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

Abstract

According to the present invention, a remote control system has: a remote control device operated by an operator; and a control target device remotely operated by means of the remote control device. The remote control device has a control signal transmission processing unit which transmits a control signal. The control target device has: a control signal reception processing unit which receives the control signal; a predictive control signal generation processing unit which generates a predictive control signal and uncertainty on the basis of the control signal; a probabilistic control processing unit which sets, on the basis of the predictive control signal and the uncertainty, a range in which safety can be secured; and an operation control processing unit which controls, on the basis of the predictive control signal, an operation of an object to be remotely controlled in the range in which safety can be secured.

Description

Technical Field

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

Background Art

[0002] With the recent spread of the Internet and the like and the increase in communication speed, efforts have been made to construct a remote control system that controls a remote control target such as a humanoid or arm-type robot from a remote control device via a communication network.

[0003] Examples of remote control systems include a system in which an operator operates a robot at a remote location and a system in which a robot supports the work of an operator. Such a remote control system requires control of a robot that synchronizes with the operation of an operator and control of a robot that cooperates with the operation of an operator.

[0004] In a remote control system, it is desired that a control signal reflecting the movement of an operator be transmitted to the robot without delay. However, in reality, the control signal is transmitted to the robot with a delay due to communication and processing.

[0005] In an environment where communication delay occurs, the working efficiency of the remote control system decreases. Therefore, a remote operation technique that utilizes the prediction result of a control signal at a timing when the delay is reflected is being utilized.

[0006] Non-Patent Document 1 discloses remote control by predicting the variation in the communication delay amount. This control predicts the communication delay amount and controls a control target at a remote location using a threshold value that does not cause overshoot in the remote control based on the communication delay amount, thereby ensuring the stability of the control.

Prior Art Documents

Non-Patent Documents

[0007]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] An object of the present invention is to provide a remote control system, a remote control method, and a remote control program for accurately and stably controlling a remote control target.

Means for Solving the Problems

[0009] One aspect of the present invention is a remote control system. The remote control system includes a remote control device operated by an operator and a control target device remotely operated by the remote control device. The remote control device has a control signal transmission processing unit that transmits a control signal. The control target device includes a control signal reception processing unit that receives a control signal, a predictive control signal generation processing unit that generates a predictive control signal and uncertainty based on the control signal received by the control signal reception processing unit, a probabilistic control processing unit that sets a range within which safety can be ensured based on the predictive control signal and uncertainty generated by the predictive control signal generation processing unit, and an operation control processing unit that controls the operation of the remote control target within the range within which safety can be ensured set by the probabilistic control processing unit based on the predictive control signal generated by the predictive control signal generation processing unit.

[0010] One aspect of the present invention is a remote control method. The remote control method includes a first step of transmitting a control signal from a remote control device to a device to be controlled, a second step of receiving the control signal in the device to be controlled, a third step of generating a predictive control signal and uncertainty based on the control signal received in the second step, a fourth step of setting a range within which safety can be ensured based on the predictive control signal and uncertainty generated in the third step, and a fifth step of controlling the operation of the remotely controlled object within the range where safety can be ensured set in the fourth step based on the predictive control signal generated in the third step.

[0011] One aspect of the present invention is a remote control program. The remote control program causes a processor included in a computer to execute the functions of the control signal reception processing unit, predictive control signal generation processing unit, probabilistic control processing unit, and operation control processing unit of the device to be controlled described above.

Advantages of the Invention

[0012] According to the present invention, there are provided a remote control system, a remote control method, and a remote control program for accurately and stably controlling a remotely controlled object.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0015] [Overview of Predictive Control] First, with reference to FIGS. 1 and 2, an overview of general predictive control and an overview of predictive control according to an embodiment of the present invention will be described. FIG. 1 is a diagram for explaining an example of the overview of general predictive control. FIG. 2 is a diagram for explaining an example of the overview of predictive control according to an embodiment of the present invention.

[0016] In predictive control, a prediction model that converts a control signal delayed for communication or processing into a predictive control signal, which is a future control signal, is used. Both FIGS. 1 and 2 show an example in which the prediction model is constructed using an encoder and a decoder. The prediction model is not limited to the configuration shown in FIGS. 1 and 2, and may be, for example, a model calculated from known parameters of a robot.

[0017] In the predictive control shown in FIG. 1, a control signal is input to the encoder, and based on the control signal, a predictive control signal is output from the decoder. The control signal includes human motion information. For example, the human motion information is human skeleton information or joint information.

[0018] Predictive control performs control after predicting not only the present but also future trends according to the following procedure. (1) Calculate the optimal control input for the finite evaluation interval: t < k < t + N. (2) Calculate the control output that minimizes the error for the finite evaluation interval. (3) The error is corrected by feedback for the prediction of the next step.

[0019] On the one hand, the remote control system is optimized for predicted values within a finite time, and the error is always corrected with an n-step delay. Therefore, the remote control system may break constraints when a prediction error occurs. Here, the constraints are, for example, physical constraints (singular postures) and boundary conditions, etc. Physical constraints are, for example, the movable range inherent to the robot, the movable range inherent to the environment due to the presence of obstacles, etc.

[0020] Especially in the case of a humanoid robot or an arm-type robot with a high degree of freedom, safety can only be ensured by a method of stopping the operation.

[0021] The prediction model used in the predictive control shown in FIG. 2 is constructed from an encoder, a decoder, and dropout. In the predictive control shown in FIG. 2, a control signal is input to the encoder, and based on the control signal, a predictive control signal and the probability density distribution of the output (predicted value) are output from the dropout via the decoder. This prediction model outputs the uncertainty of the predicted value in addition to the predictive control signal by means of Monte Carlo dropout or Bayesian neural networks.

[0022] This predictive control uses a prediction model that outputs the uncertainty of the predicted value in addition to the predictive control signal. Therefore, it becomes possible to control the robot within the range of the robot's constraints. Also, it is possible to predict the operation of the robot in the long-term future together with the uncertainty. As a result, it becomes possible to perform control that keeps the malfunction of the robot below a certain probability.

[0023] [Remote control system] Next, with reference to FIG. 3, an example of a remote control system according to an embodiment of the present invention will be described. FIG. 3 is a diagram showing an example of a remote control system according to an embodiment of the present invention.

[0024] As shown in FIG. 3, the remote control system according to an embodiment of the present invention includes a remote control device 100 and a device to be controlled 200. The remote control device 100 and the device to be controlled 200 are connected so as to be communicable bidirectionally via, for example, a communication network 300.

[0025] The remote control device 100 is a device for remotely operating the controlled device 200, and the controlled device 200 is a device remotely operated by the remote control device 100. The remote control device 100 is operated by an operator to remotely control the operation of the controlled device 200. The controlled device 200 operates in response to the operator's operation on the remote control device 100.

[0026] Here, remote control means controlling the operation of the controlled device 200 according to the control signal output by the remote control device 100 regardless of the distance between the remote control device 100 and the controlled device 200.

[0027] In one example, the controlled device 200 is arranged at a remote location far from the remote control device 100 and is a device whose operation is controlled by an operator.

[0028] In another example, the controlled device 200 is arranged near the remote control device 100 and is a device that assists the operator's work or a device that works jointly with the operator.

[0029] 〔Remote control device 100〕 Next, the configuration and operation of the remote control device 100 shown in FIG. 3 will be described. The remote control device 100 is a device for remotely controlling the controlled device 200 via the communication network 300.

[0030] The remote control device 100 includes a detection unit 110, a display unit 120, and a communication unit 130.

[0031] The detection unit 110 detects the control input of the operator. The control input of the operator is, for example, the operation information of the operator. The operation information of the operator is, for example, the skeletal information or joint information of the operator. The detection unit 110 also generates a control signal for remotely controlling the controlled device 200.

[0032] The display unit 120 receives the information transmitted from the device to be controlled 200 and displays the received information. As will be described later, the information received by the display unit 120 includes the video information and the operation status information of the remote control target 250.

[0033] The communication unit 130 is an interface that enables the transmission and reception of information between the remote control device 100 and the device to be controlled 200 via the communication network 300.

[0034] (Detection unit 110) Next, each part of the detection unit 110 will be described. The detection unit 110 includes an operation information acquisition processing unit 111 and a control signal transmission processing unit 112.

[0035] The operation information acquisition processing unit 111 acquires the operation information of the operator. For example, the operation information is the skeletal information or joint information of the operator. The operation information acquisition processing unit 111 acquires the skeletal information or joint information of the operator based on the output of the sensor attached to the operator's body or the moving image data of the operator. The operation information may also be the operation information of the operator with respect to an input device such as a joystick. The operation information acquisition processing unit 111 acquires the operation information of the operator based on the output of the input device.

[0036] The control signal transmission processing unit 112 generates a control signal including the operation information acquired by the operation information acquisition processing unit 111. The control signal transmission processing unit 112 transmits the control signal to the device to be controlled 200 via the communication network 300 through the communication unit 130.

[0037] 〔Device to be controlled 200〕 Next, the configuration and operation of the device to be controlled 200 shown in FIG. 3 will be described. The device to be controlled 200 is a device remotely controlled by the remote control device 100 via the communication network 300.

[0038] The device under control 200 includes a communication unit 210, a prediction unit 220, an operation unit 230, and a photographing unit 240. The device under control 200 also has a remotely controllable object 250. The remotely controllable object 250 is, for example, a humanoid robot or an arm-type robot.

[0039] In this embodiment, as shown in FIG. 3, the remotely controllable object 250 will be described as a part of the device under control 200, in other words, as being included in the device under control 200. However, the remotely controllable object 250 may be a separate element from the device under control 200, in other words, an element external to the device under control 200.

[0040] The communication unit 210 is an interface that enables the transmission and reception of information between the device under control 200 and the remote control device 100 via the communication network 300.

[0041] The prediction unit 220 receives the control signal transmitted from the remote control device 100 via the communication network 300 through the communication unit 210. The control signal received by the prediction unit 220 is delayed with respect to the operator's control input for communication and processing. The prediction unit 220 performs prediction processing on the control signal and generates a predicted control signal. The predicted control signal is ideally a control signal that does not include the influence of delay. In other words, the predicted control signal can be said to be an appropriate control signal in the future compared to the time of the operator's control input.

[0042] The operation unit 230 actually operates the remotely controllable object 250 based on the predicted control signal generated by the prediction unit 220.

[0043] The photographing unit 240 photographs the remotely controllable object 250. The video captured by the photographing unit 240 shows the state of the result of the operation performed by the remotely controllable object 250 under the control of the operation unit 230. The photographing unit 240 also transmits the video information to the remote control device 100 via the communication network 300 through the communication unit 210. The video information is received by the display unit 120 of the remote control device 100, and the display unit 120 displays the video based on the received video information.

[0044] (Prediction Unit 220) Next, each part of the prediction unit 220 will be described. The prediction unit 220 includes a control signal reception processing unit 221, a controlled object state acquisition processing unit 222, a predictive control signal generation processing unit 223, a stochastic control processing unit 224, and a predictive control signal transmission processing unit 225.

[0045] The control signal reception processing unit 221 receives a control signal from the remote control device 100 via the communication unit 210.

[0046] The controlled object state acquisition processing unit 222 acquires the current state of the remote controlled object 250. For example, when the remote controlled object 250 is an arm-type robot with six-axis control, the controlled object state acquisition processing unit 222 acquires the rotation angle information and torque information of each of the six actuators of the arm-type robot. The rotation angle information and torque information of the six actuators can indicate the state of the arm-type robot. The rotation angle information and torque information of each actuator are detected, for example, by sensors provided on each actuator.

[0047] The predictive control signal generation processing unit 223 generates a predictive control signal based on the operation information included in the control signal received by the control signal reception processing unit 221 and the information on the current state of the remote controlled object 250 acquired by the controlled object state acquisition processing unit 222. The predictive control signal generation processing unit 223 also calculates the average and variance of the predicted value with respect to the predicted value of the predictive control signal each time the predictive control signal is generated, and calculates the probability density distribution (uncertainty) of the predicted value.

[0048] The stochastic control processing unit 224 sets a finite evaluation interval for optimization so that the probability of miscontrol of the probability density distribution of the predicted value calculated by the predictive control signal generation processing unit 223 is less than an acceptable probability. That is, the stochastic control processing unit 224 sets a finite evaluation interval that satisfies the stochastic constraint P[y(t) < y(u)] < p. Here, y(t) is the predicted value, y(u) is the acceptable output upper limit value, P[y(t) < y(u)] is the probability of miscontrol, and p is the acceptable probability of miscontrol.

[0049] The prediction control signal transmission processing unit 225 transmits the prediction control signal generated by the prediction control signal generation processing unit 223 to the operation unit 230, including the information on the finite evaluation interval set by the stochastic control processing unit 224.

[0050] (Operation unit 230) Next, each part of the operation unit 230 will be described. The operation unit 230 includes a prediction control signal reception processing unit 231, an operation control processing unit 232, an operation state acquisition processing unit 233, and an operation state information transmission processing unit 234.

[0051] The prediction control signal reception processing unit 231 receives the prediction control signal transmitted from the prediction control signal transmission processing unit 225 of the prediction unit 220. The prediction control signal includes the information on the finite evaluation interval that satisfies the stochastic constraint P[y(t)<y(u)]<p.

[0052] The operation control processing unit 232 controls the operation of the remote control target 250 according to the prediction control signal received by the prediction control signal reception processing unit 231. That is, the operation control processing unit 232 controls each actuator of the remote control target 250 according to the prediction control signal.

[0053] The operation state acquisition processing unit 233 acquires operation state information indicating the state of the result of the operation executed by the remote control target 250 under the control of the operation control processing unit 232. For example, when the remote control target 250 is an arm-type robot with six-axis control, the operation state acquisition processing unit 233 acquires the rotation angle information and torque information of each of the six actuators.

[0054] The operation state information transmission processing unit 234 transmits the operation state information acquired by the operation state acquisition processing unit 233 to the remote control device 100 through the communication unit 210 via the communication network 300. The operation state information is received by the display unit 120 of the remote control device 100, and the display unit 120 displays the received operation state information.

[0055] [Operation example] Next, an example of the remote control operation executed by the remote control system according to an embodiment of the present invention will be described.

[0056] (Processing of the remote control device 100) First, with reference to FIG. 4, an example of the processing executed by the remote control device 100 will be described. FIG. 4 is a flowchart showing an example of the processing executed by the remote control device 100.

[0057] First, in step S11, the detection unit 110 of the remote control device 100 detects the control input of the operator. That is, the operation information acquisition processing unit 111 of the detection unit 110 detects the operation information of the operator.

[0058] Next, in step S12, the control signal transmission processing unit 112 of the detection unit 110 generates a control signal including the operation information of the operator acquired by the operation information acquisition processing unit 111. Subsequently, the control signal transmission processing unit 112 transmits the control signal to the controlled device 200 via the communication network 300 through the communication unit 130.

[0059] The remote control device 100 repeatedly executes the processing of steps S11 and S12 described above.

[0060] (Processing of the controlled device 200) Next, with reference to FIG. 5, an example of the processing executed by the controlled device 200 will be described. FIG. 5 is a flowchart showing an example of the processing executed by the controlled device 200.

[0061] First, in step S21, the control signal reception processing unit 221 of the prediction unit 220 of the controlled device 200 receives the control signal transmitted from the remote control device 100 via the communication network 300 through the communication unit 210.

[0062] Next, in step S22, the prediction control signal generation processing unit 223 of the prediction unit 220 uses the operation information included in the control signal received by the control signal reception processing unit 221, and if necessary, further uses the information on the current state of the remote control target 250 acquired by the control target state acquisition processing unit 222 to generate a prediction control signal. The prediction control signal generation processing unit 223 also generates a probability density distribution (uncertainty) of the predicted value with respect to the predicted value of the prediction control signal.

[0063] Subsequently, in step S23, the probabilistic control processing unit 224 uses the prediction control signal generated by the prediction control signal generation processing unit 223 and the uncertainty to set a finite evaluation interval in which the probability of miscontrol of the probability density distribution of the predicted value is less than an acceptable probability, that is, a range in which safety can be ensured.

[0064] Next, in step S24, the operation control processing unit 232 of the operation unit 230 of the control target device 200 uses the prediction control signal generated by the prediction control signal generation processing unit 223 of the prediction unit 220 to control the operation of the remote control target 250 within the range in which safety can be ensured set by the probabilistic control processing unit 224 of the prediction unit 220.

[0065] Thereafter, in step S25, the control target device 200 transmits information indicating the result of the operation of the remote control target 250 to the remote control device 100 via the communication network 300. For example, the imaging unit 240 images the remote control target 250 and transmits the video information thereof to the remote control device 100 via the communication network 300 through the communication unit 210. Also, the operation state acquisition processing unit 233 acquires the operation state information of the remote control target 250, and the operation state information transmission processing unit 234 transmits the operation state information to the remote control device 100 via the communication network 300 through the communication unit 210. The remote control device 100 displays the result of the operation of the remote control target 250 on the display unit 120 based on the received video information and operation state information.

[0066] The control target device 200 repeatedly executes the processes of steps S21 to S24 described above.

[0067] [Effect] In the remote control system according to this embodiment, the prediction unit 220 of the device 200 to be controlled generates a predicted control signal and uncertainty based on the control signal received from the remote control device 100, and sets a range in which safety can be ensured based on the predicted control signal and the uncertainty. The operation unit 230 of the device 200 to be controlled controls the operation of the remote control target 250 within the range where safety can be ensured based on the predicted control signal.

[0068] As uncertainty, the prediction unit 220 calculates the probability density distribution of the predicted value with respect to the predicted value of the predicted control signal. The prediction unit 220 also sets a finite evaluation interval optimized so that the probability of miscontrol of the probability density distribution of the predicted value is less than an acceptable probability as the range where safety can be ensured.

[0069] As a result, it becomes possible to perform predictive control on a humanoid robot or an arm-type robot with particularly high degrees of freedom within the range of the constraints of the humanoid robot or the arm-type robot. In addition, it becomes possible to control the humanoid robot or the arm-type robot while keeping the probability of malfunction of the humanoid robot or the arm-type robot below a certain probability.

[0070] [Hardware Configuration] With reference to FIG. 6, an example of the hardware configurations of the remote control device 100 and the device 200 to be controlled of the remote control system according to an embodiment of the present invention will be described. FIG. 6 is a block diagram showing an example of the hardware configurations of the remote control device 100 and the device 200 to be controlled of the remote control system according to an embodiment of the present invention.

[0071] The detection unit 110, the display unit 120, and the communication unit 130 of the remote control device 100 are configured by a computer. Also, the communication unit 210, the prediction unit 220, the operation unit 230, and the imaging unit 240 of the device 200 to be controlled are configured by a computer. The computer may be, for example, a personal computer, a server computer, or the like.

[0072] The computer has a hardware processor 501, a program memory 502, a data memory 503, a communication interface 504, and an input / output interface 505. The hardware processor 501, the program memory 502, the data memory 503, the communication interface 504, and the input / output interface 505 are connected to each other via a bus 510 and can transmit and receive information to and from each other.

[0073] The computer also has an input device 600 and an output device 700 as appropriate. The input device 600 and the output device 700 are connected to the input / output interface 505 and can transmit and receive information to and from the input / output interface 505, respectively.

[0074] The hardware processor 501 is, for example, a CPU (Central Processing Unit). The hardware processor 501 performs operations such as program execution and data arithmetic processing. The hardware processor 501 controls the program memory 502, the data memory 503, the communication interface 504, and the input / output interface 505, and further controls the input device 600 and the output device 700 connected to the input / output interface 505.

[0075] The program memory 502 is configured as a non-transitory tangible storage medium by combining, for example, a non-volatile memory such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that can be written to and read from at any time, and a non-volatile memory such as a ROM (Read Only Memory). The program memory 502 stores the programs executed by the hardware processor 501 for the remote control device 100 or the device under control 200 to perform each process.

[0076] The data memory 503 is configured as a tangible storage medium by combining, for example, the above-mentioned non-volatile memory and a volatile memory such as a RAM (Random Access Memory). The data memory 503 temporarily stores data necessary for the processing executed by the hardware processor 501.

[0077] The communication interface 504 includes, for example, a wireless communication interface unit, and enables the transmission and reception of information between the hardware processor 501 or the like and the communication network NW. As the wireless interface, for example, an interface adopting a low-power wireless data communication standard such as a wireless LAN (Local Area Network) can be used.

[0078] The input / output interface 505 includes a wireless or wired communication interface unit, and enables the transmission and reception of information between the hardware processor 501 or the like and the input device 600 and the output device 700.

[0079] The input device 600 may include any information input device such as a keyboard, a mouse, a touch panel, a pointing device, a camera, a measuring device, a joystick, or the like.

[0080] The output device 700 may include any information output device such as a display device such as a liquid crystal display or an organic EL display, a speaker, a light emitting device, or the like.

[0081] In such a hardware configuration, regarding the remote control device 100, the functions of each processing unit of the detection unit 110 can be implemented by the hardware processor 501 reading and executing the program stored in the program memory 502 in cooperation with the data memory 503. The display unit 120 is configured by an output device 700 such as a display device. The communication unit 130 is configured by the communication interface 504.

[0082] Regarding the device under control 200, the communication unit 210 is constituted by a communication interface 504. The functions of the respective processing units of the prediction unit 220 and the functions of the respective processing units of the operation unit 230 can be implemented by the hardware processor 501 reading and executing the program stored in the program memory 502 in cooperation with the data memory 503. The imaging unit 240 is constituted by an input device 600 such as a camera.

[0083] Some or all of the respective processing units of the detection unit 110 of the remote control device 100 and the respective processing units of the prediction unit 220 and the operation unit 230 of the device under control 200 may be configured in various other forms including integrated circuits such as application specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs).

[0084] Note that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist thereof at the implementation stage. Also, the respective embodiments may be implemented in appropriate combination, and in that case, the combined effects can be obtained. Furthermore, the above-described embodiments include various inventions, and various inventions can be extracted by combinations selected from a plurality of disclosed constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiments, if the problem can be solved and the effects can be obtained, the configuration from which these constituent elements are deleted can be extracted as an invention.

Description of Reference Numerals

[0085] 100... Remote control device 110... Detection unit 111... Operation information acquisition processing unit 112... Control signal transmission processing unit 120... Display unit 130... Communication unit 200... Device under control 210... Communication unit 220... Prediction unit 221... Control signal reception processing unit 222…Control target state acquisition processing unit 223…Predictive control signal generation processing unit 224…Probabilistic control processing unit 225…Predictive control signal transmission processing unit 230…Actuator 231…Predictive control signal reception processing unit 232…Motion control processing unit 233…Motion state acquisition processing unit 234…Motion state information transmission processing unit 240…Imaging unit 250…Remote control target 300…Communication network 501…Hardware processor 502…Program memory 503…Data memory 504…Communication interface 505…Input / output interface 510…Bus 600…Input device 700…Output device

Claims

1. A remote control device operated by an operator, and a controlled device remotely operated by the remote control device, wherein the remote control device has a control signal transmission processing unit that transmits a control signal, and the controlled device has a control signal reception processing unit that receives the control signal, a predictive control signal generation processing unit that generates a predictive control signal and uncertainty based on the control signal received by the control signal reception processing unit, a probabilistic control processing unit that sets a range within which safety can be ensured based on the predictive control signal and the uncertainty generated by the predictive control signal generation processing unit, and an operation control processing unit that controls the operation of the remotely controlled object within the range within which safety can be ensured set by the probabilistic control processing unit based on the predictive control signal generated by the predictive control signal generation processing unit. A remote control system.

2. The predictive control signal generation processing unit calculates a probability density distribution of a predicted value of the predictive control signal as the uncertainty. The remote control system according to claim 1.

3. The probabilistic control processing unit sets, as the range within which safety can be ensured, a finite evaluation interval in which the probability of miscontrol of the probability density distribution calculated by the predictive control signal generation processing unit is less than an acceptable probability. The remote control system according to claim 2.

4. The controlled device has a photographing unit that photographs the remotely controlled object and transmits video information thereof, and the remote control device has a display unit that receives the video information transmitted from the photographing unit and displays the video. The remote control system according to claim 1.

5. The controlled device has an operation state acquisition processing unit that acquires operation state information of the remotely controlled object, and an operation state information transmission processing unit that transmits the operation state information acquired by the operation state acquisition processing unit, and the display unit of the remote control device receives and displays the operation state information transmitted from the operation state information transmission processing unit. The remote control system according to claim 4.

6. A first step of transmitting a control signal from the remote control device to the controlled device, a second step of receiving the control signal in the controlled device, and a third step of generating a predictive control signal and uncertainty based on the control signal received in the second step. A fourth step of setting a range in which safety can be ensured based on the predicted control signal generated in the third step and the uncertainty. A fifth step of controlling the operation of the remotely controlled object within the range in which safety can be ensured set in the fourth step based on the predicted control signal generated in the third step. Remote control method.

7. Causing a processor included in a computer to execute the functions of the control signal reception processing unit, the predicted control signal generation processing unit, the probabilistic control processing unit, and the operation control processing unit of the controlled device according to claim 1. Remote control program.

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