Telecommunication method, telecommunication system and autonomous mobile device

Abstract

The present disclosure relates to a remote communication method, a remote communication system, and an autonomous mobile device, which provide a second user with a sense of presence as if a first user located at a remote location is located at the location. In the remote communication method, a first robot uses a camera to photograph a first user in a first base, the first robot sends a photographed image obtained by photographing the first user to a first prompting device, the first prompting device receives the photographed image from the first robot, the first prompting device displays the photographed image, the first prompting device detects a first change amount indicating a change amount of a position of the second user relative to the second robot, the second robot virtually represents the first user, the first prompting device sends the first change amount to the first robot, the first robot receives the first change amount from the first prompting device, and the first robot moves to change the viewpoint of the camera according to the first change amount.

Description

[0001] This application is a divisional application of the patent application with application number 201810627341.X filed on June 19, 2018 and named “Telecommunication Method, Telecommunication System and Autonomous Mobile Device”. Technical Field

[0002] The present disclosure relates to a remote communication method in a remote communication system, the remote communication system, and an autonomous mobile device that moves autonomously. The remote communication system comprises: a first robot that moves autonomously and photographs a first user at a first location; and a first prompting device that prompts a second user who is different from the first user at a second location different from the first location, the photographed image taken by the first robot. Background Art

[0003] In recent years, the communication ability of robots with humans has been increasing, and telepresence robots have been developed that are assembled into autonomous mobile robots with video conferencing technology and remote operation technology. Telepresence robots serve as the avatar of the user at the communication source, traveling around various places at a remote location, or talking to the user at the communication destination, etc. (see, for example, Patent Document 1). As a result, telepresence robots can give the user at the communication destination an unprecedented sense of presence while achieving good communication. As a result, telepresence robots have begun to become popular in home offices, various events, offices, and educational sites.

[0004] Prior art literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2007-216363 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, in the above-mentioned conventional technology, people at remote locations cannot obtain a sense of presence as if the other person is at the location, and further improvement is required.

[0008] The present disclosure is made to solve the above-mentioned problems, and provides a telecommunication method, a telecommunication system, and an autonomous mobile device that can give a second user a sense of presence as if a first user located at a remote location is located at the location.

[0009] Means used to solve problems

[0010] A remote communication method according to one aspect of the present disclosure is a remote communication method in a remote communication system including a first robot disposed at a first location and a first presentation device disposed at a second location different from the first location.

[0011] In the remote communication method,

[0012] The first robot uses the camera to photograph a first user in the first location.

[0013] The first robot sends the image obtained by photographing the first user to the first prompting device,

[0014] The first prompting device receives the captured image from the first robot,

[0015] The first prompting device displays the captured image,

[0016] The first presentation device detects a first change amount indicating a change amount of the position of the second user relative to a second robot, the second robot virtually representing the first user,

[0017] The first prompting device sends the first change amount to the first robot,

[0018] The first robot receives the first change amount from the first prompting device,

[0019] The first robot moves to change the viewpoint of the camera according to the amount of change in the position of the second user indicated by the first amount of change.

[0020] Effects of the Invention

[0021] According to the present disclosure, in correspondence with the movement of the second user in the second base, the first robot that photographs the first user moves in the first base, and the viewpoint of the camera of the first robot changes, thereby being able to give the second user a sense of presence as if the first user located in the first base is located in the second base. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram showing the configuration of a remote communication system in Embodiment 1 of the present disclosure.

[0023] Figure 2A This is a schematic diagram for explaining the outline of the remote communication system in Embodiment 1 of the present disclosure.

[0024] Figure 2B This is a schematic diagram for explaining the outline of the remote communication system in Embodiment 1 of the present disclosure.

[0025] Figure 3 It is a diagram showing the configuration of a first telepresence robot, a head mounted display, and a second telepresence robot in Embodiment 1 of the present disclosure.

[0026] Figure 4This is a flowchart for explaining the initial setting process of setting the first polar coordinate system and the second polar coordinate system of the head mounted display and the first telepresence robot in the first embodiment.

[0027] Figure 5 This is a schematic diagram for explaining the initial setting of the first polar coordinate system and the second polar coordinate system in the first embodiment.

[0028] Figure 6 This is a flowchart for explaining the operation of the remote communication system in Embodiment 1 of the present disclosure.

[0029] Figure 7 This is a schematic diagram for explaining the operation of the first telepresence robot taking an image of the first user from the front at the first base in the remote communication system according to the first embodiment.

[0030] Figure 8 It is shown in Figure 7 FIG. 1 is a diagram showing an example of a display screen displayed on a head mounted display at a second base shown.

[0031] Fig. 9 This is a schematic diagram for explaining the operation of the first telepresence robot capturing an image of the first user from behind at the first site in the remote communication system according to the first embodiment.

[0032] Fig.10 It is shown in Fig. 9 FIG. 1 is a diagram showing an example of a display screen displayed on a head mounted display at a second base shown.

[0033] Fig.11 This is a diagram showing the configuration of a remote communication system in Embodiment 2 of the present disclosure.

[0034] Fig.12 It is a diagram showing the configuration of a first telepresence robot, a first head mounted display, a second head mounted display, and a second telepresence robot in Embodiment 2 of the present disclosure.

[0035] Description of symbols

[0036] 1.1' The first telepresence robot

[0037] 2 Head-mounted displays

[0038] 2' 2nd Head Mounted Display

[0039] 3.3' The second telepresence robot

[0040] 4 First User

[0041] 5 Second User

[0042] 6 The 1st head mounted display

[0043] 7 Network

[0044] 11. Filming Department

[0045] 12 Ministry of Communications

[0046] 13 Initial setting section

[0047] 14 Mobile Control Unit

[0048] 15 Mobile Department

[0049] 16 Rotation control unit

[0050] 17 Rotating part

[0051] 18 Distance measurement unit

[0052] 19 Deflection angle measurement unit

[0053] 20 Rotation angle measuring unit

[0054] 21 Ministry of Communications

[0055] 22 Display unit

[0056] 23 Infrared light receiving unit

[0057] 24 Initial setting section

[0058] 25. Change detection unit

[0059] 31 Infrared emitting unit

[0060] 251 Deflection angle measurement unit

[0061] 252 Movement Determination Unit

[0062] 253 Distance Measurement Unit

[0063] 254 Rotation angle measuring unit DETAILED DESCRIPTION

[0064] (Insights that form the basis of this disclosure)

[0065] In recent years, robots have been increasingly able to communicate with humans, and telepresence robots have been developed that integrate video conferencing technology and remote operation technology into autonomous mobile robots. Telepresence robots act as an avatar of the user at the communication source, traveling around various places at a remote location, or talking to the user at the communication destination. As a result, telepresence robots can give the user at the communication destination an unprecedented sense of presence while achieving good communication. As a result, telepresence robots have begun to spread in home offices, various events, offices, and educational sites.

[0066] For example, in Patent Document 1, a friend of a homeowner establishes contact with a communication robot and visits a museum, and the homeowner watches images captured by a camera of the robot through an operating-side device at home. The communication robot operates in a media mode in which the head is directed in the direction in which the face of the homeowner on the operating-side device is directed, or the wrist is raised in the direction in which the homeowner on the operating-side device is pointing.

[0067] As described above, Patent Document 1 discloses that an operating device takes an image of a person at home and controls the movement of a communication robot according to the activities of the person at home.

[0068] However, the operating side device of Patent Document 1 is fixed and does not move according to the movement of the person who establishes contact with the communication robot and moves. Therefore, in the system of Patent Document 1, people at remote locations cannot get a sense of presence that the other person is at that location.

[0069] A remote communication method according to one aspect of the present disclosure is a remote communication method in a remote communication system including a first robot disposed at a first location and a first presentation device disposed at a second location different from the first location.

[0070] In the remote communication method,

[0071] The first robot uses the camera to photograph the first user.

[0072] The first robot sends the image obtained by photographing the first user to the first prompting device,

[0073] The first prompting device receives the captured image from the first robot,

[0074] The first prompting device displays the captured image,

[0075] The first presentation device detects a first change amount indicating a change amount of a position of the second user relative to a second robot, the second robot virtually representing the first user,

[0076] The first prompting device sends the first change amount to the first robot,

[0077] The first robot receives the first change amount from the first prompting device,

[0078] The first robot moves to change the viewpoint of the camera according to the first change amount.

[0079] Therefore, according to the movement of the second user in the second base, the first robot that photographs the first user moves in the first base, and the viewpoint of the camera of the first robot changes, thereby being able to give the second user a sense of presence as if the first user at the first base is at the second base.

[0080] In addition, the first presentation device may be worn by the second user.

[0081] The above-mentioned remote communication method may further include:

[0082] When the second user wearing the first prompting device faces the second robot, the first prompting device measures an initial distance between the second robot and the first prompting device.

[0083] The first prompting device sets a first polar coordinate system with the position of the second robot as the origin, and a straight line connecting the position of the second robot and the position of the first prompting device is used as a starting line of the first polar coordinate system.

[0084] The first prompting device sends the measured initial distance to the first robot,

[0085] The first robot receives the initial distance from the first prompting device,

[0086] the first robot moves to a position facing the first user and at the initial distance from the first user,

[0087] The first robot sets a second polar coordinate system having the position of the first user as an origin, and uses a straight line connecting the position of the first robot and the position of the first user as a starting line of the second polar coordinate system.

[0088] Therefore, in the first prompting device, a first polar coordinate system with the position of the second robot as the origin is set, and a straight line connecting the second robot and the first prompting device is used as the starting line of the first polar coordinate system. In the first robot, a second polar coordinate system with the position of the first user as the origin is set, and a straight line connecting the first robot and the first user is used as the starting line of the second polar coordinate system. Therefore, the relative position relationship of the first prompting device with respect to the second robot and the relative position relationship of the first robot with respect to the first user can be made the same.

[0089] In addition, in the remote communication method, it may be that:

[0090] When the position of the first prompting device moves according to the movement of the second user, the first prompting device measures a distance between the moved position of the first prompting device and the position of the second robot in the first polar coordinate system.

[0091] The first presentation device measures an angle between a straight line connecting the position of the first presentation device after the movement in the first polar coordinate system and the position of the second robot and a starting line of the first polar coordinate system.

[0092] Furthermore, the first change amount indicating the change amount of the position of the second user may be the measured distance and the angle.

[0093] Alternatively, the first robot determines a position in the first base to which the first robot should be moved based on the distance and the angle indicated by the first variation.

[0094] In the movement corresponding to the first change amount, the first robot moves to the identified position.

[0095] The determined position may also be a position where the distance between the determined position and the position of the first user is the same as the distance indicated by the first change amount, and an angle formed by a straight line connecting the determined position and the position of the first user and a starting line of the second polar coordinate system is the same as the angle indicated by the first change amount.

[0096] Therefore, based on the distance between the moved position of the first prompt device in the first polar coordinate system and the position of the second robot and the angle formed by the straight line connecting the moved position of the first prompt device in the first polar coordinate system and the position of the second robot and the first starting line, the first robot can be moved so that the relative position of the first prompt device in the first polar coordinate system with respect to the second robot is the same as the relative position of the first robot in the second polar coordinate system with respect to the first user.

[0097] In addition, the remote communication method may also include: the first prompting device determines whether the measured angle is greater than a predetermined angle, and the first prompting device detects the first change amount in the detection when it is determined that the measured angle is greater than the predetermined angle.

[0098] Therefore, when it is determined that the measured angle is equal to or larger than the predetermined angle, that is, when it is determined that the movement amount of the second user is large, the first robot can be moved.

[0099] Furthermore, the remote communication method may further include: the second robot emitting visible light downward from a front side of the second robot.

[0100] According to this configuration, in the second robot, the visible light is emitted downward from the front surface of the second robot. Therefore, the second user can face the second robot directly by visually observing the visible light.

[0101] In addition, the remote communication method may also include: the second robot emitting infrared light from the front side of the second robot, and the first prompting device, when detecting the infrared light emitted from the second robot at the front side of the first prompting device, measures the initial distance.

[0102] Therefore, the initial distance can be measured using the detection of infrared light emitted from the second robot in front of the first presentation device as a trigger, and the first polar coordinate system and the second polar coordinate system can be set.

[0103] In addition, the remote communication method also includes: the first prompt device detects a second change amount representing the change amount of the facial orientation of the second user relative to the second robot, the first robot receives the second change amount from the first prompt device, and the first robot rotates the camera so that the shooting direction of the camera changes corresponding to the second change amount.

[0104] Therefore, the imaging direction of the camera changes according to the change in the facial orientation of the second user, so that the second user can be given a sense of presence as if the second user is in the first base.

[0105] In addition, in the detection of the second variation, the first prompting device may further measure the angle of the second user's facial orientation relative to the starting line of the first polar coordinate system, and detect the measured angle as the variation of the second user's facial orientation. The camera may also be rotated until the angle of the camera's shooting direction relative to the starting line of the second polar coordinate system is consistent with the angle represented by the second variation.

[0106] Therefore, the imaging direction of the camera changes according to the change in the facial orientation of the second user, so that the second user can be given a sense of presence as if the second user is in the first base.

[0107] The remote communication system may further include a second presentation device disposed at the first location.

[0108] The second presentation device may also be worn by the first user.

[0109] The remote communication method may further include: when the first change amount is detected, before the first change amount is transmitted to the first robot, the first prompting device transmitting first notification information indicating that the first user is urged to remain still to the second prompting device.

[0110] When the second change amount is detected, the first presentation device may transmit the first notification information to the second presentation device before transmitting the second change amount to the first robot.

[0111] The second presentation device may receive the first notification information from the first presentation device.

[0112] The second presentation device may also display the first notification information.

[0113] With such a configuration, when the second user moves, the movement of the first user can be suppressed.

[0114] Furthermore, the first notification information may be displayed when the first notification information is received before the second prompting device detects a third change amount, wherein the third change amount indicates a change amount of the position of the first user relative to the first robot.

[0115] or,

[0116] When the first notification information is received before the second presentation device detects a fourth change amount indicating a change amount of the facial orientation of the first user relative to the first robot, the first notification information is displayed.

[0117] With such a configuration, when the second user moves, the movement of the first user can be suppressed.

[0118] Furthermore, the remote communication system may further include a second presentation device disposed at the first base.

[0119] The second presentation device may also be worn by the first user.

[0120] The remote communication method may further include: when the second prompting device detects a third change in the position of the first user or a fourth change in the facial orientation of the first user relative to the first robot, the second prompting device sends a second notification message to the first prompting device urging the second user to stay still.

[0121] The first presentation device may also receive the second notification information.

[0122] The first presentation device may also display the second notification information.

[0123] With such a configuration, when the first user moves, the movement of the second user can be suppressed.

[0124] Furthermore, when the second notification information is received before the first change amount is detected by the first presentation device, the second notification information may be displayed.

[0125] or,

[0126] When the second notification information is received before the second change amount is detected by the first presentation device, the second notification information is displayed.

[0127] With such a configuration, when the first user moves, the movement of the second user can be suppressed.

[0128] Another aspect of the present disclosure provides a remote communication system having:

[0129] The first robot deployed at the first base; and

[0130] a prompting device disposed at a second location different from the first location,

[0131] The first robot comprises:

[0132] a camera for photographing a first user in the first location; and

[0133] A transmitting unit transmits the image of the first user captured by the camera to the presenting device.

[0134] The prompting device comprises:

[0135] a receiving unit configured to receive the captured image from the first robot;

[0136] A display unit that displays the captured image;

[0137] a detection unit configured to detect a first change amount indicating a change amount of a position of the second user relative to a second robot, the second robot virtually representing the first user;

[0138] A transmitting unit transmits the first variation to the first robot.

[0139] The first robot further includes: a receiving unit that receives the first change amount from the prompting device; a moving unit that moves the first robot; and a movement control unit that controls the moving unit in order to change the viewpoint of the camera based on the first change amount.

[0140] Therefore, according to the movement of the second user in the second base, the first robot that photographs the first user moves in the first base, and the viewpoint of the camera of the first robot changes, thereby being able to give the second user a sense of presence as if the first user at the first base is at the second base.

[0141] Another aspect of the autonomous mobile device disclosed herein includes:

[0142] A camera that captures a first user in a first location;

[0143] a transmitting unit configured to transmit the image of the first user captured by the camera to a presentation device disposed at a second location different from the first location;

[0144] a receiving unit that receives, from the presenting device, a first change amount indicating a change amount of a position of the second user relative to a second robot, the second robot virtually representing the first user;

[0145] a moving unit that moves the first robot; and

[0146] A movement control unit controls the movement unit to change a viewpoint of the camera based on the first change amount.

[0147] Therefore, according to the movement of the second user in the second base, the autonomous mobile device that photographs the first user moves in the first base, and the viewpoint of the camera of the autonomous mobile device changes, thereby being able to give the second user a sense of presence as if the first user at the first base is at the second base.

[0148] The following describes an embodiment of the present disclosure with reference to the accompanying drawings. In addition, the following embodiment is only an example of the present disclosure, and does not limit the technical scope of the present disclosure.

[0149] (Implementation Method 1)

[0150] First, an overview of the remote communication system in Embodiment 1 of the present disclosure will be described.

[0151] Figure 1 is a diagram showing the structure of a remote communication system in Embodiment 1 of the present disclosure, Figure 2A and Figure 2B This is a schematic diagram for explaining the outline of the remote communication system in Embodiment 1 of the present disclosure.

[0152] Figure 1The telepresence system shown has a first telepresence robot 1, a head mounted display 2, and a second telepresence robot 3. The first telepresence robot 1 is arranged at a first base, and the head mounted display 2 and the second telepresence robot 3 are arranged at a second base different from the first base. The first telepresence robot 1 and the head mounted display 2 are connected to each other via a network 7 so as to be able to communicate with each other. In addition, the network 7 is, for example, the Internet.

[0153] like Figure 2A , Figure 2B As shown, at the first site, the first telepresence robot 1 captures the first user 4 as a capture object, and transmits the captured image of the first user 4 to the head mounted display 2. In addition, the first telepresence robot 1 moves autonomously. The first telepresence robot 1 is also called a movement control device.

[0154] The second telepresence robot 3 is disposed at the second base as the first user 4. The second telepresence robot 3 in the first embodiment does not move autonomously, but may move autonomously.

[0155] The head mounted display 2 is worn on the head of the second user 5. The head mounted display 2 receives the captured image transmitted by the first telepresence robot 1, and displays the received captured image on a display body (not shown) of the head mounted display 2. The head mounted display 2 presents the captured image captured by the first telepresence robot 1 to the second user 5.

[0156] like Figure 2A As shown, when the second user 5 wearing the head mounted display 2 moves to a position facing the second telepresence robot 3 , the head mounted display 2 measures the distance between the second telepresence robot 3 and the head mounted display 2 .

[0157] The position where the second user 5 faces the second telepresence robot 3 is, for example, a position where the second user 5 faces the front of the second telepresence robot 3. Therefore, the direction from which the second telepresence robot 3 is viewed from this position is a direction from which the front of the second telepresence robot 3 is viewed.

[0158] The head mounted display 2 transmits the measured initial distance to the first telepresence robot 1 .

[0159] When the first telepresence robot 1 receives the initial distance from the head mounted display 2, it moves to a position where the shooting direction of the camera of the first telepresence robot 1 is the direction from which the first user 4 is viewed from the front and the distance from the first user 4 becomes the initial distance. The shooting direction of the camera is, for example, the direction of the optical axis of the shooting lens (not shown) of the camera.

[0160] The first telepresence robot 1 may store an image of the first user 4 taken from the front in a memory (not shown) in advance, for example, and determine based on the image whether the shooting direction from the camera is the direction in which the first user 4 is viewed from the front.

[0161] In addition, the first telepresence robot 1 may include, for example, a distance measuring sensor (not shown), and use the distance measuring sensor to determine whether the distance between the first user 4 and the first telepresence robot 1 is the initial distance.

[0162] like Figure 2A As shown, the first telepresence robot 1 is at a distance from the first user 4 that is the same as the distance between the head mounted display 2 and the second telepresence robot 3, i.e., the initial distance, and the shooting direction of the first telepresence robot 1 is the same direction as the direction in which the second user 5 observes the second telepresence robot 3 as the first user 4, i.e., the direction in which the object is observed from the front.

[0163] At this time, the relative position relationship of the first telepresence robot 1 to the first user 4 is the same as the relative position relationship of the head mounted display 2 to the second telepresence robot 3 regarded as the first user 4. The second user 5 wears the head mounted display 2, so the position of the second user 5 is assumed to be the same as the position of the head mounted display 2 for description.

[0164] Here, for example, Figure 2A The second user 5 at the location shown is Figure 2B As shown in FIG. 2 , the user moves within the second base while wearing the head mounted display 2 .

[0165] In this case, the head mounted display 2 is Figure 2A The position of the second user 5 shown in FIG. 1 is used as a reference to detect the position change of the second user 5. That is, the head mounted display 2 is based on Figure 2A The head mounted display 2 is used as a reference to detect the amount of change in the position of the head mounted display 2. The head mounted display 2 transmits a first amount of change indicating the detected amount of change to the first telepresence robot 1.

[0166] The first telepresence robot 1 receives the first change amount from the head mounted display 2 , and moves within the second base according to the change amount of the position of the second user 5 indicated by the first change amount.

[0167] More specifically, if Figure 2BAs shown, the direction from which the first user 4 is viewed from the position of the first telepresence robot 1 that has moved according to the first change amount is the same direction as the direction from which the second telepresence robot 3 is viewed from the position of the second user 5 after the movement. Furthermore, the distance between the first telepresence robot 1 that has moved according to the first change amount and the first user 4 is the same as the distance between the head mounted display 2 worn by the second user 5 and the second telepresence robot 3 after the movement.

[0168] That is, even if the second user 5 wearing the head-mounted display 2 moves within the second base, the first telepresence robot 1 also moves according to the first change amount, and therefore, the relative position relationship of the first telepresence robot 1 relative to the first user 4 is the same as the relative position relationship of the head-mounted display 2 relative to the second telepresence robot 3 regarded as the first user 4.

[0169] The first telepresence robot 1 sends a captured image of the first user 4 to the head mounted display 2. As a result, the head mounted display 2 displays a captured image obtained by capturing the first user 4 in the same direction as the direction in which the second telepresence robot 3 serving as the first user 4 is viewed from the position of the second user 5 after the movement and from a position away from the first user 4 by the distance between the second user 5 and the second telepresence robot 3.

[0170] This can provide the second user with a sense of presence as if the first user 4 at the first location is at the second location. In other words, it can be said that the second user 5 at the second location can be provided with a sense of presence as if the second user 5 at the second location is at the first location.

[0171] In addition, regarding the head mounted display 2, it is also possible to Figure 2A The head mounted display 2 detects the amount of change in the facial orientation of the second user 5 at the position shown in the figure. In the present embodiment, the case where the second user 5 turns his face to the left or right is taken as an example for explanation. In this case, the head mounted display 2 detects the amount of change in the facial orientation of the second user 5, and sends a second amount of change indicating the amount of change in the detected facial orientation to the first telepresence robot 1. The first telepresence robot 1 receives the second amount of change from the head mounted display 2, and the first telepresence robot 1 rotates the camera to the left or right according to the amount of change in the facial orientation of the second user 5 indicated by the second amount of change, thereby changing the shooting direction.

[0172] This makes it possible to provide the second user with a further sense of presence as if the first user 4 located at the first location is located at the second location.

[0173] Figure 3It is a diagram showing the configuration of a first telepresence robot, a head mounted display, and a second telepresence robot in Embodiment 1 of the present disclosure.

[0174] The second telepresence robot 3 has an infrared ray emitting unit 31. The infrared ray emitting unit 31 emits infrared light from the front side of the second telepresence robot 3 toward the front. The infrared light may be, for example, a laser having an infrared wavelength. This laser is also called an infrared laser.

[0175] The head mounted display 2 includes a communication unit 21, a display unit 22, an infrared light receiving unit 23, an initial setting unit 24, and a change amount detection unit 25 corresponding to the detection unit. In addition, the head mounted display 2 includes a processor (not shown) such as a CPU (Central Processing Unit) and a memory (not shown) storing a program, and the processor executes the program, whereby the communication unit 21, the display unit 22, the infrared light receiving unit 23, the initial setting unit 24, and the change amount detection unit 25 each function.

[0176] The communication unit 21 receives, from the first telepresence robot 1 , a captured image of the first user 4 at the first location.

[0177] The display unit 22 includes, for example, the above-mentioned display main body (not shown), and displays the captured image received by the communication unit 21 on the display main body.

[0178] The infrared light receiving unit 23 receives and detects infrared light from the front of the head mounted display 2, for example. The infrared light receiving unit 23 is installed, for example, at a position visible from the front of the head mounted display 2. The infrared light is emitted from the front of the second telepresence robot 3, and therefore, when the infrared light is detected on the front of the head mounted display 2 worn by the second user 5, the second telepresence robot 3 faces the head mounted display 2 and the second user 5 wearing it.

[0179] Furthermore, in the first embodiment, the second telepresence robot 3 has an infrared emitting unit 31 that emits infrared light forward from the front of the second telepresence robot 3, but the present disclosure is not particularly limited thereto, and the second telepresence robot 3 may also have a laser emitting unit that emits visible laser light downward from the front of the second telepresence robot 3. In this case, the head mounted display 2 may not have the infrared light receiving unit 23, and the second user 5 can move to a position directly facing the second telepresence robot 3 by visually observing the visible laser light.

[0180] The change amount detection unit 25 detects a first change amount indicating a change amount of the position of the second user 5 relative to the second telepresence robot 3 which virtually represents the first user 4 .

[0181] The change amount detection unit 25 further detects a second change amount indicating a change amount of the facial orientation of the second user 5 relative to the second telepresence robot 3 .

[0182] The communication unit 21 transmits at least one of the first change amount and the second change amount detected by the change amount detection unit 25 to the first telepresence robot 1. The change amount detection unit 25 includes, for example, a deflection angle measurement unit 251, a movement determination unit 252, a distance measurement unit 253, and a rotation angle measurement unit 254.

[0183] The distance measuring unit 253 is a distance measuring sensor such as LIDAR (Light Detection and Ranging) or millimeter wave radar, and measures the distance to the object. The distance measuring unit 253 measures the initial distance between the second telepresence robot 3 and the head mounted display 2 when the second telepresence robot 3 and the second user 5 face each other. The distance measuring unit 253 measures the initial distance when the infrared light receiving unit 23 detects infrared light.

[0184] Furthermore, when the second telepresence robot 3 emits visible laser light instead of infrared light, a button that is pressed when the second telepresence robot 3 faces the second user 5 may be provided on the head mounted display 2. Furthermore, the distance measuring unit 253 may measure the initial distance when the button is pressed.

[0185] When the second telepresence robot 3 and the second user 5 are facing each other, that is, when the infrared light receiving unit 23 detects infrared light, the initial setting unit 24 instructs the distance measuring unit 253 to measure the initial distance between the second telepresence robot 3 and the head mounted display 2. The initial setting unit 24 sets the first polar coordinate system with the position of the second telepresence robot 3 as the origin, and uses the straight line connecting the second telepresence robot 3 and the head mounted display 2 as the starting line of the first polar coordinate system. In the following description, this starting line is referred to as the first starting line. At this time, the distance between the second telepresence robot 3 (origin) and the head mounted display 2 on the first starting line of the first polar coordinate system becomes the initial distance measured by the distance measuring unit 253. The communication unit 21 sends the initial distance measured by the distance measuring unit 253 to the first telepresence robot 1.

[0186] After measuring the initial distance, if the second user 5 wearing the head mounted display 2 moves, the distance measuring unit 253 measures the distance between the moved position of the head mounted display 2 in the first polar coordinate system and the second telepresence robot 3. Alternatively, the measurement may be performed at regular time intervals.

[0187] The deflection angle measuring unit 251 measures an angle between a straight line connecting the position of the head mounted display 2 after the movement and the position of the second telepresence robot 3 in the first polar coordinate system and the first starting line.

[0188] The deflection angle measuring unit 251 includes, for example, an antenna corresponding to the BLE (Bluetooth (registered trademark) Low Energy) standard. The antenna receives a beacon signal sent from a transmitter installed around the head-mounted display 2. The transmitter is composed of, for example, a transmitter that sends a beacon signal that complies with the communication protocol of BLE. The transmitter is installed at a certain interval (for example, several meters) on the ceiling, floor or wall of the interior of the second base (for example, a room) where the head-mounted display 2 is located, and sends beacon signals at a certain period. The transmitter has a memory (not shown) that stores position information representing its own installation position in advance, and includes its own position information in the beacon signal and sends it. In addition, the position information of the transmitter is represented by, for example, coordinates of an orthogonal coordinate system representing a predetermined area within the second base.

[0189] The deflection measuring unit 251 obtains the position information of the transmitter contained in the beacon signal with the highest intensity received by the antenna as the position information of the head-mounted display 2. The deflection measuring unit 251 converts the coordinates of the obtained orthogonal coordinate system into the coordinates of the first polar coordinate system. Furthermore, the deflection measuring unit 251 measures the angle between the straight line connecting the moved position of the head-mounted display 2 (the second user 5) in the first polar coordinate system and the position of the second telepresence robot 3 and the first starting line. The communication unit 21 uses the distance measured by the distance measuring unit 253 and the angle measured by the deflection measuring unit 251 as the position change amount of the head-mounted display 2, and sends the first change amount representing the change amount to the first telepresence robot 1.

[0190] The movement determination unit 252 determines whether the head mounted display 2, i.e., the second user 5 wearing the head mounted display 2, has moved, by, for example, determining whether the amount of change in the position of the head mounted display 2 is greater than a predetermined amount. In addition, when it is determined that the amount of change in the position of the head mounted display 2 is greater than a predetermined amount, the first amount of change indicating the amount of change is detected by the amount of change detection unit 25. In addition, when it is determined that the amount of change in the position of the head mounted display 2 is less than the predetermined amount, the first amount of change is not detected by the amount of change detection unit 25.

[0191] More specifically, the movement determination unit 252 determines whether the head mounted display 2 (the second user 5) has moved, for example, by determining whether the angle measured by the deflection measuring unit 251 is greater than or equal to a predetermined angle corresponding to the above-mentioned predetermined amount. That is, the movement determination unit 252 determines that the head mounted display 2 (the second user 5) has moved when the angle measured by the deflection measuring unit 251 is greater than or equal to the predetermined angle, and detects the first change amount indicating the change amount through the change amount detection unit 25.

[0192] On the other hand, when the angle measured by the deflection measuring unit 251 is smaller than the predetermined angle, it is determined that the head mounted display 2 (the second user 5 ) has not moved. The first change amount is not detected by the change amount detecting unit 25 .

[0193] When the communication unit 21 determines that the angle measured by the deflection measuring unit 251 is greater than the predetermined angle, the communication unit 21 transmits the first change amount to the first telepresence robot 1. When the communication unit 21 determines that the angle measured by the deflection measuring unit 251 is less than the predetermined angle, the communication unit 21 does not transmit the first change amount to the first telepresence robot 1.

[0194] The rotation angle measuring unit 254 measures the angle of the facial orientation of the second user 5 relative to the first starting line of the first polar coordinate system. The angle of the facial orientation of the second user 5 is also referred to as a rotation angle. The rotation angle measuring unit 254 is, for example, composed of an inertial sensor. The inertial sensor is a sensor that detects the amount of inertial motion and is composed of a three-axis angular velocity sensor and a three-direction acceleration sensor, and detects the head movement of the second user 5. For example, when the first polar coordinate is set, the rotation angle measuring unit 254 stores the direction from the position of the head mounted display 2 on the first starting line toward the position of the second telepresence robot 3 corresponding to the origin of the first polar coordinate system as a first reference direction in a memory (not shown). The rotation angle measuring unit 254 measures the angle of the facial orientation of the second user 5 relative to the first reference direction as a rotation angle. The communication unit 21 uses the rotation angle measured by the rotation angle measuring unit 254 as the amount of change in the facial orientation of the second user 5, and sends a second amount of change indicating the amount of change to the first telepresence robot 1.

[0195] The first telepresence robot 1 includes an imaging unit 11, a communication unit 12, an initial setting unit 13, a movement control unit 14, a movement unit 15, a rotation control unit 16, a rotation unit 17, a distance measuring unit 18, a deflection measuring unit 19, and a rotation angle measuring unit 20. In addition, the first telepresence robot 1 includes a processor (not shown) and a memory (not shown) storing a program, and the processor executes the program, thereby enabling the imaging unit 11, the communication unit 12, the initial setting unit 13, the movement control unit 14, the movement unit 15, the rotation control unit 16, the rotation unit 17, the distance measuring unit 18, the deflection measuring unit 19, and the rotation angle measuring unit 20 to function.

[0196] The imaging unit 11 captures an image of the first user 4. The imaging unit 11 is, for example, a camera.

[0197] The communication unit 12 transmits the captured image obtained by the imaging unit 11 to the head mounted display 2. In addition, the communication unit 12 receives at least one of the first change amount and the second change amount transmitted by the head mounted display 2. In addition, the communication unit 12 receives the initial distance from the head mounted display 2 during initial setting.

[0198] The distance measuring unit 18 is, for example, a distance measuring sensor, and measures the distance to an object. The object is, for example, the first user 4 . The distance measuring unit 18 measures the distance between the first telepresence robot 1 and the first user 4 .

[0199] The movement control unit 14 controls the movement unit 15 to move the first telepresence robot 1 .

[0200] The moving unit 15 is composed of a motor and a driving wheel, and moves the first telepresence robot 1. When the first change amount is received, the movement control unit 14 controls the moving unit 15 to move the first telepresence robot 1 to a position corresponding to the first change amount, so that the shooting position changes according to the movement, and the viewpoint of the shooting unit 11 changes. In accordance with the change in the viewpoint of the shooting unit 11, the image of the first user 4 shot by the shooting unit 11 changes. In addition, regarding the moving unit 15, when the initial distance is received by the communication unit 12, the movement control unit 14 controls the moving unit 15 to move the first telepresence robot 1 to a position directly facing the first user 4 and at a distance from the first user 4 from the initial distance.

[0201] The initial setting unit 13 sets the second polar coordinate system with the position of the first user 4 as the origin, and uses the straight line connecting the position of the first telepresence robot 1 and the position of the first user 4 as the starting line of the second polar coordinate system. In the following description, this starting line is referred to as the second starting line. The initial setting unit 13 stores, for example, the position of the first telepresence robot 1 and the position of the first user 4 in the second polar coordinate system in a memory (not shown).

[0202] For example, when the first telepresence robot 1 moves, the distance measuring unit 18 measures the angle between the second start line and the straight line connecting the position of the first telepresence robot 1 after the movement and the position of the first user 4 in the second polar coordinate system.

[0203] The deflection angle measuring unit 19 includes, for example, an antenna corresponding to the BLE (Bluetooth (registered trademark) Low Energy) standard. The antenna receives a beacon signal sent from a transmitter installed around the first telepresence robot 1. The transmitter is installed at a certain interval (for example, several meters) on the ceiling, floor or wall inside the first base (for example, a room), and sends beacon signals at a certain period. The transmitter has a memory (not shown) that stores position information representing its own installation position in advance, and sends the beacon signal by including it in its own position information. In addition, the position information of the transmitter is represented by, for example, coordinates of an orthogonal coordinate system representing a predetermined area within the first base.

[0204] The deflection angle measuring unit 19 obtains the position information of the transmitter included in the beacon signal with the highest intensity received by the antenna as the position information of the first telepresence robot 1. The deflection angle measuring unit 19 converts the obtained coordinates of the orthogonal coordinate system into coordinates of the second polar coordinate system. Furthermore, the deflection angle measuring unit 19 measures the angle between the straight line connecting the position of the first telepresence robot 1 after the movement in the second polar coordinate system and the position of the first user 4 and the second starting line.

[0205] The mobile control unit 14 controls the mobile unit 15 to move the first telepresence robot 1 according to the distance and angle indicated by the received first change amount, so that the relative position of the second user 5 with respect to the second telepresence robot 3 in the first polar coordinate system and the relative position of the first telepresence robot 1 with respect to the first user 4 in the second polar coordinate system become the same.

[0206] Here, the position to which the first remote presence robot 1 is moved according to the first change amount is a position where the angle formed by a straight line connecting the position and the position of the first user 4 and the second starting line is the same as the angle represented by the first change amount, and the distance from the position to the position of the first user 4 is the same as the distance represented by the first change amount.

[0207] The rotation control unit 16 rotates the first telepresence robot 1 by controlling the rotation unit 17 .

[0208] The rotation angle measuring unit 20 measures the angle of the shooting direction of the shooting unit 11 of the first telepresence robot 1 relative to the second starting line of the second polar coordinate system. The angle of the shooting direction is also referred to as the rotation angle of the shooting direction. The shooting direction of the shooting unit 11 is the optical axis direction of the shooting lens (not shown) of the camera corresponding to the shooting unit 11. The rotation angle measuring unit 20 is composed of, for example, an inertial sensor. The inertial sensor is a sensor that detects the amount of inertial motion and is composed of a three-axis angular velocity sensor and a three-direction acceleration sensor, and detects the shooting direction of the camera corresponding to the shooting unit 11 of the first telepresence robot 1. For example, when setting the second polar coordinate, the rotation angle measuring unit 20 stores the direction from the position of the first telepresence robot 1 on the second starting line toward the position of the first user 4 as the second reference direction in the memory (not shown). The rotation angle measuring unit 20 measures the angle of the shooting direction of the first telepresence robot 1 relative to the second reference direction as the rotation angle.

[0209] The rotating unit 17 rotates the first telepresence robot 1 about a rotation axis (not shown), for example. The axis direction of the rotation axis is, for example, a direction perpendicular to the floor on which the first telepresence robot 1 is arranged. Thus, the first telepresence robot 1 rotates about the rotation axis.

[0210] The rotating unit 17 rotates the first telepresence robot 1, thereby rotating the camera corresponding to the imaging unit 11 of the first telepresence robot 1. As a result, the imaging direction of the imaging unit 11 changes. The imaging direction of the imaging unit 11 is, for example, the optical axis direction of the imaging lens of the camera corresponding to the imaging unit 11.

[0211] For example, when the second variation is received, the rotation control unit 16 controls the rotation unit 17 to rotate the first telepresence robot 1 according to the second variation, thereby changing the imaging direction of the imaging unit 11. That is, the rotation control unit 16 controls the rotation unit 17 to rotate the first telepresence robot 1 according to the rotation angle indicated by the received second variation, thereby rotating the imaging direction of the imaging unit 11 relative to the second starting line. The rotation control unit 16 controls the rotation unit 17 to rotate the first telepresence robot 1 until the rotation angle measured by the rotation angle measuring unit 20 matches the rotation angle indicated by the received second variation, thereby changing the imaging direction of the imaging unit 11 relative to the second starting line.

[0212] In the above example, the rotating unit 17 rotates the first telepresence robot 1, but the present invention is not limited thereto. For example, the rotating unit 17 may rotate only the camera as the imaging unit 11 around a rotation axis (not shown) as the rotation center.

[0213] In addition, the first telepresence robot 1 may also have a microphone for acquiring the voice of the first user 4, and the head mounted display 2 may also have a speaker for outputting the voice data received by the communication unit 21. In this case, the microphone of the first telepresence robot 1 acquires the voice of the first user 4 and converts it into voice data. The communication unit 12 transmits the voice data acquired by the microphone to the head mounted display 2. The communication unit 21 of the head mounted display 2 receives the voice data transmitted by the first telepresence robot 1. The speaker outputs the voice of the first user 4 corresponding to the received voice data.

[0214] In the first embodiment, the first telepresence robot 1 corresponds to the first robot. The first telepresence robot 1 is also called an autonomous mobile device.

[0215] The head mounted display 2 corresponds to a first presentation device. The second telepresence robot 3 corresponds to a second robot.

[0216] In addition, the communication unit 12 of the first telepresence robot 1 may also include a transmitting unit (not shown) and a receiving unit (not shown). The transmitting unit may include a transmitting circuit, for example. The receiving unit may also include a receiving circuit. In this case, the transmission work performed by the communication unit 12 may be performed by the transmitting unit. In addition, the reception work performed by the communication unit 12 may be performed by the receiving unit.

[0217] In addition, the communication unit 21 of the head mounted display 2 may also include a transmitting unit (not shown) and a receiving unit (not shown). The transmitting unit may include a transmitting circuit, for example. The receiving unit may also include a receiving circuit. In this case, the transmission work performed by the communication unit 21 may be performed by the transmitting unit. In addition, the reception work performed by the communication unit 21 may be performed by the receiving unit.

[0218] Next, an initial setting process of setting the first polar coordinate system and the second polar coordinate system in the head mounted display 2 and the first telepresence robot 1 will be described.

[0219] Figure 4 This is a flowchart for explaining the initial setting process of setting the first polar coordinate system and the second polar coordinate system in the head mounted display 2 and the first telepresence robot 1 in the first embodiment.

[0220] First, in step S1 , when the second user 5 wearing the head mounted display 2 is located facing the second telepresence robot 3 , the infrared light receiving unit 23 of the head mounted display 2 detects infrared light emitted from the second telepresence robot 3 .

[0221] Next, in step S2 , the distance measuring unit 253 measures the initial distance between the second telepresence robot 3 and the head mounted display 2 when the second telepresence robot 3 and the second user 5 face each other.

[0222] Next, in step S3, the initial setting unit 24 sets a first polar coordinate system with the position of the second telepresence robot 3 as the origin, and uses a straight line connecting the position of the second telepresence robot 3 and the position of the head mounted display 2 as the starting line of the first polar coordinate system, i.e., the first starting line. In addition, the initial setting value of the first polar coordinate system is stored in a memory (not shown) possessed by the head mounted display 2.

[0223] Next, in step S4 , the communication unit 21 transmits the initial distance measured by the distance measurement unit 253 to the first telepresence robot 1 .

[0224] Next, in step S5 , the communication unit 12 of the first telepresence robot 1 receives the initial distance transmitted from the head mounted display 2 .

[0225] Next, in step S6 , the movement control unit 14 controls the movement unit 15 to move the first telepresence robot 1 to a position directly facing the first user 4 and at an initial distance from the first user 4 .

[0226] The movement control unit 14 moves the first telepresence robot 1 to a position directly facing the first user 4, for example, based on the image of the first user 4 captured by the image capturing unit 11. More specifically, the movement control unit 14 controls the moving unit 15 to move the first telepresence robot 1 to a position where the front of the first user 4 is captured. Thus, the first telepresence robot 1 moves to a position directly facing the first user 4.

[0227] Furthermore, the distance measuring unit 18 measures the distance between the first telepresence robot 1 and the first user 4 , and the movement control unit 14 controls the movement unit 15 to move the first telepresence robot 1 so that the distance between the first telepresence robot 1 and the first user 4 becomes the initial distance.

[0228] Alternatively, the mobile control unit 14 may control the mobile unit 15 to move the first remote presence robot 1 to a position at an initial distance from the first user 4, and then, based on a captured image captured during movement on a circle centered on the position of the first user 4 and having a radius of the initial distance, move the first remote presence robot 1 to a position where the front of the first user 4 is captured.

[0229] Next, in step S7, the initial setting unit 13 sets a second polar coordinate system with the position of the first user 4 as the origin, and uses a straight line connecting the position of the first telepresence robot 1 and the position of the first user 4 as the starting line of the second polar coordinate system, that is, the second starting line. In addition, the initial setting value of the second polar coordinate system is stored in a memory (not shown) possessed by the first telepresence robot 1.

[0230] Figure 5 This is a schematic diagram for explaining the setting of the first polar coordinate system by the initial setting unit 24 and the setting of the second polar coordinate system by the initial setting unit 13 in the first embodiment.

[0231] like Figure 5 As shown, the first polar coordinate system takes the position TPR_B of the second telepresence robot 3 as the origin, and the straight line connecting the position TPR_B of the second telepresence robot 3 and the position U_B of the head mounted display 2 is taken as the first starting line. In addition, in the first polar coordinate system, the distance between the position TPR_B of the second telepresence robot 3 and the position U_B of the head mounted display 2 is set as the initial distance r0.

[0232] In addition, the second polar coordinate system takes the position U_A of the first user 4 as the origin, and the straight line connecting the position TPR_A of the first telepresence robot 1 and the position U_A of the first user 4 is used as the second starting line. In addition, in the second polar coordinate system, the distance between the position TPR_A of the first telepresence robot 1 and the position U_A of the first user 4 is set as the initial distance r0.

[0233] Next, consider the case where the second user 5 wearing the head mounted display 2 moves in the second base. For example, when the position U_B of the head mounted display 2 in the first polar coordinate system moves in the direction of the arrow Y1 due to the movement of the second user 5, the distance r between the position U_B' of the head mounted display 2 after the movement and the position TPR_B of the second telepresence robot 3 is measured by the distance measuring unit 253, and the angle θ between the straight line connecting the position U_B' of the head mounted display 2 after the movement and the position TPR_B of the second telepresence robot 3 and the first starting line is measured by the deflection measuring unit 251. The communication unit 21 uses the measured distance r and angle θ as the position change amount of the second user 5, and sends the first change amount indicating the change amount to the first telepresence robot 1. In addition, the position change amount of the second user 5 is also the position change amount of the head mounted display 2 worn by the second user 5.

[0234] When the communication unit 12 receives the first change amount from the head mounted display 2, the movement control unit 14 calculates the position TPR_A' to which the first telepresence robot 1 should be moved based on the first change amount. In the second polar coordinate system, the position TPR_A' is a position where the distance from the position TPR_A' to the position U_A of the first user 4 is the distance r represented by the first change amount, and the angle between the straight line connecting the position TPR_A' and the position U_A and the second starting line is the angle θ. The movement control unit 14 controls the movement unit 15 to move the telepresence robot 1 from the position TPR_A to the position TPR_A'. In this case, the telepresence robot 1 moves in the direction of the arrow Y2.

[0235] On the other hand, the rotation angle measuring unit 254 measures the angle of the facial orientation of the second user 5 relative to the first reference direction, which is the direction from the position U_B toward the position TPR_B, as the first reference direction in the first coordinate system as the rotation angle. The communication unit 21 uses the rotation angle measured by the rotation angle measuring unit 254 as the amount of change in the facial orientation of the second user 5, and transmits a second amount of change indicating the amount of change to the first telepresence robot 1.

[0236] When the communication unit 12 receives the second change amount from the head mounted display 2 , the rotation control unit 16 controls the rotation unit 17 to rotate the telepresence robot 1 .

[0237] For example, in the Figure 5 When the direction from the position TPR_A shown in the figure toward the position U_A is taken as the second reference direction, the rotation control unit 16 controls the rotation unit 17 to rotate the telepresence robot 1 so that the angle of the shooting direction of the telepresence robot 1 relative to the second reference direction matches the rotation angle represented by the second variation.

[0238] Next, the operation of the remote communication system in Embodiment 1 of the present disclosure will be described.

[0239] Figure 6 This is a flowchart for explaining the operation of the remote communication system in Embodiment 1 of the present disclosure. Figure 6 The flowchart shown can also be used, for example, in Figure 4 The process is performed after the flowchart shown ends.

[0240] First, in step S11 , the imaging unit 11 of the first telepresence robot 1 captures an image of the first user 4 .

[0241] Next, in step S12 , the communication unit 12 transmits the captured image obtained by the imaging unit 11 to the head mounted display 2 .

[0242] Next, in step S13, the imaging unit 11 determines whether to end the imaging. Here, if it is determined that the imaging is ended (step S13: Yes), the processing of the remote communication system is ended. On the other hand, if it is determined that the imaging is not ended (step S13: No), the processing returns to step S11 and the imaging of the first user 4 is continued. For example, the first telepresence robot 1 receives an input from the first user 4 regarding whether to end the imaging. The imaging unit 11 may also determine whether to end the imaging based on the above input.

[0243] Furthermore, the head mounted display 2 may receive an input regarding whether to end the photographing from the second user 5. In this case, the communication unit 21 transmits information indicating whether to end the photographing to the first telepresence robot 1.

[0244] Next, in step S14 , the communication unit 21 of the head mounted display 2 receives the captured image from the first telepresence robot 1 .

[0245] Next, in step S15 , the display unit 22 displays the captured image received by the communication unit 21 .

[0246] Next, in step S16 , the deflection angle measuring unit 251 measures an angle between a straight line connecting the position of the head mounted display 2 and the position of the second telepresence robot 3 in the first polar coordinate system and the first starting line.

[0247] Next, in step S17, the deflection angle measuring unit 251 determines whether the measured angle is equal to or larger than a predetermined angle. If it is determined that the measured angle is smaller than the predetermined angle (step S17: No), the process proceeds to step S22.

[0248] On the other hand, when it is determined that the measured angle is equal to or larger than the predetermined angle (step S17 : Yes), in step S18 , the distance measuring unit 253 measures the distance between the position of the head mounted display 2 and the position of the second telepresence robot 3 in the first polar coordinate system.

[0249] Next, in step S19 , the communication unit 21 uses the angle measured by the deflection measuring unit 251 and the distance measured by the distance measuring unit 253 as the position change of the second user 5 , and sends the first change indicating the position change of the second user 5 to the first telepresence robot 1 .

[0250] Next, in step S20 , the communication unit 12 of the first telepresence robot 1 receives the first variation amount from the head mounted display 2 .

[0251] Next, in step S21, the moving unit 15 moves the first telepresence robot 1 based on the distance and angle indicated by the first variation received by the communication unit 12, so that the relative position of the second user 5 with respect to the second telepresence robot 3 in the first polar coordinate system becomes the same as the relative position of the first telepresence robot 1 with respect to the first user 4 in the second polar coordinate system. Then, the process returns to step S11, and the imaging unit 11 captures the first user 4.

[0252] On the other hand, after the first change amount is transmitted in step S19 , in step S22 , the rotation angle measuring unit 254 measures the angle of the face orientation of the second user 5 with respect to the first starting line of the first polar coordinate system as the rotation angle.

[0253] Next, in step S23, the rotation angle measuring unit 254 determines whether the measured rotation angle is equal to or greater than a predetermined angle. If it is determined that the measured rotation angle is smaller than the predetermined angle (step S23: No), the process proceeds to step S15.

[0254] On the other hand, when it is determined that the measured rotation angle is greater than the predetermined angle (step S23: Yes), in step S24, the communication unit 21 uses the rotation angle measured by the rotation angle measuring unit 254 as the amount of change in the facial orientation of the second user 5, and transmits the second amount of change indicating the amount of change in the facial orientation of the second user 5 to the first telepresence robot 1. Then, the process returns to step S15, and the display unit 22 displays the captured image received by the communication unit 21.

[0255] Next, in step S25 , the communication unit 12 of the first telepresence robot 1 receives the second variation amount from the head mounted display 2 .

[0256] Next, in step S26, the rotation control unit 16 controls the rotation unit 17 to rotate the first telepresence robot 1 according to the second variation. Specifically, the rotation control unit 16 controls the rotation unit 17 to rotate the first telepresence robot 1 until the rotation angle measured by the rotation angle measuring unit 20 matches the rotation angle indicated by the second variation.

[0257] By rotating the first telepresence robot 1, the photographing direction of the photographing unit 11 changes. Thus, the photographing direction of the photographing unit 11 can be changed according to the change in the facial orientation of the second user 5, that is, the direction of the line of sight of the second user 5. Then, the process returns to step S11, and the photographing unit 11 photographs the first user 4.

[0258] Next, the following specific operation will be described: In the remote communication system of the first embodiment, at the first location, the first telepresence robot captures an image of the first user, and at the second location, the head mounted display presents the captured image to the second user.

[0259] Figure 7 This is a schematic diagram for explaining the operation of the first telepresence robot taking an image of the first user from the front at the first base in the remote communication system according to the first embodiment.

[0260] exist Figure 7 For example, in Figure 4 This is the state immediately after the flowchart shown in the figure is finished. That is, the setting of the head mounted display 2 to the first polar coordinate system and the setting of the telepresence robot 1 to the second polar coordinate system are completed.

[0261] exist Figure 7 In the second base, for example, the head mounted display 2 worn by the second user 5 is located at Figure 5 The second telepresence robot 3 is located at the position U_B of the first polar coordinate system shown in FIG. Figure 5 The position TPR_B of the first polar coordinate system is shown.

[0262] exist Figure 7 In the first base of Figure 5 The position of the first user is, for example, TPR_A in the second polar coordinate system. Figure 5 The position U_A of the second polar coordinate system is shown.

[0263] exist Figure 7 In the first base of the second user 5, the first telepresence robot 1 photographs the first user 4 and sends the photographed image to the head mounted display 2. At this time, the first user 4 swings a golf club, and the first telepresence robot 1 photographs the first user 4 from the front. The head mounted display 2 worn by the second user 5 displays the photographed image taken from the front of the first user 4 swinging the golf club.

[0264] Next, in the second base, the second user 5 moves in the direction of arrow 51 so as to go around the rear side of the second telepresence robot 3. According to the movement of the second user 5, the first telepresence robot 1 in the first base also moves in the direction of arrow 52 so as to go around the rear side of the first user 4. In the second base, the position of the second user 5 after the movement is, for example, Figure 5 The position U_B' of the first polar coordinate system is shown in FIG. 1 . In the first base, the position of the first telepresence robot 1 after the movement is, for example, Figure 5 TPR_A' of the second polar coordinate system is shown.

[0265] Figure 8It is shown in Figure 7 FIG. 1 is a diagram showing an example of a display screen displayed on a head mounted display at a second base shown.

[0266] like Figure 8 As shown, the display unit 22 of the head mounted display 2 displays a captured image of the first user 4 captured from the front at the first location.

[0267] Fig. 9 This is a schematic diagram for explaining the operation of the first telepresence robot capturing an image of the first user from behind at the first site in the remote communication system according to the first embodiment.

[0268] exist Fig. 9 In the second location, the second user 5 moves in the direction of arrow 51 and is located behind the second telepresence robot 3. Furthermore, the first telepresence robot 1 in the first location also moves in the direction of arrow 52 according to the movement of the second user 5 and is located behind the first user 4.

[0269] Furthermore, the first telepresence robot 1 captures the first user 4 and transmits the captured image to the head mounted display 2. At this time, the first telepresence robot 1 captures the first user 4 swinging the golf club from behind.

[0270] Fig.10 It is shown in Fig. 9 FIG. 1 is a diagram showing an example of a display screen displayed on a head mounted display at a second base shown.

[0271] like Fig.10 As shown, the display unit 22 of the head mounted display 2 displays a captured image of the first user 4 captured from behind at the first location.

[0272] In this way, according to the movement of the second user 5 wearing the head mounted display 2 in the second base, the first telepresence robot 1 in the first base moves, and the viewpoint of the imaging unit 11 of the first telepresence robot 1 also changes in accordance with the movement of the first telepresence robot 1. As a result, the captured image displayed on the head mounted display 2 also changes according to the movement of the second user 5. Therefore, it is possible to give the second user 5 a sense of presence as if the first user 4 located in the first base is located in the second base.

[0273] Furthermore, in the present embodiment, the captured image is continuously displayed while the second user 5 is moving. In addition, the captured image may not be displayed while the second user 5 is moving, but may be displayed when the second user 5 stops. Thus, shaking of the captured image caused by the movement of the first telepresence robot 1 can be prevented.

[0274] In addition, in the present first embodiment, an example of detecting the position change of the second user 5 and the first telepresence robot 1 on a two-dimensional plane is described, but it is also possible to detect the position change of the second user 5 and the first telepresence robot 1 in a three-dimensional space. In this case, the head mounted display 2 detects the movement of the head mounted display 2 in the three-dimensional space, and the first telepresence robot 1 moves in the three-dimensional space in accordance with the movement of the head mounted display 2.

[0275] (Implementation Method 2)

[0276] Next, an overview of the remote communication system in Embodiment 2 of the present disclosure is described. In Embodiment 1 above, an example is adopted in which the first telepresence robot is configured at the first base, and the head-mounted display and the second telepresence robot are configured at the second base, while in Embodiment 2, the first telepresence robot and the first head-mounted display are configured at the first base, and the second head-mounted display and the second telepresence robot are configured at the second base.

[0277] Fig.11 This is a diagram showing the configuration of a remote communication system in Embodiment 2 of the present disclosure.

[0278] Fig.11 The telepresence system shown has a first telepresence robot 1', a first head mounted display 6, a second head mounted display 2', and a second telepresence robot 3'. The first telepresence robot 1' and the first head mounted display 6 are arranged at a first base, and the second head mounted display 2' and the second telepresence robot 3' are arranged at a second base different from the first base.

[0279] The first telepresence robot 1' and the second head mounted display 2' are connected to each other in a manner that allows them to communicate with each other via the network 7. In addition, the second telepresence robot 3' and the first head mounted display 6 are connected to each other in a manner that allows them to communicate with each other via the network 7. The first head mounted display 6 and the second head mounted display 2' are connected to each other in a manner that allows them to communicate with each other via the network 7. In addition, the network 7 is, for example, the Internet.

[0280] At the first site, the first telepresence robot 1 ′ captures an image of the first user 4 and transmits the captured image to the second head mounted display 2 ′. In addition, the first telepresence robot 1 ′ moves autonomously.

[0281] The second head mounted display 2' is worn on the head of the second user 5. The second head mounted display 2' receives the captured image sent by the first telepresence robot 1' and displays the received captured image. That is, the second head mounted display 2' prompts the captured image received from the first telepresence robot 1' to the second user 5 wearing the second head mounted display 2'. At this time, the positional relationship between the first telepresence robot 1' and the first head mounted display 6 worn by the first user 4 is the same as the positional relationship between the second telepresence robot 3' and the second head mounted display 2' worn by the second user 5.

[0282] Here, when the second user 5 moves in the second base, the first telepresence robot 1' also moves according to the movement of the second user 5. Therefore, the relative positional relationship of the first telepresence robot 1' with respect to the first head-mounted display 6 worn by the first user 4 becomes the same as the relative positional relationship of the head-mounted display 2' with respect to the second telepresence robot 3'. Furthermore, the first telepresence robot 1' sends the captured image obtained by capturing the first user 4 to the second head-mounted display 2'. As a result, the captured image of the second user 4 captured from a position away from the distance between the second user 5 and the second telepresence robot 3' in the same direction as the direction in which the second telepresence robot 3' regarded as the first user 4 is viewed from the position of the second user 5 after the movement is displayed on the second head-mounted display 2'.

[0283] On the other hand, in the second base, the second telepresence robot 3' photographs the second user 5 and sends the photographed image to the first head-mounted display 6. In addition, the second telepresence robot 3' moves autonomously. The first head-mounted display 6 is worn on the head of the first user 4. The first head-mounted display 6 receives the photographed image sent by the second telepresence robot 3' and displays the received photographed image. The first head-mounted display 6 prompts the first user 4 with the photographed image taken by the second telepresence robot 3' at the first base. At this time, the positional relationship between the second telepresence robot 3' and the second head-mounted display 2' worn by the second user 5 is the same as the positional relationship between the first telepresence robot 1' and the first head-mounted display 6 worn by the first user 4.

[0284] Here, when the first user 4 moves in the first base, the second telepresence robot 3' also moves according to the movement of the first user 4. Therefore, the relative positional relationship of the second telepresence robot 3' with respect to the second head mounted display 2' worn by the second user 5 becomes the same as the relative positional relationship of the first head mounted display 6 with respect to the first telepresence robot 1'. Furthermore, the second telepresence robot 3' transmits the captured image obtained by capturing the second user 5 to the first head mounted display 6. Thus, the captured image obtained by capturing the second user 5 from a position away from the distance between the first user 4 and the first telepresence robot 1' in the same direction as the direction in which the first telepresence robot 1' regarded as the second user 5 is viewed from the position of the first user 4 after the movement is displayed on the first head mounted display 6. .

[0285] Fig.12 : is a diagram showing the structure of the first telepresence robot, the first head mounted display, the second head mounted display, and the second telepresence robot in the second embodiment of the present disclosure. Fig.12 In the drawings, the parts having the same reference numerals as those assigned to the figures used in the description of Embodiment 1 are the same as or equivalent to them, and thus detailed description thereof is omitted.

[0286] The second telepresence robot 3' comprises an infrared emitting unit 31, an imaging unit 11, a communication unit 12, an initial setting unit 13, a moving control unit 14, a moving unit 15, a rotation control unit 16, a rotating unit 17, a distance measuring unit 18, an angle measuring unit 19, and a rotation angle measuring unit 20. The second telepresence robot 3' comprises a processor such as a CPU (not shown) and a memory (not shown) storing a program, and the processor executes the program, thereby the infrared emitting unit 31, the imaging unit 11, the communication unit 12, the initial setting unit 13, the moving control unit 14, the moving unit 15, the rotation control unit 16, the rotating unit 17, the distance measuring unit 18, the angle measuring unit 19, and the rotation angle measuring unit 20 function.

[0287] The second head mounted display 2' includes a communication unit 21, a display unit 22, an infrared light receiving unit 23, an initial setting unit 24, and a change amount detection unit 25 corresponding to the detection unit. The second head mounted display 2' includes a processor (not shown) such as a CPU and a memory (not shown) storing a program, and the processor executes the program, whereby the communication unit 21, the display unit 22, the infrared light receiving unit 23, the initial setting unit 24, and the change amount detection unit 25 function.

[0288] The structure of the first telepresence robot 1 ′ is the same as that of the second telepresence robot 3 ′, and the structure of the first head mounted display 6 is the same as that of the second head mounted display 2 ′, so detailed description thereof will be omitted here.

[0289] In the second embodiment, the first telepresence robot 1' corresponds to the first robot. The first robot is also called an autonomous mobile device. The second head mounted display 2' corresponds to the first prompting device, and the second telepresence robot 3' corresponds to the second robot. The first head mounted display 6 corresponds to the second prompting device.

[0290] The second telepresence robot 3 ′ moves autonomously and uses the imaging unit 11 to capture an image of the second user at the second location.

[0291] The change amount detection unit 25 corresponding to the detection unit of the first head mounted display 6 detects a third change amount indicating a change amount of the position of the first user 4 relative to the first telepresence robot 1'. In addition, the change amount detection unit 25 detects a fourth change amount indicating a change amount of the facial orientation of the first user 4 relative to the first telepresence robot 1'.

[0292] The detection method of the third and fourth changes is the same as the detection method of the first and second changes in Embodiment 1, so detailed description is omitted here. The display unit 22 of the first head mounted display 6 presents the first user with the image captured by the second telepresence robot 3' at the first location.

[0293] When the change amount detection unit 25 detects the first change amount or the second change amount, the communication unit 21 of the second head mounted display 2' transmits the first notification information for urging the first user 4 to stay still to the first head mounted display 6. Furthermore, the communication unit 21 of the second head mounted display 2' transmits the detected first change amount or the second change amount to the first telepresence robot 1'.

[0294] The communication unit 21 of the first head mounted display 6 receives the first notification information from the second head mounted display 2'. When the display unit 22 of the first head mounted display 6 receives the first notification information from the second head mounted display 2' before the third change amount or the fourth change amount is detected by the change amount detection unit 25, it displays information for urging the first user 4 to stay still. Thus, when the first head mounted display 6 displays the first notification information, the first user 4 stays still. In this case, the position of the first head mounted display 6 worn by the first user 4 does not change. Since the second telepresence robot 3' moves according to the movement of the first user 4, if the first user 4 stays still, the second telepresence robot 3' also stays still.

[0295] On the other hand, the communication unit 12 of the first telepresence robot 1 ′ receives the first change amount or the second change amount from the second head mounted display 2 ′.

[0296] For example, when the communication unit 12 of the first telepresence robot 1' receives the first change amount from the second head mounted display 2', the movement control unit 14 of the first telepresence robot 1' controls the movement unit 15 to move the first telepresence robot 1 to a position corresponding to the first change amount. The movement operation has been described in Embodiment 1, so a detailed description thereof will be omitted here.

[0297] For example, when the communication unit 12 of the first telepresence robot 1' receives the second change amount from the second head mounted display 2', the rotation control unit 16 of the first telepresence robot 1' controls the rotation unit 17 to rotate the first telepresence robot 1'. The rotation operation has been described in Embodiment 1, so detailed description is omitted here.

[0298] In this way, when the second user 5 moves, the first telepresence robot 1' moves according to the movement, and the first user 4 and the second telepresence robot 3' remain stationary. Therefore, the second head mounted display 2' worn by the second user 5 can detect a change in the relative position of the second head mounted display 2' with respect to the second telepresence robot 3' or a change in the face orientation. In addition, the first user 4 can be stationary while the first telepresence robot 1' moves according to the movement of the second user 5.

[0299] Thus, when the second user 5 moves and the first telepresence robot 1' moves according to the movement, the relative position of the first telepresence robot 1' with respect to the first user 4 after the movement and the relative position of the second head-mounted display 2' with respect to the second telepresence robot 3' corresponding to the first user 4 after the movement become the same.

[0300] Furthermore, the imaging direction of the imaging unit 11 of the first telepresence robot 1 ′ changes according to the facial orientation of the second user 5 .

[0301] When the change amount detection unit 25 detects the third change amount or the fourth change amount, the communication unit 21 of the first head mounted display 6 transmits the second notification information indicating that the second user 5 is urged to stay still to the second head mounted display 2'. Furthermore, the communication unit 21 of the first head mounted display 6 transmits the detected third change amount or the fourth change amount to the second telepresence robot 3'.

[0302] The communication unit 21 of the second head mounted display 2' receives the second notification information from the first head mounted display 6. When the display unit 22 of the second head mounted display 2' receives the second notification information from the first head mounted display 6 before the change amount detection unit 25 detects the first change amount or the second change amount, it displays information for urging the second user 5 to stay still. Thus, when the second head mounted display 2' displays the second notification information, the second user 5 stays still. In this case, the position of the second head mounted display 2' worn by the second user 5 does not change. Since the first telepresence robot 1' moves according to the movement of the second user 5, if the second user 5 stays still, the first telepresence robot 1' stays still.

[0303] On the other hand, the communication unit 12 of the second telepresence robot 3 ′ receives the third change amount or the fourth change amount from the first head mounted display 6 .

[0304] For example, when the communication unit 12 of the second telepresence robot 3' receives the third change amount from the first head mounted display 6, the movement control unit 14 of the second telepresence robot 3' controls the movement unit 15 to move the second telepresence robot 3 to a position corresponding to the third change amount. The movement operation has been described in Embodiment 1, so detailed description is omitted here.

[0305] For example, when the communication unit 12 of the second telepresence robot 3' receives the fourth variation from the first head mounted display 6, the rotation control unit 16 of the second telepresence robot 3' controls the rotation unit 17 to rotate the second telepresence robot 3'. The rotation operation has been described in Embodiment 1, so detailed description is omitted here.

[0306] In this way, when the first user 4 moves, the second telepresence robot 3' moves according to the movement, and the second user 5 and the first telepresence robot 1' remain stationary. Therefore, the first head mounted display 6 worn by the first user 4 can detect a change in the relative position of the first head mounted display 6 with respect to the first telepresence robot 1' or a change in the facial orientation. In addition, the second user 5 can be made stationary while the second telepresence robot 3' moves according to the movement of the first user 4.

[0307] Thus, when the first user 4 moves and the second telepresence robot 3' moves according to the movement, the relative position of the second telepresence robot 3' with respect to the second user 5 after the movement and the relative position of the first head mounted display 6 with respect to the first telepresence robot 1' corresponding to the second user 5 after the movement become the same.

[0308] Furthermore, the imaging direction of the imaging unit 11 of the imaging unit of the second telepresence robot 3 ′ changes according to the facial orientation of the first user 4 .

[0309] When the head mounted display of one of the first head mounted display 6 and the second head mounted display 2' moves, a message urging the user to stop is displayed on the display unit of the other head mounted display, thereby making it possible to move one of the first head mounted display 6 and the second head mounted display 2' and keep the other still. Therefore, when the telepresence robot corresponding to the head mounted display of one of the first telepresence robot 1' and the second telepresence robot 3' moves, the other telepresence robot can be kept still.

[0310] This can prevent the first head mounted display 6 and the second head mounted display 2' from moving at the same time. Also, it can prevent the first telepresence robot 1' and the second telepresence robot 3' from moving at the same time.

[0311] Industrial Applicability

[0312] The remote communication method, remote communication system and autonomous mobile device disclosed in the present invention can give a first user located at a remote location a sense of presence to a second user as if the first user is located at the remote location, and is useful as a remote communication method in a remote communication system having a first robot and a first prompting device, wherein the first robot moves autonomously and photographs the first user at a first location, and the first prompting device prompts a second user different from the first user at a second location different from the first location with the image captured by the first robot.

Claims

1. A remote communication method in a remote communication system having a first mobile control device arranged in a first space and a first prompting device arranged in a second space different from the first space, The remote communication method comprises: The camera of the first mobile control device photographs the first user in the first space, The first mobile control device sends a captured image of the first user to the first prompting device, The first prompting device receives the captured image from the first movement control device, The first prompting device displays the captured image, The first presentation device detects a first change amount indicating a change amount of a position of a second user in the second space relative to a second movement control device, the second movement control device virtually representing the first user, The first prompting device sends the first change amount to the first movement control device, The first movement control device receives the first change amount from the first prompting device, The first movement control device moves to change the viewpoint of the camera according to the first change amount.

2. The remote communication method according to claim 1, The first prompting device is worn by the second user, The remote communication method further comprises: When the second user wearing the first prompting device faces the second mobile control device, the first prompting device measures an initial distance between the second mobile control device and the first prompting device. The first prompting device sets a first polar coordinate system with the position of the second mobile control device as the origin, and a straight line connecting the position of the second mobile control device and the position of the first prompting device is used as a starting line of the first polar coordinate system. The first prompting device sends the measured initial distance to the first movement control device, The first movement control device receives the initial distance from the first prompting device, The first mobile control device moves to a position facing the first user and at the initial distance from the first user, The first mobile control device sets a second polar coordinate system with the position of the first user as an origin, and uses a straight line connecting the position of the first mobile control device and the position of the first user as a starting line of the second polar coordinate system.

3. The remote communication method according to claim 2, The remote communication method further comprises: When the position of the first prompting device moves according to the movement of the second user, the first prompting device measures the distance between the moved position of the first prompting device and the position of the second movement control device in the first polar coordinate system, The first prompting device measures an angle between a straight line connecting the position of the first prompting device after movement in the first polar coordinate system and the position of the second movement control device and a starting line of the first polar coordinate system, the first change amount indicating the change amount of the position of the second user is the measured distance and the angle, The first movement control device determines the position in the first space to which the first movement control device should be moved based on the distance and angle indicated by the first variation. In the movement corresponding to the first change amount, the first movement control device moves to the determined position, The determined position is a position where a distance between the determined position and the position of the first user is the same as the distance indicated by the first change amount, and an angle formed by a straight line connecting the determined position and the position of the first user and a starting line of the second polar coordinate system is the same as the angle indicated by the first change amount.

4. The remote communication method according to claim 3, The remote communication method further comprises: The first prompting device determines whether the measured angle is greater than a predetermined angle. The first presentation device detects the first change amount in the detection when it is determined that the measured angle is equal to or larger than the predetermined angle.

5. The remote communication method according to claim 2, The remote communication method further comprises: The second movement control device emits visible light downward from the front side of the second movement control device.

6. The remote communication method according to claim 2, The remote communication method further comprises: The second movement control device emits infrared light from the front side of the second movement control device. The first prompting device measures the initial distance when the infrared light emitted from the second movement control device is detected in front of the first prompting device.

7. The remote communication method according to claim 2, The remote communication method further comprises: the first presentation device detecting a second change amount indicating a change amount of the facial orientation of the second user relative to the second motion control device, The first movement control device receives the second change amount from the first prompting device, The first movement control device rotates the camera so that the shooting direction of the camera changes according to the second change amount.

8. The remote communication method according to claim 7, In the detection of the second variation, further, The first presentation device measures an angle of the second user's facial orientation relative to a starting line of the first polar coordinate system, and detects the measured angle as a change amount of the second user's facial orientation. The camera is rotated so that the angle of the imaging direction of the camera relative to the starting line of the second polar coordinate system coincides with the angle represented by the second variation.

9. The remote communication method according to claim 7, The remote communication system further comprises a second prompting device disposed in the first space. The second prompting device is worn by the first user, The remote communication method further comprises: When the first change amount is detected, before sending the first change amount to the first mobile control device, the first prompting device sends first notification information indicating that the first user is urged to stay still to the second prompting device. When the second change amount is detected, the first prompting device sends the first notification information to the second prompting device before sending the second change amount to the first mobile control device. The second prompting device receives the first notification information from the first prompting device, The second presentation device displays the first notification information.

10. The remote communication method according to claim 9, When the first notification information is received before the second presentation device detects a third change amount, the first notification information is displayed, wherein the third change amount indicates a change amount of the position of the first user relative to the first mobile control device. or, When the first notification information is received before the second presentation device detects a fourth change amount indicating a change amount of the facial orientation of the first user relative to the first movement control device, the first notification information is displayed.

11. The remote communication method according to claim 7, The remote communication system further comprises a second prompting device disposed in the first space. The second prompting device is worn by the first user, The remote communication method further comprises: When the second prompting device detects a third change amount indicating a change amount of the position of the first user or a fourth change amount indicating a change amount of the face orientation of the first user relative to the first mobile control device, the second prompting device sends a second notification message indicating a request for the second user to stay still to the first prompting device. The first prompting device receives the second notification information, The first presentation device displays the second notification information.

12. The remote communication method according to claim 11, If the second notification information is received before the first change amount is detected by the first presentation device, the second notification information is displayed, or When the second notification information is received before the second change amount is detected by the first presentation device, the second notification information is displayed.

13. A telecommunication system comprising: a first mobile control device disposed in the first space; and a first prompting device disposed in a second space different from the first space, The first mobile control device comprises: a camera for photographing a first user in the first space; and a sending unit configured to send the image of the first user captured by the camera to the first prompting device, The first prompting device comprises: a receiving unit that receives the captured image from the first mobile control device; A display unit that displays the captured image; a detection unit configured to detect a first change amount indicating a change amount of a position of a second user in the second space relative to a second mobile control device that virtually represents the first user; and a transmitting unit configured to transmit the first change amount to the first mobile control device, The first mobile control device further comprises: a receiving unit configured to receive the first change amount from the first prompting device; a moving unit that moves the first movement control device; and A movement control unit controls the movement unit to change a viewpoint of the camera based on the first change amount.

14. An autonomous mobile device, disposed in a first space, having: A camera for photographing a first user in the first space; a transmitting unit configured to transmit the image of the first user captured by the camera to a first prompting device, the first prompting device being arranged in a second space different from the first space; a receiving unit that receives, from the first presentation device, a first change amount indicating a change amount of a position of a second user in the second space relative to a second mobile control device that virtually represents the first user, the first change amount being detected by a detection unit included in the first presentation device; a moving unit that moves the autonomous moving device; and A movement control unit controls the movement unit to change a viewpoint of the camera based on the first change amount.

15. A remote communication method in a remote communication system having a first mobile control device arranged in a first space, and a first prompting device and a second mobile control device arranged in a second space different from the first space, The first prompting device is worn by the second user, When the second user wearing the first prompting device faces the second mobile control device, the first prompting device measures an initial distance between the second mobile control device and the first prompting device. The first prompting device sends the measured initial distance to the first movement control device, The first movement control device receives the initial distance from the first prompting device, The first mobile control device moves to a position facing the first user and at the initial distance from the first user.

16. A first prompting device, which is a first prompting device used in a telecommunication system, The remote communication system comprises a first mobile control device arranged in a first space, and the first prompting device and the second mobile control device arranged in a second space different from the first space. The first prompting device is worn by the second user, When the second user wearing the first prompting device faces the second mobile control device, the first prompting device measures an initial distance between the second mobile control device and the first prompting device. The first prompting device sends the measured initial distance to the first movement control device, The first movement control device receives the initial distance from the first prompting device, The first mobile control device moves to a position facing the first user and at the initial distance from the first user.

17. A first mobile control device, which is a first mobile control device used in a telecommunication system. The remote communication system comprises the first mobile control device arranged in a first space, and the first prompting device and the second mobile control device arranged in a second space different from the first space. The first prompting device is worn by the second user, When the second user wearing the first prompting device faces the second mobile control device, the first prompting device measures an initial distance between the second mobile control device and the first prompting device. The first prompting device sends the measured initial distance to the first movement control device, The first movement control device receives the initial distance from the first prompting device, The first mobile control device moves to a position facing the first user and at the initial distance from the first user.

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