JP2006113858A - Method and system for supporting remote operation for mobile object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately grasp a surrounding situation of a mobile object and easily perform remote control even if a remote operator does not have the information related to a travelling environment of the mobile object in advance. <P>SOLUTION: A method for supporting a remote operation for a mobile object, which includes an imaging apparatus acquiring surrounding image information and a distance detection sensor detecting a distance up to an obstacle and moves by a remote operation of a remote operation part, comprises an obstacle map generating process of generating a two-dimensional obstacle map 104 from obstacle information acquired by the detection sensor; a superimposing processing process of superposing processing movable area information of the mobile object extracted from the map onto the image information 100 acquired by the imaging apparatus, and displays the image information and the superimposing processed area information on the same screen. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a remote operation support method and system for a mobile body that remotely operates the mobile body from a remote location based on image information acquired by an imaging device mounted on the mobile body such as a robot.

  Conventionally, in various plants or factories, unmanned mobile bodies such as robots that perform a desired work by running in places that are dangerous for humans to enter or places that are difficult for humans to enter are widely used. In addition, the spread of such mobiles is strongly desired for the purpose of saving labor in security patrols within buildings, especially nighttime security, and preventing secondary disasters in relief operations during disasters such as earthquakes and fires. Yes.

As a general remote control method for a moving body, the surrounding environment in front of the moving body is imaged by an imaging device such as a video camera mounted on the moving body and transmitted to an operator at a remote location. The image information is displayed on a monitor, and the target speed, direction, and the like of the moving body are commanded by an operation unit such as a joystick or a cross key while viewing the image.
However, the viewing angle of the video camera is narrow and there is a problem that it is difficult to grasp a sense of distance, so that the operation is much more difficult than the case of direct viewing and the burden on the operator is large. Therefore, there is a risk that mistakes may occur due to immaturity and fatigue of the operator, and the moving body cannot avoid dangers such as obstacles, or may collide with surrounding people or objects. As described above, it has been difficult to remotely control the moving body by relying only on the image information of the environment around the moving body.

As another remote operation method, a method using a distance detection sensor that acquires distance information such as an ultrasonic sensor, an infrared sensor, or a laser radar is also used. This is because the distance detection sensor is mounted on the moving body, the relative distance between the moving body and the obstacle is detected to acquire the obstacle information around the moving body, and based on this, the remote operator remotely moves the moving body. It is an operation method and is an excellent method for judging avoidance of obstacles.
However, the distance detection sensor outputs relative distance information about only one point of an obstacle that the detection wave reflects, and there is a problem that the amount of information that can be output is small and it cannot cope with a complicated environment.

  Therefore, in Patent Document 1 (Japanese Patent Application Laid-Open No. 11-149315), two-dimensional map information corresponding to a preset moving range of a moving object is added to a still image acquired by an imaging unit such as a CCD camera provided in the moving object. Discloses a method of displaying an image superimposed on the image display device as a perspective view. Thereby, a sense of distance can be supplemented to the still image by the imaging means, and remote operation becomes easy. However, the problem of this method is that it is not applicable when a map of a place to move in advance, such as a reconnaissance robot, is not always available because map information of a place to move to is necessary.

In Patent Document 2 (Japanese Patent Publication No. 2003-532218), various information such as a camera image, a panoramic image, an overview image, or a robot posture is presented on one screen as a method for presenting to a remote operator. Thus, a user interface that is easy for an operator to operate is proposed.
However, when assuming indoor movement where there are many narrow spaces and obstacles, such as reconnaissance robots, it is not possible to quantitatively present whether or not the robot can pass through the narrow space only with these raw information. Therefore, there has been a problem that the operation of the moving body has to rely on the operator's satisfaction and lacks accuracy.

JP-A-11-149315 Special table 2003-532218 gazette

  Therefore, in view of the above-mentioned problems of the prior art, the present invention can accurately grasp the situation around the moving body even when the remote operator does not know the information related to the traveling environment of the moving body in advance. It is an object of the present invention to provide a remote operation support method and system for a moving body that can be operated.

Therefore, in order to solve this problem, the present invention provides:
In a method for supporting remote operation of a moving body that is mounted with an imaging device that acquires surrounding image information and a distance detection sensor that detects a distance to an obstacle, and that is moved by remote operation of a remote operation unit,
In the remote operation unit, an obstacle map generation process for generating a two-dimensional obstacle map from the obstacle information acquired by the distance detection sensor, and image information acquired by the imaging device is extracted from the obstacle map. A superimposition process for superimposing the movable area information of the moving object,
The image information and the superposed moving area information are displayed on the same screen of the remote control unit.

According to the present invention, since the direction in which the moving body can pass can be easily visually confirmed on the real screen together with the image information, the operability is improved. That is, by including not only the image information captured by the moving body but also the obstacle information detected by the distance detection sensor in the image information, it is possible to quantitatively present a region through which the moving body can pass. Operation accuracy is improved. Further, since these are displayed on the same screen, the remote operator can easily see and the operability is improved.
The movable area can be displayed by hatching the movable area, or by providing a band-like space at the top or bottom of the image. In addition to hatching, the possibility of passing according to the distance to the obstacle and the moving speed can also be indicated by color or change in shade. When the movable area is displayed, the movable area may be indicated by distinguishing the non-movable area where the obstacle is present from others by the method described above.

Further, the obstacle map and the movement trajectory of the moving body are sequentially accumulated in a database of the remote operation unit, and a plurality of obstacle maps accumulated in the database are fused in the remote operation unit, and the moving body And a moving map generation process for generating a two-dimensional moving map by providing the moving locus, and displaying the moving map on another screen.
In this way, past obstacle maps and movement trajectories are accumulated along with the movement of the moving body, and a moving map is generated, so that the moving map can be moved even if the traveling environment map cannot be obtained in advance. By using together with the image information on which the possible area is superimposed, the operation state can be easily grasped, and the operability is improved.

Further, the superimposing process is performed only when selection is made to superimpose the movable area information on the image information in the superimposing process.
According to this, since the movable area can be prevented from being displayed on the screen, the operator can view the image without affecting the visibility of the real screen when the work needs to be performed with clear image information. Information can be easily confirmed.

Further, as an invention of the system, a moving body that includes an imaging device that acquires surrounding image information, a distance detection sensor that detects a distance to an obstacle, and moves by remote operation,
In a remote operation support system for a moving body, comprising: an image display device that displays the image information; and an operating device that inputs an operation instruction for the moving body, and a remote operation unit that remotely operates the moving body.
An obstacle map generation device that generates a two-dimensional obstacle map based on the obstacle information acquired by the distance detection sensor by the remote control unit, and a movable body that is extracted from the obstacle map in the image information is movable A superimposition processing device that superimposes region information,
The image information and the movable area information superimposed by the superimposing processor are simultaneously displayed on one screen of the image display device.

In addition, the remote control unit fuses the obstacle map and a database that accumulates the movement trajectory of the moving object, and a plurality of obstacle maps accumulated in the database, and provides the movement trajectory of the moving object. A moving map generating device for generating a two-dimensional moving map, and displaying the moving map on another screen of the image display device.
Furthermore, the superposition processing device further comprises selection means for selecting whether to superimpose the movable area information on the image information.

Furthermore, the remote control unit includes teaching means for teaching a moving target point of the moving body based on a superimposed image displayed on the image display device.
This makes it possible to smoothly move the moving object by teaching one or more moving target points in advance in situations where there is a time delay in communication and real-time remote control by the remote control unit is difficult. .

Further, the remote operation unit includes means for calculating a predicted movement position of the mobile body in the movable region and displaying the predicted movement position on a superimposed image displayed on the image display device. And
Thus, by presenting the image through which the moving body passes to the remote operator on the real screen by simulation, the operator can easily confirm the image.

As described above, according to the present invention, the direction in which the moving body can pass can be easily visually confirmed on the real screen together with the image information, so that the operability is improved. That is, by including not only the image information captured by the moving body but also the obstacle information detected by the distance detection sensor in the image information, it is possible to quantitatively present a region through which the moving body can pass. Operation accuracy is improved. Further, since these are displayed on the same screen, the remote operator can easily see and the operability is improved.
In addition, by accumulating past obstacle maps and movement trajectories as the moving body moves and generating a moving map, the moving map can be moved to the movable area even when the traveling environment map cannot be obtained in advance. By using together with the image information on which is superimposed, the operation status can be easily grasped, and the operability is improved.
Furthermore, since the superimposing process is performed only when the selection for superimposing the movable area information on the image information is performed, the movable area information can be prevented from being displayed on the screen. When it becomes necessary to perform work based on image information, the operator can easily confirm the image information without affecting the visibility of the actual screen.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, but are merely illustrative examples. Not too much.
In this embodiment, a robot such as a reconnaissance robot that collects information in an unknown work space as a moving body is used as an example. Here, the robot may be a machine having a manipulation function or may not be a machine. In the present embodiment, the traveling environment of the robot is not limited, but the remote operation support system of the present embodiment can be suitably used particularly in an indoor space where an obstacle or a narrow portion exists.

1 to 5 show diagrams relating to a remote operation support system according to the first embodiment.
FIG. 1 is a diagram for explaining a screen display process of the remote operation support system according to the first embodiment of the present invention, in which a display screen (a) displaying image information and an obstacle map (based on distance detection sensor information) b) a display screen (c) in which a movable region is superimposed on image information, FIG. 2 is a perspective view of a robot used in this embodiment, and FIG. 3 is a two-dimensional movement generated from the obstacle map of FIG. FIG. 4 is an overall block diagram of the remote operation support system according to the present embodiment, and FIG. 5 is a flowchart showing a remote operation support algorithm according to the present embodiment.

As shown in FIG. 4, the system according to the present embodiment includes a remote operation device 10 in which various commands are input by a remote operator, and a robot 50 that performs unmanned traveling in accordance with the commands from the remote operator. Become.
As shown in FIGS. 4 and 3, the robot 50 includes a communication device 51 mounted on the robot 50, an imaging device 52, a distance detection sensor 53, and a drive device that constitutes a drive system of the robot 50. 54 and a drive control device 55.
The communication device 51 has a function of performing data communication with the remote operation device 10 directly or via a wireless line such as a wireless LAN or a wired line or connected to a network via the line. At this time, the robot 50 Alternatively, communication may be performed via a communication relay device such as a router or a host terminal provided separately.

The imaging device 52 captures a scene around the robot 50 as an electrical signal, converts the analog signal into a digital signal, performs compression processing as necessary, and outputs the image information as the image information via the communication device 51. 10 to send. For example, a CCD camera or the like can be used for the imaging device 52, and the acquired image information may be a moving image or a still image.
The distance detection sensor 53 detects a distance between at least an obstacle present in front of the robot 50 and the distance detection sensor 53, and acquires a relative position of the obstacle present in the sensor detection range. It has a function. As the distance detection sensor 53, for example, an infrared sensor, an ultrasonic sensor, a laser radar, or the like can be used. Preferably, a plurality of radial sensors are provided around the robot 50, and different types of sensors have cooperation. It is also preferable to provide a plurality.

  The driving device 54 is a means for the robot 50 to travel. For example, a wheel, a caterpillar, a leg, or the like can be used. In this embodiment, a case where a four-wheeled wheel is applied is shown as an example. In the drive device 54, the rotational speed and the steering angle are controlled by the drive control device 55 based on a command from the remote control device 10. The drive device 54 is provided with an encoder for detecting the rotational speed of the wheel and a gyro for detecting the traveling direction, and a dead reckoning device for obtaining the absolute position and traveling direction of the robot from the rotational speed and the traveling direction is attached. You may do it.

Further, the remote operation device 10 includes a communication device 11, an image processing device 12, a superimposition processing device 13, an obstacle map generation device 14, a database 15, a self-localization device 16, a movement map and a locus generation. A device 17, a changeover switch 18, an image display device 19, and an operating device 20 are provided.
The communication device 11 has a function of performing data communication with the robot 50 directly or via a wireless line such as a wireless LAN or a wired line or connected to a network via the line.

The image processing device 12 receives the image information acquired by the imaging device 52 mounted on the robot 50, and displays the image information on the image display device 19, so that the screen position, the image zoom, It has a function to adjust illuminance and the like.
The obstacle map generation device 14 calculates the distance and direction to the obstacle based on the center of the robot 50 based on the sensor information acquired by the distance detection sensor 53 mounted on the robot 50. An obstacle map is generated by plotting relative obstacle positions obtained by the above in two-dimensional coordinates. At this time, the obstacle map may be generated by converting the relative obstacle position into an absolute coordinate system.

The superimposing processor 13 superimposes the movable region information of the robot 50 extracted from the obstacle map generated by the obstacle map generator 14 on the image information acquired by the imaging device 52. Do. In the superimposition process, not the passable area but the non-passable area may be displayed, and the display form is not particularly limited.
At this time, whether or not to superimpose the passable area is determined based on a command from an operator, and image superimposition processing is performed only when the changeover switch 18 is turned on by an input from the operation device 20. Like that.
For the passable area when the superimposition process is performed, a display method such as changing the color tone of the screen, hatching, or displaying on the upper and lower ends of the screen can be adopted.

The database 15 stores sensor information acquired by the distance detection sensor 53, the obstacle map, the movement locus of the robot 50, and the like.
The self position locating device 16 positions the self position from the current positional relationship between the robot 50 and the obstacle based on past sensor information registered in the database 15.
As another method, the self position may be calculated while updating its own position data from the movement result data of the robot 50 including the travel distance detected by the encoder and the travel direction detected by the gyro.
The moving map and trajectory generating device 17 combines the past obstacle map information and the latest obstacle map information to generate a two-dimensional moving map, and the robot 50 derived by the self-positioning device 16 A two-dimensional movement map is generated by giving the past movement locus and the current position as the movement locus.

  The image display device 19 is a two-dimensional image generated by the obstacle map generation device 14 or image information such as a moving image or a still image sent from the imaging device 52 of the robot 50 according to the selection of the remote operator. An obstacle map, a two-dimensional moving map generated by the moving map and the trajectory generating device 17, and the like are appropriately displayed. At this time, two or more types of images can be displayed in a multi-window. The image display device 19 may be provided with a touch panel function so that an operator can input various information such as a movement target point of the robot 50 only by touching the screen. Further, the display image can be enlarged / reduced or translated / translated. It can be displayed freely by rotating. Examples of the image display device 19 include a liquid crystal display, a CRT display, a plasma display, and the like.

  The operation device 20 is operated by an operator and inputs an operation command for the robot 50, and can input at least a moving direction and a moving speed of the robot 50. For example, a joystick, a cross key, a keyboard, a microphone, or the like can be used. When a joystick is used for the operation device 20, operation information including the tilt angle and direction of the joystick is read, and a movement command based on the operation information is read to the robot 50 by the drive control device 55 of the robot 50. And the drive unit 54 is controlled so that the robot 50 travels in the corresponding movement direction and movement speed.

  Next, a screen display process of the remote operation support system according to the first embodiment will be described with reference to FIG. FIG. 1A is a diagram in which image information 100 around the robot 50 imaged by the imaging device 52 mounted on the robot 50 is displayed on the image display device 19 by the remote operation device 10. The traveling environment of the robot 50 is a room, and obstacles such as a chair 102 and a bookcase 103 exist in the room. FIG. 1B is an obstacle map 104 generated from the sensor information acquired by the distance detection sensor 53 of the robot 50. The obstacle 106 detected in a predetermined distance and a predetermined direction from the center of the robot 50 is shown in FIG. Is plotted. FIG. 1C is a diagram in which FIGS. 1A and 1B are superimposed by the superimposition processor 13, and FIG. 1C is a cross-sectional view of the obstacle map in the image information 100 by hatching. It is displayed superimposed.

Next, the remote operation algorithm according to the first embodiment will be described in detail with reference to FIG. First, image information captured by the imaging device 52 mounted on the robot 50 is transmitted to the image processing device 12 of the remote operation device 10 via the communication device 51 (S1). The image processing device 12 receives the image information via the communication device 11, and displays the image information on the image display device 19 based on an instruction input from the operation device 20 by a remote operator. Then, the zoom and illuminance of the screen are adjusted (S2). FIG. 1A shows the image information displayed on the image display device 19.
Also, sensor information including the positional relationship between the obstacle and the robot 50 is detected by the distance detection sensor 53 mounted on the robot 50 simultaneously with the acquisition of the image information in the imaging device 52 or with a time difference. The sensor information is transmitted to the obstacle map generation device 14 of the remote control device 10 via the communication device 51 (S3). The obstacle map generation device 14 receives the sensor information via the communication device 11 and generates an obstacle map around the robot 50 (S4). This obstacle map is shown in FIG.

Then, the vehicle width W of the robot 50 shown in FIG. 2 is compared with the vacant widths of the obstacles shown in FIG. 1B, that is, the narrow portions M ₁ and M ₂ , respectively. Is calculated (S5). The remote operator operates the operating unit 20 to display the movable area on the screen and turns on the changeover switch 18, and turns off the changeover switch 18 when not displaying the screen.
When the changeover switch 18 is ON, the superimposition processing device 13 performs a process of superimposing a passable region on the image information (S7), and displays a superimposed image on the screen of the screen display device 19 ( S9). On the other hand, when the changeover switch 18 is OFF, the process of superimposing the passage area on the image information is not performed (S8), and the image information is displayed on the screen of the screen display device 19 as it is (S9).

  FIG. 1C shows a screen displaying image information subjected to the superimposition process. In the figure, the passable area is displayed in hatching 101 in the image information by the superimposition process. However, as shown in FIG. 6, a band-like space 109 is provided at the upper or lower part of the image so that the passable area 110 is shown. May be. At this time, it is preferable to write a direction memory in the space 109. Further, as a display method of the passable area, the passability may be displayed for each color or displayed in different shades according to the distance to the obstacle and the moving speed of the robot 50. For example, blue: moveable (no obstacles within 3m, moveable for the time being), yellow: caution (there is an obstacle between 1m and 3m, and will collide with the obstacle after moving for a while), red: warning (within 1m) If there is an obstacle in the vehicle, it will immediately collide if it moves. In this way, the operator can easily confirm the direction in which the robot 50 can pass without affecting the visibility of the real screen.

By visually observing the screen displayed in this way, the operator operates the operating device 20 in a direction in which the robot 50 can pass, and transmits a command to the drive system of the robot 50 (S11). Based on this command, the robot 50 moves (S12), and determines whether or not the mission is finished (S13). If it is finished, the process is stopped, and if it is not finished, the image information and sensor information. The process returns to the process (S1, S3).
In this manner, the direction in which the robot 50 can pass is displayed superimposed on the image information, so that the operator can easily perform the operation. In addition, since the operator can view both the captured image and the obstacle map, the direction in which the robot can pass can be quantitatively grasped.

The obstacle map generated by the obstacle map generator 14 is stored in the database 15 (S13), and the past obstacle map information and the latest obstacle map information are compared with each other to determine the robot 50. The position may be oriented (S14). Then, it is preferable that the obstacle map stored in the database 15 is merged to generate a two-dimensional movement map to which the movement locus of the robot 50 obtained by the orientation is given, and the movement map is combined with the image information. It is also possible to display on the image display device 19. FIG. 3 shows the moving map. Reference numeral 107 denotes a movement locus, and reference numeral 106 denotes an obstacle.
According to this, even when there is no map of the travel environment of the moving body 50 as in the case of reconnaissance, the moving map created by the movement of the robot 50 is used in combination with the superimposed image information. Thus, the operation of the remote operator can be supported.

FIGS. 7 to 10 show diagrams relating to the remote operation support system according to the first embodiment.
FIG. 7 is a diagram for explaining the screen display processing of the remote operation support system according to the second embodiment of the present invention, showing the display screen when inputting the movement target point of the robot with the touch panel, and FIG. The figure which shows the movement target point on the two-dimensional movement map and map produced | generated from the physical map, The figure which shows the display screen in the case of simulating the passage of a robot while superimposing a movable area on FIG. FIG. 10 shows a two-dimensional movement map generated from the obstacle map of FIG. 9 and a robot movement prediction point.

  The remote operation support system according to the second embodiment teaches the movement target point 113 of the robot 50 with respect to the image information 111 subjected to the same superimposition processing as in the first embodiment, and the robot 50 follows the movement target point 113. It is configured to move. That is, the image information acquired by the imaging device 52 mounted on the robot 50 is transmitted to the image processing device 12 of the remote control device via the communication device 51, and the image processing device 12 via the communication device 11 is transmitted. The image information is received. The obstacle information acquired by the distance detection sensor 53 of the robot 50 is transmitted to the obstacle map generation device 14 of the remote operation device 10 via the communication device 51, and the obstacle map generation device 14 uses the communication device. The obstacle information is received via 11, and an obstacle map is generated.

Then, the passable area 112 of the robot 50 is extracted from the obstacle map and displayed in the image information 111 by hatching. Furthermore, in this embodiment, the remote operator teaches one or a plurality of movement target points 113 in the movable area 112 with the operation device 20 or the touch panel. When a plurality of moving target points including intermediate target points are taught, the robot 50 is moved in order of increasing distance.
As shown in FIG. 8, it is preferable that the movement target point 113 is similarly displayed on the movement map correspondingly.
Thus, by teaching one or more movement target points 113, it is possible to smoothly move the robot 50 in a situation where there is a time delay in communication and it is difficult to perform real-time remote control by the operation device 20 or the like.

In addition, as shown in FIG. 9, in the image information 114 in which the movable area 115 is superimposed by hatching, it is possible to simulate in advance how the robot 50 moves in the direction within the movable area 115. good. This calculates the position of the robot after ΔT ₁ and ΔT ₂ based on the moving speed and direction from the current position of the robot 50, and images the robot 50 ′ after ΔT _{1 and} the robot 50 ″ after ΔT _2. Displayed in information 114.
Furthermore, as shown in FIG. 10, it is also preferable to display the positions of the robot 50 ′ after ΔT _{1 and} the robot 50 ″ after ΔT _{2 in the} moving map.
Thus, the operator can easily confirm the operation image by presenting the image through which the robot 50 passes to the operator on the real screen.

  The mobile body remote operation support system according to the present invention can be applied to patrol monitoring of a plant or factory by the mobile body. In addition, since it is not necessary to obtain a map of the moving environment of the moving body in advance, work can be performed in a disaster site or a narrow place where it is difficult for workers to check the internal situation of the building with dense smoke or toxic gas. Suitable for remote operation support of reconnaissance robots that collect information in places where it is difficult for personnel to enter.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the screen display process of the remote operation assistance system which concerns on Example 1 of this invention, the display screen (a) which displayed image information, the obstacle map (b) produced | generated based on distance detection sensor information, and an image It is the display screen (c) which superimposed the movable area | region on information. It is a perspective view of the robot used for a present Example. It is a figure which shows the two-dimensional movement map produced | generated from the obstacle map of FIG.1 (b). 1 is an overall block diagram of a remote operation support system according to an embodiment. It is a flowchart which shows the remote operation assistance algorithm which concerns on a present Example. The display screen which superimposed the movable area | region on the image information which concerns on another Example of FIG.1 (c) is shown. It is a figure explaining the screen display process of the remote operation assistance system which concerns on Example 2 of this invention, and shows the display screen in case the movement target point of a robot is input with a touch panel. It is a figure which shows the two-dimensional movement map produced | generated from the obstacle map of FIG. 7, and the movement target point on this map. It is a figure which shows the display screen in the case of simulating the passage of a robot while superimposing a movable area on image information. It is a figure which shows the two-dimensional movement map produced | generated from the obstacle map of FIG. 9, and the movement prediction point of a robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Remote operation device 12 Image processing device 13 Superimposition processing device 14 Obstacle map generation device 15 Database 16 Self-localization device 17 Moving map and locus generation device 18 Switching device 19 Image display device 20 Operator 50 Robot 52 Imaging device 53 Distance detection Sensor 100, 108, 111, 114 Image information display screen 101, 105, 110, 112 Passable region 113 Moving target point

Claims (8)

In a method for supporting remote operation of a moving body that is mounted with an imaging device that acquires surrounding image information and a distance detection sensor that detects a distance to an obstacle, and that is moved by remote operation of a remote operation unit,
In the remote operation unit, an obstacle map generation process for generating a two-dimensional obstacle map from the obstacle information acquired by the distance detection sensor, and image information acquired by the imaging device is extracted from the obstacle map. A superimposition process for superimposing the movable area information of the moving object,
A method for supporting remote operation of a moving object, comprising: displaying the image information and the movable area information subjected to the superimposition processing on the same screen of the remote operation unit.   The obstacle map and the movement trajectory of the moving body are sequentially stored in the database of the remote control unit, and a plurality of obstacle maps stored in the database are fused in the remote control unit, and the movement of the moving body is performed. The method of claim 1, further comprising a moving map generation process for generating a two-dimensional moving map by providing a locus, and displaying the moving map on another screen.   The remote operation support method for a moving body according to claim 1, wherein the superimposition process is performed only when selection is made to superimpose the movable area information on the image information in the superimposition process. . A moving body that includes an imaging device that acquires surrounding image information, a distance detection sensor that detects a distance to an obstacle, and moves by remote operation;
In a remote operation support system for a moving body, comprising: an image display device that displays the image information; and an operating device that inputs an operation instruction for the moving body, and a remote operation unit that remotely operates the moving body.
An obstacle map generation device that generates a two-dimensional obstacle map based on the obstacle information acquired by the distance detection sensor by the remote control unit, and a movable body that is extracted from the obstacle map in the image information is movable A superimposition processing device that superimposes region information,
A remote operation support system for a moving object, wherein the image information and the movable area information superimposed by the superimposing processor are simultaneously displayed on one screen of the image display device.   The remote control unit fuses the obstacle map and a database that accumulates the movement trajectory of the moving object, and a plurality of obstacle maps accumulated in the database, and gives the movement trajectory of the moving object to 2 5. The remote operation support system for a moving body according to claim 4, further comprising a moving map generating device for generating a three-dimensional moving map, and displaying the moving map on another screen of the image display device.   5. The remote operation support system for a moving body according to claim 4, wherein the superimposition processing device comprises selection means for selecting whether or not to superimpose the movable area information on the image information.   5. The remote operation support system for a moving body according to claim 4, wherein the remote operation section includes teaching means for teaching a movement target point of the moving body based on a superimposed image displayed on the image display device. .   The remote control unit includes means for calculating a predicted movement position of the mobile body in the movable region and displaying the predicted movement position on a superimposed image displayed on the image display device. The remote operation support system for a moving body according to claim 4.

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