Remote control device, remote control system, remote control method, and program

Abstract

To provide a remote control device, a remote control system, a remote control method, and a program that can facilitate remote operation of a robot.SOLUTION: The remote control device includes: a movement control unit that controls the movement of moving means mounted with a camera; an image acquisition unit that acquires images captured by the camera; a measurement unit that measures a delay time of the movement of the moving means relative to a speed command value for moving the moving means; and a viewpoint calculation unit that calculates an estimated viewpoint of the camera after the moving means has moved based on the delay time.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a remote control device, a remote control system, a remote control method, and a program. [Background technology]

[0002] At construction sites, remote control technology is being used, using mobile robots equipped with cameras. Remote control technology is an important technology when performing work in spaces that are difficult for workers to enter or from locations far away from the site. For example, with remote control technology, images from a camera mounted on the robot are transmitted to an operator, who then remotely controls the mobile robot to carry out the work.

[0003] When transferring images from a camera mounted on a mobile robot to an operator, if the network environment is slow or the operator is located far away from the actual location, a time lag may occur between the image received by the operator and the operation performed by the operator, resulting in a delay in the operation. Meanwhile, in the automotive industry, there has recently been a technology for remotely controlling vehicles that generates a predicted captured image taking delay times into consideration, thereby enabling appropriate remote control (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-78020 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology disclosed in Patent Document 1 uses images from a camera attached to the front of a vehicle, such as an automobile, in the direction of travel. Therefore, it is difficult to satisfy the need to change the viewpoint, which is common when operating a general-purpose mobile robot used on construction sites, etc.

[0006] Furthermore, a mobile robot does not necessarily move at the commanded speed. For example, there may be a delay in the motor's response or a speed limit imposed by an algorithm for avoiding collisions with surrounding obstacles, causing the mobile robot's movement speed to be slower than the commanded speed. Furthermore, if the algorithm for generating images captured by a camera is complex, it may take time to generate the image, causing delays. As a result, it may be difficult for the operator to time the robot's operation, making it difficult to operate.

[0007] An object of the present invention is to provide a remote control device, a remote control system, a remote control method, and a program that can facilitate remote operation of a robot. [Means for solving the problem]

[0008] The remote control device, the remote control system, the remote control method, and the program according to the present invention employ the following configuration. (1): A remote control device according to one embodiment of the present invention is a remote control device comprising: a movement control unit that controls the movement of a moving means equipped with a camera; an image acquisition unit that acquires images captured by the camera; a measurement unit that measures the delay time of the movement of the moving means relative to a speed command value for moving the moving means; and a viewpoint calculation unit that calculates an estimated viewpoint of the camera after the moving means has moved based on the delay time.

[0009] (2): In the above aspect (1), the measurement unit measures the delay time based on the difference between a first timestamp assigned to the image and a second timestamp assigned to the command value of the movement speed of the movement means.

[0010] (3): In the above aspect (1), the present invention further includes a generation unit that generates an estimated image captured from the estimated viewpoint, and a display control unit that displays the estimated image on a display unit.

[0011] (4) In the aspect (3) above, the generating unit generates the estimated image by cutting out a part of the acquired image.

[0012] (5): In the above aspect (1), a speed acquisition unit is further provided that acquires the actual movement speed of the movement means, and the movement control unit generates a speed limit value for the movement means based on the actual movement speed of the movement means and the delay time.

[0013] (6): Furthermore, a remote control system according to one aspect of the present invention is a remote control system comprising a camera that captures images of the surroundings, a moving means that mounts the camera and moves the camera, a display unit that displays images, and the remote control device described in (3) above.

[0014] (7): Furthermore, a remote control method according to one aspect of the present invention is a remote control method in which a computer controls the movement of a moving means equipped with a camera, acquires an image captured by the camera, measures a delay time of the movement of the moving means relative to a speed command value for moving the moving means, and calculates an estimated viewpoint of the camera after the moving means has moved based on the delay time.

[0015] (8): Furthermore, a program according to one aspect of the present invention is a program that causes a computer to control the movement of a moving means equipped with a camera, acquire images captured by the camera, measure the delay time of the movement of the moving means relative to a speed command value for moving the moving means, and calculate an estimated viewpoint of the camera after the moving means has moved based on the delay time. [Effects of the Invention]

[0016] According to the above-mentioned aspects (1) to (8), it is possible to facilitate remote operation of the robot. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram illustrating an example of a configuration of a remote control system 1 according to an embodiment. [Figure 2] FIG. 2 is a diagram showing the flow of signals in the remote control system 1. [Figure 3] 4 is a flowchart showing an example of processing of the remote control device 100. [Figure 4] FIG. 10 is a diagram showing an example of an image of a process for displaying an estimated image on a display 33. [Figure 5] 10 is a diagram illustrating an example of processing up to displaying an estimated image on a display 33. FIG. [Figure 6] 10 is a diagram illustrating an example of processing up to displaying an estimated image on a display 33. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of a remote control device, a remote control system, a remote control method, and a program will be described with reference to the drawings.

[0019] FIG. 1 is a diagram showing an example of the configuration of a remote control system 1 according to an embodiment. The remote control system 1 includes, for example, an ultra-wide-angle camera 10, a mobile robot 20, and a management terminal 30. The mobile robot 20 is placed, for example, at a construction site. The ultra-wide-angle camera 10 is a camera capable of capturing images over an ultra-wide angle range, such as a 360° camera. The ultra-wide-angle camera 10 is mounted on the mobile robot 20 in a state in which the viewpoint can be changed. The mobile robot 20 is, for example, a vehicle-type robot that moves two-dimensionally on a flat surface, but may also be a robot that moves three-dimensionally.

[0020] The management terminal 30 is installed, for example, in a construction office at the construction site where the mobile robot 20 is installed, or in the office of a construction company. The mobile robot 20 and the management terminal 30 can communicate via a network NW. The mobile robot 20 includes, for example, a robot body 21, running wheels 22, a movement mechanism 23, and a robot control device 24.

[0021] The ultra-wide-angle camera 10 is, for example, an ultra-wide-angle camera that can capture images of the surroundings of the mobile robot 20. In response to an imaging command transmitted from the management terminal 30, the ultra-wide-angle camera 10 captures images of the surroundings of the mobile robot 20 and generates a camera-acquired image. The ultra-wide-angle camera 10 outputs the generated camera-acquired image to the robot control device 24 of the mobile robot 20.

[0022] In the embodiment, ultra-wide-angle camera 10 captures the surroundings in response to an imaging command, but ultra-wide-angle camera 10 may capture the surroundings in other ways. For example, ultra-wide-angle camera 10 may use UDP (User Datagram Protocol) or the like to constantly provide camera-acquired images to a network, thereby outputting the images to robot control device 24, or may control the timing at which the output of camera-acquired images starts and ends.

[0023] Mobile robot 20 is a means of transportation equipped with ultra-wide-angle camera 10. Robot body 21 in mobile robot 20 is box-shaped. Ultra-wide-angle camera 10 is mounted on the top surface of robot body 21. Running wheels 22 are attached to robot body 21, and a movement mechanism 23 and a robot control device 24 are provided inside robot body 21. A stage that can move, for example, in the circumferential direction and tilt direction is provided on the top surface of robot body 21, and ultra-wide-angle camera 10 may be mounted on the stage.

[0024] The running wheels 22 are wheels provided on the bottom of the robot body 21 and move the mobile robot 20. The rotation of the running wheels 22 allows the mobile robot 20 to move forward, backward, left, right, and turn. Instead of or in addition to the running wheels 22, the mobile robot 20 may be equipped with an endless track mechanism, a walking mechanism, or the like.

[0025] The movement mechanism 23 drives the running wheels 22 in accordance with the control of the robot control device 24. The movement mechanism 23 includes, for example, a drive motor and a steering mechanism. The movement mechanism 23 rotates the running wheels 22 by operating the drive motor, and adjusts the movement direction of the mobile robot 20 by the steering mechanism. The running wheels 22 and the movement mechanism 23 constitute a movement means.

[0026] The robot controller 24 receives the control signal sent by the management terminal 30. The robot controller 24 controls the drive motor and steering mechanism based on the received control signal. The robot controller 24 controls the movement speed and direction of the mobile robot 20 by controlling the drive motor and steering mechanism.

[0027] The control signal includes a speed command value related to the speed of the mobile robot 20, a speed limit value related to the speed limit, and an imaging command to capture a camera-captured image using the ultra-wide-angle camera 10. The movement speed includes not only the linear movement speed but also the rotational angular velocity. The speed command value is a command value for the speed at which the mobile robot 20 is currently being attempted to travel. For this reason, there may be a deviation from the actual movement speed of the mobile robot 20 (hereinafter referred to as the actual movement speed).

[0028] The robot control device 24 controls the movement speed and movement direction of the mobile robot 20, and outputs an image capture command to the ultra-wide-angle camera 10 to cause the ultra-wide-angle camera 10 to capture camera-captured images. The robot control device 24 acquires the camera-captured images output by the ultra-wide-angle camera 10. The robot control device 24 assigns a timestamp to the acquired camera-captured images. The robot control device 24 transmits the camera-captured images with the timestamp assigned to the management terminal 30. The robot control device 24 is an example of a movement control unit.

[0029] The robot control device 24 estimates the actual moving speed of the mobile robot 20. The robot control device 24 acquires a robot speed estimate based on the estimated actual moving speed of the mobile robot. The robot speed estimate may be acquired in any manner, for example, based on the detection value of a rotation speed sensor provided on the running wheels 22 or a speed sensor provided on the robot body 21. The robot control device 24 transmits the acquired robot speed estimate of the robot to the management terminal 30.

[0030] The management terminal 30, for example, comprises a communication device 31, a controller 32, a display 33, a memory 34, and a remote control device 100. The communication device 31 is, for example, a network card, a network adapter, or a NIC (Network Interface Controller).

[0031] The communication device 31 communicates with the robot control device 24 via a network NW. The network NW is, for example, an intranet, a local area network (LAN), UWB (Ultra Wide Band), Bluetooth (registered trademark), Wi-Fi, etc. The communication device 31 receives camera-captured images and robot speed estimates transmitted by the robot control device 24 and outputs them to the remote operation device 100. The communication device 31 transmits control signals output by the remote operation device 100 to the robot control device 24.

[0032] The controller 32 is a device that can be operated by an operator who operates the mobile robot 20. The operator is, for example, a person in charge of managing the construction site that is the object of management. The controller 32 is realized by, for example, a mouse, keyboard, touch panel, trackball, switches, buttons, joystick, camera, infrared sensor, microphone, etc.

[0033] The display 33 is, for example, a liquid crystal display, a CRT (Cathode Ray Tube), an organic EL (Electroluminescence) display, etc. The display 33 displays images captured by the ultra-wide-angle camera 10 and various GUI (Graphical User Interface) switches for controlling the mobile robot 20. The display 33 is an example of a display unit.

[0034] The memory 34 is, for example, a semiconductor memory element such as RAM (Random Access Memory), flash memory, a hard disk drive (HDD), an optical disk, etc. The memory 34 may also be a drive device externally attached to the management terminal 30. The memory 34 stores various information.

[0035] The remote operation device 100 includes, for example, an acquisition unit 110, a robot drive control unit 120, a measurement unit 130, a viewpoint calculation unit 140, a generation unit 150, and a display control unit 160. The remote operation device 100 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software).

[0036] Some or all of the components of the remote control device 100 may be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware.

[0037] The program may be stored in advance in memory 34 (non-transitory storage medium), or may be stored in a removable storage medium (non-transitory storage medium) such as a DVD or CD-ROM and installed by inserting the storage medium into a drive device. The program may be updated, for example, by a change (update) technology using communication technology (OTA: Over The Air).

[0038] The acquisition unit 110 includes, for example, an image acquisition unit 111 and a speed acquisition unit 112. The image acquisition unit 111 acquires camera-acquired images captured by the ultra-wide-angle camera 10 and transmitted by the robot control device 24. The image acquisition unit 111 stores the acquired camera-acquired images in the memory 34. The speed acquisition unit 112 acquires the robot speed estimate transmitted by the robot control device 24.

[0039] The robot drive control unit 120 generates a control signal and transmits the generated control signal to the robot control device 24 using the communication device 31. The robot drive control unit 120 determines the movement speed and movement direction of the mobile robot 20 and the speed limit of the mobile robot, for example, based on input information corresponding to an input operation by an operator output from the controller 32.

[0040] The robot drive control unit 120 generates a speed command value based on the determined movement speed and movement direction, and a limit command value that limits the movement speed of the mobile robot 20. The robot drive control unit 120 generates a control signal based on the generated speed command value and speed limit value. The speed command value is a numerical value determined based on input information, and is determined by an input operation of the controller 32 by the operator.

[0041] The robot drive control unit 120 adds an imaging command to the generated control signal and transmits it to the robot control device 24 using the communication device 31. The speed command value indicates the speed at which the mobile robot 20 should move. The robot drive control unit 120 adds a timestamp to the generated control signal.

[0042] The measurement unit 130 measures the delay time of the movement of the mobile robot 20. The delay time indicates the movement time of the robot moving at the robot speed estimate value, which is delayed relative to the movement time of the robot moving at the speed command value. The measurement unit 130 compares the timestamp attached to the camera-acquired image stored in memory 34 with the timestamp attached to the control signal, and calculates the delay time as the difference in time indicated by both timestamps. The camera image stored in memory 34 is, for example, a camera-acquired image obtained by the robot drive control unit 120 sending a control signal.

[0043] The viewpoint calculation unit 140 calculates an estimated viewpoint of the ultra-wide-angle camera 10 after the mobile robot 20 has moved, based on the delay time measured by the measurement unit 130. The viewpoint calculation unit 140, for example, specifies a reference viewpoint in advance. The reference viewpoint is specified, for example, by the operator operating the controller 32.

[0044] The viewpoint calculation unit 140 estimates the amount of movement of the mobile robot 20, for example, by multiplying the actual movement speed of the mobile robot 20 based on a speed command value included in a control signal transmitted by the robot drive control unit 120 by the delay time calculated by the measurement unit 130. The viewpoint calculation unit 140 calculates an estimated viewpoint after the mobile robot 20 has moved, based on the reference viewpoint and the estimated amount of movement of the mobile robot 20.

[0045] The generation unit 150 generates an estimated image captured from the estimated viewpoint calculated by the viewpoint calculation unit 140. For example, the generation unit 150 cuts out an image seen from the estimated viewpoint calculated by the viewpoint calculation unit 140 from the camera-acquired image acquired by the image acquisition unit 111. The generation unit 150 generates the cut-out image cut out from the camera-acquired image as an estimated image. The estimated image is provided as an image that is estimated to be currently viewed by the mobile robot 20, taking into account, for example, the image delay of the ultra-wide-angle camera 10.

[0046] The display control unit 160 causes the display 33 to display the estimated image generated by the generation unit 150. The display control unit 160 adjusts the cropped image generated by the generation unit 150 to match the display resolution. The display control unit 160 causes the cropped image with the adjusted display resolution to be displayed on the display 33. The display control unit 160 causes the display 33 to display not only the estimated image but also various calculation results and the like.

[0047] Next, a description will be given of the flow of signals in the remote operation system 1 of this embodiment. Fig. 2 is a diagram showing the flow of signals in the remote operation system 1. In the remote operation system 1, when the operator P operates the controller 32, a speed command value cmd_vel included in input information output by the controller 32 is converted into a control signal via the remote operation device 100 and transmitted to the mobile robot 20. A second timestamp TS2 is added to the speed command value cmd_vel. Furthermore, a reference viewpoint viewpoint_ref is specified in advance by the operator operating the controller 32.

[0048] The mobile robot 20 moves to a predetermined position by operating the movement mechanism 23 in response to the control signal. As the mobile robot 20 moves, the ultra-wide-angle camera 10 captures a camera-acquired image image_row and transmits it to the remote control device 100. A first timestamp TS1 is assigned to the camera-acquired image image_row. Furthermore, the mobile robot 20 generates a robot speed estimate robot_vel_est based on the actual movement speed of the robot using the robot control device 24 and transmits it to the remote control device 100.

[0049] The remote operation device 100 updates the camera-acquired image stored in the memory 34 based on whether or not a camera-acquired image transmitted by the mobile robot 20 has been input. If a camera-acquired image has been input, the remote operation device 100 maintains the camera-acquired image image_row_hold stored in the memory 34.

[0050] The remote operation device 100 cuts out the camera-acquired image image_row based on the transmitted robot velocity estimate robot_vel_est and the specified reference viewpoint viewpoint_ref, and generates a cropped image image_trim. The remote operation device 100 displays the generated cropped image image_trim on the display 33. While viewing the cropped image image_trim displayed on the display 33, the operator P operates the controller 32 to output the next velocity command value cmd_vel.

[0051] Next, a description will be given of the processing of the remote control device 100 of the embodiment. Fig. 3 is a flowchart showing an example of the processing of the remote control device 100. First, the image acquisition unit 111 of the remote control device 100 acquires a camera-acquired image transmitted by the robot control device 24 of the mobile robot 20 (step S101), and stores the image in the memory 34.

[0052] Next, the speed acquisition unit 112 acquires the robot speed estimate transmitted by the robot control device 24 (step S103). Next, the robot drive control unit 120 generates a control signal including a speed command value based on the input information output by the controller 32 (step S105). At this time, the robot drive control unit 120 generates a speed limit value for the mobile robot 20 and adds it to the control signal.

[0053] For example, the robot drive control unit 120 calculates a rotational angular velocity that exceeds the range of the image captured by the camera and a translational velocity that makes the estimated image smaller than a specified size, based on the current actual movement velocity and the estimated viewpoint when the actual movement velocity is estimated. The robot drive control unit 120 generates the calculated rotational angular velocity and translational velocity as a speed limit value.

[0054] Next, the measurement unit 130 compares the timestamp attached to the camera-captured image with the timestamp attached to the control signal (speed command value) to measure the delay time (step S107). Next, the viewpoint calculation unit 140 calculates an estimated viewpoint of the ultra-wide-angle camera 10 after the mobile robot 20 has moved, based on the delay time measured by the measurement unit 130 (step S109).

[0055] Next, the generation unit 150 generates an estimated image by cutting out an image seen from the estimated viewpoint calculated by the viewpoint calculation unit 140, which is acquired by the image acquisition unit 111 and stored in the memory 34 (step S111). By generating the estimated image simply by cutting it out from the camera-acquired image, the estimated image can be generated quickly. The generation unit 150 generates, for example, an image with an estimated angle of view currently viewed by the mobile robot 20 (ultra-wide-angle camera 10) as the estimated image.

[0056] Next, the display control unit 160 causes the display 33 to display the estimated image generated by the generation unit 150 (step S113). While viewing the estimated image displayed on the display 33, the operator operates the controller 32 to output a speed command value for moving the mobile robot 20. The controller 32 outputs input information according to the operator's operation to the remote operation device 100. The speed command value may be transmitted from the controller 32 directly to the robot control device 24 without passing through the remote operation device 100.

[0057] Next, the robot drive control unit 120 acquires the output input information (step S115). Next, the robot drive control unit 120 determines whether or not to end control of the mobile robot 20 (step S117). If it is determined not to end control of the mobile robot 20, the robot drive control unit 120 returns the process to step S105. If the robot drive control unit 120 determines to end control of the mobile robot 20, the remote operation device 100 ends the process shown in FIG. 3.

[0058] Here, we will explain the procedure for extracting an estimated image from an image acquired by the camera and displaying it on the display. Figure 4 is a diagram showing an example of the process for displaying an estimated image on the display 33. As a procedure for extracting an estimated image, first, an estimated robot speed value is acquired. Meanwhile, a delay time is calculated based on the timestamp assigned to the speed command value and the timestamp assigned to the image acquired by the camera.

[0059] Next, the robot speed estimate is multiplied by the delay time to calculate the amount of movement of the mobile robot 20. By multiplying the robot speed estimate by the delay time, the amount of viewpoint movement that will occur in the future from the current viewpoint is estimated. In the embodiment, the amount of movement of the mobile robot 20 is calculated and estimated by multiplying the robot speed estimate by the delay time, but the amount of movement of the mobile robot 20 may be estimated by other methods, for example, by integrating the acceleration estimate value or the acceleration command value.

[0060] Then, the reference time is acquired, and an estimated viewpoint at the estimated position to which the mobile robot 20 has moved is calculated. Next, an estimated viewpoint is calculated by moving the mobile robot 20 by the estimated movement amount from the current reference viewpoint. Once the estimated viewpoint is calculated, an image seen from the estimated viewpoint is cut out from the camera-acquired image as an estimated image. The estimated image is then adjusted to match the display resolution and displayed on the display 33.

[0061] Next, an example of displaying an estimated image on the display 33 will be described. Figures 5 and 6 are diagrams for explaining an example of the processing up to displaying an estimated image on the display 33. Here, an example will be described in which the mobile robot 20 is a vehicle-type robot and moves in a plane.

[0062] 5, when the mobile robot 20 is stationary, the generation unit 150 cuts out the camera-acquired image GA11 using the reference viewpoint as an estimated viewpoint, and generates a cut-out image GA12 to be displayed on the display 33. Next, the display control unit 160 generates an estimated image GA13 by scaling the cut-out image GA12 to match the display resolution, and displays the image on the display 33.

[0063] For example, when the mobile robot 20 is moving forward while turning right, the viewpoint calculation unit 140 moves the reference viewpoint to the front right to set it as an estimated viewpoint. Next, the generation unit 150 moves the viewpoint of the ultra-wide-angle camera 10 according to the generated estimated viewpoint, and as shown in FIG. 6, crops out the right area of ​​the camera-acquired image GA21 to generate a cropped image GA22 to be displayed on the display 33. Specifically, the cropped image GA22 is generated by shifting the crop position according to the amount of rotation of the mobile robot 20 and reducing the image size according to the amount of forward movement. When the cropped image GA22 is scaled to fit the screen size of the display 33, it becomes a zoomed-in image. The display control unit 160 generates an estimated image GA23 by scaling the cropped image GA22 according to the display resolution and displays it on the display 33.

[0064] The remote control system 1 of the embodiment measures the delay time of the actual movement of the mobile robot 20 relative to a speed command value for moving the mobile robot 20, calculates an estimated viewpoint of the ultra-wide-angle camera 10 after the mobile robot 20 has moved based on the measured delay time, and displays an estimated image seen from the estimated viewpoint on the display 33. Therefore, even if there is a delay time in the actual movement relative to the speed command value, it is possible to easily operate the robot remotely.

[0065] The above-described embodiment can be expressed as follows. a storage device storing a program; a hardware processor; The hardware processor executes the program stored in the storage device, Controlling the movement of a vehicle equipped with a camera, Acquire an image captured by the camera; measuring a delay time of the movement of the moving means relative to a speed command value for moving the moving means; calculating an estimated viewpoint of the camera after the moving means has moved based on the delay time; The remote control device is configured as follows.

[0066] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0067] 1. Remote control system 10 Ultra-wide-angle camera 20 Mobile Robot 21 Robot body 22 Running wheel 23 Moving mechanism 24 Robot control device 30 Management terminal 31 Communication equipment 32 Controller 33 Display 34 memory 100 Remote control device 110 Acquisition Department 111 Image acquisition unit 112 Speed ​​acquisition section 120 Robot drive control unit 130 Measurement Unit 140 Viewpoint calculation unit 150 Generation part 160 Display control unit GA11, GA21 camera images GA12,GA22 cropped image GA13,GA23 estimated image NW Network P Operator TS1 First timestamp TS2 Second timestamp

Claims

1. a movement control unit that controls the movement of a moving means equipped with a camera; an image acquisition unit that acquires an image captured by the camera; a measuring unit that measures a delay time of the movement of the moving means relative to a speed command value for moving the moving means; a viewpoint calculation unit that calculates an estimated viewpoint of the camera after the moving means has moved based on the delay time, Remote control device.

2. the measurement unit measures the delay time based on a difference between a first timestamp assigned to the image and a second timestamp assigned to a command value for a movement speed of the movement means; The remote control device according to claim 1 .

3. a generation unit that generates an estimated image captured from the estimated viewpoint; a display control unit that displays the estimated image on a display unit, The remote control device according to claim 1 .

4. the generation unit generates the estimated image by cutting out a part of the acquired image. The remote control device according to claim 3 .

5. a speed acquisition unit that acquires an actual moving speed of the moving means; the movement control unit generates a speed limit value for the movement means based on the actual movement speed of the movement means and the delay time; The remote control device according to claim 1 .

6. A camera that captures the surroundings, a moving means for mounting the camera and moving the camera; a display unit that displays an image; The remote control device according to claim 3, Remote control system.

7. The computer Controlling the movement of a vehicle equipped with a camera, Acquire an image captured by the camera; measuring a delay time of the movement of the moving means relative to a speed command value for moving the moving means; calculating an estimated viewpoint of the camera after the moving means has moved based on the delay time; Remote control method.

8. On the computer, Controlling the movement of a vehicle equipped with a camera, Acquire an image captured by the camera; measuring a delay time of the movement of the moving means relative to a speed command value for moving the moving means; calculating an estimated viewpoint of the camera after the moving means has moved based on the delay time; program.

Images