JPH11350535A - Remote operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote operation system capable of eliminating remodeling of a working car body, and easily and remotely operating the existing working car regardless of kinds of machines. SOLUTION: A case 21 housing a part of a working car side unit 20 is set in the operation room 101 of a working car 10, first operation parts 30, 31 operating working levers 106, 107 are supported on the right and left side walls, and second operation parts 40, 41 operating traveling levers 108, 109 are supported on the front wall of the case 21. Operation instruction information in response to the operation of the joystick 506 or 509 of an operation unit 50 which an operator operates is transmitted from the transmitter 502 of an operation unit 50 to the receiver 208 of the working car side unit 20, and the working car side unit 20 drives and controls the first and second operation parts 30, 31, 40, 41 on the basis of the transmitted operation instruction information, so that the working car 10 is remotely controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control system suitable for remotely controlling a work vehicle at a disaster recovery site where workers cannot enter.

[0002]

2. Description of the Related Art Conventionally, when remotely controlling a working vehicle such as a crawler dump or a back fork at a disaster recovery site where workers cannot enter, a handle or lever itself for operating the working vehicle must be provided by a model or a manufacturer. Separately, the work vehicle body was modified so that it could be remotely controlled, the control device of the modified work vehicle and the remote control device were connected by a wireless line, and the joystick device for remote control of the remote control device was operated. , The work vehicle on the slave side was remotely controlled.

[0003]

However, in the above-mentioned conventional remote control system, there is a problem that the work vehicle body needs to be remodeled for each model or maker, so that cost and time are required. For this reason, even if excavation or transportation of earth and sand is carried out urgently at a disaster recovery site where workers cannot enter, the existing work vehicle cannot handle it, and disaster recovery work will be carried out if there is no modified work vehicle for remote control equipment. It became impossible and there was a lack of urgency. The present invention has been devised in view of the above circumstances, and an object of the present invention is to provide a remote control that makes it unnecessary to modify a main body of a work vehicle and that can easily remotely control an existing work vehicle regardless of the model. It is to provide a system.

[0004]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a method for driving a vehicle in which a swing in a first direction and a swing in a second direction intersecting the first direction at a predetermined angle are provided. A remote operation system for remotely operating a work vehicle provided with a first operation member operated by a combination of movements, comprising: an operation unit having a first operation unit for operating the first operation member; An operation driving unit that drives the first operation unit; an information generation unit that generates operation command information based on an operation for remotely operating the first operation unit; Communication means for transmitting the operation command information; and control means for controlling the operation drive means based on the transmitted operation command information, wherein the first operation unit is configured to supply and discharge fluid to and from the cylinder body. The piston rod A direct-acting fluid cylinder that linearly moves in and out of the cylinder body; and a rotary fluid cylinder in which a piston rod rotates with respect to the cylinder body by supplying and discharging fluid to and from the cylinder body. The dynamic fluid cylinder has a distal end of a piston rod connected to the first operating member, and is disposed. The rotary fluid cylinder has a cylinder body supported on the cab side, and has a straight end at a distal end of the piston rod. The cylinder body of the dynamic fluid cylinder is swingably supported. Further, according to the present invention, a second operation member is swingably disposed in a cab of the work vehicle, and the operation means includes a second operation section driven by the operation drive means, The generation unit generates operation command information based on an operation for remotely operating the second operation unit, and the second operation unit causes the piston rod to move to the cylinder body by supplying and discharging fluid to and from the cylinder body. A direct-acting fluid cylinder that linearly moves in and out of the cylinder, wherein the direct-acting fluid cylinder has a cylinder main body that is swingably supported on the cab side, and a tip of a piston rod is the second operating member. Characterized in that they are connected to and arranged in Further, in the present invention, a housing accommodating the operation drive unit, a part of the communication unit, and the control unit is installed in the cab, and the first operation member is provided with the first operation member. A work lever for causing the work vehicle to perform various operations by swinging in the first and second directions, and the second operation member is a travel lever for running the work vehicle. The work lever is provided at a position on the left and right side in front of the housing, and the traveling lever is provided in front of the housing so as to be arranged side by side on the left and right. , And two operation units are provided. Further, according to the present invention, the cylinder body of the rotary fluid cylinder constituting the first operation portion is supported on left and right side walls of the housing, respectively, and the linear motion fluid constituting the second operation portion is provided. The cylinder body of the cylinder is supported by a front wall of the housing. Further, in the present invention, the direct-acting fluid cylinder and the rotary fluid cylinder are operated by supply and discharge of compressed air, and the operation driving means includes an air compressor and the direct-acting And a pneumatic servo valve for controlling the supply and discharge of compressed air to and from each of the rotary fluid cylinders. Further, in the present invention, the operation drive means may include a position sensor for detecting a position of a piston rod of the direct-acting fluid cylinder, an angle sensor for detecting a rotation angle of a piston rod of the rotary fluid cylinder, A pneumatic servo valve control device that servo-controls the pneumatic servo valve based on a command from a control unit and a detection result of the position sensor and the angle sensor. Also, in the present invention, the information generation means outputs a remote operation side operation member corresponding to each of the first and second operation members and a detection signal according to an operation position of each of the remote operation side members. And an operation command information generation unit that generates the operation command information according to each of the detection signals.

According to the present invention, a direct-acting fluid cylinder having a distal end of a piston rod connected to the first operating member, and a direct-acting fluid cylinder having a cylinder body supported on an operator cab side and having a distal end of the piston rod. A first operation unit including a rotary fluid cylinder that swingably supports the cylinder body is provided, and the operation command information generated by the information generation unit is transmitted by the communication unit, and the transmitted operation command information is transmitted to the transmitted operation command information. The drive of the first operation unit is controlled based on this. Therefore, it is not necessary to modify the work vehicle body, and the existing work vehicle can be easily remotely controlled regardless of the model.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of a remote control system according to the present invention, and FIG. 2 shows a state in which a work vehicle side unit constituting a part of the remote control system is set in a driver's seat of the work vehicle. FIG. 3 is a plan view and FIG. 3 is a block diagram showing the configuration of the remote control system.

First, in FIG. 1 and FIG. 2, reference numeral 10 denotes excavation of earth and sand at a disaster recovery site where workers cannot enter.
It is a work vehicle such as a crawler dump or a back four that is engaged in work such as transportation. A driver's cab 1 is provided on the left and right sides of a driver's seat 102 installed in a driver's cab 101 of the work vehicle 10.
Two armrests 103 are erected from the floor wall 01, respectively, and two working levers (corresponding to the first operation member in the claims) 106 and 107 are arranged from the upper front of each armrest 103. It is arranged in a state inclined diagonally forward. These working levers 106 and 107 swing in the front-back direction (corresponding to a first direction in the claims) and in the left-right direction crossing the front-back direction (corresponding to the second direction in the claims). The operation for performing various operations by the work vehicle is performed by a combination of the swings. In front of the driver's seat 102, two
Two travel levers (corresponding to the second operation member in the claims) 108 and 109 are arranged side by side. The traveling levers 108 and 109 are configured to swing in the front-rear direction to perform an operation for traveling the work vehicle.

In the driver's cab 101, the driver's seat 102 is removed in advance, and a portion of the floor wall where the driver's seat 102 is fixed is provided with a housing for accommodating a part of the work vehicle side unit 20 described later. The lower part of the body 21 is fixed. Case 2
Reference numeral 1 denotes a configuration in which first to third housings 202, 204, and 206 are stacked on a floor wall in this order and are integrally fixed, and a lower portion of the first housing 202 is a screw or the like. Are fixed to the floor wall. It is needless to say that the housing 21 may be provided integrally. In addition, in front of the housing 21, a work vehicle-side unit 20 is provided.
A power generator 22 for supplying power to the floor is fixed to the floor wall by similar fixing means.

The first housing 202 houses an air compressor 203 for supplying compressed air to each of the air cylinders 304, 314, 404 described below. The second housing 204 is provided with a pneumatic servo valve control device 21 described later.
4. A / D conversion circuit 216, D / A conversion circuit 218, and pneumatic servo valves 220, 222, 224 are accommodated. The third housing 206 includes a communication control circuit 210 described later.
And a central control unit 212.

On the left and right side walls of the housing 21, two first operating portions 30, 31 for operating the two working levers 106, 107 are supported, and on the front wall of the housing 21,
Operate the two traveling levers 108 and 109, respectively.
Two second operation units 40 and 41 are supported.

The first operating section 31 on the left side includes a direct-acting air cylinder 306 in which the piston rod 302 linearly moves in and out of the cylinder body 304 by supplying and discharging air to and from the cylinder body. Each of the air cylinders 314 includes a rotatable air cylinder 314 in which the piston rod 310 rotates with respect to the cylinder body 312 by supplying and discharging air to and from the cylinder 308.

A connecting member 302A is provided at the tip of the piston rod 302 of the direct-acting air cylinder 306, and the connecting member 302A
2 and the working lever 106 are connected.

The cylinder body 304 of the rotary air cylinder 314 is fixed to the left and right side walls of the second housing 204A by a fixing means such as a screw.
A connecting member 310A is provided at the tip of the air cylinder 306. The connecting member 310A supports a pin (not shown) protruding from the outside of the cylinder body 304 of the air cylinder 306 to support the cylinder body 304 of the air cylinder 306. Is swingably supported in the vertical direction.

The air cylinder 306 is disposed so that the piston rod 302 is protruded and retracted in the front-rear direction, and the air cylinder 314 is disposed so that the piston rod 310 is rotated left and right. Therefore, the working lever 106 is operated in the front-rear direction by driving the air cylinder 306, and is operated in the left-right direction by driving the air cylinder 314. The first operation unit 30 on the right side is configured in the same manner as the first operation unit 31 on the left side described above, and a description thereof will be omitted.

The second operating section 41 on the left side is provided with an air cylinder 406 in which a piston rod 404 linearly moves in and out of the cylinder body 402 by supplying and discharging air to and from the cylinder body 402.

A pin (not shown) is provided on the cylinder body 402 so as to protrude outward, and this pin is used for the first housing 202A.
The air cylinder 306 is supported swingably in the vertical direction by being pivotally supported by a connecting member (not shown) provided on the front wall of the air cylinder. At the tip of the piston rod 404, a connecting member 404A is provided.
Thus, the piston rod 404 and the traveling lever 108 are connected. The air cylinder 406 is disposed so that the piston rod 402 protrudes and retracts in the front-rear direction.
Therefore, the working lever 108 is
Is operated in the front-rear direction by the drive.
The second operation unit 30 on the right side has the same configuration as the second operation unit 41 on the left side described above, and a description thereof will be omitted.

In FIG. 1, reference numeral 208 denotes a second housing 204.
Is a wireless device connected to the communication control circuit 210 housed in the work vehicle 10.

In FIG. 1, reference numeral 50 denotes a remote control unit operated by an operator. The remote control unit 50 includes a radio device 502 for transmitting operation command information to be described later to the radio device 208 via a radio line, and an operation console 504 connected thereto. ing. Operation console 5
04, the operating levers 106 and 107 and the traveling lever 10
Four joysticks corresponding to 8 and 109 (corresponding to remote operation side operation members in the claims) 506 and 50
8, 510 and 512 are provided, respectively.

Next, the configuration of the remote control unit and the work vehicle side unit will be described in detail with reference to FIG. The console 504 of the remote operation unit 50 includes joysticks 506 to 509 and an angle sensor 510 that generates a detection signal indicating an angle corresponding to each operation position in response to the operation of the joysticks 506 to 509 (claims). , An A / D conversion circuit 512 for A / D converting the above detection signals, and an A / D
Based on the digital signal input from the conversion circuit 512, the working levers 106, 107 and the traveling levers 108, 1
Central control device (corresponding to an operation command information generating unit in the claims) 5 for generating operation command information for operating 09
14 and a communication control circuit 516 for controlling the operation of the wireless device 502 and transmitting the operation command information from the wireless device 502 to the wireless device 208 on the work vehicle side. The central control device 514 is constituted by, for example, a microcomputer. In addition, each of the joysticks 506 to 5
09, the angle sensor, and the central control unit 514 constitute an information generating unit. In addition, in addition to the configuration using the joystick described above, an operation switch that can input an operation position by an operation similar to the joystick (for example, a cross-shaped operation switch provided in a game machine or the like) is used as a remote operation side operation member. It is also possible to use. In the present embodiment, the working lever 1
06, 107 and running levers 108, 109
Although two joysticks (remote operation side operation members) are provided, two joysticks (remote operation side operation members) are provided, and a changeover switch for switching an operation target between a work lever and a travel lever is provided. Thus, the objects operated by the two joysticks can be controlled by the work levers 106 and 107 and the travel levers 108 and 10.
9 may be switched.

The work vehicle unit 20 is provided with pneumatic servo valves 220, 222, and 224 corresponding to the air cylinders 306, 314, and 406, respectively. It is configured to be supplied to each of the air cylinders 306, 314, 406 via the pressure servo valves 220, 222, 224.

Each of the air cylinders 306 and 406 has a position sensor 2 for detecting the position of the piston rod.
26 and 230 are provided, and each air cylinder 314 is provided with an angle sensor 228 for detecting the angle of the piston rod.

The work vehicle-side unit 20 includes the above-described radio device 208 and a communication control circuit 210 that controls the operation of the radio device 208 and receives operation command information transmitted from the radio device 502. A central control unit (corresponding to control means in the claims) 212 for instructing the pneumatic servo valve control unit 214 on the operation amounts of the working levers 106 and 107 and the traveling levers 108 and 109 based on the operation command information.
And a pneumatic servo valve control device 214. Central controller 212 and pneumatic servo valve controller 2
Reference numerals 14 each include, for example, a microcomputer.

The pneumatic servo valve control device 214 receives instructions from the central control device 212 and the position sensors 22 described above.
6, 230, and the servo signals of the pneumatic servo valves 220, 222, 224 based on the detection signals of the angle sensor 228. That is, each digital signal output from the pneumatic servo valve control device 214 is converted into each analog signal by the D / A conversion circuit 218,
Each pneumatic servo valve 220, 222, 224 is based on each analog signal given from the / A conversion circuit 218,
The air supplied to each of the air cylinders 306, 314, 406 is controlled.

On the other hand, detection signals from the position sensors 226 and 230 and the angle sensor 228 are converted into digital signals via an A / D conversion circuit 216, and these digital signals are input to the pneumatic servo valve control device 214. It has become so. Therefore, the pneumatic servo valve control device 21
4 monitors the position and angle of each air cylinder 306, 314, 406 while monitoring each air cylinder 306, 314, 4
06 is controlled.

Next, the operation of the remote control system according to the present embodiment configured as described above will be described. When remotely operating the work vehicle 10 at a disaster recovery site where workers cannot enter, the driver's seat 102 in the cab 101 of the work vehicle 10 is removed, and the first to third housings 202, 2
04 and 203 and the power generator 22 are fixed to the floor wall of the cab 101. Then, the connecting members 302A of the first operating means 30, 31 are connected to the working levers 106, 107, respectively, and the second operating means 40,
The 41 connecting members 404A are respectively connected. In this manner, the work of attaching each part to the work vehicle 10 can be easily performed.

Then, the engine of the work vehicle 10 is turned on to set it in an operable state, and the power generator 22 is operated to supply necessary power to the work vehicle-side unit 20. The pneumatic servo valve control device 214 is set to an initial state.

Next, the power of the console 504 is turned on, and the central controller 514 is set to an initial state. By operating the joysticks 506 to 509 of the console 504, detection signals indicating angles corresponding to the respective operation positions of the joysticks 506 to 509 are input from the angle sensor 510 to the A / D conversion circuit 512.

The A / D conversion circuit 512 converts the detection signal into a digital signal and inputs the digital signal to the central control unit 514. The central control device 514 is configured to control the operation levers 106 and 107 and the traveling levers 108 and 1 based on the input digital signal.
The operation command information for operating 09 is generated, and the operation command information is provided to the communication control circuit 516. The communication control circuit 516 transmits the input operation command information from the wireless device 502 to the wireless device 208 of the work vehicle-side unit 20.

The wireless device 208 gives the received operation command information to the communication control circuit 210. This communication control circuit 210
Inputs operation command information to the central control device 212. The central control unit 212 gives a command to drive and control each of the air cylinders 306, 314, 406 to the pneumatic servo valve control unit 214 based on the input operation command information. This command corresponds to the position of the piston rods 302 and 402 of the air cylinders 306 and 406 and the angle of the piston rod 310 of the air cylinder 314.

The pneumatic servo valve control device 214 having received the above command outputs another digital signal to the D / D converter in response to the command.
An analog signal converted by the D / A conversion circuit 218 is supplied to each pneumatic servo valve 2.
20, 222, and 224.

Each pneumatic servo valve 220, 222, 22
Reference numeral 4 controls air supplied to each of the air cylinders 306, 314, and 406 based on the input analog signal. Further, the pneumatic servo valve control device 214 monitors a detection signal converted from each of the position sensors 226 and 230 and each of the angle sensors 228 into a digital signal input via the A / D conversion circuit 216. Based on the detection signal, the piston rods 302, 40 of each air cylinder 306, 406
The drive control of each pneumatic servo valve 220, 222, 224 is performed so that the position of 2 and the angle of each air cylinder 314 match the command given from the central controller 212.

As a result, each air cylinder 306, 31
4 and 406 are driven according to the operation of the joysticks 506 to 509, respectively, whereby the working lever 106,
The work vehicle 10 can be remotely operated by operating the 107 and the travel levers 108 and 109. When the working levers 106 and 107 are operated by the air cylinders 306 and 406, a force that swings the air cylinder 306 up and down acts.
4 is supported at the tip of the piston rod 310 of the air cylinder 314 so as to be able to swing vertically, so that no excessive force acts on each of the air cylinders 306 and 406. Further, the travel lever 10 is controlled by the air cylinder 314.
When the air cylinder 314 is operated,
A force that swings up and down acts on the air cylinder 314.
The cylinder body 404 is supported by the front wall of the housing 21 so as to be swingable in the vertical direction.
No excessive force acts on 4.

Therefore, the operator can remotely control the work vehicle 10 by operating the joysticks 506 to 509 of the console 504 while watching the work vehicle 10.

Further, in the present embodiment, the first operating units 20 and 21 and the second operating units 40 and 41 constitute operating means. An air compressor 203,
Pneumatic servo valve control device 214 and A / D conversion circuit 2
16, the D / A conversion circuit 218, and the pneumatic servo valve 2
20, 222, 224 and position sensors 226, 230,
The angle sensor 280 forms an operation driving unit. Communication control circuits 210 and 516 and wireless devices 208 and 5
02 constitutes communication means. Instead of transmitting and receiving the operation command information via a wireless line, the operation command information may be communicated via a wire.

In the present embodiment, since the air cylinders 306, 314, and 406 are used, they can be used in a humid or dusty environment. Further, since the air cylinder has a self-cooling effect due to the adiabatic expansion of the working air, there is an advantage that the heat generated by the air cylinder during driving is small and the temperature inside the cab of the working vehicle can be prevented from rising. Further, even if an overload occurs in the piston rod of the air cylinder due to a control mistake or malfunction, the air cylinder exerts a small force on the working lever and the traveling lever connected to the cylinder body and the piston rod, so that they are damaged. There is an advantage that there is little fear. Also, since the air cylinder has a low sliding resistance of the piston rod with respect to the cylinder body, when the supply pressure of the compressed air to the air cylinder is released, the working lever and the traveling lever return to the neutral position by themselves, and the operation of the work vehicle is started. Can be stopped. Therefore, safety when the remote operation system stops can be ensured.

In this embodiment, the air cylinder 3
Although 06, 314, and 406 were used, the present invention is not limited to this, and direct-acting and rotating fluid cylinders using other fluids may be used. Further, in the present embodiment, the work lever is shown as the first operation member operated by the first operation unit, but the present invention is not limited to this. The first operation member may be any member that can be operated by a combination of a swing in the first direction and a second swing that intersects the first direction at a predetermined angle. It may be a steering wheel or an engine key. In the present embodiment, the travel lever is shown as the second operation member operated by the second operation unit.
The present invention is not limited to this. The second operation member may be any member that can be swingably disposed and operated, and may be, for example, an accelerator pedal (accelerator lever).

[0037]

As is clear from the above description, the present invention
Work in which a first operation member that is operated by a combination of swinging in a first direction and swinging in a second direction crossing the first direction at a predetermined angle is disposed in a cab. A remote control system for remotely controlling a vehicle, comprising: an operation unit having a first operation unit for operating the first operation member; an operation drive unit for driving the first operation unit;
Information generation means for generating operation command information based on an operation for remotely operating the first operation unit; communication means for transmitting the operation command information generated by the information generation means; Control means for controlling the operation drive means based on operation command information, wherein the first operation section linearly moves the piston rod into and out of the cylinder body by supplying and discharging fluid to and from the cylinder body. A direct-acting fluid cylinder, and a rotary fluid cylinder in which a piston rod rotates with respect to the cylinder body by supply and discharge of fluid to and from the cylinder body.
The tip of a piston rod is disposed so as to be connected to the first operating member. The rotary fluid cylinder has a cylinder body supported on the cab side, and the cylinder of the direct-acting fluid cylinder is held at the tip of the piston rod. The main body is swingably supported.

[0038] Therefore, a direct-acting fluid cylinder having a distal end of a piston rod connected to the first operating member, and a cylinder body of the direct-acting fluid cylinder having a cylinder body supported on the cab side and having a distal end of the piston rod. A first operation unit including a rotary fluid cylinder that swingably supports the first operation unit, transmits operation command information generated by the information generation unit by the communication unit, and performs a process based on the transmitted operation command information. The drive of the first operation unit is controlled. Therefore, it is not necessary to modify the work vehicle body, and the existing work vehicle can be easily remotely controlled regardless of the model.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a remote control system according to the present invention.

FIG. 2 is a plan view showing a state in which a work vehicle side unit constituting a part of the remote control system is set on a driver's seat of the work vehicle.

FIG. 3 is a block diagram showing a configuration of the remote control system.

[Explanation of symbols]

106, 107 Working lever (first operating member) 108, 109 Traveling lever (second operating member) 203 Air compressor 212 Central control device (control means) 214 Pneumatic servo valve control means 220, 222, 224 Pneumatic servo Valves 226, 230 Position sensor 228 Angle sensor 30, 31 First operating unit 306 Air cylinder (direct-acting fluid cylinder) 314 Air cylinder (rotating fluid cylinder) 40, 41 Second operating unit 406 Air cylinder (direct 506, 507, 508, 509 Joystick (remote operation side operation member) 510 Angle sensor (operation position sensor) 514 Central control unit (operation command information generation unit)

Continuation of the front page (72) Inventor Masahiro Matsuoka 2-10-7, Hakata Station East, Hakata-ku, Fukuoka City, Fukuoka Prefecture Inside the Kyushu Regional Construction Bureau (72) Inventor Yoshiyuki Konomi 3435-5435 Takanocho, Kurume City, Fukuoka Prefecture Inside the Kyushu Technical Office (72) Inventor Seiji Miura 2--23 Carpenter, Miyazaki City, Miyazaki Prefecture Inside the Miyazaki Construction Office, Ministry of Construction (72) Inventor Masahiko Minami 4-6-115 Sendagaya, Shibuya-ku, Tokyo Inside Fujita Corporation (72) Inventor Hidehiro Sugi 4-6-115 Sendagaya, Shibuya-ku, Tokyo Inside Fujita Co., Ltd. (72) Inventor Kazuhiro Chayama 4-6-115 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd.

Claims (7)

[Claims] A first operating member, which is operated by a combination of a swing in a first direction and a swing in a second direction intersecting the first direction at a predetermined angle, is provided in a cab. A remote control system for remotely controlling an arranged work vehicle, comprising: an operation unit having a first operation unit for operating the first operation member; and an operation drive unit for driving the first operation unit. An information generation unit that generates operation command information based on an operation for remotely operating the first operation unit; a communication unit that transmits the operation command information generated by the information generation unit; Control means for controlling the operation drive means based on the operation command information, wherein the first operating portion linearly moves the piston rod into and out of the cylinder body by supplying and discharging fluid to and from the cylinder body. Direct acting type A fluid cylinder, and a rotary fluid cylinder in which a piston rod rotates with respect to the cylinder body by supply and discharge of fluid to and from the cylinder body. The rotary fluid cylinder is disposed so as to be connected to an operation member, the cylinder body is supported on the cab side, and the cylinder body of the direct-acting fluid cylinder is swingably supported at the tip of a piston rod. A remote control system. 2. The information generating device according to claim 2, wherein a second operating member is swingably disposed in a driver's cab of the work vehicle, and the operating means includes a second operating section driven by the operating driving means. The means generates operation command information based on an operation for remote-controlling the second operation unit, and the second operation unit is configured to cause the piston rod to move relative to the cylinder body by supplying and discharging fluid to and from the cylinder body. A linear motion type fluid cylinder that linearly moves up and down. The linear motion type fluid cylinder has a cylinder main body that is swingably supported on the cab side, and a tip of a piston rod is attached to the second operation member. 2. The remote control system according to claim 1, wherein the remote control system is connected and arranged. 3. The operation cab is provided in the cab,
A housing housing a part of the communication unit and the control unit is installed, and the first operating member is arranged to be swingable in the first and second directions. The second operating member is a traveling lever for traveling the work vehicle, and the work lever is located at a left and right side position in front of the housing. And two traveling levers are arranged side by side in front of the housing on the left and right, and two first operating parts and two second operating parts are provided correspondingly. The remote control system according to claim 2, wherein: 4. A direct-acting fluid cylinder constituting a second operation unit, wherein a cylinder body of a rotary fluid cylinder constituting the first operation unit is supported on left and right side walls of the housing, respectively. The remote control system according to claim 3, wherein the cylinder body is supported by a front wall of the housing. 5. The direct-acting fluid cylinder and the rotary fluid cylinder are operated by supply and discharge of compressed air, and the operation driving means includes an air compressor and the direct-acting fluid cylinder from the air compressor. 5. The remote control system according to claim 1, further comprising a pneumatic servo valve for controlling supply and discharge of compressed air to and from the fluid cylinder and the rotary fluid cylinder. 6. The operation drive unit includes a position sensor for detecting a position of a piston rod of the direct-acting fluid cylinder, an angle sensor for detecting a rotation angle of a piston rod of the rotary fluid cylinder, and the control unit. 6. A pneumatic servo valve control device which servo-controls the pneumatic servo valve based on a command from a means and a detection result of the position sensor and the angle sensor.
The remote control system according to any one of the above. 7. The information generating means according to claim 1, wherein
A remote operation side operation member corresponding to each of the operation members, an operation position sensor that outputs a detection signal corresponding to an operation position of each of the remote operation side members, and the operation command information according to each of the detection signals. The remote operation system according to any one of claims 2 to 6, further comprising an operation command information generation unit that generates the operation instruction information.