MEASUREMENT METHOD, PROGRAM, AND MEASUREMENT SYSTEM

Abstract

A measurement method according to one embodiment of the present disclosure is executed by a computer, said method including: a first display step (S10) in which a first image including a plurality of time information pieces, each indicating a time, is displayed by a first display device while repeatedly updating the plurality of time information pieces in order, one at a time; a first imaging step (S20) in which the first image being displayed by the first display device is captured by a first imaging device, so as to generate a second image; a second display step (S30) in which the second image is displayed by a second display device; and a measurement step (S40) in which a delay time that represents the duration from when the first image is captured by the first imaging device to when the second image is displayed by the second display device is measured on the basis of the first and second images.

Description

[Technical field]

[0001] The present disclosure relates to a measurement method, a program, and a measurement system. [Background technology]

[0002] In recent years, systems for remotely operating robots such as vehicles have been developed. In this type of system, an image obtained from an imaging device mounted on the robot or the like is displayed on a display device used by an operator who remotely operates the robot. The operator remotely operates the robot while checking the image displayed on the display device. At that time, the image is displayed on the display device with a slight delay from the timing of capturing an image with the imaging device, that is, the timing of generating an image by capturing an image with the imaging device. In other words, a delay time (also called a glass-to-glass delay time) occurs, which is the time from capturing an image with the imaging device to displaying the generated image on the display device.

[0003] For example, Patent Document 1 discloses a system for remotely operating an industrial vehicle in response to a delay time. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-83462 A Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a measurement method and the like that can prevent delay time from being unable to be measured. [Means for solving the problem]

[0006] A measurement method according to one embodiment of the present disclosure is a measurement method executed by a computer, and includes a first display step of repeatedly displaying a first image, the first image including a plurality of time information each indicating a time, on a first display device while updating the plurality of time information one by one in sequence; a first imaging step of generating a second image by having a first imaging device capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; and a measurement step of measuring a delay time, which is the time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image.

[0007] A program according to one aspect of the present disclosure is a program for causing a computer to execute the above-described measurement method.

[0008] A measurement system according to one embodiment of the present disclosure includes a first display control unit that causes a first display device to repeatedly display a first image including a plurality of time information each indicating a time, while updating the plurality of time information one by one in sequence; an imaging control unit that generates a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display control unit that causes a second display device to display the second image; and a measurement unit that measures a delay time, which is the time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a measurement method that can prevent delay time from being unable to be measured. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram for explaining an overview of a delay measurement system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing a characteristic functional configuration of the delay measurement system according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing a specific example of an image displayed on the display device according to the embodiment. [Figure 4] FIG. 4 is a diagram showing a specific example of an image displayed on the display device according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing a specific example of an image displayed on the display device according to the embodiment. [Figure 6] FIG. 6 is a diagram for explaining imaging timing and display timing according to the embodiment. [Figure 7] FIG. 7 is a diagram showing a specific example of an image displayed on the display device according to the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating a frame display process executed by the control device according to the embodiment. [Figure 9] FIG. 9 is a flowchart illustrating a delay time measurement process executed by the measurement device according to the embodiment. [Figure 10] FIG. 10 is a sequence diagram illustrating a processing procedure of the delay measurement system according to the embodiment. [Figure 11] FIG. 11 is a sequence diagram illustrating a processing procedure of the delay measurement system according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing a processing procedure of the measurement system according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (Knowledge that forms the basis of this disclosure) As described above, in recent years, systems for remotely operating robots such as vehicles have been developed. This type of system can, for example, provide a delivery service from a store to a home using multiple self-driving robots remotely monitored by a single operator. In addition, for example, when regularly scheduled buses are remotely operated, multiple buses are monitored and controlled by a single operator from a remote location. This can reduce manpower and costs.

[0012] In this type of system, an image obtained from an imaging device mounted on the robot or the like is displayed on a display device used by an operator who remotely controls the robot. The above-mentioned delay time is exemplified as an index for evaluating the performance of such a system.

[0013] To measure the delay time, for example, the time it takes for an image generated by imaging an object with an imaging device to be displayed on a display device used by an operator is measured, as when the system is actually operated. The object is, for example, an image including the current time displayed on an arbitrary display device. This allows the delay time to be measured from the time included in the image generated by the imaging device and displayed on the display device used by the operator (the current time at the time of image display) and the time the image is displayed on the display device used by the operator (the current time at the time of image display).

[0014] When displaying the time on a display device, the time (e.g., the current time) included in the image is updated when the image is changed (i.e., for each displayed frame). Here, if an image is captured by an imaging device at the timing when the image is switched, an image in which the images before and after the change are overlapped may be generated by the imaging device. In such an image, the time included in the image generated by the imaging device cannot be read accurately, and there is a problem that the delay time cannot be measured.

[0015] In view of these problems, the inventors of the present application have come up with the present disclosure.

[0016] Hereinafter, the embodiments will be described with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component arrangement and connection forms, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0017] Note that each figure is a schematic diagram and is not necessarily precisely illustrated. Therefore, for example, the scales of the figures do not necessarily match. Furthermore, in each figure, the same reference numerals are used for substantially the same configurations, and duplicated explanations may be omitted or simplified.

[0018] In addition, in the following description, the terms "greater than or equal to" and "less than" may be used, but these terms are not intended to be used in the strict sense. For example, when "greater than or equal to" is used, it may mean greater than. Also, when "less than" is used, it may mean less than or equal to. Furthermore, when used in comparison, such as "greater than or equal to a specified value" and "less than a specified value", it may mean that the specified value is the boundary, and may mean "greater than a specified value" and "less than or equal to a specified value", respectively.

[0019] (Embodiment) [composition] First, the configuration of the delay measurement system 10 will be described.

[0020] FIG. 1 is a diagram for explaining an overview of a delay measurement system 10 according to an embodiment.

[0021] The delay measurement system 10 is a system that measures the delay time, which is the time it takes for an image obtained by an imaging device 400 mounted on the robot 300 capturing an image of an arbitrary position when the operator remotely controls the robot 300, from when the imaging device 400 captures the arbitrary position until the image is displayed on a display device used by the operator (e.g., display device 220), that is, the so-called glass-to-glass delay time.

[0022] For example, the operator operates operation devices such as a handle and a brake (not shown) connected to the remote operation device 120 while checking an image displayed on the display device 220. The remote operation device 120 transmits information related to the operation received by the operation device to the robot 300. As a result, the robot 300 operates based on the operation of the operator.

[0023] In the delay measurement system 10, the imaging device 400 captures an image displayed on the display device 200 in order to measure the delay time.

[0024] The delay measurement system 10 includes a control device 100, a measuring device 110, a remote control device 120, a display device 200, a display device 210, a display device 220, a display device 230, a display device 240, a robot 300, an imaging device 400, an imaging device 410, a base station 500, a hub 510, a hub 530, a router 540, a distributor 550, and a terminal 600.

[0025] The control device 100 is a computer that is communicatively connected to the display devices 200, 210, 220, 230, 240, the imaging devices 400, and 410, and controls these devices.

[0026] The measuring device 110 is communicably connected to the imaging device 410, and is a computer that acquires from the imaging device 410 an image (also referred to as a third image) generated by the imaging device 410.

[0027] The remote control device 120 is a computer that is communicatively connected to the robot 300 and enables an operator to remotely control the robot 300.

[0028] Each of these computers includes, for example, a communication interface for communicating with each device, a non-volatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, an input / output port for transmitting and receiving signals, and a processor for executing the program, etc. The computer may be realized by a so-called microcomputer.

[0029] The display device 200, the display device 210, the display device 220, the display device 230, and the display device 240 are each a display that displays an image. The display device 200, the display device 210, the display device 220, the display device 230, and the display device 240 are each communicatively connected to a computer such as the control device 100, the measurement device 110, or the remote control device 120 via an HDMI (registered trademark) (High-Definition Multimedia Interface) cable or the like.

[0030] The robot 300 is a machine that is remotely operated by an operator. The robot 300 is, for example, a vehicle, but may be any machine.

[0031] The imaging device 400 and the imaging device 410 are cameras that capture an image of a target to generate an image. The imaging device 400 is communicatively connected to the imaging device 400 via, for example, the robot 300, the base station 500, and the hub 510. The imaging device 410 is communicatively connected to the control device 100 and the measuring device 110 via, for example, a communication line such as an HDMI cable.

[0032] The base station 500 is a base station that wirelessly communicates with the robot 300 and communicates with the control device 100 via a hub 510 .

[0033] The hub 510 is a relay that connects the base station 500 and the control device 100 .

[0034] The hub 530 is a relay that connects the control device 100, the measuring device 110, and the router 540. The hub 530 is also connected to a server device (not shown) via the Internet 520 so as to be able to communicate with each other.

[0035] The router 540 is a relay that connects the hub 530 and the terminal 600 .

[0036] The distributor 550 is a device that is connected to the control device 100, the display device 200, and the display device 210 via a communication line such as an HDMI cable, and transmits the first image output from the control device 100 to the display device 200 and the display device 210.

[0037] The terminal 600 is a computer that accepts operations from a user. Information indicating the operations accepted by the terminal 600 from the user is transmitted to the control device 100 and / or the measuring device 110 via the router 540 and the hub 530. In this embodiment, the terminal 600 is a tablet terminal, but may be realized by any device such as a personal computer or a smartphone.

[0038] The communication standard used in the above communication may be, for example, Ethernet (registered trademark), but any other standard may be used.

[0039] A user operates a terminal 600 such as a tablet terminal to transmit an instruction to start measuring a delay time to the control device 100 and the measuring device 110 via the router 540 and the hub 530. When the control device 100 and the measuring device 110 receive the instruction, they start a process for measuring a delay time.

[0040] For example, when the control device 100 acquires the instruction, the control device 100 causes the display device 200 and the display device 210 to display the same image (also referred to as the first image) via the distributor 550 connected by a communication line such as an HDMI cable. For example, the display device 200 and the display device 210 are controlled in synchronization with each other, and the same first image is displayed at the same timing on the display device 200 and the display device 210. For example, the display device 200 is disposed at a location where the robot 300 is located, and the display device 210 is disposed at a location where the remote control device 120 is located. The first image displayed on the display device 200 and the display device 210 includes, for example, information indicating the current time. The information indicating the current time included in the first image displayed on the display device 200 and the display device 210 is updated every time the first image displayed on the display device 200 and the display device 210 is changed. In other words, the current time is displayed on the display device 200 and the display device 210 while being repeatedly updated.

[0041] The control device 100 also causes the imaging device 400 mounted on the robot 300 to capture a first image displayed on the display device 200. In other words, the control device 100 captures an image of the screen of the display device 200 on which the first image is displayed. The image (also called a second image) generated thereby is acquired by the robot 300 and transmitted to the control device 100 via the base station 500 and the hub 510 capable of wireless communication with the robot 300. The imaging device 400, for example, repeatedly captures the first image displayed on the display device 200 and repeatedly transmits the second image generated thereby to the control device 100.

[0042] The image may be transmitted from the robot 300 to the control device 100 via a server device (not shown) that can communicate with the base station 500 and the control device 100 via the Internet 520 and the hub 510 .

[0043] The control device 100 also causes the display device 220 to display the acquired second image. For example, the control device 100 transmits the second image to the remote operation device 120, thereby causing the remote operation device 120 to display the second image on the display device 220. Hereinafter, the process in which the control device 100 transmits the second image to the remote operation device 120 and the remote operation device 120 displays the second image on the display device 220 is also simply referred to as the control device 100 causing the display device 220 to display the acquired second image. The control device 100 may directly display the acquired second image on the display device 220 without the intervention of the remote operation device 120. For example, the control device 100 repeatedly causes the display device 220 to display the acquired second image every time the second image is acquired.

[0044] The control device 100 also causes the imaging device 410 to capture the first image displayed on the display device 210 and the second image displayed on the display device 220. An image (third image) including the first image and the second image generated in this way is acquired by the measurement device 110. The imaging device 410, for example, repeatedly captures the first image displayed on the display device 210 and the second image displayed on the display device 220, and repeatedly transmits the third image generated in this way to the measurement device 110.

[0045] The measuring device 110 measures the delay time based on the acquired third image. For example, the measuring device 110 measures the delay time every time the measuring device 110 acquires the third image.

[0046] For example, a first image displayed on display device 210 and a second image displayed on display device 220 may be captured separately by two synchronized imaging devices to generate a third image including the first image and a third image including the second image.

[0047] Also, for example, in an environment where the imaging device 400 and the imaging device 410 can capture an image included in the same display device 200, the display device 200 and the display device 210 may be realized as a single device.

[0048] 2 is a block diagram showing a characteristic functional configuration of the delay measurement system 10 according to the embodiment. Note that in FIG. 2, some components of the delay measurement system 10, such as the robot 300 and the remote control device 120, are omitted from the illustration.

[0049] The control device 100 includes an imaging control unit 101 , a display control unit 102 , a bandwidth control unit 103 , and a storage unit 104 .

[0050] The imaging control unit 101 is a processing unit that controls the imaging of the imaging device 400 and the imaging device 410. For example, the imaging control unit 101 controls the imaging device 400 to cause the imaging device 400 to capture a first image displayed on the display device 200, thereby generating a second image. Also, for example, the imaging control unit 101 causes the imaging device 410 to capture the second image displayed on the display device 220 and the first image displayed on the display device 210, thereby generating a third image.

[0051] Note that imaging conditions such as imaging timing and exposure time of the imaging devices 400 and 410 may be determined arbitrarily. In this embodiment, the imaging devices 400 and 410 each capture images at 60 fps (frames per second), that is, approximately every 16.6 msec.

[0052] The display control unit 102 is a processing unit that controls the display of images on the display device 200, the display device 210, and the display device 220. The display control unit 102 is an example of a first display control unit and a second display control unit. For example, the display control unit 102 causes the display device 200 to repeatedly display a first image including a plurality of pieces of time information each indicating a time, while updating the plurality of pieces of time information one by one in sequence. Specifically, the display control unit 102 causes the display device 200 to repeatedly display the first image including a plurality of pieces of time information each indicating a time, while updating the plurality of pieces of time information one by one in sequence.

[0053] The time information is information indicating a time. For example, the first image indicates the time information by using numbers indicating the time.

[0054] Fig. 3 is a diagram showing a specific example of an image (first image) displayed on display device 200 according to an embodiment. Note that, for example, the same image as the first image shown in Fig. 3 is also displayed on display device 210. For example, display control unit 102 causes display device 210 to repeatedly display the first image while sequentially updating the time indicated by any one of the multiple pieces of time information.

[0055] As shown in FIG. 3, for example, the first image displayed on the display device 200 includes time information 700 in "column 1" and time information 710 in "column 2".

[0056] The time information 700 indicates that the current time at the time the time information 700 is updated is 12:34:56:016, such as "12:34:56:016".

[0057] The time information 710 indicates that the current time at the time the time information 710 is updated is 12:34:56:033, such as "12:34:56:033".

[0058] For example, one of the time information 700 and the time information 710 is updated alternately each time the first image is repeatedly displayed on the display device 200. Therefore, for example, one of the time information 700 and the time information 710 included in the first image indicates the latest current time, and the other indicates the latest current time when the first image immediately preceding the first image was displayed.

[0059] For example, the display control unit 102 calculates a count number, which is the number of times the display device 200 has updated the time indicated by any one of the multiple pieces of time information and displayed the first image. Here, for example, the multiple pieces of time information include first time information and second time information, such as time information 700 and time information 710. That is, for example, the multiple pieces of time information may be two pieces of time information. In this case, for example, the display control unit 102 updates only one of the first time information and the second time information for the first image to be displayed on the display device 200 when the count number is an even number, and updates only the other of the first time information and the second time information for the first image to be displayed on the display device 200 when the count number is an odd number.

[0060] For example, the time information 700 displayed in "column 1" is updated in the first image (also simply called an odd frame) displayed on the display device 200 when the count number becomes an odd number. Therefore, the time information 710 displayed in "column 2" is not updated in the odd frame.

[0061] On the other hand, for example, the time information 710 displayed in "column 2" is updated in the first image (also simply called an even frame) displayed on the display device 200 when the count number becomes an even number. Therefore, the time information 700 displayed in "column 1" is not updated in the even frame.

[0062] Also, for example, the display control unit 102 causes the display device 220 to display the second image.

[0063] Fig. 4 and Fig. 5 are diagrams showing specific examples of an image (second image) displayed on display device 220 according to the embodiment. Specifically, Fig. 4 shows a specific example of the second image when an odd-numbered frame displayed on display device 200 is captured, and Fig. 5 shows a specific example of the second image when an even-numbered frame displayed on display device 200 is captured.

[0064] As shown in FIG. 4, if the timing of capturing the first image displayed on the display device 200 by the imaging device 400 is bad, a second image is generated in which the first image before and after the update overlap. For example, as shown in FIG. 4, the time information 701 displayed in "Column 1" is included in the second image with the two numbers as the time information of the first image before and after the update overlapping. Similarly, for example, if the timing of capturing is bad, the time information 712 displayed in "Column 2" is included in the second image with the two numbers as the time information of the first image before and after the update overlapping as shown in FIG. 5. The time information cannot be read accurately from such time information 701 and time information 712. However, for example, as shown in the time information 711 displayed in "Column 2" shown in FIG. 4, even if the numbers as the time information of the first image before and after the update overlap, if they are the same numbers, that is, the time information, the correct time information can be included in the second image. Similarly, even if the two numbers representing time information in the first image before and after the update overlap, such as time information 702 displayed in "Column 1" in Figure 5, if the numbers, i.e., the time information, are the same, the correct time information can be included in the second image.

[0065] FIG. 6 is a diagram for explaining the imaging timing and display timing according to the embodiment. Specifically, FIG. 6(a) is a diagram showing the timing when the imaging device 400 captures the first image, FIG. 6(b) is a diagram showing the timing when the time indicated by the time information in the first image is updated, and FIG. 6(c) is a diagram showing the timing when the first image displayed on the display device 200 is refreshed. As described above, the imaging device 400 captures images at, for example, 60 fps, but since two captured frames are dropped to one frame, in FIG. 6(a), the imaging timing is described as 30 fps, which means that the measurement accuracy drops to 30 fps. "Odd 1" and "Odd 2" shown in FIG. 6(b) indicate, for example, the timing when the time indicated by the time information displayed in "Column 1" shown in FIG. 3 is updated. Also, "Even 1" and "Even 2" shown in FIG. 6(b) indicate, for example, the timing when the time indicated by the time information displayed in "Column 2" shown in FIG. 3 is updated. For example, when "Odd Number 1" is changed to "Odd Number 2," the time indicated by the time information displayed in "Column 1" is updated. Also, refreshing is performed at the timing of the hatching shown in (c) of FIG.

[0066] In this example, the time indicated by the time information in the first image is updated at 30 fps. That is, in this example, the time indicated by the time information in the first image is updated approximately once every 33.3 msec. Also, in this example, the refresh rate of the display device 200 is 60 Hz. Therefore, in this example, the first image is refreshed approximately once every 16.6 msec. Also, every time two refreshes are performed, the time indicated by the time information in the first image is updated once.

[0067] The timing at which the time indicated by the time information in the first image is updated and the timing at which the first image is refreshed may be arbitrary.

[0068] As shown in FIG. 6, for example, even if the refresh timing and the imaging timing overlap, one of the multiple time information continues to be displayed, so that it is possible to reduce the occurrence of measurement errors by the measuring device 110 described later, caused by misreading of the time information due to, for example, numbers being displayed overlapping each other.

[0069] In this way, the display control unit 102 repeatedly displays the first image including multiple pieces of time information each indicating a time on the display device 200 while sequentially updating the time indicated by any one of the multiple pieces of time information, that is, when changing (updating) the first image, the first image also includes time information that is not to be updated. Therefore, the multiple pieces of time information included in the second image generated by capturing the first image may include readable time information.

[0070] The control device 100 may include a clock unit such as a real time clock (RTC) to acquire the time indicated by the time information. The time may be acquired from, for example, a server device (not shown).

[0071] Furthermore, for example, in the examples shown in FIGS. 3 to 5, the first image includes two pieces of time information, but the first image may include three or more pieces of time information.

[0072] Also, the imaging device 400 or the robot 300 may generate compressed information having a smaller data amount than the second image, which indicates the time indicated by each of the multiple pieces of time information included in the second image, and transmit the compressed information to the control device 100. For example, the imaging control unit 101 causes the imaging device 400 or the robot 300 to generate compressed information having a smaller data amount than the second image, which indicates the time indicated by each of the multiple pieces of time information included in the second image, based on a transmission rate (for example, a transmission rate between the imaging device 400 and the control device 100) during the period from the imaging device 400 to the display device 210, and transmits the generated compressed information. For example, the display control unit 102 transmits the compressed information to the remote control device 120, and causes the remote control device 120 to reconstruct the second image based on the compressed information and display it on the display device 220. The display control unit 102 may also reconstruct the second image based on the compressed information and display it on the display device 220. In this way, the second image may be encoded and transmitted, and decoded when displayed on the display device 220. For example, when the transmission rate is equal to or higher than a predetermined transmission rate, the second image is transmitted without being encoded, and when the transmission rate is lower than the predetermined transmission rate, the second image is encoded and transmitted. The predetermined transmission rate may be determined arbitrarily and is not particularly limited.

[0073] Furthermore, each of the multiple pieces of time information may or may not be a number. For example, each of the multiple pieces of time information may be a QR code (registered trademark) indicating the time. Each of the multiple pieces of time information may be a barcode indicating the time, or may be any symbol. Each of the multiple pieces of time information may be expressed by a serial number or symbol associated with the time, rather than a number indicating a specific time.

[0074] Furthermore, for example, the display control unit 102 changes the size in the first image of the multiple pieces of time information included in the first image to be displayed on the display device 200, based on the transmission rate during the transmission of the second image from the imaging device 400 to the display device 220. For example, the display control unit 102 changes the display mode of the time information in the first image so that the lower the transmission rate, the larger the time information is displayed.

[0075] Also, for example, the display control unit 102 may transmit an image obtained by cutting out an area in which time information is displayed as the first image based on the transmission rate during the period from the imaging device 400 to the display device 220 when the second image is transmitted from the imaging device 400 to the display device 220. Also, the display control unit 102 may transmit a compressed first image based on the transmission rate during the period from the imaging device 400 to the display device 220 when the second image is transmitted from the imaging device 400 to the display device 220. For example, the display control unit 102 may compress and transmit an image obtained by cutting out an area in which time information is displayed based on the transmission rate during the period from the imaging device 400 to the display device 220 when the transmission rate during the period from the imaging device 400 to the display device 220 is lower than a predetermined transmission rate. This makes it possible to prevent the image from being distorted even if the transmission rate during the period from the imaging device 400 to the display device 220 when the transmission rate during the period from the imaging device 400 to the display device 220 when the time information in the first image is displayed on the display device 200 is low.

[0076] The bandwidth control unit 103 is a processing unit that controls the transmission rate during the transmission of the second image from the imaging device 400 to the display device 220. For example, the delay measurement system 10 calculates the delay time relative to the transmission rate by measuring the delay time while changing the transmission rate.

[0077] Each of the processing units, that is, the imaging control unit 101, the display control unit 102, and the bandwidth control unit 103, is realized by, for example, a processor that executes a control program stored in the storage unit 104.

[0078] The storage unit 104 is a storage device that stores control programs executed by each processing unit, various conditions, thresholds, etc. The storage unit 104 is realized by, for example, a semiconductor memory or a hard disk drive (HDD).

[0079] The measurement device 110 includes a measurement unit 111 and a storage unit 112 .

[0080] The measurement unit 111 is a processing unit that measures the delay time. Specifically, the measurement unit 111 measures the delay time, which is the time from when the first image is captured by the imaging device 400 to when the second image is displayed on the display device 220, based on the first image and the second image. More specifically, the measurement unit 111 measures the delay time based on a third image including the first image and the second image. For example, the imaging device 410 transmits a third image generated by capturing the first image displayed on the display device 210 and the second image displayed on the display device 220 to the measurement device 110. The measurement unit 111 measures the delay time based on the third image acquired from the imaging device 410.

[0081] Fig. 7 is a diagram showing a specific example of an image (third image) according to the embodiment. Specifically, Fig. 7 is a diagram showing a specific example of time information 703 and time information 713 included in a first image captured by imaging device 410 and displayed on display device 210, and time information 704 and time information 714 included in a second image displayed on display device 220.

[0082] 7 is acquired, for example, the measurement unit 111 measures the delay time by calculating the difference between the time indicated by the readable time information 713 and the time indicated by the readable time information 714. In this example, the delay time is 0.105 seconds.

[0083] For example, when all of the multiple pieces of time information are readable, the latest time among the times indicated by the multiple pieces of time information is used to measure the delay time. Therefore, for example, the measurement unit 111 measures the delay time based on the difference between the latest time indicated by the readable time information among the multiple pieces of time information included in the second image displayed on the display device 220 and the latest time indicated by the readable time information among the multiple pieces of time information included in the first image displayed on the display device 210.

[0084] The measurement unit 111 is realized by, for example, a processor that executes a control program stored in the storage unit 112 .

[0085] The storage unit 112 is a storage device that stores the control program executed by the measurement unit 111, various conditions, threshold values, etc. The storage unit 112 is realized by, for example, a semiconductor memory or a HDD.

[0086] [Processing Procedure] Next, the processing procedure of the delay measurement system 10 will be described.

[0087] Fig. 8 is a flowchart for explaining a frame display process executed by the control device 100 according to the embodiment. Specifically, Fig. 8 is a flowchart showing a processing procedure in which the display control unit 102 causes the display device 200 to display a first image.

[0088] The display control unit 102 starts a frame display process in which the process of steps S120 to S170 is repeatedly executed (S110). The number of times this process is repeated may be determined arbitrarily, and is not particularly limited.

[0089] The display control unit 102 counts the number of frames (S120). Step S120 may be executed at any timing as long as it is appropriately determined whether the count number is an even number or an odd number at the timing when the first image is next updated.

[0090] The display control unit 102 waits until the frame display time, which is the timing for updating the time information in the first image, comes (S130). If the first image is already being displayed on the display device 200, the display control unit 102 continues to display the already-displayed first image on the display device 200. The frame display time may be determined arbitrarily and is not particularly limited.

[0091] When the frame display time arrives, the display control unit 102 acquires the time at that moment (S140). Note that the display control unit 102 may shift by a certain offset time in consideration of the refresh timing of the display (for example, the display device 200). For example, in the case of a display that refreshes at intervals of 16.6 ms, it may be offset only for the first time during the value of 8.4 ms during that period. That is, instead of waiting for the next time to be displayed at the time when 16.6 ms has elapsed from a specific time, it may wait so that the time becomes 16.6 ms + 8.4 ms only for the first time, and for subsequent times, it may wait so that the waiting time is 16.6 ms.

[0092] The display control unit 102 determines whether the count number is odd (S150).

[0093] When the display control unit 102 determines that the count number is odd (Yes in S150), for example, it updates the first image so that the time indicated by the time information in "Column 1" shown in FIG. 3 or the like becomes the time acquired in step S130 (S160).

[0094] On the other hand, when the display control unit 102 determines that the count number is not odd (that is, even) (No in S150), for example, it updates the first image so that the time indicated by the time information in "Column 2" shown in FIG. 3 or the like becomes the time acquired in step S130 (S170).

[0095] The display control unit 102 repeatedly executes the processes of steps S120 to S170 a predetermined number of times and ends the frame display process (S180).

[0096] Fig. 9 is a flowchart for explaining the delay time measurement process executed by the measuring device 110 according to the embodiment. Specifically, Fig. 9 is a flowchart showing the process procedure executed by the measuring unit 111 from acquiring the third image to measuring the delay time. Also, the display device A is, for example, one of the display device 210 and the display device 220, and the display device B is, for example, the other of the display device 210 and the display device 220.

[0097] The measurement unit 111 starts a delay time measurement process in which the process of steps S220 to S280 is repeatedly executed (S210). The number of times this process is repeated may be determined arbitrarily and is not particularly limited. For example, the measurement unit 111 executes this process for a predetermined time. The predetermined time may be determined arbitrarily and is not particularly limited. The measurement device 110 may include a clock unit such as an RTC for measuring time. For example, the measurement unit 111 repeatedly acquires a third image from the imaging device 410 for the predetermined time, and repeats the process of steps S220 to S280 for the acquired third image.

[0098] The measurement unit 111 (i) performs a reading process of the time indicated by the time information in "Column 1" contained in the third image and contained in the image displayed by display device A, and (ii) performs a reading process of the time indicated by the time information in "Column 2" contained in the third image and contained in the image displayed by display device A (S220).

[0099] In addition, the measurement unit 111 (iii) performs a reading process of the time indicated by the time information in "Column 1" contained in the third image and contained in the image displayed by display device B, and (iv) performs a reading process of the time indicated by the time information in "Column 2" contained in the third image and contained in the image displayed by display device B (S230).

[0100] The measurement unit 111 determines whether or not the time could not be read in both the reading processes (i) and (ii) above, or the time could not be read in both the reading processes (iii) and (iv) above, as a result of the reading processes performed in steps S220 and S230 (S240). That is, the measurement unit 111 determines whether or not there is no readable time among the times indicated by the time information included in the third image and the image displayed by the display device A, or whether there is no readable time among the times indicated by the time information included in the third image and the image displayed by the display device B.

[0101] If the answer is Yes in step S240, the measurement unit 111 does not perform any further delay time measurement processing using the third image used in this repeated processing, and does not store the measurement result in, for example, the storage unit 112 (S280).

[0102] On the other hand, for example, if the answer is No in step S240, that is, if there is a readable time indicated by the time information contained in the third image and displayed by display device A and a readable time indicated by the time information contained in the third image and displayed by display device B, the measurement unit 111 determines the latest time indicated by the readable time information among the multiple pieces of time information contained in the third image and displayed by display device A as Amax (S250).

[0103] Furthermore, for example, the measurement unit 111 determines as Bmax the latest time indicated by readable time information among the multiple pieces of time information included in the third image and displayed by the display device B (S260).

[0104] The measurement unit 111 calculates Amax-Bmax as the delay time, and stores the calculation result as the measurement result of the delay time, for example, in the storage unit 112 (S270).

[0105] The measurement unit 111 repeatedly executes the processes of steps S220 to S280 for a predetermined time, and then ends the delay time measurement process (S290).

[0106] 11 and 12 are sequence diagrams showing the processing procedure of the delay measurement system 10 according to the embodiment.

[0107] First, the control device 100 transmits a first image to each of the display device 200 and the display device 210 (S310).

[0108] As a result, the display device 200 displays the first image (S320).

[0109] Similarly, the display device 210 displays the first image (S330).

[0110] In this manner, in steps S310 to S330, the control device 100 controls the display device 200 and the display device 210 to cause the display device 200 and the display device 210 to display the same first image.

[0111] Next, the control device 100 updates the time information in one of the two columns included in the first image transmitted in step S310 (S340). For example, the control device 100 changes the time indicated by the time information in one of the two columns included in the first image transmitted in step S310, which is one of the two columns according to the count of the number of images displayed on each of the display devices 200 and 210 (i.e., the above-mentioned count number), to the current time, thereby generating a new first image.

[0112] Next, the control device 100 transmits the new first image generated in step S340 to each of the display device 200 and the display device 210 (S350).

[0113] As a result, the display device 200 displays the new first image generated in step S340 (S360).

[0114] Similarly, the display device 210 displays (S370) the new first image generated in step S340.

[0115] In this manner, in steps S350 to S370, the control device 100 controls the display device 200 and the display device 210 to cause the display device 200 and the display device 210 to display the same new first image.

[0116] Next, the control device 100 updates the time information in the other of the two columns included in the first image transmitted in step S350 (S380). For example, the control device 100 changes the time indicated by the time information in the other of the two columns, which corresponds to the count of the number of images displayed on each of the display devices 200 and 210, and which is not changed in step S340, to the current time, thereby generating a new first image.

[0117] Next, the control device 100 transmits the new first image generated in step S380 to each of the display device 200 and the display device 210 (S390).

[0118] As a result, the display device 200 displays the new first image generated in step S380 (S400).

[0119] Similarly, the display device 210 displays (S390) the new first image generated in step S380.

[0120] In this manner, in steps S380 to S410, the control device 100 controls the display device 200 and the display device 210 to cause the display device 200 and the display device 210 to display the same new first image.

[0121] Thereafter, the control device 100 repeatedly executes the processing of steps S340 to S390, and repeatedly and alternately updates the two columns included in the first image so that the times shown in the two columns become the current time, and causes the images to be displayed on the display devices 200 and 210.

[0122] While such processing is being repeatedly executed, the processing shown in FIG. 11 is executed.

[0123] The control device 100 transmits an instruction to the imaging device 400 to capture the first image displayed on the display device 200 to the imaging device 400 (S510). Specifically, the control device 100 controls the imaging device 400 to capture the first image displayed on the display device 200.

[0124] Thereby, the imaging device 400 generates a second image by capturing the first image displayed on the display device 200 (S520).

[0125] Next, the imaging device 400 transmits the second image generated by capturing the first image displayed on the display device 200 to the control device 100 (S530).

[0126] Next, the control device 100 transmits the second image to the display device 220 (S540).

[0127] Thereby, the display device 200 displays the second image (S550).

[0128] Thereafter, the control device 100 repeatedly executes the processes of steps S510 to S540 to repeatedly generate a second image by repeatedly causing the imaging device 400 to capture the first image displayed on the display device 200, and repeatedly display the second image on the display device 220.

[0129] Thereby, the time shown in one of the two columns of the first image included in the second image displayed on the display device 220 is repeatedly updated.

[0130] During such repeated execution of the process, the processes after step S560 are executed.

[0131] The control device 100 transmits to the imaging device 410 an instruction to cause the imaging device 410 to simultaneously capture both the first image displayed on the display device 210 and the second image displayed on the display device 220 (S560). Specifically, the control device 100 controls the imaging device 410 to simultaneously capture the first image displayed on the display device 210 and the second image displayed on the display device 220. For example, the display devices 210 and 220 are arranged in advance so as to be included in the angle of view of the imaging device 410 so that the imaging device 410 can simultaneously capture both the first image displayed on the display device 210 and the second image displayed on the display device 220.

[0132] As a result, the imaging device 410 generates a third image by capturing the first image displayed on the display device 210 and the second image displayed on the display device 220 (S570). Therefore, the third image as shown in FIG. 7 can be generated.

[0133] Next, the imaging device 410 transmits the generated third image to the measuring device 110 (S580).

[0134] Next, the measurement instrument 110 measures the delay time based on the third image (S590).

[0135] For example, the measuring device 110 notifies a user of the measured delay time by displaying the measured delay time on a display device (not shown).

[0136] 12 is a flowchart showing a processing procedure of the measurement system according to the embodiment. The measurement system is realized by at least some of the components included in the delay measurement system 10. For example, the measurement system includes an imaging control unit 101 included in the control device 100, a display control unit 102 included in the control device 100, and a measurement unit 111 included in the measurement device 110.

[0137] First, the first display control unit repeatedly displays a first image including a plurality of pieces of time information each indicating a time on the first display device while sequentially updating the plurality of pieces of time information one by one (S10). The first display control unit is, for example, the display control unit 102. The first display device is, for example, the display device 200.

[0138] Next, the imaging control unit 101 causes the first imaging device to capture the first image displayed on the first display device, thereby generating a second image (S20). The first imaging device is the imaging device 400, for example.

[0139] Next, the second display control unit causes the second display device to display the second image (S30). The second display control unit is, for example, the display control unit 102. The first display control unit and the second display control unit may be realized by, for example, a common processor, or may be realized by separate processors.

[0140] Next, the measurement unit 111 measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image (S40). The second display device is, for example, the display device 220.

[0141] [Effects, etc.] Below, examples of technologies that can be obtained from the disclosure of this specification will be given, and effects and the like that can be obtained from the exemplified technologies will be described.

[0142] Technique 1 is a measurement method executed by a computer, and includes a first display step (S10) of repeatedly displaying a first image, which includes multiple pieces of time information each indicating a time, on a first display device while sequentially updating the time indicated by any one of the multiple pieces of time information; a first imaging step (S20) of generating a second image by having a first imaging device capture the first image displayed on the first display device; a second display step (S30) of displaying the second image on a second display device; and a measurement step (S40) of measuring a delay time, which is the time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first and second images.

[0143] According to this, even when the first image is captured by the first imaging device at the timing when the first image is changed, that is, when the time information included in the first image is changed by updating the time indicated by the time information, the first image before and after the change can be prevented from being captured in an overlapping state that makes the time information unreadable for the time information that is not changed at the timing. Therefore, the possibility of measuring the delay time can be improved by using the readable time information among the multiple pieces of time information included in the second image. Therefore, it is possible to prevent the delay time from being unable to be measured.

[0144] Technology 2 is a measurement method described in Technology 1, which further includes a counting step of calculating a count number, which is the number of times the first image is displayed on the first display device by updating the time indicated by any one of the multiple pieces of time information, wherein the multiple pieces of time information include first time information and second time information, and in the first display step, for the first image to be displayed on the first display device when the count number is an even number, only one of the first time information and the second time information is updated, and for the first image to be displayed on the first display device when the count number is an odd number, only the other of the first time information and the second time information is updated.

[0145] This makes it possible to alternately update the times indicated by the two pieces of time information with simple processing.

[0146] Technique 3 is a measurement method according to Technique 1 or 2, further including a third display step of repeatedly displaying the first image on the third display device while sequentially updating the time indicated by any one of the multiple pieces of time information, and a second imaging step of generating a third image by causing a second imaging device to capture the second image displayed on the second display device and the first image displayed on the third display device, and in the measurement step, measuring the delay time based on the third image.

[0147] The third display device is, for example, the display device 210. The first display device and the third display device are, for example, controlled in a synchronized manner so as to display the same first image at the same timing.

[0148] This makes it possible to measure the delay time based on a plurality of pieces of time information included in each of the first image and the second image included in the third image.

[0149] Technique 4 is a measurement method described in Technique 3, in which in the measurement step, the delay time is measured based on the difference between the latest time indicated by readable time information among multiple pieces of time information included in the second image displayed on the second display device and the latest time indicated by readable time information among multiple pieces of time information included in the first image displayed on the third display device.

[0150] According to this, since the latest time among the times indicated by the multiple pieces of time information is the last updated time, the delay time can be measured more accurately.

[0151] Technique 5 is a measurement method according to any one of Techniques 1 to 4, further comprising: in the first imaging step, generating compressed information having a smaller amount of data than the second image, the compressed information indicating the time indicated by each of the multiple pieces of time information included in the second image, based on a transmission rate during the period from the first imaging device to the second display device; and in the second display step, reconstructing the second image based on the compressed information and displaying it on the second display device.

[0152] When the transmission rate is decreased, a rough image is transmitted in order to reduce the amount of data to be transmitted. Therefore, for example, when the transmission rate is equal to or higher than a predetermined transmission rate, the first imaging device transmits the second image to the second display device, and when the transmission rate is lower than the predetermined transmission rate, the first imaging device generates compressed information by compressing the second image and outputs it. For example, the control device 100 or the remote control device 120 that controls the display device 220, which is an example of the second display device, acquires the compressed information, reconstructs the second image from the compressed information, and causes the display device 220 to display the reconstructed second image. This makes it possible to prevent image distortion caused by a decrease in the transmission rate.

[0153] Technique 6 is the measurement method according to any one of Techniques 1 to 5, wherein each of the multiple pieces of time information is a QR code (registered trademark) indicating a time.

[0154] This makes it easier to obtain the time indicated by the time information through simple processing, such as image analysis, compared to when the time information is included in the image as, for example, numbers.

[0155] Technique 7 is a measurement method described in any one of Techniques 1 to 6, in which in the first display step, the size of multiple pieces of time information contained in the first image to be displayed on the first display device is changed in the first image based on the transmission rate during the period from the first imaging device to the second display device.

[0156] As described above, when the transmission rate decreases, a coarse image is transmitted in order to reduce the amount of data transmitted. Therefore, for example, by making the time information larger as the transmission rate decreases, the time information can be made easier to read even if the second image becomes coarse.

[0157] Technique 8 is a program for causing a computer to execute the measurement method according to any one of Techniques 1 to 7.

[0158] This provides the same effects as the measurement method according to one aspect of the present disclosure.

[0159] Technique 9 is a measurement system including a first display control unit that causes a first display device to repeatedly display a first image including multiple pieces of time information each indicating a time while updating the multiple pieces of time information one by one in sequence, an imaging control unit 101 that causes a first imaging device to capture the first image displayed on the first display device to generate a second image, a second display control unit that causes a second display device to display the second image, and a measurement unit 111 that measures a delay time, which is the time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image.

[0160] This provides the same effects as the measurement method according to one aspect of the present disclosure.

[0161] In addition, the measurement system according to one embodiment of the present disclosure may be realized by multiple devices (e.g., multiple computers) such as the control device 100 and the measurement device 110 of the above embodiment, or may be realized by a single device (e.g., a computer) that realizes each of the functions.

[0162] (Other embodiments) Although the embodiments have been described above, the present disclosure is not limited to the above-described embodiments.

[0163] For example, the method in the above embodiment is a method of displaying the time corresponding to two frames, an even frame and an odd frame, on a screen, but is not limited to this. This method may be extended to a plurality of frames, three or more. For example, when three frames are displayed, three frames may be displayed on the same screen, such as a display area displayed when the frame count is a multiple of 3, a display area displayed when the frame count is a multiple of 3+1, and a display area displayed when the frame count is a multiple of 3+2. Similarly, a display area for displaying a plurality of frames, such as four or five frames, may be provided.

[0164] By operating in this manner, it will be possible to accurately measure the delay time even if the camera's imaging capabilities (frame rate) or the display capabilities (frame rate) improve in the future, or even if the exposure time of a camera capturing two images is extended due to shooting in a dark place, etc.

[0165] In addition, in the delay measurement in the above embodiment, the evaluation video captured by the imaging device 400 mounted on the robot 300 is an image in which the times of a plurality of frames are displayed, but in the glass-to-glass delay measurement method, a more realistic video may be added as the evaluation video. That is, a video with a large change that increases the amount of code during video encoding may be added as the evaluation video. At this time, the delay may be measured before and after the change in the amount of code. Also, the amount of code for video encoding may be changed, and the delay may be measured for each changed video. Also, the data size of the video may be changed instead of the amount of code.

[0166] Furthermore, the control device 100 may delay the video packets sent from the robot 300 when transmitting them to the remote control device 120. This delay may be a delay that reproduces the delay observed in a wireless network or the Internet.

[0167] Also, instead of encoding using a QR code, a color code may be used.

[0168] In addition to the time display, a frame counter may be embedded in the video to display the frame counter. Also, a means may be provided that associates the frame counter with the generated code amount by separate analysis means, and associates the frame counter with the delay measurement timing. By operating in this way, it becomes possible to measure the delay in detail, for example, the delay caused by the transmission of a frame with a large code amount.

[0169] In addition, for example, in the above embodiment, the process executed by a specific processing unit may be executed by another processing unit. Furthermore, the order of multiple processes may be changed, or multiple processes may be executed in parallel.

[0170] In the above embodiment, each component (each processing unit) may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0171] Furthermore, each component may be realized by hardware. Each component may be a circuit (or an integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit, or a dedicated circuit.

[0172] In addition, the general or specific aspects of the present disclosure may be realized in a system, an apparatus, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM, or in any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0173] For example, the present disclosure may be realized as a measurement method executed by a computer, or as a program for causing a computer to execute the measurement method, or as a computer-readable non-transitory recording medium having such a program recorded thereon.

[0174] In addition, the present disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may conceive, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the spirit of the present disclosure.

Industrial Applicability

[0175] The present disclosure can be applied to an apparatus for calculating the delay time of Glass to Glass.

Explanation of Signs

[0176] 10 Delay measurement system 100 Control device 101 Imaging control unit 102 Display control unit 103 Bandwidth control unit 104, 112 Storage unit 110 Measuring device 111 Measuring unit 120 Remote operation device 200, 210, 220, 230, 240 Display device 300 Robot 400, 410 Imaging device 500 Base station 510, 530 Hub 520 Internet 540 Router 550 Distributor 600 Terminal 700, 701, 702, 703, 704, 710, 711, 712, 713, 714 Time information

Claims

1. 1. A computer implemented measurement method comprising: a first display step of repeatedly displaying a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; a first imaging step of generating a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; a measuring step of measuring a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, The measurement method further includes a counting step of calculating a count number which is a number of times that the first display device updates a time indicated by any one of the plurality of pieces of time information to display the first image, the plurality of pieces of time information include first time information and second time information, In the first display step, when the count number becomes an even number, only one of the first time information and the second time information is updated for the first image to be displayed on the first display device, and when the count number becomes an odd number, only the other of the first time information and the second time information is updated for the first image to be displayed on the first display device. Measurement method.

2. 1. A computer implemented measurement method comprising: a first display step of repeatedly displaying a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; a first imaging step of generating a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; a measuring step of measuring a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, The measurement method further includes a third display step of repeatedly displaying the first image on a third display device while sequentially updating a time indicated by any one of the plurality of pieces of time information. a second imaging step of generating a third image by causing a second imaging device to capture the second image displayed on the second display device and the first image displayed on the third display device, In the measuring step, the delay time is measured based on the third image. Measurement method.

3. 1. A computer implemented measurement method comprising: a first display step of repeatedly displaying a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; a first imaging step of generating a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; a measuring step of measuring a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, In the first imaging step, further, compressed information is generated based on a transmission rate during a period from the first imaging device to the second display device, the compressed information indicating a time indicated by each of the plurality of pieces of time information included in the second image and having a smaller data amount than the second image, In the second display step, the second image is reconstructed based on the compressed information and displayed on the second display device. Measurement method.

4. 1. A computer implemented measurement method comprising: a first display step of repeatedly displaying a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; a first imaging step of generating a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; a measuring step of measuring a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, In the first display step, a size of the first image of the plurality of pieces of time information included in the first image to be displayed on the first display device is changed based on a transmission rate during a period from the first imaging device to the second display device. Measurement method.

5. 1. A computer implemented measurement method comprising: a first display step of repeatedly displaying a first image including a plurality of pieces of time information each indicating a different time on a first display device while updating the plurality of pieces of time information one by one in order; a first imaging step of generating a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; and measuring a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image. Measurement method.

6. 1. A computer implemented measurement method comprising: a first display step of repeatedly displaying a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; a first imaging step of generating a second image by causing a first imaging device to capture the first image displayed on the first display device; a second display step of displaying the second image on a second display device; a measuring step of measuring a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, The plurality of pieces of time information include information indicating a current time and information indicating a time other than the current time. Measurement method.

7. In the measuring step, the delay time is measured based on a difference between the latest time indicated by readable time information among the plurality of pieces of time information included in the second image displayed on the second display device and the latest time indicated by readable time information among the plurality of pieces of time information included in the first image displayed on the third display device. The measurement method according to claim 2.

8. Each of the plurality of pieces of time information is a QR code (registered trademark) indicating a time. The measurement method according to claim 1 .

9. A method for causing a computer to execute the measurement method according to any one of claims 1 to 8, program.

10. a first display control unit that repeatedly displays a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; an imaging control unit that causes a first imaging device to capture the first image displayed on the first display device, thereby generating a second image; a second display control unit that causes a second display device to display the second image; a measurement unit that measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image; a third display control unit that calculates a count number that is a number of times that the first image is displayed by updating a time indicated by any one of the plurality of pieces of time information in the first display device, the plurality of pieces of time information include first time information and second time information, the first display control unit updates only one of the first time information and the second time information for the first image to be displayed on the first display device when the count number becomes an even number, and updates only the other of the first time information and the second time information for the first image to be displayed on the first display device when the count number becomes an odd number. Measurement system.

11. a first display control unit that repeatedly displays a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; an imaging control unit that causes a first imaging device to capture the first image displayed on the first display device, thereby generating a second image; a second display control unit that causes a second display device to display the second image; a measurement unit that measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image; a fourth display control unit that causes a third display device to repeatedly display the first image while sequentially updating a time indicated by any one of the plurality of pieces of time information; the imaging control unit causes a second imaging device to capture the second image displayed on the second display device and the first image displayed on the third display device, thereby generating a third image; The measurement unit measures the delay time based on the third image. Measurement system.

12. a first display control unit that repeatedly displays a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; an imaging control unit that causes a first imaging device to capture the first image displayed on the first display device, thereby generating a second image; a second display control unit that causes a second display device to display the second image; a measurement unit that measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, The imaging control unit further generates compressed information, the compressed information indicating a time indicated by each of the plurality of pieces of time information included in the second image, and having a smaller data amount than the second image, based on a transmission rate during which the second image is transmitted from the first imaging device to the second display device; The second display control unit reconstructs the second image based on the compression information and displays the reconstructed image on the second display device. Measurement system.

13. a first display control unit that repeatedly displays a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; an imaging control unit that causes a first imaging device to capture the first image displayed on the first display device, thereby generating a second image; a second display control unit that causes a second display device to display the second image; a measurement unit that measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, The first display control unit changes a size of the first image, of the plurality of pieces of time information included in the first image to be displayed on the first display device, based on a transmission rate during a period from the first imaging device to the second display device. Measurement system.

14. a first display control unit that repeatedly displays a first image including a plurality of pieces of time information each indicating a different time on a first display device while updating the plurality of pieces of time information one by one in sequence; an imaging control unit that causes a first imaging device to capture the first image displayed on the first display device, thereby generating a second image; a second display control unit that causes a second display device to display the second image; a measurement unit that measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image. Measurement system.

15. a first display control unit that repeatedly displays a first image including a plurality of pieces of time information each indicating a time on a first display device while updating the plurality of pieces of time information one by one in sequence; an imaging control unit that causes a first imaging device to capture the first image displayed on the first display device, thereby generating a second image; a second display control unit that causes a second display device to display the second image; a measurement unit that measures a delay time, which is a time from when the first image is captured by the first imaging device to when the second image is displayed on the second display device, based on the first image and the second image, The plurality of pieces of time information include information indicating a current time and information indicating a time other than the current time. Measurement system.

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