description of the Related Art Recently, at construction sites, it has been attempted to remotely control machines such as crawler dumps, bulldozers, and power shovels from site offices and offices in urban areas. Attempts have been made to remotely control a work robot disposed inside from outside the radiation area to cause the work robot to perform work within the radiation area. Most of the work done at the construction site or nuclear power plant, etc. is done while sequentially changing places,
The machine and the work robot are usually configured to include a moving body that can be moved by remote control.

Therefore, when performing the remote operation as described above, various signals are transmitted between the remote operation point and the moving body, such as transmitting various movement commands and also a command for moving the moving body. Conventionally, in consideration of the fact that the mobile body moves to people, communication means having no directivity in the communication direction or weak communication means is used to transmit between the remote operation point and the mobile body. Was communicating.

[0004]

However, the communication means having no or weak directivity in the communication direction generally has a short reachable distance of a signal to be transmitted, so that the distance between the remote operation point and the moving body is long. Then, there was a problem that communication between them could not be performed. Further, in the signal transmission between the remote operation point and the mobile body, if a communication means having a relatively long signal reachable distance is used, the directivity in the communication direction becomes strong,
If the moving body moves a little and goes out of the range of the directivity, there is still a problem that communication between the mobile bodies becomes impossible.

The present invention has been made in view of the above circumstances, and an object of the present invention is to reliably move a moving body even at a relatively long distance by remote control from a fixed remote control point. It is to provide a method of moving a mobile object by remote control that can be performed.

[0006]

In order to achieve the above-mentioned object, the present invention provides at least two or more moving bodies which are configured to be movable by remote operation, and a fixed remote operating point which is separated from each moving body. A method of moving by more remote operation, wherein each of the mobile bodies and the remote operation point is provided with first communication means having directivity and capable of communicating within a range of a first distance, and further, Each mobile body is provided with a second communication means that is omnidirectional and is capable of communicating within a range of a second distance shorter than the first distance, and the first communication means is provided at the remote operation point. At least one of them is made to stand still in a state where it can communicate with the remote operation point via the first communication means, and the distance from the stopped moving body to the stationary moving body from the remote operating point is For other moving objects that are less than the second distance By transmitting the remote operation signal via the first communication means and transferring the remote operation signal from the stationary mobile body to the other mobile body via the second communication means, By the remote operation from the remote operation point based on the remote operation signal, the other moving body is moved within a range of the second distance or less from the stationary moving body, and the other moving body is moved after the moving. The body is brought into a state of being communicable with the remote operation point through the first communication means by a remote operation from the remote operation point based on the remote operation signal, and is kept stationary in the state. And

Further, according to the present invention, each of the moving bodies is provided with the second
An image pickup unit connected to the communication unit is provided, a collimation target is provided at the remote operation point, and a display unit connected to the first communication unit for displaying an image taken by the image pickup unit is provided. When the other moving body is brought into the state after being moved, the signal of the video image taken by the photographing means of the other moving body is transferred to the stationary state via the second and first communication means. Transmitted to the remote operation point via the mobile unit,
It is assumed that the other moving body is remotely operated from the remote operation point while confirming the presence or absence of the collimation target in the image displayed on the display means based on the signal.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of a remote control system for a camera robot to which the method of the present invention is applied. In FIG. 1, 1 is a remote operation point, 3 is a camera robot (corresponding to a moving body), and in this embodiment, the camera robot 3 is 2
A stand is provided.

The remote operation point 1 is set in a fixed building 11 such as an urban area, and a millimeter wave communication unit 13, a monitoring unit 15, and a remote operation unit 17 are installed at the remote operation point 1. ing.

FIG. 2 is a schematic configuration diagram of the millimeter wave communication unit 13, the monitoring unit 15, and the remote control unit 17. As shown in FIG. 2, the millimeter wave communication unit 1
Two sets of 3 are provided for communication with the camera robots 3 according to the number of the camera robots 3, and each millimeter wave communication unit 13 includes a pan head 1301 erected on the roof 1101 of the building 11. The millimeter wave communication device 1 supported by the platform 1301 so as to be displaceable in the horizontal and vertical directions.
303, an antenna 1305 supported on the front of the millimeter wave communication device 1303, and a collimation television camera 1307 supported on the top of the millimeter wave communication device 1303.

The millimeter wave communication device 1303 has a maximum length of about 10 within a predetermined directivity unless there is an obstacle on the way.
It is configured so that it can perform full-duplex simultaneous communication of two audio systems and one video system with a partner distant by km, and is suitable for relatively long-distance communication although it has strong directivity. This millimeter wave communication device 13
03 is provided with two systems of audio terminals 1311 and one system of video terminals 1313. In this example,
The millimeter wave communication device 1303 and the antenna 1305 constitute a first communication means on the remote operation point 1 side.

The monitoring unit 15 is provided for monitoring the state of each of the camera robots 3, and the monitoring unit 15 is provided.
Is a pan head 1501 erected on the roof 1101 together with the pan head 1301, a surveillance TV camera 1503 supported by the pan head 1501 so as to be displaceable in the horizontal and vertical directions, and the pan head 1501. It is provided with a collimation lamp 1505 (corresponding to a collimation target) which is fixed to the front part and is composed of a mercury lamp or the like with a power consumption of about 500 W / h.

The remote control unit 17 is provided for remote control of the millimeter wave communication units 13, the monitoring unit 15 and the camera robots 3. The remote control unit 17 is a personal computer 1701 (hereinafter, personal computer). And a monitor television 1703.
1705, a remote control box 1707, and switch boxes 1709, 1711, 1713 are provided.

The personal computer 1701 has a plurality of I / O interfaces 1715 and serial interfaces 17
17 and each I / O interface 1715 has
The pan heads 1301 and 1501, the control terminals 1719 of the switch boxes 1709, 1711 and 1713,
1721 and 1723, and the remote control box 171
3 is connected. Two of the serial interfaces 1717 are connected to one of the audio terminals 131 of the millimeter wave communication devices 1303 via a local modem 1725.
One input side is connected, and the other one is a mobile telephone device 1727 for backing up the millimeter wave communication unit 13 and connectable to a mobile radio telephone network by ISDN, for example.
Are connected via a modem 1729.

The monitor television 1703 (corresponding to the display means) is provided for displaying and outputting the image and the sound taken by the camera robots 3, and the first and second external input terminals 1731 and 1733. Is equipped with. The monitor television 1705 is the collimation television camera 13
07 and the 1st and 2nd external input terminals 1735 and 1737 are provided in order to selectively display the image | video image | photographed by the surveillance television camera 1503.

The remote control box 1707 is used for various operations of the camera robots 3 and the pan heads 1301 and 15 of the millimeter wave communication units 13 and the monitoring unit 15.
01, and each switch box 170
9, 1711, 1713 are provided for remote control of the switching operation, and a plurality of target designating switches 1739 for designating a remote control target, and an operation lever 1 including a joystick or the like for inputting the content of the remote control.
741 and.

A signal corresponding to the contents of the remote operation input by the operation lever 1741 is sent to the personal computer 1701.
Via the I / O interface 1715 or serial interface 1717 of
1, the switch boxes 1709, 1711, 17
13, among the millimeter wave communication devices 1303, and the mobile phone device 1727, the data is selectively output to any one of the remote operation targets designated by the target designation switch 1739.

The switch box 1709 is provided to select an input system of video and audio signals to be output to the monitor television 1703, and two input terminals 17 are provided.
43 and one output terminal 1745, the output side of the other audio terminal 1311 of each of the millimeter wave communication devices 1303 is connected to the two input terminals 1743, and the output terminal 1745 is the first terminal of the monitor television 1709. 1 external input terminal 1731.

The switch box 1711 is provided for selecting an input system of a video signal output to the monitor television 1705, and three input terminals 1747 and 1747 are provided.
Two output terminals 1749, and each of the input terminals 174
7 are connected to the image output terminals of the collimation television camera 1307 of each of the millimeter wave communication units 13 and the surveillance television camera 1503 of the surveillance unit 15, and the output terminal 1749 is the first external input of the monitor television 1705. It is connected to the terminal 1735.

The switch box 1713 displays the video transmitted from the camera robot 3 side via the mobile radio telephone network and the mobile telephone device 1727 during the backup operation on the monitor televisions 1703, 170.
5, one output terminal 1751 and two output terminals 1753 are provided for selectively outputting to one of the output terminals 5, and the codec 1729 is connected to the input terminal 1751. Monitor tv 1
Second external input terminals 1733 and 173 of 703 and 1705
Connected to 7. The audio signal of the video transmitted from the camera robot 3 side during the backup operation is
It is directly input from the modem 1729 to the monitor television 1703.

The camera robot 3 communicates with the remote operation point 1 at a place away from the remote operation point 1 where the naked eye or the television camera cannot directly monitor the situation. The camera robots 3 are arranged at locations where there are no obstacles that obstruct them, and as shown in FIG.
Is provided with a traveling carriage 31, which is movable by remote control from the remote control point 1, a millimeter wave communication unit 33, a monitoring unit 35, and a relay communication unit 37.

FIG. 3 shows the traveling vehicle 31, the millimeter wave communication unit 33, the monitoring unit 35, and the relay communication unit 3.
It is a schematic block diagram of 7. As shown in FIG. 3, the traveling carriage 31 includes a chassis 3101, drive wheels 3103 and steering wheels 3105 that support the chassis 31 so that the chassis 31 can travel, and electric motors for traveling and steering that are installed on the chassis 3101 ( A base 3107 accommodating (not shown) etc., and the chassis 31
01 is provided with a power transmission mechanism, a control system (both not shown) and the like, and a gasoline generator 3111 which is a power source of the electric motor.

The millimeter wave communication unit 33 is provided for communication with the remote operation point 1, and is configured in substantially the same manner as the millimeter wave communication unit 13 of the remote operation point 1, and the platform 330.
1, a millimeter wave communication device 3303, an antenna 3305, and a collimation television camera 3307 (corresponding to a photographing means),
The platform 3301 is erected on the base 3107, and the millimeter wave communication device 3303 has two audio terminals 3311.
A video terminal 3313 of one system is provided, and a microphone 3315 is attached to the collimation television camera 3307. In the present embodiment, the millimeter wave communication device 3
The 303 and the antenna 3305 constitute a first communication means on the camera robot 3 side.

The monitoring unit 35 is provided for monitoring the condition of the periphery of each of the camera robots 3 and has a structure similar to that of the monitoring unit 15 of the remote operation point 1.
501, surveillance TV camera 3503, collimation lamp 3
505, the platform 3501 is erected on the base 3107 together with the platform 3301, and a microphone 3507 is attached to the surveillance TV camera 3503.

The relay communication unit 37 is provided for communication with another camera robot 3 and for relaying communication between the other camera robot 3 and the remote operation point 1, and the relay communication unit 37 is provided. , A personal computer 3701, a UHF transmitter 3703, and a television receiver 3 with a built-in tuner
705 and wireless modem 3707 (corresponding to second communication means)
And a switch box 3711.

The personal computer 3701 has a plurality of I / O interfaces 3713 and a serial interface 37.
15 and one of the I / O interfaces 3713 is provided with the control terminal 3 of the switch box 3711.
717 is connected. Also, one of the serial interfaces 3715 is connected to one of the audio terminals 33 of the millimeter wave communication device 3303 via a local modem 3719.
11 is connected to the output side, the next one is connected to the wireless modem 3707, and the other one is connected to the millimeter-wave communication device 3303 for backup and is similar to the mobile telephone device 1727 at the remote operation point 1. Mobile telephone device 372 configured into
1 is connected via the modem 3723.

The UHF transmitter 3703 is used for the collimation television camera 3307 and the surveillance television camera 3.
Select the UHF video and audio captured in 503
It is provided for transmitting by a radio signal of the band. The TV receiver 3705 is the UHF of the other camera robot 3.
A UHF antenna 3725 is connected to the television receiver 3705, which is provided to receive and process a radio signal transmitted from the transmitter 3703. The wireless modem 3707 is connected to the millimeter wave communication devices 1303 and 3303.
It is provided to send the signal transmitted from the remote operation point 1 to the other camera robot 3 via, for example, a specific weak power type simple wireless device.

In this embodiment, the UHF transmitter 3703, the wireless modem 3707, and the UHF antenna 3725 have a maximum transmittable / receivable range of about 100 m and have no directivity in the communication direction. Therefore, according to these, it is possible to communicate with a partner in an arbitrary direction instead of being able to communicate only for a short distance.

The switch box 3711 is provided with the image and sound taken by the collimation television camera 3307.
One of the video and its audio captured by the surveillance TV camera 3503 and the video of the signal received and processed by the TV receiver 3705 and its audio is selectively transmitted to the remote operation point 1 or another camera robot 3. Provided for delivery to three input terminals 3727 and one output terminal 3729
It has and. Two of the input terminals 3727 are connected to video / audio output terminals of the collimation television camera 3307 and the surveillance television camera 3503,
The other one is connected to the television receiver 3705,
The output terminal 3729 is connected to the distributor 3731.

An audio signal separator 3733 and the UHF transmitter 3703 are connected to the distributor 3731, and the video and audio signals selected by the switch box 3711 are transmitted to the distributor 3731 through the distributor 3731. Signal separator 3733 and UHF transmitter 37
It is output to 03 and. The audio signal separator 3733 is
An audio signal component is separated from the video and audio signals selected and output by the switch box 3711, the audio signal component is output to the input side of the other audio terminal 3311 of the millimeter wave communication device 3303, and the remaining The video signal component of is output to the input side of the video terminal 3313 of the millimeter wave communication device 3303.

Next, a case where the camera robot 3 is moved by remote control from the remote control point 1 will be described. In the camera robot remote control system of the present embodiment, two camera robots 3 are moved by remote control as a set. First, the antenna 3305 of the millimeter wave communication unit 33 of one camera robot 3 and the antenna of the corresponding millimeter wave communication unit 13 of the remote operation point 1 are made to face each other, and the surveillance camera 3501 of the one camera robot 3 is set. The one camera robot 3 is installed in a state of being directed forward. At the same time, the other camera robot 3 is connected to the U camera between the one camera robot 3 and the other camera robot 3.
The HF transmitter 3703, the wireless modem 3707, and the UHF antenna 3725 are installed in a location within a range where wireless signals can be transmitted and received, and the other camera robot 3
The surveillance camera 3501 is directed forward.

Subsequently, the other camera robot 3 is moved from the remote operation point 1 by remote operation. In this case, the traveling cart 31 of the other camera robot 3 is set as a remote control target by the target designating switch 1739 of the remote control box 1707, and the operation is performed according to the moving direction and amount of the other camera robot 3. The lever 1741 is operated.

A signal corresponding to the content of the remote operation input by the operation lever 1741 is sent to the personal computer 170.
1, the local modem 1725, the millimeter wave communication device 1303 corresponding to the one camera robot 3, the millimeter wave communication device 3303 of the one camera robot 3, the local modem 371
9, the personal computer 3701, and the wireless modem 3707, and the wireless modem 3707 of the other camera robot 3
And is input to the personal computer 3701 of the other camera robot 3. As a result, the drive wheels 3103 and the steering wheels 3105 of the other camera robot 3 are driven, and the other camera robot 3 is moved according to the operation of the operation lever 1741.

During the movement of the other camera robot 3 by remote control from the remote control point 1, the image captured by the surveillance camera 3503 of the other camera robot 3 and the sound collected by the microphone 3507 are collected. A voice signal is transmitted via the switch box 3711, the distributor 3731, and the UHF transmitter 3703, and the signal is transmitted to the UHF antenna 3 of the one camera robot 3.
725 and the television receiver 3705. Furthermore, the video and audio signals are transferred to the switch box 3711, the distributor 3731, and the distributor 3731 of the one camera robot 3.
The signal is sent to the remote operation point 1 via the audio signal separator 3733 and the millimeter wave communication device 3303, received by the millimeter wave communication device 1303 at the remote operation point 1, and further input to the switch box 1709.

At the remote operation point 1, the switch box 1 is operated by operating the remote control box 1707.
709 while appropriately switching the monitor television 1703
And the surveillance camera 3503 of the other camera robot 3
Footage captured on the rooftop 1101 and the surveillance camera 1
Select and display one of the images shot in 503,
The other camera robot 3 is remotely controlled while watching the display.

As described above, when the other camera robot 3 is moved by the remote operation from the remote operation point 1, the image captured by the monitoring camera 3503 displayed on the monitor television 1703 is disturbed, for example. Is caused by the other camera robot 3 and the other camera robot 3, the UHF transmitter 3
703, wireless modem 3707, and UHF antenna 37
If it is determined that the camera robot 25 is out of the range in which the wireless signal transmission / reception by 25 can be performed, the movement of the other camera robot 3 is stopped.

Further, by operating the remote control box 1707, the collimation lamp 1505 of the monitoring unit 15 at the remote operation point 1 is turned on, and the switch box 1709 at the remote operation point 1 and the switch of the other camera robot 3 are turned on. The connection state of the box 3711 is switched, and the image captured by the collimation television camera 3503 of the other camera robot 3 is displayed on the monitor television 1703.
To display. The remote control box 1707
The remote control of the traveling carriage 31 of the other camera robot 3 and the platform 3301 of the millimeter wave communication unit 33 is performed by, for example, the light of the collimation lamp 1505 is projected in the center of the display screen of the monitor TV 1703. Then, the directions of the traveling carriage 31 and the collimation television camera 3503 are changed by remote control.

Then, by operating the remote control box 1707, the collimating lamp 3505 of the monitoring unit 35 of the other camera robot 3 is turned on, and the connection state of the switch box 1711 at the remote operation point 1 is switched. Collimation television camera 1 at the remote control point 1
The video image taken at 503 is displayed on the monitor television 1705. Then, by operating the remote control box 1707, the platform 1501 of the monitoring unit 15 is remotely operated, and for example, the light of the collimation lamp 3505 is projected in the center of the display screen of the monitor TV 1705.
The direction of the collimation television camera 1503 is changed by remote control.

As a result, the other camera robot 3
The antenna 3305 of the millimeter wave communication unit 33 and the antenna of the corresponding millimeter wave communication unit 13 of the remote control point 1 face each other, and the remote control point 1 and the other camera robot 3 are Communication device 1303,3
Direct communication is possible via 303. If the remote operation point 1 and the other camera robot 3 are in a state where they can directly communicate with each other via the millimeter wave communication devices 1303 and 3303, then the one camera robot 3 is performed in the same manner as described above. The remote operation from the remote operation point 1 is performed via the other camera robot 3, and thereafter, the other camera robot 3 and the one camera robot 3 are alternately operated from the remote operation point 1. Move by remote control.

Incidentally, the millimeter wave communication devices 1303 and 3303 and the UHF transmitter 37 are caused by some factors.
03, wireless modem 3707, and UHF antenna 372
When it becomes impossible to transmit / receive a wireless signal by the mobile telephone device 17, the mobile telephone device 17 is connected between the personal computers 1701 and 3701 of the remote control point 1 and the camera robot 3 to be remotely controlled.
27, 3721 and modems 1729, 3723 are communicated with to remotely operate the camera robot 3 to be remotely operated from the remote operation point 1. At this time, the collimation television camera 3 in the camera robot 3 to be remotely controlled.
The video images taken by 307 and the surveillance TV camera 3507 are the mobile telephone devices 3721 and 1727 and the modem 37.
23, 1729 and switch box 1713,
It can be transmitted to the remote operation point 1 as a still image, and the still image can be transmitted to the monitor televisions 1703, 17 of the remote operation point 1.
05 can be displayed on one side.

As described above, according to this embodiment, the millimeter-wave communication device 33 capable of performing long-distance communication, although it has a strong directivity, to the two camera robots 3 remotely operated from the remote operation point 1.
03 and a wireless modem 3707 capable of communicating with a partner in an arbitrary direction instead of only short distance communication, and at the remote operation point 1, two units corresponding to the millimeter wave communication device 3303 of each camera robot 3 are provided. A millimeter wave communication device 1303 is provided, and one camera robot 3 is connected to the millimeter wave communication device 13
03, 3303, it is made to stand still in a state where communication with the remote operation point 1 is possible, and a signal for remotely operating another camera robot 3 via the camera robot 3 is sent to the remote operation point 1 To millimeter wave communication device 1303
The data is transmitted to the other camera robot 3 through the 3303 and the wireless modem 3707.

For this reason, one of the two camera robots 3 is replaced with the camera robot 3 that is stationary and the camera robot 3 that is moved by remote control alternately.
By moving by remote control from the remote control point 1, the two camera robots 3 can communicate from the remote control point 1 within a communicable range by the millimeter wave communication devices 1303 and 3303. While maintaining such a state, it can be remotely operated in a direction away from the remote operation point 1 in an arbitrary direction.

In this embodiment, the camera robot 3 has two
Although the case where there are three or more camera robots 3 has been described, the method of the present invention can also be applied to the case where there are three or more camera robots 3. Also,
Although the camera robot 3 is taken as an example of the moving body in the present embodiment, other construction machines such as a crawler dump, a bulldozer, and a power shovel, a work robot that works in a radiation region, or a plurality of types of robots are used. The method of the present invention can be applied to the case where various mobile bodies are moved by remote control, such as when there are mixed objects. Then, when it is necessary to transmit a signal from the mobile body side to the remote operation point side as in the camera robot 3 of the present embodiment, for example, the signal is surely transmitted to the remote side through a route opposite to the signal for remote operation. Can be transmitted to the operating point.

Further, the structure for carrying out the method of the present invention is not limited to the same structure as that shown in this embodiment. For example, the same number of personal computers 1701 and television cameras 1703 and 1705 as the remote control point 1 and the camera robot 3 are provided, and instead of these, switch boxes 1709 and 1705 are provided.
711 and 1713 are omitted, the remote operation point 1 and the mobile telephone devices 1727 and 3721 of the camera robot 3 are omitted, and the monitor television 1705 at the remote operation point 1 is omitted, and the display is made on the monitor television 1705 in this embodiment. The displayed image may be switched to the monitor television 1703 so that it can be displayed.

[0045]

As described above, according to the present invention, at least two or more moving bodies which are configured to be movable by remote control are remotely operated from a fixed remote operating point distant from each moving body. A method for moving the mobile body and the remote operation point, the first communication means having directivity and capable of communicating within a range of a first distance, respectively. A non-directional second communication means capable of communication within a range of a second distance shorter than the first distance, the first communication means provided at the remote operation point, and at least one of the moving bodies. In a state in which it can communicate with the remote operation point via the first communication means, and a distance from the remote operation point to the stationary mobile object is the second distance. Remote control signals for other mobiles that are: By transmitting the remote control signal from the stationary mobile unit to the other mobile unit via the second communication unit while transmitting the signal via the first communication unit, the remote control signal can be obtained. Based on the remote operation point, the other moving body is moved within a range of the second distance or less from the stationary moving body, and after the moving, the other moving body is moved to the remote place. By the remote operation from the remote operation point based on the operation signal, the first
The remote control point is set in a communicable state via the communication means, and is made to stand still in this state. For this reason, while using a communication means having a high directivity, which is suitable for relatively long-distance communication, while transmitting a signal for remote operation from a fixed remote operation point to a mobile body, a relatively remote operation point is relatively transmitted from the remote operation point. It is possible to reliably move a mobile body in a desired direction by remote control at a place separated by a long distance.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration of a remote control system for a camera robot to which the method of the present invention is applied.

FIG. 2 is a millimeter-wave communication unit at a remote operation point shown in FIG.
It is a schematic block diagram of a monitoring unit and a remote control unit.

3 is a schematic configuration diagram of a traveling carriage, a millimeter wave communication unit, a monitoring unit, and a relay communication unit of the camera robot shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Remote operation point 1303 Millimeter wave communication device (first communication means) 1305 Antenna (first communication means) 1505 Collimation lamp (collimation target) 1703 Monitor TV (display means) 3 Camera robot (moving body) 3303 Millimeter wave communication Machine (first communication means) 3305 antenna (first communication means) 3307 collimation television camera (imaging means) 3707 wireless modem (second communication means)

Claims (2)

[Claims] 1. A method of moving at least two or more mobile bodies configured to be movable by remote control by remote control from a fixed remote control point distant from each of the mobile bodies. The moving body and the remote control point have directivity
First communication means capable of communicating within a range of distance are respectively provided, and further, second moving means capable of communicating within a range of a second distance which is omnidirectional and shorter than the first distance is provided to each of the mobile bodies. , At least one of the moving bodies is made to stand still in a state where it can communicate with the remote operation point via the first communication means, and is made to stand still from the remote operating point to the stationary moving body. A remote control signal for another mobile body whose distance from the mobile body is equal to or less than the second distance is transmitted via the first communication means, and the remote body is transferred from the stationary mobile body to the other mobile body. By transferring the operation signal via the second communication means, the remote operation from the remote operation point based on the remote operation signal causes the other mobile object to move from the stationary mobile object to the second mobile object. Move within a distance or less, After moving, the other moving body is brought into a state in which it can communicate with the remote operation point via the first communication means by remote operation from the remote operation point based on the remote operation signal, and in that state. A method for moving a moving body by remote control, which is characterized in that the moving body is stationary. 2. A photographing means connected to the second communication means is provided in each of the moving bodies, and a collimation target is provided at the remote operation point, and an image is taken by the photographing means connected to the first communication means. Display means for displaying an image is provided, and when the other moving body is brought into the state after the moving, the signal of the image taken by the image taking means of the other moving body is
The presence or absence of the collimation target in the image displayed on the display means based on the signal is transmitted to the remote operation point via the stationary moving body via the second and first communication means. The method of moving a moving body by remote control according to claim 1, wherein the other moving body is remotely operated from the remote operation point while confirming.