Control device and remote operation system

Abstract

Provided is a control device comprising: a quality management unit that acquires the transmission quality in a transmission path between an operation target and a remote operation device for remotely operating the operation target, and determines whether the acquired transmission quality satisfies a quality requirement; and a transmission control unit that, if the transmission quality does not satisfy the quality requirement, at least notifies the remote operation device or controls the operation target.　

Description

Control device and remote control system

[0001] This application claims priority to PCT / JP2024 / 023496 filed in Japan on June 28, 2024, and PCT / JP2024 / 035573 filed in Japan on October 4, 2024, the contents of which are incorporated herein by reference.

[0002] Conventionally, a remote control system has been proposed which includes an operation target and a remote control device, and which operates the operation target using the remote control device (see, for example, Patent Document 1). Fig. 17 is a diagram showing an example of the configuration of a conventional remote control system S. The remote control system S includes an operation target 1 and a remote control device 2. The operation target 1 is, for example, a vehicle, and transmits image data captured by a central camera provided on the vehicle to the remote control device 2.

[0003] If the delay time in receiving image data exceeds a predetermined time, the remote control device 2 can issue a warning to the operator and adjust the data capacity of the buffer. The mechanism by which the remote control device 2 issues a warning to the operator is measured by the amount of image data buffered in the remote control device 2.

[0004] JP 2018-180771 A

[0005] However, with conventional technology, when a constant delay occurs, it is not possible to issue a warning to the operator even if the delay time in receiving image data becomes long. In such cases, the update of the image displayed to the operator becomes unstable. As a result, there is a problem that it becomes difficult to remotely control the operation target. This problem is not limited to image data, but occurs in all delays that occur in communication between the operation target and the remote control device via a transmission path.

[0006] In view of the above circumstances, an object of the present invention is to provide a technique that can reduce the influence of remote control on an object to be controlled.

[0007] One aspect of the present invention is a control device that includes a quality management unit that acquires transmission quality in a transmission path between an object to be operated and a remote control device that remotely operates the object to be operated, and determines whether the acquired transmission quality satisfies quality requirements, and a transmission control unit that, if the transmission quality does not satisfy the quality requirements, notifies at least the remote control device or controls the object to be operated.

[0008] One aspect of the present invention is a control device that includes a quality management unit that acquires transmission quality in a transmission path between an operation object and a remote control device that remotely operates the operation object and determines whether the acquired transmission quality satisfies quality requirements; a transmission control unit that, if the transmission quality does not satisfy the quality requirements, at least notifies the remote control device or controls the operation object; and a processing device that executes processing to improve operability for at least one of information collected by the operation object or operation information by the remote control device, wherein the quality management unit is a control device that determines whether the transmission quality, which includes the transmission quality between the operation object and the processing device, the transmission quality between the remote control device and the processing device, and the processing time by the processing device, satisfies the quality requirements.

[0009] One aspect of the present invention is a control device comprising: a quality management unit that acquires the transmission quality of a transmission path between an object to be operated and a remote control device that remotely operates the object to be operated, and determines a quality level according to the acquired transmission quality; and a transmission control unit that notifies information indicating the quality level to either the object to be operated, the remote control device, a device provided on the transmission path, or a processing device that performs processing to improve operability between the object to be operated and the remote control device.

[0010] One aspect of the present invention is a remote control system comprising: a quality management unit that acquires transmission quality in a transmission path between an object to be operated and a remote control device that remotely operates the object to be operated, and determines a quality level according to the acquired transmission quality; a transmission control unit that notifies information indicating at least the quality level determined by the quality management unit; and a processing unit that executes processing to improve operability for at least one of information collected by the object to be operated or operation information by the remote control device based on the information indicating the quality level notified by the transmission control unit, or a management unit that controls settings in the transmission path.

[0011] According to the present invention, it is possible to reduce the influence of remote control on an object to be controlled.

[0012] FIG. 1 is a diagram for explaining an overview of a remote control system according to the present invention. FIG. 1 is a diagram for explaining an example of the configuration of a remote control system according to a first embodiment. FIG. 2 is a diagram for explaining an example of the configuration of a remote control system according to a second embodiment. FIG. 3 is a diagram for explaining an example of the configuration of a remote control system according to a third embodiment. FIG. 4 is a diagram for explaining an overview of a remote control system according to a fourth embodiment. FIG. 1 is a diagram for explaining an overview of a remote control system according to a fifth embodiment. FIG. 2 is a diagram for explaining an example of the configuration of a remote control system according to an application example 1 of the fifth embodiment. FIG. 3 is a diagram for explaining an example of the configuration of a remote control system according to an application example 2 of the fifth embodiment. FIG. 4 is a diagram for explaining an overview of a remote control system according to a sixth embodiment. FIG. 4 is a diagram for explaining an example of the configuration of a remote control system according to an application example 1 of the sixth embodiment. FIG. 4 is a diagram for explaining an example of the configuration of a remote control system according to an application example 2 of the sixth embodiment. FIG. 5 is a diagram for explaining an example of the configuration of a conventional remote control system.

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0014] (Overall Configuration and Overview) Before describing specific examples, an overview of the remote control system 100 of the present invention will be described using Fig. 1. Fig. 1 is a diagram for explaining the overview of the remote control system 100 of the present invention. The remote control system 100 is a system for remotely operating equipment, etc. located at a different point from one point. The remote control system 100 is not particularly limited as long as it is used for tasks such as remote arm operation, remote surgery, remote construction, and remote inspection, as long as it remotely operates equipment to be operated.

[0015] The remote control system 100 includes a remote control device 10, an operation target 20, a quality control unit 30, a transmission control unit 40, and a processing device 50. The remote control device 10, the operation target 20, the quality control unit 30, the transmission control unit 40, and the processing device 50 are connected via a transmission network NW. The transmission network NW may be a network of any configuration, such as the Internet. The transmission network NW may also be a wireless network. The transmission network NW may also include relay devices such as switches or routers with data transfer functions and servers with data processing functions. The number of remote control devices 10, operation targets 20, quality control units 30, transmission control units 40, and processing devices 50 is not particularly limited.

[0016] The quality control unit 30 and the transmission control unit 40 are provided in one or more housings and function as a control device. This also applies to the following embodiments. The control device includes a CPU (Central Processing Unit), memory, auxiliary storage device, etc., connected via a bus, and executes a program. By executing the program, the control device functions as a device including the quality control unit 30 and the transmission control unit 40. Note that all or part of the functions of the control device may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may also be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as a flexible disk, a magneto-optical disk, a ROM (Read Only Memory), and a CD-ROM, and storage devices such as a hard disk built into a computer system. The program may also be transmitted and received via a telecommunications line.

[0017] The remote control device 10 is a device for controlling an operation target 20 installed at a different location. The remote control device 10 includes, for example, an output device 11 and an operation input device 12. The output device 11 is a device that outputs information obtained from the operation target 20 and management results obtained by the quality control unit 30. The output device 11 is a device that can output information that affects the five senses (e.g., images, sounds, smells, etc.) such as a monitor or speaker. The operation input device 12 is a device for inputting instructions to the operation target 20. The operation input device 12 is an operation device such as a controller, mouse, or keyboard.

[0018] The operation target 20 is remotely operated by the remote control device 10. The operation target 20 includes, for example, an information collection device 21 and a drive device 22. The information collection device 21 is a device that collects information in response to instructions from the remote control device 10. The information collection device 21 is not particularly limited as long as it is a device that can collect the state of the operation target, such as image data, sound information, haptic information, taste information, or database information, and express it on the remote control device 10 side.

[0019] The driving device 22 is a device that is driven in response to an instruction from the remote control device 10. The driving device 22 may be, for example, a robot, a drone, a car, a server that does not physically move, or an electrical appliance, as long as it can be remotely controlled.

[0020] The quality management unit 30 collects the transmission quality between the remote operation device 10 and the operation target 20. In the example shown in Fig. 1 , the sections managed by the quality management unit 30 are, for example, the following sections: (Section 1) Section between the information collection device 21 and the output device 11 (Section 2) Section combining the section between the information collection device 21 and the processing device 50 and the section between the processing device 50 and the output device 11 (information collection device 21 <- processing device 50 <- output device 11) (Section 3) Section combining the section between the operation input device 12 and the processing device 50 and the section between the processing device 50 and the drive device 22 (operation input device 12 <- processing device 50 <- drive device 22)

[0021] In addition, in a section including the processing device 50, the quality management unit 30 collects transmission quality taking into account the processing time of the processing device 50. Information collected by the quality management unit 30 includes, for example, delay information, information indicating usage status such as an overload state or a congestion state, and availability information such as a failure. In addition, the information collected by the quality management unit 30 may include bandwidth amount, packet loss rate, and transmission quality. When collecting transmission time, Ping or the like may be used, or information within packets of transmitted information may be used. The method of collecting the processing time of the processing device 50 may be a method of collecting it directly from the processing device 50, or a method of obtaining it using an external time measurement device.

[0022] The quality management unit 30 uses quality requirements from a separately held operation system to determine whether the transmission quality obtained based on the collected information satisfies the quality requirements. The transmission quality is, for example, any of transmission time, transmission time fluctuation, power in the optical transmission section, and data error rate. Note that the transmission quality may also include bandwidth and packet loss rate.

[0023] For example, suppose the quality requirement is a condition related to transmission time, and that the time between the information collecting device 21 and the output device 11 must be within 100 ms. If the results collected by the quality management unit 30 show that the transmission time between the information collecting device 21 and the processing device 50 is 40 ms, the processing time by the processing device 50 is 40 ms, and the transmission time between the processing device 50 and the output device 11 is 40 ms, the total transmission time will be 120 ms. In this case, the quality management unit 30 determines that the quality requirement is not met and that the quality is degraded. Similarly, the load state of the processing device 50, the packet transmission success rate (error rate), and the fluctuation in transmission time may also be quality requirements.

[0024] For example, if the quality management unit 30 determines that the quality requirements are not satisfied, it notifies the transmission control unit 40 of a quality judgment result indicating that the quality is degraded. For example, if the quality management unit 30 determines that the quality requirements are satisfied, it notifies the transmission control unit 40 of a quality judgment result indicating that the quality is good. Note that if the quality requirements are satisfied, the network environment is not particularly bad, so the quality management unit 30 does not need to notify the quality judgment result.

[0025] The transmission control unit 40 receives the quality assessment result notified from the quality management unit 30 as an input. Based on the received quality assessment result, the transmission control unit 40 reflects the information included in the quality assessment result. For example, the transmission control unit 40 may reflect the information from the information collection device 21 to the output device 11, or may reflect the information from the operation input device 12 to the drive device 22.

[0026] The method of reflecting the information may be that the transmission control unit 40 individually notifies the output device 11 or drive device 22 that is the target of the notification, or if the information passes through the processing device 50 when being transmitted, the information may be added by the processing device 50.

[0027] For example, when the transmission control unit 40 determines that the quality is degraded, it displays "degraded quality" on the display image of the output device 11. Furthermore, when the transmission control unit 40 determines that the quality is good, it displays "good quality" on the display image of the output device 11.

[0028] Furthermore, for example, when the quality determination result indicates that the quality requirements are not satisfied while the remote control device 10 is controlling the drive device 22, the transmission control unit 40 performs control to lower the operating state of the drive device 22. The control to lower the operating state of the drive device 22 may be, for example, an emergency stop of the drive device 22 or a slowing down of the operation speed.

[0029] For example, when the quality determination result indicates that the quality requirements are satisfied while the remote control device 10 is controlling the drive device 22, the transmission control unit 40 performs control to increase the operating state of the drive device 22. Control to increase the operating state of the drive device 22 may be, for example, increasing the operating speed of the drive device 22. The processing by the transmission control unit 40 may be performed by the processing device 50 to directly affect the operation, or notification and control may be performed using a separate means. Note that the transmission control unit 40 performs at least either notification or control (including both notification and control).

[0030] The processing device 50 performs processing to improve operability when notifying the remote control device 10 of information (e.g., image, audio / haptic information, etc.) acquired from the operation target 20. Here, the processing to improve operability performed on the information acquired from the operation target 20 may be, for example, processing to process an image to display operation procedure instructions or image judgment results, processing to convert information into other communication means to display or notify, or processing to predict an action and notify early.

[0031] The processing device 50 performs processing to improve operability on information collected by the information collecting device 21, for example, and displays the processed information on the output device 11. For example, if the information collected by the information collecting device 21 is visual information such as video, the processing device 50 performs image processing on video captured by a camera to improve operability and displays the processed video on the output device 11. The camera may be equipped with a video compression function. The video compression function may be implemented in a separate device. When performing image processing to improve operability on visual information, the processing may include adding a display to the video that identifies the operation target, adding information instructing the next operation, or displaying supplemental information necessary for operation by referring to a database. The processing device 50 does not need to perform processing to improve operability on the information collected by the information collecting device 21.

[0032] Furthermore, the processing device 50 performs processing to improve operability when notifying the operation target 20 (for example, control of a moving part such as a robot arm) of operation information from the remote control device 10. Here, the processing to improve operability when notifying the operation target 20 of operation information from the remote control device 10 may be, for example, processing to convert the operation information into motor operation information, or processing to predict an operation and notify it early.

[0033] The processing device 50 performs processing to improve operability on information input from the operation input device 12, for example, and transmits the processed operation information to the drive device 22 for control. Processing to improve operability on information input from the operation input device 12 may include emergency stops for safety considerations and speed control to improve operability (such as multiplying or dividing the amount of movement for the same input, or adjusting acceleration from stop to movement or movement to stop). Furthermore, input information from multiple operation input devices 12 may be integrated, or control may be based on information from other external factors. Operability control may not be performed. Note that processing to improve operability on information input from the operation input device 12 in the processing device 50 may not be performed. The processing device 50 may be the same device as the operation target 20, may be the same device as the remote control device 10, or may be independent.

[0034] In the remote control system 100 of the present invention, the above configuration allows accurate understanding of network delays and processing times, and when quality requirements are not met, it is possible to notify the operator and control the operation target. Note that the configuration shown in Figure 1 is an example, and the above effects can be achieved even if some of the components are not included in the remote control system 100. Specific embodiments will be described below.

[0035] 2 is a diagram showing an example of the configuration of a remote control system 100a according to the first embodiment. The remote control system 100a includes a remote control device 10, an operation target 20, a quality management unit 30, and a transmission control unit 40. The remote control device 10, the operation target 20, the quality management unit 30, and the transmission control unit 40 are connected via a transmission network NW. The numbers of the remote control devices 10, the operation target 20, the quality management unit 30, and the transmission control unit 40 are not particularly limited.

[0036] 2, the remote operation system 100a does not include a processing device 50. In the remote operation system 100a, a case where the driving device 22 is controlled will be described. As a specific example, the output device 11 included in the remote operation device 10 is a monitor, and the operation input device 12 is a controller. As another specific example, the information collection device 21 included in the operation target 20 is a camera, and the driving device 22 is a robot. Therefore, in the remote operation system 100a, a robot will be described as an example.

[0037] The operation input device 12 receives input of instructions for the drive device 22, which is the operation target 20. The operation input device 12 transmits the input operation information to the drive device 22 via the transmission network NW.

[0038] The robot, which is the driving device 22 , performs an action according to the operation information transmitted from the operation input device 12 .

[0039] Five patterns of processing by the quality control unit 30 and the transmission control unit 40 under such circumstances will be described.

[0040] [Pattern 1] - Measure the transmission time, and if quality degradation occurs, display a message indicating that the quality has deteriorated on the monitor screen. In pattern 1, the quality control unit 30 measures the transmission time between the operation input device 12 and the drive device 22. The quality control unit 30 compares the acquired transmission time with the value indicated by the quality requirement to determine whether the acquired transmission time satisfies the quality requirement. If the acquired transmission time is less than the value indicated by the quality requirement, the quality control unit 30 determines that the transmission time satisfies the quality requirement. On the other hand, if the acquired transmission time is equal to or greater than the value indicated by the quality requirement, the quality control unit 30 determines that the transmission time does not satisfy the quality requirement.

[0041] If the quality control unit 30 determines that the acquired transmission time satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the transmission time satisfies the quality requirements.

[0042] On the other hand, if the quality control unit 30 determines that the acquired transmission time does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the transmission time does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 displays on the screen of the output device 11, which is a monitor, that the state is in a "quality degradation state."

[0043] The quality control unit 30 may measure the transmission time at any timing while an instruction is being issued from the operation input device 12 to the drive device 22. Furthermore, the quality control unit 30 may measure the transmission delay not only once, but also continuously every time a predetermined time has elapsed.

[0044] [Pattern 2] - The transmission time is measured, and if the quality deteriorates, the operation of the moving parts (such as arms and rollers) is stopped or the speed of the moving parts is slowed. In Pattern 2, the processing is basically the same as in Pattern 1. If the quality control unit 30 determines that the acquired transmission time does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the transmission time does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 may stop the operation of the drive unit 22, or stop the operation of moving parts such as arms and rollers provided on the drive unit 22, which is a robot, or slow down the speed of the moving parts. Note that the transmission control unit 40 may gradually slow down the speed of the moving parts each time a quality judgment result indicating that the transmission time does not satisfy the quality requirements is obtained.

[0045] [Pattern 3] - Combination of Pattern 1 and Pattern 2 In Pattern 3, the same processing as in Pattern 1 is basically performed. If the quality control unit 30 determines that the acquired transmission time does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the transmission time does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 displays a "quality degradation state" on the screen of the output device 11, which is a monitor, as in Pattern 1, and then performs an emergency stop on the operation of the drive device 22, or stops the operation of moving parts such as arms and rollers provided in the drive device 22, which is a robot, or slows down the operation speed, as in Pattern 2.

[0046] The processing device 50 may control the screen display on the output device 11 and control the operation of the drive device 22 at different timings or at the same timing.

[0047] [Pattern 4] - When the information acquired in Patterns 1 to 3 is transmission time fluctuation Here, the case of Pattern 1 will be described as an example. In Pattern 4, the quality control unit 30 measures the transmission time fluctuation between the operation input device 12 and the drive device 22. The quality control unit 30 determines whether the measured transmission time fluctuation satisfies the quality requirements. If the measured transmission time fluctuation is less than the value indicated by the quality requirements, the quality control unit 30 determines that the transmission time fluctuation satisfies the quality requirements. On the other hand, if the measured transmission time fluctuation is equal to or greater than the value indicated by the quality requirements, the quality control unit 30 determines that the transmission time fluctuation does not satisfy the quality requirements.

[0048] If the quality control unit 30 determines that the measured transmission time fluctuation satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the transmission time fluctuation satisfies the quality requirements.

[0049] On the other hand, if the quality control unit 30 determines that the measured transmission time fluctuation does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the transmission time fluctuation does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 displays on the screen of the output device 11, which is a monitor, that the state is in a "quality degradation state."

[0050] [Pattern 5] - When the information acquired in Patterns 1 to 3 is the power of an optical transmission line section or the error rate of packets or signals. Here, Pattern 1 will be described as an example. When acquiring the power of an optical transmission line section, it is assumed that the operation input device 12 and the drive device 22 are connected via an optical transmission line. In Pattern 5, the quality control unit 30 measures the power of the optical transmission line section between the operation input device 12 and the drive device 22. The quality control unit 30 determines whether the acquired power of the optical transmission line section satisfies the quality requirements. If the power of the optical transmission line section is equal to or greater than the value indicated by the quality requirements, the quality control unit 30 determines that the power of the optical transmission line section satisfies the quality requirements. On the other hand, if the acquired power of the optical transmission line section is less than the value indicated by the quality requirements, the quality control unit 30 determines that the power of the optical transmission line section does not satisfy the quality requirements.

[0051] If the quality control unit 30 determines that the power of the acquired optical transmission line section satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the power of the optical transmission line section satisfies the quality requirements.

[0052] On the other hand, if the quality control unit 30 determines that the acquired power of the optical transmission line section does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the power of the optical transmission line section does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified from the quality control unit 30. For example, the transmission control unit 40 causes the output device 11, which is a monitor, to display on its screen that the state is in a "quality degradation state."

[0053] Similarly, in pattern 5, the quality control unit 30 measures the error rate (packet loss) of packets or signals between the operation input device 12 and the drive device 22. The quality control unit 30 determines whether the acquired packet or signal error rate satisfies the quality requirements. If the packet or signal error rate is less than the value indicated by the quality requirements, the quality control unit 30 determines that the packet or signal error rate satisfies the quality requirements. On the other hand, if the acquired packet or signal error rate is equal to or greater than the value indicated by the quality requirements, the quality control unit 30 determines that the packet or signal error rate does not satisfy the quality requirements.

[0054] If the quality control unit 30 determines that the error rate of the acquired packet or signal meets the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the error rate of the packet or signal meets the quality requirements.

[0055] On the other hand, if the quality control unit 30 determines that the error rate of the acquired packets or signals does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the error rate of the packets or signals does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 displays on the screen of the output device 11, which is a monitor, that the state is in a "quality degradation state."

[0056] According to the remote control system 100a configured as described above, the control device includes a quality management unit 30 that acquires the transmission quality of the transmission path between the remote control device 10 and the operation target 20 and determines whether the acquired transmission quality satisfies the quality requirements, and a transmission control unit 40 that notifies at least the operation target 20 or controls the remote control device 10 if the transmission quality does not satisfy the quality requirements.

[0057] This allows accurate understanding of the transmission quality (e.g., network delay) of the transmission path between the remote control device 10 and the operation target 20, and if the quality requirements stipulated in the remote control system 100 are not met, at least one of notifying the operator and controlling the operation target 20 can be performed so that an operation that satisfies safety, immediacy, and accuracy can be achieved. In this way, it becomes possible to reduce the impact of remote control on the operation target.

[0058] Furthermore, in the remote operation system 100a, the quality management unit 30 acquires, as transmission quality, any of the transmission time, transmission time fluctuation, power in the optical transmission section, or data error rate in the section between the remote operation device 10 and the operation target 20, and compares the acquired transmission quality with the quality requirements. This makes it possible to more accurately grasp delays occurring in communication between the remote operation device 10 and the operation target 20 via the transmission network NW. As a result, if the quality requirements specified in the remote operation system 100 are not met, it becomes possible to notify the operator and control the operation target 20 so that safe, immediate, and accurate operations can be achieved.

[0059] Furthermore, in the remote operation system 100a, when the transmission quality does not satisfy the quality requirements, the transmission control unit 40 notifies the remote operation device 10 of information indicating that the transmission quality does not satisfy the quality requirements. This allows the user operating the remote operation device 10 to be notified in real time that the transmission quality is poor. This allows the user to respond immediately, and reduces the impact of the remote operation on the operation target.

[0060] Furthermore, in the remote operation system 100a, when the transmission quality does not satisfy the quality requirements, the transmission control unit 40 performs control to lower the operating state of the operation target 20. For example, the control to lower the operating state of the operation target 20 is performed by performing an emergency stop or slowing down the speed of the operation of the moving part. Therefore, it is possible to reduce the influence of the remote operation on the operation target.

[0061] (Variation 1 of the First Embodiment) In the above-described Pattern 5, the quality control unit 30 may be configured to determine whether or not a quality requirement is satisfied by combining a plurality of transmission qualities. For example, the quality control unit 30 may determine whether or not a quality requirement is satisfied based on two transmission qualities, namely, the power of the optical transmission line section and the error rate of packets or signals. In such a configuration, when the quality requirement is satisfied for each of the two transmission qualities, namely, the power of the optical transmission line section and the error rate of packets or signals, the quality control unit 30 may or may not notify the transmission control unit 40 of a quality determination result indicating that the quality requirement is satisfied.

[0062] On the other hand, if the quality requirements are not met for two transmission qualities, the power of the optical transmission line section and the error rate of packets or signals, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are not met. For example, taking the two transmission qualities, the power of the optical transmission line section and the error rate of packets or signals, as an example, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are met if the total value of the power satisfies the quality requirements and the total value of the error rates of packets or signals satisfies the quality requirements. On the other hand, in other cases, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are not met. This configuration makes it possible to deal with situations where one transmission quality satisfies the quality requirements but the network environment does not satisfy the quality requirements for another reason.

[0063] (Modification 2 of the First Embodiment) The quality control unit 30 may be configured to determine whether or not the quality requirements are satisfied by combining any of the above-described patterns 1 to 5. A specific method is as shown in Modification 1 of the second embodiment.

[0064] Second Embodiment In the first embodiment, a configuration in which the remote control system does not include a processing device is described. In contrast, in the second embodiment, a configuration in which the remote control system includes a processing device is described. In the case where the remote control system includes a processing device, whether or not the quality requirements are satisfied is determined taking into account the processing time of the processing device.

[0065] 3 is a diagram showing an example of the configuration of a remote control system 100b according to the second embodiment. The remote control system 100b includes a remote control device 10, an operation target 20, a quality control unit 30, a transmission control unit 40, and a processing device 50. The remote control device 10, the operation target 20, the quality control unit 30, the transmission control unit 40, and the processing device 50 are connected via a transmission network NW. The numbers of the remote control devices 10, the operation target 20, the quality control unit 30, the transmission control unit 40, and the processing device 50 are not particularly limited.

[0066] As shown in Fig. 3, the remote operation system 100b includes a processing device 50. In the remote operation system 100b, a case where the driving device 22 is controlled will be described. As a specific example, the output device 11 included in the remote operation device 10 is a monitor, and the operation input device 12 is a controller. As another specific example, the information collection device 21 included in the operation target 20 is a camera, and the driving device 22 is a robot. As another specific example, the processing device 50 is a server. Therefore, in the remote operation system 100b, a robot will be described as an example.

[0067] The operation input device 12 receives input of instructions for the drive device 22, which is the operation target 20. The operation input device 12 transmits the input operation information to the processing device 50 via the transmission network NW.

[0068] The processing device 50 receives operation information transmitted from the operation input device 12. The processing device 50 processes the input operation information to improve operability. The processing device 50 then transmits the processed operation information to the drive device 22.

[0069] The robot, which is the driving device 22, performs an operation in accordance with the processed operation information transmitted from the processing device 50.

[0070] Five patterns of processing by the quality control unit 30 and the transmission control unit 40 under such circumstances will be described.

[0071] [Pattern 1] - Measure the transmission time and processing time, and display a quality degradation status on the monitor screen when quality degradation occurs. In pattern 1, the quality control unit 30 measures the transmission time between the operation input device 12 and the processing device 50, and the transmission time between the processing device 50 and the drive device 22. Furthermore, the quality control unit 30 measures the processing time by the processing device 50. The quality control unit 30 then calculates the total time of each measured time. The quality control unit 30 compares the calculated total time with the value indicated by the quality requirement to determine whether the calculated total time satisfies the quality requirement. If the calculated total time is less than the value indicated by the quality requirement, the quality control unit 30 determines that the total time satisfies the quality requirement. On the other hand, if the calculated total time is equal to or greater than the value indicated by the quality requirement, the quality control unit 30 determines that the total time does not satisfy the quality requirement.

[0072] If the quality control unit 30 determines that the calculated total time satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the total time satisfies the quality requirements.

[0073] On the other hand, if the quality control unit 30 determines that the calculated total time does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the total time does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 causes the output device 11, which is a monitor, to display on its screen that the "quality degradation state" is occurring.

[0074] The quality control unit 30 may measure the transmission time and the processing time at any timing while an instruction is being issued from the operation input device 12 to the drive device 22. Furthermore, the quality control unit 30 may measure the transmission time and the processing time not only once, but also continuously every time a predetermined time has elapsed.

[0075] [Pattern 2] - The transmission time and processing time are measured, and if quality deteriorates, the operation of the moving parts (such as arms and rollers) is stopped or the speed of the moving parts is slowed. In Pattern 2, the processing is basically the same as in Pattern 1. If the quality control unit 30 determines that the calculated total time does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the total time does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 may stop the operation of the drive unit 22, or stop the operation of moving parts such as arms and rollers provided on the drive unit 22, which is a robot, or slow down the speed of the moving parts. Note that the transmission control unit 40 may gradually slow down the speed of the moving parts each time a quality judgment result indicating that the total time does not satisfy the quality requirements is obtained.

[0076] [Pattern 3] - Combination of Pattern 1 and Pattern 2 In Pattern 3, the same processing as in Pattern 1 is basically performed. If the quality control unit 30 determines that the calculated total time does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the total time does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 displays a "quality degradation state" on the screen of the output device 11, which is a monitor, as in Pattern 1, and then performs an emergency stop on the operation of the drive device 22, or stops the operation of moving parts such as arms and rollers provided in the drive device 22, which is a robot, or slows down the operation speed, as in Pattern 2.

[0077] The processing device 50 may control the screen display on the output device 11 and control the operation of the drive device 22 at different timings or at the same timing.

[0078] [Pattern 4] - When the information acquired in Patterns 1 to 3 is the fluctuation between transmission time and processing time. Here, Pattern 1 will be described as an example. In Pattern 4, the quality control unit 30 measures the transmission time fluctuation between the operation input device 12 and the processing device 50 and the transmission time fluctuation between the processing device 50 and the drive device 22. Furthermore, the quality control unit 30 measures the fluctuation of the processing time by the processing device 50. Then, the quality control unit 30 calculates the sum of the fluctuations for each measured time. The quality control unit 30 compares the calculated sum of the fluctuations with the value indicated by the quality requirement to determine whether the calculated sum of the fluctuations satisfies the quality requirement. If the calculated sum of the fluctuations is less than the value indicated by the quality requirement, the quality control unit 30 determines that the sum of the fluctuations satisfies the quality requirement. On the other hand, if the calculated sum of the fluctuations is equal to or greater than the value indicated by the quality requirement, the quality control unit 30 determines that the sum of the fluctuations does not satisfy the quality requirement.

[0079] If the quality control unit 30 determines that the calculated total value of fluctuations satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the total value of fluctuations satisfies the quality requirements.

[0080] On the other hand, if the quality control unit 30 determines that the calculated total value of fluctuations does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the total value of fluctuations does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 causes the output device 11, which is a monitor, to display on the screen that the state is in a "quality degradation state."

[0081] [Pattern 5] - When the information acquired in Patterns 1 to 3 is the power of an optical transmission line section, the packet or signal error rate, or the processing load of the processing device 50. Here, Pattern 1 will be described as an example. When acquiring the power of an optical transmission line section, it is assumed that the operation input device 12 and the processing device 50, and the processing device 50 and the driving device 22 are connected by optical transmission lines. In Pattern 5, the quality control unit 30 measures the power of the optical transmission line section between the operation input device 12 and the processing device 50 and the power of the optical transmission line section between the processing device 50 and the driving device 22. Then, the quality control unit 30 calculates the sum of the measured power values ​​for each section. The quality control unit 30 compares the calculated power sum with the value indicated by the quality requirement to determine whether the calculated power sum satisfies the quality requirement.

[0082] If the calculated total power value is less than the value indicated by the quality requirement, the quality control unit 30 determines that the calculated total power value satisfies the quality requirement. On the other hand, if the calculated total power value is equal to or greater than the value indicated by the quality requirement, the quality control unit 30 determines that the calculated total power value does not satisfy the quality requirement.

[0083] If the quality control unit 30 determines that the calculated total power value satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the total power value satisfies the quality requirements.

[0084] On the other hand, if the quality control unit 30 determines that the calculated total power value does not satisfy the quality requirement, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the total power value does not satisfy the quality requirement. The transmission control unit 40 performs control based on the quality judgment result notified from the quality control unit 30. For example, the transmission control unit 40 causes the output device 11, which is a monitor, to display on its screen that the state is in a "quality degradation state."

[0085] Similarly, in pattern 5, the quality control unit 30 measures the packet or signal error rate (packet loss) between the operation input device 12 and the processing device 50, and the packet or signal error rate (packet loss) between the processing device 50 and the drive device 22. The quality control unit 30 then calculates the total value of the measured packet or signal error rates for each section. The quality control unit 30 compares the calculated total value of the packet or signal error rates with the value indicated by the quality requirement, thereby determining whether the calculated total value of the packet or signal error rates satisfies the quality requirement.

[0086] If the calculated total value of the packet or signal error rates is less than the value indicated by the quality requirement, the quality control unit 30 determines that the calculated total value of the packet or signal error rates satisfies the quality requirement. On the other hand, if the calculated total value of the packet or signal error rates is equal to or greater than the value indicated by the quality requirement, the quality control unit 30 determines that the calculated total value of the packet or signal error rates does not satisfy the quality requirement.

[0087] If the quality control unit 30 determines that the calculated total value of the packet or signal error rate satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the total value of the packet or signal error rate satisfies the quality requirements.

[0088] On the other hand, if the quality control unit 30 determines that the calculated total value of the packet or signal error rates does not satisfy the quality requirements, the quality control unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the total value of the packet or signal error rates does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality control unit 30. For example, the transmission control unit 40 displays on the screen of the output device 11, which is a monitor, that the state is in a "quality degradation state."

[0089] Similarly, in pattern 5, the quality control unit 30 acquires the processing load in the processing device 50. The quality control unit 30 determines whether the acquired processing load satisfies the quality requirements. If the acquired processing load is less than the value indicated by the quality requirements, the quality control unit 30 determines that the processing load satisfies the quality requirements. On the other hand, if the acquired processing load is equal to or greater than the value indicated by the quality requirements, the quality control unit 30 determines that the processing load does not satisfy the quality requirements.

[0090] If the quality control unit 30 determines that the acquired processing load satisfies the quality requirements, the quality control unit 30 may or may not notify the transmission control unit 40 of the quality judgment result indicating that the processing load satisfies the quality requirements.

[0091] On the other hand, if the quality management unit 30 determines that the acquired processing load does not satisfy the quality requirements, the quality management unit 30 notifies the transmission control unit 40 of the quality judgment result indicating that the processing load does not satisfy the quality requirements. The transmission control unit 40 performs control based on the quality judgment result notified by the quality management unit 30. For example, the transmission control unit 40 causes the output device 11, which is a monitor, to display on its screen that the processing load is in a "quality degradation state."

[0092] According to the remote operation system 100b configured as described above, when the processing device 50 is provided, the sum of the transmission time between the remote operation device 10 and the processing device 50, the transmission time between the operation target 20 and the processing device 50, and the processing time by the processing device 50 is used as the transmission quality. This makes it possible to acquire the transmission quality by taking into account the processing time for information transmitted from the remote operation device 10 to the operation target 20 or information transmitted from the operation target 20 to the remote operation device 10. Then, when the quality requirements stipulated in the remote operation system 100a are not satisfied, it becomes possible to notify the operator and control the operation target 20 so as to realize an operation that satisfies safety, immediacy, and accuracy.

[0093] (Variation 1 of the Second Embodiment) In the above-described Pattern 5, the quality control unit 30 may be configured to determine whether a quality requirement is satisfied by combining multiple transmission qualities. For example, the quality control unit 30 may select two or more transmission qualities from among the power of the optical transmission line section, the error rate of packets or signals, and the processing load of the processing device 50, and determine whether the quality requirement is satisfied by the selected two or more transmission qualities. In such a configuration, when the quality requirement is satisfied by each of the selected two or more transmission qualities, the quality control unit 30 may or may not notify the transmission control unit 40 of a quality determination result indicating that the quality requirement is satisfied.

[0094] On the other hand, if the quality requirements are not met for any of the two or more selected transmission qualities, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are not met. For example, taking two transmission qualities, the power of the optical transmission line section and the error rate of packets or signals, as an example, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are met if the total value of the power satisfies the quality requirements and the total value of the error rates of packets or signals satisfies the quality requirements. On the other hand, in other cases, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are not met. This configuration makes it possible to deal with situations where one transmission quality satisfies the quality requirements but the network environment does not satisfy the quality requirements for another reason.

[0095] (Modification 2 of the Second Embodiment) The quality control unit 30 may be configured to determine whether or not the quality requirements are satisfied by combining any of the above-described patterns 1 to 5. A specific method is as shown in Modification 1 of the second embodiment.

[0096] Third Embodiment In a third embodiment, a configuration in which a processing device is provided on the remote control device side will be described.

[0097] 4 is a diagram showing an example of the configuration of a remote operation system 100c according to the third embodiment. The remote operation system 100c includes a remote operation device 10, an operation target 20, a quality management unit 30, and a transmission control unit 40. The remote operation device 10, the operation target 20, the quality management unit 30, and the transmission control unit 40 are connected via a transmission network NW. The numbers of the remote operation devices 10, the operation target 20, the quality management unit 30, and the transmission control unit 40 are not particularly limited.

[0098] 4, the remote control system 100c includes processing devices in both the remote control device 10 and the operation target 20. As a specific example, the output device 11 included in the remote control device 10 is a monitor, the operation input device 12 is a controller, and the processing device 13 is a server. As another specific example, the processing device 23 included in the operation target 20 is a server. The remote control system 100c covers all inter-server communication between networks, such as cloud processing, server access, or browsing.

[0099] The processing device 13 communicates with the processing device 23 via the transmission network NW in response to a user operation. The processing device 13 requests the processing device 23 to perform processing or provide information. The processing device 13 may display information obtained from the processing device 23 on a monitor.

[0100] The processing device 23 communicates with the processing device 13 via the transmission network NW in response to a user operation. The processing device 23 performs processing in response to a request from the processing device 13.

[0101] The processing of the quality control unit 30 and the transmission control unit 40 under such circumstances is basically the same as that of patterns 1, 4, and 5 shown in the second embodiment. The following mainly describes the differences from the second embodiment.

[0102] [Pattern 1] - Measure the transmission time and processing time, and if quality deteriorates, display a message indicating that the quality has deteriorated on the monitor screen. In pattern 1, the quality control unit 30 measures the transmission time between the processing device 13 and the processing device 23. Furthermore, the quality control unit 30 measures the processing time by the processing device 23. The quality control unit 30 then calculates the total time of each measured time. The quality control unit 30 compares the calculated total time with the value indicated by the quality requirement to determine whether the calculated total time satisfies the quality requirement. Subsequent processing is the same as in the second embodiment.

[0103] [Pattern 4] When the information acquired in Pattern 1 is the fluctuation between transmission time and processing time In Pattern 4, the quality control unit 30 measures the fluctuation in transmission time between the processing device 13 and the processing device 23. Furthermore, the quality control unit 30 measures the fluctuation in the processing time by the processing device 23. Then, the quality control unit 30 calculates the sum of the fluctuations for each measured time. The quality control unit 30 compares the calculated sum of the fluctuations with the value indicated by the quality requirement to determine whether the calculated sum of the fluctuations satisfies the quality requirement. The subsequent processing is the same as in the second embodiment.

[0104] [Pattern 5] When the information acquired in Pattern 1 is the power of the optical transmission line section, the error rate of packets or signals, or the processing load of the processing device 50 When acquiring the power of the optical transmission line section, it is assumed that the processing device 13 and the processing device 23 are connected by an optical transmission line. In Pattern 5, the quality control unit 30 measures the power of the optical transmission line section between the processing device 13 and the processing device 23. The subsequent processing is the same as in the second embodiment.

[0105] Similarly, in pattern 5, the quality control unit 30 measures the error rate (packet loss) of packets or signals between the processing device 13 and the processing device 23. The quality control unit 30 determines whether the error rate of the acquired packets or signals satisfies the quality requirements. The subsequent processing is the same as in the second embodiment.

[0106] Similarly, in pattern 5, the quality control unit 30 acquires the processing load of the processing device 23. The quality control unit 30 determines whether the acquired processing load satisfies the quality requirements. The subsequent processing is the same as in the second embodiment.

[0107] According to the remote control system 100c configured as above, it is possible to obtain the same effects as those of the first embodiment even in an environment in which communication is performed between servers.

[0108] In the fourth embodiment, a configuration in which a plurality of remote control devices are provided will be described.

[0109] 5 is a diagram showing an example of the configuration of a remote operation system 100d according to the fourth embodiment. The remote operation system 100d includes remote operation devices 10-1 to 10-2, an operation target 20, a quality management unit 30, and a transmission control unit 40. The remote operation devices 10-1 to 10-2, the operation target 20, the quality management unit 30, and the transmission control unit 40 are connected via a transmission network NW. The numbers of the remote operation devices 10-1 to 10-2, the operation target 20, the quality management unit 30, and the transmission control unit 40 are not particularly limited.

[0110] As shown in FIG. 5, the remote operation system 100d includes multiple remote operation devices 10-1 to 10-2. For example, the remote operation devices 10-1 and 10-2 may be installed at different geographical locations, or may be installed within the same base. As a specific example, the output device 11-1 included in the remote operation device 10-1 is a monitor, and the operation input device 12-1 is a controller. As another specific example, the output device 11-2 included in the remote operation device 10-2 is a monitor, and the operation input device 12-2 is a controller. As another specific example, the processing device 23 included in the operation target 20 is a server. The remote operation system 100d covers all uses in which a server and multiple remote operation devices 10 are connected across a network, such as online games, collaborative work, remote conferences, and webinars.

[0111] The processing of the quality control unit 30 and the transmission control unit 40 under such circumstances is basically the same as that of patterns 1, 4, and 5 shown in the second embodiment. The following mainly describes the differences from the second embodiment.

[0112] [Pattern 1] - Measure the transmission time and processing time, and if quality deteriorates, display a message indicating that the quality has deteriorated on the monitor screen. In pattern 1, the quality control unit 30 measures the transmission time between the remote control device 10-1 and the processing device 23, and the transmission time between the remote control device 10-2 and the processing device 23. Furthermore, the quality control unit 30 measures the processing time by the processing device 23. Thereafter, the quality control unit 30 calculates the total time of each measured time. The quality control unit 30 compares the calculated total time with the value indicated by the quality requirement to determine whether the calculated total time satisfies the quality requirement. Subsequent processing is the same as in the second embodiment.

[0113] [Pattern 4] When the information acquired in Pattern 1 is the fluctuation in transmission time and processing time In Pattern 4, the quality control unit 30 measures the transmission time fluctuation between the remote control device 10-1 and the processing device 23, and the transmission time fluctuation between the remote control device 10-2 and the processing device 23. Furthermore, the quality control unit 30 measures the fluctuation in the processing time by the processing device 23. Thereafter, the quality control unit 30 calculates the sum of the fluctuations for each measured time. The quality control unit 30 compares the calculated sum of fluctuations with the value indicated by the quality requirement, and determines whether the calculated sum of fluctuations satisfies the quality requirement. The subsequent processing is the same as in the second embodiment.

[0114] [Pattern 5] When the information acquired in Pattern 1 is the power of an optical transmission line section, the packet or signal error rate, or the processing load of the processing device 50. When acquiring the power of an optical transmission line section, it is assumed that the remote control device 10-1 and the processing device 23, and the remote control device 10-2 and the processing device 23 are connected by optical transmission lines. In Pattern 5, the quality control unit 30 measures the power of the optical transmission line section between the remote control device 10-1 and the processing device 23, and the power of the optical transmission line section between the remote control device 10-2 and the processing device 23. The quality control unit 30 then calculates the sum of the measured power of each optical transmission line section. The quality control unit 30 compares the calculated sum of the power of each optical transmission line section with the value indicated by the quality requirement to determine whether the calculated sum of the power of each optical transmission line section satisfies the quality requirement. The subsequent processing is the same as in the second embodiment.

[0115] Similarly, in pattern 5, the quality control unit 30 measures the error rate (packet loss) of packets or signals between the processing device 13 and the processing device 23. The quality control unit 30 determines whether the error rate of the acquired packets or signals satisfies the quality requirements. The subsequent processing is the same as in the second embodiment.

[0116] Similarly, in pattern 5, the quality control unit 30 acquires the processing load of the processing device 23. The quality control unit 30 determines whether the acquired processing load satisfies the quality requirements. The subsequent processing is the same as in the second embodiment.

[0117] According to the remote control system 100d configured as above, it is possible to obtain the same effects as those of the first embodiment even in an environment where a plurality of remote control devices 10 exist.

[0118] (Variation 1 common to the third and fourth embodiments) In the above-described pattern 5, the quality control unit 30 may be configured to determine whether a quality requirement is satisfied by combining multiple transmission qualities. For example, the quality control unit 30 may select two or more transmission qualities from among the power of the optical transmission line section, the error rate of packets or signals, and the processing load of the processing device 50, and determine whether the quality requirement is satisfied by the selected two or more transmission qualities. When configured in this manner, if the quality requirement is satisfied by each of the selected two or more transmission qualities, the quality control unit 30 may or may not notify the transmission control unit 40 of a quality determination result indicating that the quality requirement is satisfied.

[0119] On the other hand, if the quality requirements are not met for any of the two or more selected transmission qualities, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are not met. For example, taking two transmission qualities, the power of the optical transmission line section and the error rate of packets or signals, as an example, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are met if the total value of the power satisfies the quality requirements and the total value of the error rates of packets or signals satisfies the quality requirements. On the other hand, in other cases, the quality management unit 30 notifies the transmission control unit 40 of a quality judgment result indicating that the quality requirements are not met. This configuration makes it possible to deal with situations where one transmission quality satisfies the quality requirements but the network environment does not satisfy the quality requirements for another reason.

[0120] (Modification 2 common to the third and fourth embodiments) The quality control unit 30 may be configured to determine whether or not the quality requirements are satisfied by combining any of the above-described patterns 1, 4, and 5. A specific method is as shown in Modification 1 common to the third and fourth embodiments.

[0121] Fifth Embodiment In the first to fourth embodiments described above, if the quality requirements specified for the remote control system are not met based on the quality assessment result, at least one of notifying the operator and controlling the operation target can be performed to achieve safe, immediate, and accurate operation. However, in the first to fourth embodiments, there are cases where operability cannot be improved when the transmission quality in communication including a transmission network fluctuates. For example, the first to fourth embodiments do not describe a specific configuration for a specific method for adding information to a monitor or a specific method for controlling a driving device such as a robot when the transmission quality in communication including a transmission network fluctuates. Therefore, in the fifth embodiment, a configuration for improving operability when the transmission quality in communication including a transmission network fluctuates will be described.

[0122] Before describing specific examples, an overview of the remote operation system 200 according to the fifth embodiment will be described with reference to Fig. 6. Fig. 6 is a diagram for explaining the overview of the remote operation system 200 according to the fifth embodiment. The remote operation system 200 is a system for remotely operating, from one point, equipment or the like located at a different point. The remote operation system 200 is not particularly limited as long as it is used for tasks such as remote arm operation, remote surgery, remote construction, and remote inspection, as long as it remotely operates equipment to be operated.

[0123] The remote control system 200 includes a remote control device 10, an operation target 20, a quality control unit 30, a transmission control unit 40, and a processing device 50. The remote control device 10, the operation target 20, the quality control unit 30, the transmission control unit 40, and the processing device 50 are connected via a transmission network NW. The remote control device 10, the operation target 20, the processing device 50, and the transmission network NW have been explained in FIG. 1 , so explanations thereof will be omitted. The quality control unit 30 and the transmission control unit 40 are provided in one or more housings and function as a control device C.

[0124] The transmission control unit 40 performs the same processing as that described in Fig. 1. Furthermore, when the transmission quality fluctuates, the transmission control unit 40 notifies the remote control device 10, the operation target 20, or the processing device 50 of information indicating the transmission quality. As a result, the transmission control unit 40 causes the device to which the information indicating the transmission quality is notified to execute processing according to the transmission quality. Here, a case where the transmission quality fluctuates means a case where the quality judgment result notified from the quality management unit 30 has changed. For example, this is a case where the quality judgment result notified from the quality management unit 30 has changed from a good quality state to a degraded quality state, or from a degraded quality state to a good quality state.

[0125] An example of control executed by the remote control device 10, the operation target 20, or the processing device 50 when the quality changes from a good quality state to a deteriorated quality state will be described.

[0126] (Control Example 1 When Quality Changes from Good to Deteriorating) When the operation input device 12 in the remote control device 10 is a controller and the drive device 22 in the operation target 20 is a robot, the processing device 50 changes the operation information from the controller to the robot or adds information to the operation information to control the robot's operation (for example, control to slow down operation or stop operation). In this way, when the quality changes from good to deteriorating, it is assumed that the communication environment is poor. Therefore, the processing device 50 controls the robot's operation by changing the operation information from the controller to operation information that lowers the operating state of the robot or by adding information to the operation information that lowers the operating state of the robot.

[0127] (Control example 2 when quality changes from good to deteriorating) When the operation input device 12 in the remote control device 10 is a controller and the drive device 22 in the operation target 20 is a robot, the controller controls the operation of the robot (for example, control to slow down the operation or stop the operation). When the quality changes from good to deteriorating, it is assumed that the communication environment is poor. Therefore, the controller controls the operation of the robot by transmitting operation information to the robot that includes a control instruction to lower the operating state of the robot.

[0128] (Control Example 3 When Quality Changes from Good to Deteriorated) When the information collection device 21 in the operation target 20 is a camera, the camera performs control to reduce the image capacity. The image capacity is, for example, the resolution, the number of pixels, the compression rate, the color tone, or the image frame rate. In other words, the camera performs control to reduce at least one of the resolution, the number of pixels, the compression rate, the color tone, or the image frame rate to a value lower than normal.

[0129] (Control example 4 when quality changes from good to deteriorated) When the output device 11 in the remote control device 10 is a monitor and the information collection device 21 in the operation target 20 is a camera, the processing device 50 performs control to add information indicating that quality has deteriorated to the video information sent from the camera to the monitor. Note that when the drive device 22 in the operation target 20 is a robot, the processing device 50 may also perform control to add information indicating the operating state of the robot (for example, that arm operation is being controlled) to the video information sent from the camera to the monitor.

[0130] (Control example 5 when quality changes from good to deteriorated) When the output device 11 in the remote control device 10 is a monitor and the information collection device 21 in the operation target 20 is a camera, the monitor performs control to add information indicating that quality has deteriorated to the video information output from the camera. Note that when the drive device 22 in the operation target 20 is a robot, the monitor may perform control to add information indicating the operating state of the robot (for example, that arm operation is being controlled) to the video information output from the camera.

[0131] Next, an example of control executed by the remote control device 10, the operation target 20, or the processing device 50 when the quality changes from a deteriorated state to a good quality state will be described.

[0132] (Control Example 1 When Quality Changes from a Deteriorating State to a Good Quality State) When the operation input device 12 in the remote control device 10 is a controller and the drive device 22 in the operation target 20 is a robot, the processing device 50 changes the operation information from the controller to the robot or adds information to the operation information to control the robot's operation (e.g., control to return to normal operation). Control to return the robot to normal operation includes control to release the stopped state and control to return the speed of operation (e.g., arm movement, etc.) to a normal state. In this way, when the quality changes from a deteriorating state to a good quality state, it is assumed that the communication environment has improved. Therefore, the processing device 50 controls the robot's operation by changing the operation information from the controller to operation information that improves the robot's operating state, or by adding information to the operation information that improves the robot's operating state.

[0133] (Control example 2 when quality changes from a degraded state to a good quality state) When the operation input device 12 in the remote control device 10 is a controller and the drive device 22 in the operation target 20 is a robot, the controller controls the operation of the robot (for example, control to return to normal operation). When the quality changes from a degraded state to a good quality state, it is assumed that the communication environment has improved. Therefore, the controller controls the operation of the robot by changing the operation information for the robot to operation information that improves the operating state of the robot, or by adding information to the operation information that improves the operating state of the robot.

[0134] (Control Example 3 When Quality Changes from a Degraded State to a Good Quality State) When the information collection device 21 in the operation target 20 is a camera, the camera performs control to return the image capacity (for example, resolution, number of pixels, compression rate, color tone, or image frame rate) to the normal state or to increase it. In other words, the camera performs control to return at least one of the resolution, number of pixels, compression rate, color tone, or image frame rate to the normal state or to increase it from a lowered state.

[0135] (Control Example 4 When Quality Changes from a Deteriorated State to a Good Quality State) When the output device 11 in the remote control device 10 is a monitor and the information collection device 21 in the operation target 20 is a camera, the processing device 50 performs control to add information indicating that the quality has improved to the video information from the camera to the monitor. Here, instead of adding information indicating that the quality has improved, the processing device 50 may perform display control to delete information indicating that the quality has deteriorated that is displayed on the monitor. Note that when the drive device 22 in the operation target 20 is a robot, the processing device 50 may perform control to add information indicating that the robot's operating state (e.g., control of arm operation) has been normalized. Here, instead of adding information indicating that the robot's operating state has normalized, the processing device 50 may perform display control to delete information indicating the robot's operating state that is displayed on the monitor.

[0136] (Control Example 5 When Quality Changes from a Deteriorated State to a Good Quality State) When the output device 11 of the remote control device 10 is a monitor and the information collection device 21 of the operation target 20 is a camera, the monitor performs control to add information indicating that the quality has improved to the video information output from the camera. Here, instead of adding information indicating that the quality has improved, the monitor may perform display control to delete the displayed information indicating that the quality has deteriorated. Note that when the drive device 22 of the operation target 20 is a robot, the monitor may perform control to add information indicating that the robot's operating state (e.g., control of arm operation) has been normalized to the video information output from the camera. Here, instead of adding information indicating that the robot's operating state has normalized, the monitor may perform display control to delete the displayed information indicating the robot's operating state.

[0137] The control executed when the quality state changes from good to degraded or when the quality state changes from degraded to good is merely an example, and the invention is not limited to this.

[0138] The information indicating the transmission quality may be, for example, a quality level that expresses the transmission quality in multiple stages. The quality level may be defined by each of the transmission time (end-to-end delay), the bandwidth, and the packet loss rate. The information indicating the transmission quality is determined by the quality management unit 30 when the quality is determined.

[0139] The quality control unit 30 performs the same processing as that described in Fig. 1. Furthermore, the quality control unit 30 determines a quality level based on each of the items of transmission time (end-to-end delay), bandwidth, and packet loss rate during quality assessment. The quality control unit 30 may determine the lowest quality level among the quality levels obtained for each of the transmission time (end-to-end delay), bandwidth, and packet loss rate as the quality level during quality assessment.

[0140] When determining the quality level, the quality management unit 30 may determine the quality level based on the average value of the quality levels for each item, or may determine the highest quality level as the quality level at the time of quality judgment. As described above, when the quality management unit 30 determines the quality level using information on two or more of transmission time, bandwidth, and packet loss rate, it may determine the quality level based on the statistical value of the quality level for each item. Furthermore, the element by which the quality management unit 30 determines the quality level may be one or more of transmission time (end-to-end delay), bandwidth, or packet loss rate. The quality level may be any number of levels as long as it is two or more.

[0141] In the remote control system 200 of the fifth embodiment, the above-described configuration makes it possible to improve operability even when the quality changes. Note that the configuration shown in Fig. 6 is an example, and the above-described effects can be obtained even if some of the components are not included in the remote control system 200. Application examples will be described below.

[0142] (Application Example 1 of Fifth Embodiment) As application example 1 of the fifth embodiment, a configuration for controlling the operating state of the drive device 22 in accordance with fluctuations in quality will be described.

[0143] 7 is a diagram showing a configuration example of a remote operation system 200a in application example 1 of the fifth embodiment. The remote operation system 200a includes a remote operation device 10, an operation target 20, a quality control unit 30, a transmission control unit 40a, and a processing device 50. The remote operation device 10, the operation target 20, the quality control unit 30, the transmission control unit 40a, and the processing device 50 are connected via a transmission network NW. The number of remote operation devices 10, the operation target 20, the quality control unit 30, and the transmission control unit 40a is not particularly limited. The quality control unit 30 and the transmission control unit 40a are provided in one or more housings and function as a control device Ca.

[0144] In the remote operation system 200a, a case where the driving device 22 is controlled will be described. As a specific example, the output device 11 included in the remote operation device 10 is a monitor, and the operation input device 12 is a controller. As another specific example, the information collection device 21 included in the operation target 20 is a camera, and the driving device 22 is a robot. Therefore, in the remote operation system 200a, a robot will be described as an example.

[0145] The quality control unit 30 performs the process described in Fig. 6. For example, the quality control unit 30 holds a quality level determination table shown in Fig. 8 and determines the quality level by referring to the held quality level determination table. The quality control unit 30 notifies the transmission control unit 40a of the quality determination result including information indicating the determined quality level.

[0146] FIG. 8 is a diagram showing an example of a quality level determination table. The quality level determination table has multiple records representing information related to quality levels. Each record has values ​​for quality level, end-to-end delay, bandwidth, and packet loss rate. The quality level represents the level of transmission quality in communication via the transmission network NW, which is determined according to the associated values ​​of end-to-end delay, bandwidth, and packet loss rate. In the example shown in FIG. 8, quality levels "1", "2", and "3" are shown. The higher the quality level number, the better the quality. Note that the number of quality levels is not limited to three.

[0147] The end-to-end delay represents the transmission time required for communication between the remote control device 10 and the operation target 20. If the processing device 50 is included in the communication between the remote control device 10 and the operation target 20, the end-to-end delay also includes the processing time by the processing device 50. The bandwidth represents the bandwidth used in the communication between the remote control device 10 and the operation target 20. The packet loss rate represents the proportion of packet loss in the communication between the remote control device 10 and the operation target 20.

[0148] 8, the end-to-end delay T item in the quality level determination table has registered therein the values ​​of "200 ms<T", "100 ms<T≦200 ms", and "T≦100 ms", with each value corresponding to a quality level of "1", "2", or "3". That is, the quality level determination table shown in Fig. 8 indicates that when the end-to-end delay T is higher than 200 ms (200 ms<T), the quality level is "1", when the end-to-end delay T is higher than 100 ms and equal to or less than 200 ms (100 ms<T≦200 ms), the quality level is "2", and when the end-to-end delay T is equal to or less than 100 ms (T≦100 ms), the quality level is "3".

[0149] 8, the value of "B≦10 Mbps", "10 Mbps<B≦100 Mbps", and "100 Mbps<B" are registered in the item of bandwidth amount B in the quality level determination table, and each value is associated with a quality level of "1", "2", or "3". That is, the quality level determination table shown in FIG. 8 indicates that when bandwidth amount B is 10 Mbps or less (B≦10 Mbps), the quality level is "1", when bandwidth amount B is higher than 10 Mbps and lower than 100 Mbps (10 Mbps<B≦100 Mbps), the quality level is "2", and when bandwidth amount B is higher than 100 Mbps (100 Mbps<B), the quality level is "3".

[0150] 8, the packet loss rate L item in the quality level determination table has registered therein the values ​​"1%<L≦10%", "0.1%<L≦1%", and "L≦0.1%", with each value corresponding to a quality level of "1", "2", or "3". That is, the quality level determination table shown in Fig. 8 indicates that when the packet loss rate L is higher than 1% and equal to or lower than 10% (1%<L≦10%), the quality level is "1", when the packet loss rate L is higher than 0.1% and equal to or lower than 1% (0.1%<L≦1%), the quality level is "2", and when the packet loss rate L is equal to or lower than 0.1% (L≦0.1%), the quality level is "3".

[0151] The quality control unit 30 determines the quality level based on at least one of the transmission time, bandwidth, and packet loss rate collected during quality assessment. Therefore, the quality control unit 30 does not necessarily need to collect all of the transmission time, bandwidth, and packet loss rate. When determining the quality level using information on two or more of the transmission time, bandwidth, and packet loss rate, the quality control unit 30 determines the quality level based on the statistical values ​​of the quality level for each item, as described above.

[0152] For example, if the quality level for transmission time is "1," the quality level for bandwidth is "3," and the quality level for packet loss rate is "2," the quality management unit 30 may determine the quality level at the time of quality determination to be the lowest quality level, "1." Alternatively, the quality management unit 30 may determine the quality level at the time of quality determination to be the quality level, "2," which is the average value of the quality levels for each item. Alternatively, the quality management unit 30 may determine the quality level at the time of quality determination to be the highest quality level, "3." The conditions used to determine the quality level may be set in advance.

[0153] Furthermore, when priorities are set among transmission time (end-to-end delay), bandwidth, and packet loss rate, the quality management unit 30 may determine the quality level corresponding to the item with the highest priority as the quality level at the time of quality assessment. The quality management unit 30 includes information indicating the quality level determined by any of the above methods in the quality assessment result and notifies the transmission control unit 40a.

[0154] The transmission control unit 40a acquires the quality judgment result notified from the quality management unit 30, and notifies the processing device 50 of information indicating the quality level included in the acquired quality judgment result. Note that the transmission control unit 40a may also notify the processing device 50 of the quality judgment result.

[0155] The processing device 50 performs the same processing as the processing device 50 shown in any one of the first to fourth embodiments described above. Furthermore, when the processing device 50 acquires information indicating the quality level from the transmission control unit 40a, it determines the operation of the robot (the driving device 22) according to the quality level indicated by the information indicating the quality level. Then, according to the determined operation of the robot, the processing device 50 modifies the input operation information or transmits processed operation information in which information has been added to the operation information to the robot (the driving device 22). The processed operation information means either the modified operation information or the operation information to which information has been added.

[0156] The processing device 50 stores, for example, a movement control table shown in FIG. 9 and controls the movement of the robot by referring to the stored movement control table. FIG. 9 is a diagram showing an example of a movement control table. The movement control table has multiple records representing information about the movement of the robot. Each record has a quality level and a control content value. The movement control table is associated with a control content corresponding to the quality level. The control content represents the control content of the movement of the robot. Note that, since a robot is used as an example of the driving device 22 in this description, the movement control table registers the control content of the robot's movement, but it is sufficient if the movement control table registers control content corresponding to the control target.

[0157] In the example shown in Fig. 9, the control content items of the operation control table are registered with the values ​​of "emergency stop," "50% operation speed," and "normal operation," and each value is associated with a quality level of "1," "2," or "3." That is, the operation control table shown in Fig. 9 indicates that when the quality level is "1," the robot is brought to an emergency stop, when the quality level is "2," the robot's operation speed is controlled to 50%, and when the quality level is "3," the robot is operated normally.

[0158] Note that the operations shown in the operation control table in FIG. 9 are merely examples, and the operation speed does not have to be 50%. The operation speed may be controlled in two stages with multiple quality levels. The operation control table does not need to include an emergency stop as a control content. Furthermore, instead of an emergency stop, the operation control table may register a control content for switching to the robot's automatic operation function (self-propelled mode or danger avoidance mode).

[0159] For example, when the processing device 50 receives information indicating a quality level (e.g., quality level "1") from the transmission control unit 40a, it changes the operation information input from the controller, which is the operation input device 12, to an emergency stop, or transmits processed operation information to the robot, with information indicating an emergency stop added to the operation information. The robot makes an emergency stop in accordance with the processed operation information transmitted from the processing device 50. Note that, when speed information is added to the operation information (e.g., when information indicating that the movement speed is to be controlled to 50% is added to the operation information), the robot processes the input information from the controller based on the added speed information and reflects it in its movement.

[0160] With this configuration, the robot's operating speed can be adjusted when the network quality state changes during remote control. As a result, after the robot's operating speed is reduced when the network quality state changes from good to degraded, the operating speed can be returned to normal when the network quality recovers (when the network quality state changes from degraded to good). Therefore, even when the network quality state changes, the robot can be controlled to the optimal operating state according to the network quality state.

[0161] Furthermore, if the quality of the network deteriorates during remote control, the robot can be made to perform a specific action, thereby preventing serious accidents caused by incorrect operation.

[0162] (Variation 1 of Application Example 1) The destination to which the transmission control unit 40a notifies the information indicating the quality level may be the remote operation device 10, the operation target 20, or a relay device or server provided in the transmission network NW. In this case, the operation is basically the same as the above-described process, except that the entity performing the process is different.

[0163] For example, an example of processing will be described in which the destination of the information indicating the quality level from the transmission control unit 40a is the remote operation device 10. The transmission control unit 40a acquires the quality judgment result notified from the quality management unit 30 and notifies the operation input device 12 (e.g., controller) of the remote operation device 10 of information indicating the quality level included in the acquired quality judgment result. Note that the transmission control unit 40a may also notify the operation input device 12 (e.g., controller) of the quality judgment result. When the operation input device 12 (e.g., controller) acquires the information indicating the quality level from the transmission control unit 40a, it determines the operation of the robot, which is the drive unit 22, according to the quality level indicated by the information indicating the quality level. Then, the operation input device 12 (e.g., controller) transmits operation information according to the determined robot operation to the robot (drive unit 22).

[0164] The operation input device 12 (e.g., a controller) may store, for example, a motion control table such as that shown in FIG. 9 and control the motion of the robot by referring to the stored motion control table. For example, when the operation input device 12 (e.g., a controller) receives information indicating a quality level (e.g., a quality level of "1") from the transmission control unit 40a, it transmits operation information including an instruction to make an emergency stop to the robot. The robot makes an emergency stop in accordance with the operation information transmitted from the transmission control unit 40a. Note that, if the operation information includes speed information (e.g., if the operation information includes information indicating that the motion speed is to be controlled to 50%), the robot controls its motion to the motion speed instructed by the operation information. In this way, when the operation input device 12 (e.g., a controller) directly controls the operation target 20 (e.g., a robot), the remote operation system 200a does not need to include a processing device 50. Note that, if the processing device 50 needs to process the operation information, the operation input device 12 (e.g., a controller) transmits the operation information to the processing device 50. The processing device 50 transmits the processed operation information to the operation target 20 (for example, a robot).

[0165] (Variation 2 of Application Example 1) When the transmission control unit 40a notifies a relay device or server provided within the transmission network NW of information indicating the quality level, the relay device or server provided within the transmission network NW may add or change information related to remote operation in accordance with the information indicating the quality level. For example, the relay device or server may store an operation control table and control the operation of the robot by referring to the stored operation control table. In other words, instead of the processing device 50 controlling the operation of the robot, the relay device or server provided within the transmission network NW may control the operation of the robot. This configuration allows the receiving side to operate in accordance with the network quality without changing the processing device 50.

[0166] (Application Example 2 of Fifth Embodiment) As an application example 2 of the fifth embodiment, a configuration for controlling the operation state of the information collection device 21 in accordance with fluctuations in quality will be described.

[0167] 10 is a diagram showing a configuration example of a remote operation system 200b in application example 2 of the fifth embodiment. The remote operation system 200b includes a remote operation device 10, an operation target 20, a quality control unit 30, a transmission control unit 40b, and a processing device 50. The remote operation device 10, the operation target 20, the quality control unit 30, the transmission control unit 40b, and the processing device 50 are connected via a transmission network NW. The number of remote operation devices 10, the operation target 20, the quality control unit 30, and the transmission control unit 40b is not particularly limited. The quality control unit 30 and the transmission control unit 40b are provided in one or more housings and function as a control device Cb.

[0168] In the remote operation system 200b, a case where an information collection device 21 is controlled will be described. As a specific example, the output device 11 included in the remote operation device 10 is a monitor, and the operation input device 12 is a controller. As another specific example, the information collection device 21 included in the operation target 20 is a camera, and the driving device 22 is a robot. Therefore, in the remote operation system 200b, a camera will be described as an example.

[0169] The quality control unit 30 performs the same process as that shown in Application Example 1. The quality control unit 30 includes information indicating the determined quality level in the quality judgment result and notifies the transmission control unit 40b.

[0170] The transmission control unit 40b acquires the quality judgment result notified from the quality management unit 30, and notifies the camera, which is the information collection device 21, of information indicating the quality level included in the acquired quality judgment result. Note that the transmission control unit 40b may also notify the information collection device 21 of the quality judgment result.

[0171] The camera collects information about the surroundings. For example, the camera captures an image of the surroundings. When the camera acquires information indicating a quality level from the transmission control unit 40b, the camera determines the image capacity according to the quality level indicated by the information indicating the quality level. Specifically, the camera holds a plurality of control tables shown in FIG. 11 and determines the image capacity by referring to any one of the plurality of control tables held therein or a combination of the plurality of control tables.

[0172] Fig. 11 shows an example of a control table used to determine the video capacity. Fig. 11(A) shows a resolution control table, Fig. 11(B) shows a compression rate control table, Fig. 11(C) shows a color tone control table, and Fig. 11(D) shows an image frame rate control table. Note that each table shown in Fig. 11 is an example. Each table will be described in detail below.

[0173] [Details of the Resolution Control Table] The resolution control table has multiple records representing information related to the camera's resolution. Each record has a quality level and a resolution value. The resolution control table is associated with a resolution corresponding to the quality level. In the example shown in FIG. 11A, the resolution field in the resolution control table contains the values ​​"720 x 480," "1280 x 720," and "1920 x 1080," and each value is associated with a quality level of "1," "2," or "3." That is, the resolution control table shown in FIG. 11A indicates that a quality level of "1" causes the camera to capture images at a resolution of "720 x 480," a quality level of "2" causes the camera to capture images at a resolution of "1280 x 720," and a quality level of "3" causes the camera to capture images at a resolution of "1920 x 1080."

[0174] [Details of the Compression Ratio Control Table] The compression ratio control table has multiple records representing information related to the compression ratio of the camera. Each record has a quality level and a compression ratio value. The compression ratio control table is associated with a resolution corresponding to the quality level. In the example shown in FIG. 11B, the resolution field in the compression ratio control table contains the values ​​"standard image quality (30%)," "high image quality (60%)," and "highest image quality (100%)," and each value is associated with a quality level of "1," "2," or "3." That is, the compression ratio control table shown in FIG. 11B indicates that when the quality level is "1," the camera is caused to take pictures with a compression ratio of standard image quality (30%); when the quality level is "2," the camera is caused to take pictures with a compression ratio of high image quality (60%); and when the quality level is "3," the camera is caused to take pictures with a compression ratio of highest image quality (100%).

[0175] [Details of the Color Tone Control Table] The color tone control table has multiple records representing information about the color tone of the camera. Each record has a quality level and a color tone value. The color tone control table corresponds to a quality level. In the example shown in FIG. 11C, the color tone item in the color tone control table has the values ​​"grayscale," "8-bit color," and "24-bit color" registered, and each value corresponds to a quality level of "1," "2," or "3." That is, the color tone control table shown in FIG. 11C indicates that a quality level of "1" causes the camera to capture images in grayscale, a quality level of "2" causes the camera to capture images in 8-bit color, and a quality level of "3" causes the camera to capture images in 24-bit color.

[0176] [Details of the Image Frame Rate Control Table] The image frame rate control table has multiple records representing information related to the camera's frame rate. Each record has a quality level and an image frame rate value. The image frame rate control table is associated with an image frame rate corresponding to the quality level. In the example shown in FIG. 11 (D), the image frame rate field in the image frame rate control table contains the values ​​"10 fps," "30 fps," and "60 fps," and each value is associated with a quality level of "1," "2," or "3." That is, the image frame rate control table shown in FIG. 11 (D) indicates that a quality level of "1" causes the camera to capture images at a frame rate of 10 fps, a quality level of "2" causes the camera to capture images at a frame rate of 30 fps, and a quality level of "3" causes the camera to capture images at a frame rate of 60 fps.

[0177] The camera captures an image of the surroundings based on the determined image capacity. The camera transmits the captured image to the processing device 50 or the output device 11. Note that the camera may be configured in advance to use which table to determine the image capacity, or may switch between tables depending on the time of day or season.

[0178] With this configuration, the amount of information to be transmitted can be adjusted in accordance with the quality state of the network during remote control. As a result, even if the quality state of the network changes, the method of transmitting information can be changed to the optimal method according to the quality state. For example, when the quality state of the network is poor, the amount of information to be transmitted can be reduced by lowering the video quality, etc. Furthermore, when the quality state of the network improves, the amount of information to be transmitted can be increased by restoring the video quality, etc. This makes it possible to improve operability when the transmission quality in communications including a transmission network fluctuates.

[0179] (Variation 1 of Application Example 2) The destination to which the transmission control unit 40b notifies the information indicating the quality level may be the remote operation device 10, the operation target 20, or a relay device or server provided in the transmission network NW. In this case, the operation is basically the same as the above-described process, except that the entity performing the process is different.

[0180] (Variation 2 of Application Example 2) When the transmission control unit 40b notifies a relay device or a server provided within the transmission network NW of information indicating the quality level, the relay device or the server provided within the transmission network NW may add or change information related to remote operation in accordance with the information indicating the quality level. For example, the relay device or the server may store multiple control tables as shown in FIG. 11 and perform image processing on the video transmitted from the camera by referring to the stored multiple control tables. In other words, instead of control by the camera, the relay device or the server provided within the transmission network NW may perform image processing on the video. This configuration allows the receiving side to operate in accordance with the network quality without changing the camera's functions.

[0181] (Application Example 3 of Fifth Embodiment) As Application Example 3 of the fifth embodiment, a configuration for controlling the display of the output device 11 in accordance with fluctuations in quality will be described.

[0182] 12 is a diagram showing a configuration example of a remote operation system 200c in application example 3 of the fifth embodiment. The remote operation system 200c includes a remote operation device 10, an operation target 20, a quality control unit 30, a transmission control unit 40c, and a processing device 50. The remote operation device 10, the operation target 20, the quality control unit 30, the transmission control unit 40c, and the processing device 50 are connected via a transmission network NW. The number of remote operation devices 10, the operation target 20, the quality control unit 30, and the transmission control unit 40c is not particularly limited. The quality control unit 30 and the transmission control unit 40c are provided in one or more housings and function as a control device Cc.

[0183] In the remote operation system 200c, a case where the output device 11 is controlled will be described. As a specific example, the output device 11 included in the remote operation device 10 is a monitor, and the operation input device 12 is a controller. As another specific example, the information collection device 21 included in the operation target 20 is a camera, and the driving device 22 is a robot. Therefore, in the remote operation system 200c, a monitor will be described as an example.

[0184] The quality control unit 30 performs the same process as that shown in Application Example 1. The quality control unit 30 includes information indicating the determined quality level in the quality judgment result and notifies the transmission control unit 40c of the result.

[0185] The transmission control unit 40c acquires the quality judgment result notified from the quality management unit 30, and notifies the processing device 50 of information indicating the quality level included in the acquired quality judgment result. Note that the transmission control unit 40c may also notify the processing device 50 of the quality judgment result.

[0186] The processing device 50 performs the same processing as the processing device 50 shown in any one of the first to fourth embodiments described above. Furthermore, when the processing device 50 acquires information indicating the quality level from the transmission control unit 40c, the processing device 50 performs image processing so that the acquired information indicating the quality level can be displayed on the image obtained from the information collection device 21. The processing device 50 displays the image after image processing on the monitor, which is the output device 11. Note that the processing device 50 may display a quality level value on the image obtained from the information collection device 21, or may display a sentence indicating the quality level, or may display the robot operation status or the video quality status controlled in Application Example 1 or Application Example 2. Furthermore, the processing device 50 may perform display control so as to delete information indicating that the quality has deteriorated, which is displayed on the monitor, when the quality becomes good.

[0187] With this configuration, when the quality status of the network changes during remote operation, the quality status and control status can be displayed on the monitor screen of the remote control device 10. Therefore, when the quality status of the network changes, the current system status can be accurately communicated to the operator, making it possible to reduce anxiety and improve comfort regarding operation.

[0188] (Variation 1 of Application Example 3) The destination to which the transmission control unit 40c notifies the information indicating the quality level may be the remote operation device 10, the operation target 20, or a relay device or server provided in the transmission network NW. In this case, the operation is basically the same as the above-described process, except that the entity performing the process is different.

[0189] For example, an example of processing will be described in which the destination of the transmission control unit 40c to notify the remote operation device 10 of information indicating the quality level is described. The transmission control unit 40c acquires the quality judgment result notified from the quality management unit 30 and notifies the output device 11 (e.g., a monitor) of the remote operation device 10 of information indicating the quality level included in the acquired quality judgment result. The transmission control unit 40c may also notify the output device 11 (e.g., a monitor). When the output device 11 (e.g., a monitor) acquires the information indicating the quality level from the transmission control unit 40c, the output device 11 performs display control on the image obtained from the information collection device 21 according to the information indicating the quality level. For example, the output device 11 (e.g., a monitor) may display a quality level value on the image obtained from the information collection device 21, or may display a sentence indicating the quality level, or may display the robot operation status or video quality status controlled in Application Example 1 or Application Example 2. Here, the output device 11 (e.g., a monitor) may perform display control to delete information indicating that the displayed quality has deteriorated, instead of additionally displaying information indicating that the quality has improved. Furthermore, when the driving device 22 in the operation object 20 is a robot, the output device 11 (e.g., a monitor) may perform display control to delete the displayed information indicating the operating state of the robot, instead of additionally displaying information indicating that the operating state of the robot has returned to normal.

[0190] (Variation 2 of Application Example 3) When the transmission control unit 40c notifies a relay device or server provided within the transmission network NW of information indicating the quality level, the relay device or server provided within the transmission network NW may add or change information related to remote operation in accordance with the information indicating the quality level. For example, the relay device or server performs image processing on an image obtained from the information collection device 21 so that information indicating the quality status or control status can be displayed. The relay device or server displays the processed image on a monitor, which is the output device 11. In other words, instead of image processing by the processing device 50, the relay device or server provided within the transmission network NW may perform image processing. This configuration allows the receiving side to operate in accordance with the network quality without modifying the processing device 50.

[0191] (Variation of the Fifth Embodiment) In the above-described embodiment, the case where the transmission quality changes is described as either a change from a good quality state to a degraded quality state or a change from a degraded quality state to a good quality state. However, the case where the transmission quality changes is not limited to this. For example, the quality degradation state may be divided into multiple levels, and the quality management unit 30 may determine that the transmission quality has changed when the level of the quality degradation state changes. The level of the quality degradation state is, for example, the quality level described in the embodiment. Therefore, the quality management unit 30 determines that the transmission quality has changed when the quality level changes. As described above, the larger the quality level number, the better the quality. For example, if the quality level changes from "1" to "2" or "3," the quality management unit 30 determines that the quality has improved. On the other hand, if the quality level changes from "3" to "1" or "2," for example, the quality management unit 30 determines that the quality has deteriorated. If the quality improves, the same processing as when the quality changes from a deteriorated state to a good state is carried out, and if the quality deteriorates, the same processing as when the quality changes from a good state to a deteriorated state is carried out.

[0192] Sixth Embodiment In the first to fourth embodiments described above, if the quality requirements specified for the remote control system are not met based on the quality assessment result, at least one of notifying the operator and controlling the operation target can be performed to achieve safe, immediate, and accurate operation. Furthermore, in the fifth embodiment described above, operability can be improved even when the transmission quality in communications including a transmission network fluctuates. Thus, in the first to fifth embodiments, control of the operation target or the remote control device is performed to reduce the impact of remote control on the operation target and improve operability when the transmission quality in communications including a transmission network fluctuates. In addition to this configuration, controlling the transmission network or the processing device according to the transmission quality may further reduce the impact of remote control on the operation target and improve operability when the transmission quality in communications including a transmission network fluctuates. Therefore, in the sixth embodiment, a configuration will be described that can further reduce the impact of remote control on the operation target and improve operability when the transmission quality in communications including a transmission network fluctuates.

[0193] Before describing specific examples, an overview of the remote operation system 300 according to the sixth embodiment will be described with reference to Fig. 13. Fig. 13 is a diagram for explaining the overview of the remote operation system 300 according to the sixth embodiment. The remote operation system 300 is a system for remotely operating, from one point, equipment or the like located at a different point. The remote operation system 300 is not particularly limited as long as it is used for tasks such as remote arm operation, remote surgery, remote construction, and remote inspection, as long as it remotely operates equipment to be operated.

[0194] The remote control system 300 includes a remote control device 10, an operation target 20, a quality control unit 30, a transmission control unit 40d, a processing device 50d, and a management device 60. The remote control device 10, the operation target 20, the quality control unit 30, the transmission control unit 40d, the processing device 50d, and the management device 60 are connected via a transmission network NW. The remote control device 10, the operation target 20, the quality control unit 30, and the transmission network NW have the same configurations as those shown in the fifth embodiment. In the following description, differences from the configuration shown in the fifth embodiment will be explained each time. The quality control unit 30 and the transmission control unit 40d are provided in one or more housings and function as a control device Cd.

[0195] The transmission control unit 40d performs the same processing as the transmission control unit 40 in the fifth embodiment. Here, the transmission control unit 40d notifies information indicating transmission quality to any one of the remote operation device 10, the operation target 20, the processing device 50d, or the management device 60. In response to this, the transmission control unit 40d causes the device that has been notified of the information indicating transmission quality to execute processing according to the transmission quality.

[0196] Note that the control executed by any one of the remote operation device 10, the operation target 20, or the processing device 50d when the quality state changes from good to degraded is the same as in the fifth embodiment. Also, the control executed by any one of the remote operation device 10, the operation target 20, or the processing device 50d when the quality state changes from degraded to good is the same as in the fifth embodiment.

[0197] The information indicating the transmission quality notified by the transmission control unit 40d is the same as the information shown in the fifth embodiment, and may be, for example, a quality level that expresses the transmission quality in multiple stages. The quality level may be defined by each of the transmission time (end-to-end delay), the bandwidth, and the packet loss rate. The information indicating the transmission quality is determined by the quality management unit 30 when the quality is determined.

[0198] Furthermore, when notifying the management device 60 of information indicating the transmission quality, the transmission control unit 40d may add additional information to the information indicating the transmission quality if the quality level is equal to or lower than a predetermined threshold. The additional information is additional information used to determine the control content in the management device 60, and is, for example, information indicating the cause of the decrease in the quality level among end-to-end delay, bandwidth amount, or packet loss rate, and information indicating the delay of each section (transmission path delay or processing time). Here, each section refers to section 1' connecting the remote operation device 10 and the operation target 20, section 2' combining the section between the operation target 20 and the processing device 50d and the section between the processing device 50d and the remote operation device 10, etc.

[0199] The management device 60 controls the settings of the transmission network NW or the processing device 50d based on the information indicating the transmission quality (which may include additional information) notified from the transmission control unit 40d. The management device 60 is a device that applies for the application if it is a user device provided by a user, and is an EMS (Element Management System) device, a portal device, or an orchestrator if it is an operator device operated by a system administrator or the like.

[0200] Before receiving control from the management device 60, the processing device 50d performs the same processing as the processing device 50 shown in any one of the first to fifth embodiments. When control is executed by the management device 60, the processing device 50d performs an operation in accordance with the control from the management device 60.

[0201] In the remote control system 300 of the sixth embodiment, the above-described configuration makes it possible to further improve operability even when the quality changes. Note that the configuration shown in Fig. 13 is an example, and the above-described effects can be obtained even if some of the components are not included in the remote control system 200. Application examples will be described below.

[0202] (Application Example 1 of Sixth Embodiment) As application example 1 of the sixth embodiment, a configuration for controlling settings in the transmission network NW in response to fluctuations in quality will be described.

[0203] 14 is a diagram showing a configuration example of a remote operation system 300a in application example 1 of the sixth embodiment. The remote operation system 300a includes a remote operation device 10, an operation target 20, a quality management unit 30, a transmission control unit 40d, a processing device 50d, and a management device 60. The remote operation device 10, the operation target 20, the quality management unit 30, the transmission control unit 40d, the processing device 50d, and the management device 60 are connected via a transmission network NW. The number of remote operation devices 10, the operation target 20, the quality management unit 30, and the transmission control unit 40d is not particularly limited. The remote operation system 300a does not necessarily have to include the processing device 50d.

[0204] The remote control system 300a will be described as controlling settings in the transmission network NW. The quality control unit 30 performs the process described in FIG. 6. For example, the quality control unit 30 holds a quality level determination table shown in FIG. 8 and determines a quality level by referring to the held quality level determination table. The quality control unit 30 includes information indicating the determined quality level in the quality determination result and notifies the transmission control unit 40d.

[0205] The transmission control unit 40d acquires the quality judgment result notified from the quality management unit 30, and notifies the management device 60 of information indicating the quality level included in the acquired quality judgment result. The transmission control unit 40a may also notify the management device 60 of the quality judgment result. When notifying the management device 60 of the information indicating the quality level or the quality judgment result, the transmission control unit 40d adds additional information to the information indicating the transmission quality if the quality level is equal to or lower than a set threshold.

[0206] The management device 60 acquires information indicating the transmission quality (which may include additional information) notified from the transmission control unit 40d, and changes the settings of the transmission network NW based on the acquired information indicating the transmission quality. The settings of the transmission network NW include, for example, contracted bandwidth, guaranteed network bandwidth, service priority, QoS (Quality of Service) settings such as packet ToS (Type of Service) value, or the service grade used. Note that the management device 60 may temporarily suspend communication if it determines, based on the information indicating the transmission quality, that improvement is difficult.

[0207] Here, an example of control performed by the management device 60 will be described. For example, when the management device 60 receives information indicating a quality level (e.g., quality level "2") and additional information (information indicating that the bandwidth is 50 Mbps) from the transmission control unit 40d, the management device 60 increases the guaranteed bandwidth setting of the transmission network NW to 100 Mbps. Note that the values ​​shown here are merely examples and may be set as appropriate.

[0208] Also, for example, when the management device 60 acquires information indicating the quality level (e.g., quality level "2") and additional information (information indicating that the packet loss rate is 0.5%) from the transmission control unit 40d, it changes the QoS settings in the communication from which the quality level was acquired (e.g., changes to high priority packets).

[0209] Also, for example, if the management device 60 receives information indicating the quality level (e.g., quality level "1") and additional information (information indicating that the processing time bandwidth in the processing device 50d is 500 ms) from the transmission control unit 40d, it may determine that improvement is difficult and control the bandwidth setting in the transmission network NW on a best-effort basis.

[0210] The control of the transmission network NW by the management device 60 may be set as a control table. In this case, the management device 60 holds the control table shown in FIG. 15. FIG. 15 is a diagram showing an example of a control table in the sixth embodiment. The control table has a plurality of records representing information regarding the control content by the management device 60. Each record has values ​​of a quality level, additional information, and control content. The control table corresponds to a combination of a quality level and additional information, or control content corresponding only to the quality level. As described above, there are cases in which additional information is not notified from the transmission control unit 40d. Therefore, the control table also registers control content corresponding only to the quality level. In the control table, a value of "-" is registered in places where additional information is not registered.

[0211] If the management device 60 has a control table, the management device 60 selects a record corresponding to the information indicating the transmission quality notified from the transmission control unit 40d, and executes the control content registered in the selected record on the transmission network NW.

[0212] With this configuration, when the quality of the network changes through remote control, the settings of the transmission network NW through which communications are exchanged can be adjusted, so that even if the quality of the network fluctuates, it is possible to control the communication to a more optimal state according to the quality.

[0213] (Application Example 2 of Sixth Embodiment) As an application example 2 of the sixth embodiment, a configuration for controlling settings in the processing device 50d in accordance with fluctuations in quality will be described.

[0214] 16 is a diagram showing a configuration example of a remote operation system 300b in application example 2 of the sixth embodiment. The remote operation system 300b includes a remote operation device 10, an operation target 20, a quality management unit 30, a transmission control unit 40d, a processing device 50d, and a management device 60. The remote operation device 10, the operation target 20, the quality management unit 30, the transmission control unit 40d, the processing device 50d, and the management device 60 are connected via a transmission network NW. Furthermore, the numbers of the remote operation devices 10, the operation target 20, the quality management unit 30, and the transmission control unit 40d are not particularly limited.

[0215] In the remote control system 300b, a case will be described in which settings in the transmission network NW are controlled. The processes of the quality management unit 30 and the transmission control unit 40d are the same as those in (Application example 1 of the sixth embodiment).

[0216] The management device 60 acquires information indicating the transmission quality (which may include additional information) notified from the transmission control unit 40d, and changes the settings of the processing device 50d based on the acquired information indicating the transmission quality. The settings of the processing device 50d include, for example, the number of CPU cores, resource sharing or exclusive use, accelerator function, and other resource allocation. Note that the management device 60 may temporarily suspend communication if it determines, based on the information indicating the transmission quality, that improvement is difficult.

[0217] Here, an example of control performed by the management device 60 will be described. For example, when the management device 60 receives information indicating a quality level (e.g., quality level "2") and additional information (information indicating that the processing time bandwidth in the processing device 50d is 150 ms) from the transmission control unit 40d, the management device 60 increases the amount of CPU resources allocated to the processing device 50d by three cores, or switches the server resources to dedicated mode (migrates). Note that the values ​​shown here are merely examples and may be set as appropriate.

[0218] Furthermore, for example, when the management device 60 receives information indicating the quality level (e.g., quality level "1") and additional information (information indicating that the processing time bandwidth in the processing device 50d is 500 ms) from the transmission control unit 40d, it may determine that improvement is difficult and may control the number of cores in the resources of the processing device 50d to a minimum or to a shared mode.

[0219] The control of the processing device 50d by the management device 60 may be set as a control table. The control table is the table shown in FIG. 15. When the management device 60 holds the control table, it selects a record corresponding to the information indicating the transmission quality notified from the transmission control unit 40d. The management device 60 executes the control content registered in the selected record on the processing device 50d.

[0220] With this configuration, when the quality of the network changes through remote control, the settings of the processing device 50d can be adjusted, so that even if the quality of the network fluctuates, it is possible to control the communication state to an optimal state according to the quality.

[0221] The remote control systems 300a, 300b configured as described above include a quality management unit 30 that acquires the transmission quality in the transmission path between the remote control device 10 and the operation target 20 and determines a quality level according to the acquired transmission quality, a transmission control unit 40d that notifies information indicating at least the quality level, and a processing device 50d or a management device 60 that controls settings in the transmission network NW based on the information indicating the quality level notified from the transmission control unit 40d.

[0222] In this way, the remote control systems 300a and 300b control the transmission network NW or the processing device 50d according to the transmission quality. This makes it possible to reduce the influence of remote control on the operation target and improve operability when the transmission quality in communication including the transmission network fluctuates, by using a control different from that of the first to fifth embodiments.

[0223] (Variation 1 of the Sixth Embodiment) In the above-described embodiment, the management device 60 has been described separately for controlling the settings of the transmission network NW and the processing device 50d, but the management device 60 may control the settings of both the transmission network NW and the processing device 50d. In this case, the management device 60 may execute the processes shown in (Application Example 1 of the Sixth Embodiment) and (Application Example 2 of the Sixth Embodiment).

[0224] (Variation 2 of the Sixth Embodiment) In the above-described embodiment, the configuration has been described in which the transmission control unit 40d notifies the information indicating the transmission quality to any one of the remote operation device 10, the operation target 20, the processing device 50d, or the management device 60. The transmission control unit 40d may notify multiple notification destinations of the information indicating the transmission quality. For example, the transmission control unit 40d may notify one of the remote operation device 10, the operation target 20, or the processing device 50d, and the management device 60 of the information indicating the transmission quality. In this case, the device that has been notified of the information indicating the transmission quality performs an operation according to the notified information indicating the transmission quality.

[0225] (Modification common to the first to sixth embodiments) The processing device may be provided in the control device shown in the first to sixth embodiments.

[0226] Although an embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs within the scope of the gist of the present invention.

[0227] The present invention is applicable to systems that operate remotely.

[0228] 10... remote control device, 11, 11-1 to 11-2... output device, 12, 12-1 to 12-2... operation input device, 13... processing device, 20... operation target, 21... information collection device, 22... drive device, 23... processing device, 30... quality control unit, 40, 40a, 40b, 40c, 40d... transmission control unit, 50, 50d... processing device, 60... management device, 100, 100a, 100b, 100c, 100d, 200, 200a, 200b, 200c, 300, 300a, 300b... remote control system

Claims

1. A control device comprising: a quality management unit that acquires the transmission quality of a transmission path between an object to be operated and a remote control device that remotely operates the object to be operated, and determines whether the acquired transmission quality satisfies quality requirements; and a transmission control unit that, if the transmission quality does not satisfy the quality requirements, notifies at least the remote control device or controls the object to be operated.

2. The control device according to claim 1, wherein the quality management unit acquires as the transmission quality one of the transmission time, transmission time fluctuation, power in the optical transmission section, or data error rate in the section between the operation target and the remote control device, and compares the acquired transmission quality with the quality requirements.

3. The control device according to claim 1, wherein, when a processing device is provided between the object to be operated and the remote control device, the processing device performs processing to improve operability for at least one of information collected by the object to be operated and operation information by the remote control device, the quality management unit determines whether the transmission quality satisfies the quality requirements, taking into account the processing time by the processing device.

4. The control device according to claim 3, wherein the quality management unit acquires a first transmission time in the section between the operation target and the processing device, a second transmission time in the section between the remote control device and the processing device, and the processing time, and compares the sum of the acquired first transmission time, second transmission time, and processing time as the transmission quality with the quality requirements.

5. The control device according to any one of claims 1 to 4, wherein, when the transmission quality does not satisfy the quality requirement, the transmission control unit notifies the remote control device of information indicating that the transmission quality does not satisfy the quality requirement.

6. The control device according to any one of claims 1 to 4, wherein the transmission control unit performs control to lower the operating state of the operation target when the transmission quality does not satisfy a quality requirement.

7. The control device according to claim 1 or 2, wherein the remote control device includes an information processing device that communicates with the information processing device included in the operation target, and the quality management unit acquires transmission quality between the information processing devices.

8. The control device according to claim 1 or 2, wherein the remote control device includes a plurality of information processing devices that communicate with the information processing devices included in the operation target, and the quality management unit acquires the transmission quality between each of the plurality of information processing devices and the information processing devices included in the operation target.

9. The control device according to claim 6, wherein the transmission control section controls the operation object to operate at a speed slower than normal as a control to lower the operating state of the operation object.

10. The control device according to claim 9, wherein the transmission control unit gradually slows down the movement speed of the operation target each time a quality judgment result indicating that the transmission quality does not satisfy a quality requirement is obtained.

11. The control device according to claim 1, wherein the remote control device is a monitor that displays information, and the transmission control unit causes the monitor to display information indicating that the quality is degraded when the transmission quality does not satisfy a quality requirement.

12. A control device comprising: a quality management unit that acquires transmission quality in a transmission path between an operation object and a remote control device that remotely operates the operation object, and determines whether the acquired transmission quality satisfies quality requirements; a transmission control unit that, when the transmission quality does not satisfy the quality requirements, notifies at least the remote control device or controls the operation object; and a processing device that executes processing to improve operability for at least one of information collected by the operation object or operation information by the remote control device, wherein the quality management unit determines whether the transmission quality, including the transmission quality between the operation object and the processing device, the transmission quality between the remote control device and the processing device, and the processing time by the processing device, satisfies the quality requirements.

13. A control device comprising: a quality management unit that acquires transmission quality in a transmission path between an operation object and a remote control device that remotely operates the operation object, and determines a quality level according to the acquired transmission quality; and a transmission control unit that notifies information indicating the quality level to either the operation object, the remote control device, a device provided on the transmission path, or a processing device that executes processing to improve operability between the operation object and the remote control device.

14. The control device according to claim 13, wherein the transmission control unit notifies the information indicating the quality level, thereby causing a notification destination to execute processing according to the quality level indicated by the information indicating the quality level.

15. The control device according to claim 14, wherein the processing according to the quality level is processing to control the operating status of the object to be operated or the volume of video acquired by the object to be operated, or processing of information to be displayed on the remote control device.

16. A remote control system comprising: a quality management unit that acquires transmission quality in a transmission path between an object to be controlled and a remote control device that remotely controls the object to be controlled, and determines a quality level according to the acquired transmission quality; a transmission control unit that notifies information indicating at least the quality level determined by the quality control unit; and a processing unit that executes processing to improve operability for at least one of information collected by the object to be controlled or operation information by the remote control device, based on the information indicating the quality level notified by the transmission control unit, or a management unit that controls settings in the transmission path.

17. The remote control system described in claim 16, wherein the transmission control unit further notifies the management device of additional information used to determine the control content in the management device when the quality level specified by the information indicating the quality level is below a predetermined setting threshold, and the management device controls the settings in the processing device or the transmission path based on a combination of the information indicating the quality level and the additional information.

18. A remote control system as described in claim 16 or 17, wherein the transmission control unit notifies information indicating the quality level to the management device, the operation target, the remote control device, a device provided on the transmission path, or the processing device.

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