Remote control device, image display device, and video display control method

Abstract

The control unit (31) controls the video signal processing unit (36) such that when the drive unit (32) is controlled to cause the movable unit (33) to move according to a user operation, the frame image of the video signal transmitted to the image display device (10) is set to the first display mode. The control unit (31) controls the video signal processing unit (36) such that when the drive unit (32) is controlled to cause the movable unit (33) to move regardless of the user operation, the frame image of the video signal transmitted to the image display device (10) is set to the second display mode.

Description

Technical Field

[0001] The present disclosure relates to a remotely controlled device, an image display device, and an image display control method. Background Art

[0002] As described in Patent Document 1, a remote control system in which a user wearing an image display device such as a head-mounted display controls a robot (remotely controlled device) existing at a distance has been put into practical use. The technology for controlling a remote robot employed in such a remote control system in real time is called telexistence.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent No. 6801136. Summary of the Invention

[0006] A remotely controlled device such as a robot is basically configured to operate according to a user's actions. However, in order to avoid, for example, a failure of the remotely controlled device due to some object colliding with the remotely controlled device, it is possible to consider the remotely controlled device itself taking actions to avoid danger. In this case, the video signal captured by a camera mounted on the remotely controlled device and sent to the image display device worn by the user moves suddenly without the user's intention, which may cause the user to experience dizziness or confusion in the image.

[0007] An object of one or more embodiments is to provide a remotely controlled device, an image display device, and an image display control method that can reduce dizziness or confusion in the user's image even when the remotely controlled device operates independently of the user's intention in a remote control system including a remotely controlled device and an image display device for displaying a video signal transmitted from the remotely controlled device.

[0008] According to a first aspect among one or more embodiments, a remotely controlled device is provided, including: a movable part; a driving part that drives the movable part; a network communication part that receives action data representing a user action via a network and transmits video data to an image display device worn by the user; a control part that controls the driving part so that the movable part acts according to the action data; a camera mounted on the movable part; and a video signal processing part that generates the video data based on a video signal captured by the camera, wherein the control part controls the video signal processing part to generate video data composed of frame images having a first display mode when controlling the driving part so that the movable part acts according to the action data, and generates video data composed of frame images having a second display mode when controlling the driving part so that the movable part acts regardless of the action data.

[0009] According to a second aspect among one or more embodiments, an image display device is provided, including: a motion sensor that detects a user action; a receiving part that receives video data and additional data, the video data being captured by a camera mounted on a movable part of a remotely controlled device, the movable part being configured to act according to action data representing the user action detected by the motion sensor, and the additional data being used to identify the start to the end of a period during which the movable part rotates; and an image display part that performs image display on the video signal received by the receiving part, wherein the additional data is superimposed on the video signal when the remotely controlled device makes the movable part act regardless of the action data, and the image display part performs image display on the video signal received by the receiving part as a frame image having a first display mode when the additional data is not input, and performs image display on the video signal received by the receiving part as a frame image having a second display mode when the additional data is input.

[0010] According to a third aspect in one or more embodiments, there is provided an image display control method, which sends motion data representing a user's motion to a remotely controlled device. The remotely controlled device moves a movable part according to the received motion data, and the remotely controlled device sends an image signal captured by a camera mounted on the movable part to an image display device worn by the user. An image display unit included in the image display device displays the image signal sent from the remotely controlled device. When a control unit included in the remotely controlled device moves the movable part according to the motion data, the image display unit displays an image signal with a frame image update rate set to a first rate. When the control unit moves the movable part independently of the user's motion, the remotely controlled device sends an image signal composed of frame images having a second display mode different from the first display mode to the image display device, so that the image display unit displays the image signal composed of frame images having the second display mode, or the remotely controlled device sends an image signal composed of frame images having the first display mode to the image display device, so that the image display unit displays an image signal composed of frame images having the second display mode based on the frame images having the first display mode.

[0011] According to a remotely controlled device, an image display device, and an image display control method in one or more embodiments, in a remote control system including a remotely controlled device and an image display device for displaying an image signal sent from the remotely controlled device, even if the remotely controlled device moves independently of the user's intention, it is possible to reduce image dizziness or confusion of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a block diagram showing a structural example of a remote control system including an image display device according to the first embodiment or the second embodiment and a remotely controlled device according to the first embodiment or the second embodiment.

[0013] Figure 2A It is a view looking down on the robot from directly above, and is a view showing the rotation of the head 30H of the robot from direction D0 to direction D1.

[0014] Figure 2B It is a view looking down on the robot from directly above, and is a view showing the rotation of the head 30H of the robot from direction D0 to direction D2.

[0015] Figure 3 It is a block diagram showing a specific structural example of an image signal processing unit included in the remotely controlled device according to the first embodiment.

[0016] Figure 4It is a diagram showing an example of an image signal of 60 frames per second and an image signal with the update frame image rate set to 20 frames per second.

[0017] Figure 5 It is a diagram showing an example of an image signal of 60 frames per second and an image signal with the update frame image rate set to 20 frames per second and 10 frames per second.

[0018] Figure 6 It is a block diagram showing a specific structural example of an image signal processing unit and a control unit included in the remotely controlled device according to the second embodiment.

[0019] Figure 7 It is a block diagram showing a specific structural example of an image display unit included in the image display device according to the second embodiment. Detailed Embodiments

[0020] Hereinafter, the remotely controlled device, the image display device, and the image display control method according to each embodiment will be described with reference to the drawings. First, Figure 1 A structural example of a remote control system including an image display device and a remotely controlled device will be described.

[0021] In Figure 1 the image display device 10 and the robot 30 are interconnected via the network 20. The robot 30 is located at a remote location far from the place where the image display device 10 is located. As an example, the image display device 10 is a head-mounted display. The robot 30 is an example of a remotely controlled device that controls its actions based on action data representing the actions of the image display device 10 or the user wearing the image display device 10. The network 20 is typically the Internet.

[0022] The image display device 10 includes an image display unit 11, a motion sensor 12, a speaker 13, and a network communication unit 14. The motion sensor 12 includes an acceleration sensor and a gyro sensor, and detects the acceleration when the image display device 10 (i.e., the user) moves and the angular velocity representing the change in rotation or orientation. The speaker 13 includes a head-mounted earphone or an in-ear earphone.

[0023] When the user wearing the image display device 10 moves, the action data representing the user's movement detected by the motion sensor 12 is encoded and sent to the robot 30 via the network communication unit 14 and the network 20. The network communication unit 14 functions as a transmitting unit.

[0024] The robot 30 includes a control unit 31, a drive unit 32, a movable unit 33, a network communication unit 34, a camera 35, an image signal processing unit 36, microphones 37a to 37d, and distance sensors 38a to 38d. The control unit 31 can be composed of a microcomputer or a microprocessor.

[0025] When the network communication unit 34 receives the motion data transmitted from the image display device 10, the network communication unit 34 provides the motion data to the control unit 31. The network communication unit 34 functions as a receiving unit. The control unit 31 decodes the encoded motion data and controls the drive unit 32 so that the movable unit 33 moves according to the motion data. The movable unit 33 is, for example, the head and legs of the robot 30. The drive unit 32 includes at least one actuator such as an electric motor, an electromagnetic solenoid, a hydraulic cylinder, or a pneumatic cylinder for rotating the head or moving the legs. The drive unit 32 drives the actuator based on the control of the control unit 31.

[0026] Since the movable unit 33 of the robot 30 moves according to the motion data transmitted from the image display device 10, the robot 30 moves in a manner following the user's motion.

[0027] For example, a camera 35 is installed on the head 30H of the robot 30 (see Figure 2A or Figure 2B ), and the camera 35 captures a range of a specified angle around the robot 30. The camera 35 may also be a stereo camera. The video signal composed of digital data output from the camera 35 is provided to the video signal processing unit 36. The video signal processing unit 36 compresses and encodes the video signal and provides the compressed and encoded video data to the control unit 31. The network communication unit 34 transmits the video data provided from the control unit 31 to the image display device 10 via the network 20. The network communication unit 34 functions as a transmitting unit.

[0028] When the network communication unit 14 receives the video data transmitted from the robot 30, the network communication unit 14 provides the video data to the image display unit 11. The network communication unit 14 functions as a receiving unit. The image display unit 11 displays an image based on the decoded video signal obtained by decoding the video data. The user visually confirms the image displayed on the image display unit 11.

[0029] The robot 30 may also encode the sound signals picked up by the microphones 37a to 37d and transmit the encoded sound data to the image display device 10. For example, the microphones 37a to 37d are arranged at intervals of 90 degrees in a circumferential direction of the robot 30. When the image display device 10 receives the sound data, the speaker 13 outputs a sound based on the decoded sound signal decoded by a sound decoding unit (not shown).

[0030] Thus, in a remote control system where the image display device 10 and the robot 30 are connected via the network 20, the image display device 10 (user) controls the robot 30 in real time. The robot 30 operates according to the motion data representing the user's actions, and the image display device 10 receives the images captured by the robot 30, or the sounds picked up by the robot 30 in addition to the images.

[0031] To prevent the robot 30 from malfunctioning due to, for example, some objects hitting it, the robot 30 is configured to take actions to avoid danger by itself. The robot 30 is equipped with distance sensors 38a to 38d. For example, the distance sensors 38a to 38d are arranged at intervals of 90 degrees in the circumferential direction of the robot 30. The control unit 31 detects the presence or absence of an object approaching the robot 30 and the approaching direction based on the sounds picked up by the microphones 37a to 37d and the distances to the objects measured by the distance sensors 38a to 38d. The control unit 31 determines that an object is approaching based on the detected results.

[0032] The control unit 31 may also detect the presence or absence of an object approaching the robot 30 and the approaching direction only based on the distances to the objects measured by the distance sensors 38a to 38d.

[0033] As Figure 2A shown, the head 30H of the robot 30 faces the center of the shooting range of the camera 35 in the direction D0. Assume that the control unit 31 determines that an object is approaching from the blind spot of the camera 35, that is, the direction Dx1. The approaching direction of the object at this time is a direction different from the direction captured by the camera 35. At this time, to confirm the object, the control unit 31 controls the drive unit 32 to rotate the head 30H so that the center of the shooting range of the camera 35 becomes the direction D1. If the camera 35 captures the object, the user can control the robot 30 to drive the legs for the robot 30 to take actions to avoid danger. In addition, the control unit 31 may also control the drive unit 32 so that the robot 30 itself drives the legs to take actions to avoid danger.

[0034] Figure 2B The situation where the control unit 31 detects that an object is approaching from the blind spot of the camera 35, that is, the direction Dx2 which is approximately behind the direction D0, is shown. The approaching direction of the object at this time is a direction different from the direction captured by the camera 35. In this case, to confirm the object, the control unit 31 also controls the drive unit 32 to rotate the head 30H so that the center of the shooting range of the camera 35 becomes the direction D2.

[0035] Thus, when the head 30H rotates to enable the robot 30 itself to take actions to avoid danger, even if the user is stationary, the video signal (video data) sent to the image display device 10 moves sharply regardless of the user's intention. Therefore, the user may experience dizziness or confusion due to the image. Thus, the image display device 10 and the robot 30 are configured as in the following first embodiment or second embodiment.

[0036] First Embodiment

[0037] The first embodiment configures the video signal processing unit 36 in the robot 30 to reduce dizziness or confusion of the user's image. As Figure 3 shown, the video signal processing unit 36 includes a write control unit 361, a storage unit 362, a read control unit 363, a frame update control unit 364, and an encoding unit 365.

[0038] The write control unit 361 writes the video signal output from the camera 35, for example, at 60 frames per second, into the storage unit 362. In a state where the robot 30 operates in a manner of following the user's actions, the frame update control unit 364 controls the read control unit 363 to read the video signal stored in the storage unit 362 at 60 frames per second. Therefore, the read control unit 363 reads the video signal stored in the storage unit 362 at 60 frames per second. The encoding unit 365 compresses and encodes the read video signal at 60 frames per second and provides the compressed and encoded video data to the control unit 31.

[0039] At this time, the update frame image rate of the 60 - frame - per - second video signal sent to the image display device 10 is the first rate. A frame image refers to an image in units of frames.

[0040] The control unit 31 controls the drive unit 32 so that the robot 30 itself rotates the head 30H as Figure 2A or Figure 2B shown to take actions to avoid danger. At this time, the frame update control unit 364 controls the read control unit 363 to read the video signal stored in the storage unit 362 at a rate lower than 60 frames per second. For example, the frame update control unit 364 controls the read control unit 363 to read the video signal stored in the storage unit 362 at a rate equivalent to 20 frames per second. The encoding unit 365 compresses and encodes the read video signal equivalent to 20 frames per second and provides the compressed and encoded video data to the control unit 31.

[0041] At this time, the update frame image rate of the video signal sent to the image display device 10 is a second rate lower than the first rate. The video signal at the second rate is generated based on the video signal at the first rate.

[0042] The control unit 31 can calculate the time required to rotate the head 30H so that the center of the shooting range of the camera 35 becomes the direction D1 or D2. Therefore, during the period from the start of the rotation of the head 30H until the center of the shooting range of the camera 35 becomes the direction D1 or D2, the control unit 31 instructs the frame update control unit 364 to perform reading at a rate lower than 60 frames per second.

[0043] Figure 4 (a) of shows the frame images F1, F2, F3, F4,... at 60 frames per second input to the image signal processing unit 36. The frame update control unit 364 controls the reading control unit 363 to read the frame images stored in the storage unit 362 once every three frames. Thus, as Figure 4 shown in (b) of, the rate of updating the frame images becomes 20 frames per second like F1, F1, F1, F4, F4, F4, F7,.... Compressed and encoded image data at substantially 20 frames per second is output from the image signal processing unit 36.

[0044] Figure 4 The image data shown in (b) of is strictly speaking an image signal at 60 frames per second, but since the rate of updating the frame images is 20 frames per second, it appears to be an image signal at 20 frames per second on the surface. Since image data equivalent to 20 frames per second is sent to the image display device 10, the image does not move sharply, and the situation of user image dizziness or confusion can be alleviated.

[0045] In Figure 4 (b) of, the frame update control unit 364 controls the reading of the frame images from the storage unit 362 to reduce the rate of updating the frame images. As Figure 4 shown in (c) of, actually, the image signal processing unit 36 can also control the frame rate to be 20 frames per second. In addition, by thinning out the frame images written to the storage unit 362, the rate of updating the frame images read from the storage unit 362 can also be set to 20 frames per second.

[0046] In Figure 2B compared with Figure 2A , the angle of rotation of the head 30H is larger. The control unit 31 can also increase the rotation speed as the angle of rotation of the head 30H becomes larger. Correspondingly, the control unit 31 can reduce the rate of updating the frame images as the rotation speed is increased more.

[0047] Figure 5 (a) of shows the frame images F1, F2, F3, F4,... at 60 frames per second output from the image signal processing unit 36. Figure 5 (b) of shows as Figure 2AThe rate of the updated frame image when the rotation angle of the head 30H is relatively small and the rotation speed is relatively slow as shown. Similar to Figure 4 (b) of, the rate of the updated frame image is 20 frames per second.

[0048] Figure 5 (c) of shows the rate of the updated frame image when the rotation angle of the head 30H is large and the rotation speed is fast as shown in Figure 2B . In Figure 5 (c) of, the rate of the updated frame image is set to 10 frames per second. Even when the control unit 31 rotates the head 30H quickly, since the video data equivalent to 10 frames per second is sent to the image display device 10, the image does not move sharply, and the situation of the user's image dizziness or confusion can be alleviated.

[0049] The control unit 31 can gradually increase the rate of the updated frame image before the rotation of the head 30H is about to stop and gradually restore it to 60 frames per second.

[0050] Second Embodiment

[0051] The second embodiment is configured as the image signal processing unit 36 in the robot 30 and the image display unit 11 in the image display device 10 in order to alleviate the user's image dizziness or confusion as follows.

[0052] As shown in Figure 6 , the image signal processing unit 36 includes a write control unit 361, a storage unit 362, a read control unit 363, and an encoding unit 365. The control unit 31 includes an additional data superimposing unit 311 that superimposes additional data on the compressed and encoded video data output from the encoding unit 365. The video data output from the image signal processing unit 36 is 60 frames per second. When the control unit 31 rotates the head 30H in order for the robot 30 itself to take an action to avoid danger, the additional data superimposing unit 311 superimposes additional data on the video data, and the additional data is used to identify the start to the end of the period during which the head 30H rotates.

[0053] The additional data may include additional data representing the timing of the start of the period during which the head 30H rotates and additional data representing the end timing, or may include additional data representing the timing of the start of the period during which the head 30H rotates and additional data representing the rotation time. When the control unit 31 rotates the head 30H at a faster speed as the rotation angle of the head 30H is larger, the additional data preferably includes additional data representing at least two levels of rotation speed.

[0054] In this way, when the robot 30 rotates the head 30H in order for the robot 30 itself to take an action to avoid danger, the robot 30 sends the video data with the additional data superimposed to the image display device 10.

[0055] As shown Figure 7 in FIG. 1, the image display unit 11 includes a decoding unit 111, a writing control unit 112, a storage unit 113, a reading control unit 114, a frame update control unit 115, and a display panel 116. The decoding unit 111 decodes the video data transmitted from the robot 30. The writing control unit 112 writes the decoded video signal at 60 frames per second into the storage unit 113. The decoded additional data is input to the frame update control unit 115.

[0056] If no additional data is input, the frame update control unit 115 controls the reading control unit 114 to read the video signal stored in the storage unit 113 at 60 frames per second. The update frame image rate of the 60-frame-per-second video signal provided to the display panel 116 is the first rate.

[0057] If additional data is input, the frame update control unit 115 controls the reading control unit 114 to read the video signal stored in the storage unit 113 at a rate lower than 60 frames per second until the start to the end of the period during which the head 30H rotates.

[0058] Similar to the first embodiment, the frame update control unit 115 controls the reading control unit 114 to read every third frame image stored in the storage unit 113. Thus, the rate at which the frame image of the video signal displayed on the display panel 116 is updated becomes 20 frames per second, such as frame images F1, F1, F1, F4, F4, F4, F7,... Figure 4 as in (b) of FIG. 1.

[0059] The rate at which the frame image of the video signal provided to the display panel 116 is updated is a second rate lower than the first rate. The video signal of the second rate is generated based on the video signal of the first rate.

[0060] When the additional data includes information indicating the level of the rotation speed, the frame update control unit 115 can control the reading control unit 114 such that the faster the rotation speed, the lower the rate of updating the frame image.

[0061] In the second embodiment, the robot 30 transmits video data at 60 frames per second to the image display device 10. When the robot 30 itself rotates the head 30H to take an action to avoid danger, a video signal with an update frame image rate of 20 frames per second or 10 frames per second is displayed on the display panel 116 of the image display device 10. Therefore, in the second embodiment, the image does not move sharply, and the user's image dizziness or confusion can be alleviated.

[0062] In the second embodiment, the rate of the updated frame image may also be gradually increased immediately before the rotation of the head 30H is stopped, and gradually restored to 60 frames per second.

[0063] When the user moves the line of sight in the vertical direction by moving the face in the vertical direction, instead of the rate of the updated frame image, the image display unit 11 may also display an image as follows. The image display unit 11 cuts out the region where the image before movement and the image after movement overlap in the vertical direction, and magnifies it as needed, thereby displaying an image without jitter in the vertical direction.

[0064] Third Embodiment

[0065] In order to reduce user image dizziness or confusion, the robot 30 may also be configured as follows. When the control unit 31 controls the drive unit 32 to cause the movable unit 33 to act according to the action data, the control unit 31 controls the image signal processing unit 36 to generate a frame image having a first resolution that is the normal resolution. When the control unit 31 controls the drive unit 32 to cause the movable unit 33 to act independently of the action data, the control unit 31 controls the image signal processing unit 36 to generate a frame image having a second resolution lower than the first resolution. In order to convert the frame image having the first resolution into the frame image having the second resolution, the image signal processing unit 36 may simply skip pixels in the horizontal direction and skip lines in the vertical direction.

[0066] Fourth Embodiment

[0067] In order to reduce user image dizziness or confusion, the image display device 10 may also be configured as follows. When no additional data is input, the image display unit 11 displays the image signal received by the network communication unit 14 as a frame image having a first resolution. When additional data is input, the image display unit 11 displays the image signal received by the network communication unit 14 as a frame image having a second resolution. In order to convert the frame image having the first resolution into the frame image having the second resolution, the image display unit 11 may simply skip pixels in the horizontal direction and skip lines in the vertical direction.

[0068] Fifth Embodiment

[0069] In order to reduce user image dizziness or confusion, the robot 30 may also be configured as follows. When the control unit 31 controls the drive unit 32 to cause the movable unit 33 to act according to the action data, the control unit 31 controls the image signal processing unit 36 to generate a normal frame image without blurring processing. When the control unit 31 controls the drive unit 32 to cause the movable unit 33 to act independently of the action data, the control unit 31 controls the image signal processing unit 36 to generate a blurred frame image obtained by performing blurring processing on the frame image. For example, in order to perform blurring processing on the frame image, the image signal processing unit 36 removes the high-frequency components of the frame image through a low-pass filter. The method for performing blurring processing is not limited.

[0070] Sixth Embodiment

[0071] In order to reduce user image dizziness or confusion, the image display device 10 may also be configured as follows. When no additional data is input, the image display unit 11 directly displays the image signal received by the network communication unit 14 without blurring as a frame image. When additional data is input, the image display unit 11 performs blurring on the image signal received by the network communication unit 14 and displays it as a blurred frame image. For example, the image display unit 11 removes the high-frequency components of the image signal received by the network communication unit 14 through a low-pass filter. The method of performing blurring is not limited.

[0072] As described above, when the control unit 31 of the robot 30 controls the drive unit 32 so that the movable unit 33 moves according to the motion data, image data composed of frame images having the first display mode is generated. When the control unit 31 controls the drive unit 32 so that the movable unit 33 moves regardless of the motion data, image data composed of frame images having a second display mode different from the first display mode is generated. In addition, when no additional data is input, the image display unit 11 of the image display device 10 displays the frame image having the first display mode. When additional data is input, the image display unit 11 displays the frame image having a second display mode different from the first display mode.

[0073] The frame image having the second display mode is a frame image that gives less stimulation to the user than the frame image having the first display mode. As described above, the first display mode and the second display mode may differ in frame rate, may differ in resolution, or may differ in the presence or absence of blurring. The change in frame rate, the change in resolution, and the presence or absence of blurring can also be arbitrarily combined.

[0074] The present invention is not limited to the first to sixth embodiments described above, and various modifications can be made without departing from the gist of the present invention.

[0075] This application claims the priority of Japanese Patent Application No. 2021-048618 filed with the Japan Patent Office on March 23, 2021, the entire disclosure of which is incorporated herein by reference.

Claims

1. A remotely controlled device, comprising: A movable part; A driving part that drives the movable part; A network communication part that receives action data representing a user's action via a network and transmits video data to an image display device worn by the user; A control part that controls the driving part so that the movable part acts according to the action data; A camera mounted on the movable part; An image signal processing part that generates the video data based on the image signal captured by the camera; And A plurality of ranging sensors arranged in a circumferential direction of the remotely controlled device to measure the distance between the remotely controlled device and other objects, When the control part determines, based on the distances measured by the plurality of ranging sensors, that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the control part controls the driving part so that the movable part acts independently of the action data, The control part controls the image signal processing part to generate video data composed of frame images updated at a first rate when controlling the driving part so that the movable part acts according to the action data, and to generate video data composed of frame images updated at a second rate lower than the first rate when controlling the driving part so that the movable part acts independently of the action data.

2. The remotely controlled device according to claim 1, wherein, The image signal processing part has: A storage part that stores the image signal with the first rate captured by the camera; A reading control part that reads the image signal from the storage part; And A frame update control part that controls the reading control part to set the rate of updating the frame image to the second rate when the control part controls the driving part so that the movable part acts independently of the user's action.

3. A remotely controlled device, comprising: A movable part; A driving part that drives the movable part; A network communication part that receives action data representing a user's action via a network and transmits video data to an image display device worn by the user; A control part that controls the driving part so that the movable part acts according to the action data; A camera mounted on the movable part; An image signal processing part that generates the video data based on the image signal captured by the camera; And A plurality of ranging sensors arranged in a circumferential direction of the remotely controlled device to measure the distance between the remotely controlled device and other objects, When the control part determines, based on the distances measured by the plurality of ranging sensors, that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the control part controls the driving part so that the movable part acts independently of the action data, The control unit controls the image signal processing unit to generate image data composed of frame images with a first resolution when controlling the drive unit to move the movable unit according to the motion data, and to generate image data composed of frame images with a second resolution lower than the first resolution when controlling the drive unit to move the movable unit regardless of the motion data.

4. A remotely controlled device, comprising: A movable unit; A drive unit that drives the movable unit; A network communication unit that receives motion data representing a user's action via a network and transmits image data to an image display device worn by the user; A control unit that controls the drive unit to move the movable unit according to the motion data; A camera mounted on the movable unit; An image signal processing unit that generates the image data based on an image signal captured by the camera; And A plurality of distance measurement sensors arranged in a circumferential direction of the remotely controlled device to measure a distance between the remotely controlled device and other objects, When the control unit determines, based on the distances measured by the plurality of distance measurement sensors, that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the control unit controls the drive unit to move the movable unit regardless of the motion data, The control unit controls the image signal processing unit to generate image data composed of frame images without blurring processing when controlling the drive unit to move the movable unit according to the motion data, and when controlling the drive unit to move the movable unit regardless of the motion data, the control unit generates image data composed of frame images with blurring processing.

5. An image display device for displaying an image signal transmitted by a remotely controlled device, comprising: A motion sensor that detects a user's action; A receiving unit that receives image data and additional data, the image data being captured by a camera mounted on a movable unit of the remotely controlled device; And An image display unit that performs image display on the image signal received by the receiving unit, The movable unit of the remotely controlled device is configured to move according to the motion data representing the user's action detected by the motion sensor, A plurality of distance measurement sensors are arranged in a circumferential direction of the remotely controlled device, and the plurality of distance measurement sensors measure a distance between the remotely controlled device and other objects, When it is determined, based on the distances measured by the plurality of distance measurement sensors, that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the movable unit is configured to move regardless of the motion data, The additional data is used to identify the start to end of a period during which a rotational motion is performed when the movable unit moves regardless of the motion data, The additional data is superimposed on the image signal when the remotely controlled device moves the movable unit regardless of the motion data. When the additional data is not input, the image display unit displays the video signal received by the receiving unit as a frame image updated at a first rate, and when the additional data is input, the image display unit displays the video signal received by the receiving unit as a frame image updated at a second rate lower than the first rate.

6. The image display device according to claim 5, wherein, The image display unit includes: a storage unit that stores the video signal having the first rate received by the receiving unit; a reading control unit that reads the video signal from the storage unit; and a frame update control unit that controls the reading control unit to set the rate of updating the frame image to the second rate when the remotely controlled device moves the movable unit regardless of the user's action.

7. An image display device for displaying a video signal transmitted by a remotely controlled device, comprising: a motion sensor that detects a user's action; a receiving unit that receives video data and additional data, the video data being captured by a camera mounted on a movable unit of the remotely controlled device; and an image display unit that displays the video signal received by the receiving unit, the movable unit of the remotely controlled device being configured to move according to the action data representing the user's action detected by the motion sensor, a plurality of distance sensors are arranged in the circumferential direction of the remotely controlled device, and the plurality of distance sensors measure the distance between the remotely controlled device and other objects, when it is determined based on the distances measured by the plurality of distance sensors that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the movable unit is configured to move regardless of the action data, the additional data is used to identify the start to the end of the period during which the movable unit performs a rotation action when moving regardless of the action data, the additional data is superimposed on the video signal when the remotely controlled device moves the movable unit regardless of the action data, When the additional data is not input, the image display unit displays the video signal received by the receiving unit as a frame image having a first resolution, and when the additional data is input, the image display unit displays the video signal received by the receiving unit as a frame image having a second resolution lower than the first resolution.

8. An image display device for displaying a video signal transmitted by a remotely controlled device, comprising: a motion sensor that detects a user's action; a receiving unit that receives video data and additional data, the video data being captured by a camera mounted on a movable unit of the remotely controlled device; and an image display unit that displays the video signal received by the receiving unit, the movable unit of the remotely controlled device being configured to move according to the action data representing the user's action detected by the motion sensor, a plurality of distance sensors are arranged in the circumferential direction of the remotely controlled device, and the plurality of distance sensors measure the distance between the remotely controlled device and other objects, When it is determined, based on the distances measured by the plurality of ranging sensors, that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the movable part is configured to move regardless of the action data. The additional data is used to identify the start to the end of the period during which the movable part performs a rotation action when moving regardless of the action data. The additional data is superimposed on the image signal when the remotely controlled device moves the movable part regardless of the action data. When the additional data is not input, the image display unit displays the image signal received by the receiving unit as a frame image without blurring processing, and when the additional data is input, the image display unit displays the image signal received by the receiving unit as a frame image with blurring processing.

9. An image display control method, wherein action data representing a user action is sent to a remotely controlled device. A control unit of the remotely controlled device can move a movable part of the remotely controlled device according to the received action data. The remotely controlled device sends an image signal captured by a camera mounted on the movable part to an image display device worn by the user. An image display unit included in the image display device displays the image signal sent from the remotely controlled device. A plurality of ranging sensors arranged in the circumferential direction of the remotely controlled device measure the distance between the remotely controlled device and other objects. When the control unit determines, based on the distances measured by the plurality of ranging sensors, that the other object is approaching the remotely controlled device from another direction different from the direction in which the camera captures images, the control unit controls the movable part to move regardless of the action data. When the control unit moves the movable part according to the action data, the image display unit displays an image signal in which the rate of updating the frame image is set to a first rate. When the control unit moves the movable part regardless of the user action, the remotely controlled device sends an image signal composed of frame images updated at a second rate lower than the first rate to the image display device, so that the image display unit displays an image signal composed of frame images updated at a second rate lower than the first rate, or The remotely controlled device sends an image signal composed of frame images updated at the first rate to the image display device, so that the image display unit displays the received image signal as a frame image updated at a second rate lower than the first rate.

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